Formatting

.clang-format

@@ -0,0 +1,86 @@
+---
+BasedOnStyle: Google
+IndentWidth: '4'
+ColumnLimit: '120'
+
+IncludeCategories:
+  # main include automatically assigned to Priority 0
+  - Regex: '^".*_(conf|config)\.(hpp|h)"$' # config headers
+    Priority: 3
+  - Regex: '^".*"$' # sibling & project headers
+    Priority: 1
+  - Regex: '^<.*>$' # system & library headers
+    Priority: 2
+
+# Format function arguments and parameters
+BinPackArguments: 'false'
+BinPackParameters: 'false'
+AllowAllArgumentsOnNextLine: 'false'
+AllowAllParametersOfDeclarationOnNextLine: 'false'
+AlignAfterOpenBracket: BlockIndent
+SpaceBeforeParens: ControlStatements
+
+# Constructor Formatting
+PackConstructorInitializers: CurrentLine
+IndentAccessModifiers: 'false'
+AccessModifierOffset: '-4'
+SpaceBeforeCtorInitializerColon: 'true'
+BreakConstructorInitializers: BeforeColon
+LambdaBodyIndentation: OuterScope
+
+AllowShortCaseLabelsOnASingleLine: 'true'
+AllowShortBlocksOnASingleLine: 'false'
+AllowShortIfStatementsOnASingleLine: Never
+AllowShortLoopsOnASingleLine: 'false'
+AllowShortEnumsOnASingleLine: 'true'
+AllowShortFunctionsOnASingleLine: 'Inline'
+AllowShortLambdasOnASingleLine: 'All'
+
+# Switch / Case
+IndentCaseLabels: 'true'
+IndentCaseBlocks: 'false'
+
+# Preprocessor stuff
+AlignConsecutiveMacros: 'false'
+AlignEscapedNewlines: DontAlign
+AlignTrailingComments: 'false'
+SpacesBeforeTrailingComments: 1
+
+# Alignment of procedural code
+AlignConsecutiveAssignments: 'false'
+AlignConsecutiveDeclarations: 'false'
+AlignConsecutiveBitFields: Consecutive
+
+AlignOperands: AlignAfterOperator
+# BreakBeforeTernaryOperators: 'false'
+BreakBeforeBinaryOperators: 'true'
+
+# Pointers and East/West Const
+DerivePointerAlignment: 'false'
+PointerAlignment: Left
+QualifierAlignment: Leave
+# QualifierOrder: ['volatile', 'constexpr', 'static', 'inline', 'type', 'const']
+
+Cpp11BracedListStyle: 'true'
+
+# Vertical Whitespace
+SeparateDefinitionBlocks: Leave
+EmptyLineBeforeAccessModifier: Always
+EmptyLineAfterAccessModifier: Never
+
+# AlignArrayOfStructures: Right
+# InsertTrailingCommas: 'Wrapped'
+
+
+AlwaysBreakAfterReturnType: None
+PenaltyReturnTypeOnItsOwnLine: 9999 # We really hate breaking after return types
+PenaltyBreakAssignment: 999 # Prefer not to break around =
+
+SpaceAfterTemplateKeyword: 'false'
+
+MaxEmptyLinesToKeep: 2
+
+FixNamespaceComments: 'true'
+#IndentPPDirectives: BeforeHash
+# NamespaceIndentation: All
+...

.github/workflows/formatting.yaml

@@ -0,0 +1,36 @@
+name: Clang-Format Check
+
+on:
+  push:
+    branches: [master]
+  pull_request:
+    paths:
+      - '**/*.cpp'
+      - '**/*.h'
+      - '**/*.hpp'
+
+jobs:
+  clang-format-check:
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+
+    - name: Install Clang-Format
+      run: sudo apt-get install -y clang-format
+
+    - name: Run Clang-Format Check
+      run: |
+        files=$(find . -name "*.cpp" -o -name "*.hpp" -o -name "*.h")
+        check_ignore=$(git -c core.excludesFile="format-ignore.txt" check-ignore --stdin --no-index --non-matching --verbose <<< "$files")
+        files=$(awk '/^::/ {print $2}' <<< "$check_ignore")
+
+        echo "Checking $(echo "$files" | wc -l) files"
+
+        if [ -n "$files" ]; then
+          clang-format -style=file -i $files
+          git diff --exit-code || (echo "Clang-Format check failed!" && exit 1)
+        else
+          echo "No files to check."
+        fi

format-ignore.txt

@@ -0,0 +1,3 @@
+# autogenerated files
+/src/can_simple_messages.hpp
+/src/ODriveEnums.h

src/ODriveCAN.cpp

@@ -134,8 +134,7 @@ bool ODriveCAN::getPower(Get_Powers_msg_t& msg, uint16_t timeout_ms) {
     return request(msg, timeout_ms);
 }
 
-bool ODriveCAN::reset(ResetAction action)
-{
+bool ODriveCAN::reset(ResetAction action) {
     Reboot_msg_t msg;
     msg.Action = action;