From 006a379a3895efa0537f624bfbd6556003e8674c Mon Sep 17 00:00:00 2001 From: Akihito Ohsato Date: Fri, 26 May 2023 01:22:07 +0900 Subject: [PATCH] Initial commit --- .clang-format | 47 ++++ .editorconfig | 16 ++ .github/PULL_REQUEST_TEMPLATE.md | 47 ++++ .github/dependabot.yaml | 10 + .github/sync-files.yaml | 23 ++ .../build-and-test-differential.yaml | 91 ++++++++ .github/workflows/build-and-test.yaml | 58 +++++ .../workflows/cancel-previous-workflows.yaml | 14 ++ .github/workflows/pre-commit-optional.yaml | 16 ++ .github/workflows/pre-commit.yaml | 27 +++ .github/workflows/semantic-pull-request.yaml | 12 ++ .../workflows/spell-check-differential.yaml | 16 ++ .github/workflows/sync-files.yaml | 33 +++ .gitignore | 15 ++ .markdown-link-check.json | 16 ++ .markdownlint.yaml | 11 + .pre-commit-config-optional.yaml | 6 + .pre-commit-config.yaml | 92 ++++++++ .prettierignore | 2 + .prettierrc.yaml | 20 ++ .yamllint.yaml | 22 ++ CPPLINT.cfg | 14 ++ LICENSE | 201 ++++++++++++++++++ README.md | 3 + build_depends.repos | 1 + setup.cfg | 15 ++ 26 files changed, 828 insertions(+) create mode 100644 .clang-format create mode 100644 .editorconfig create mode 100644 .github/PULL_REQUEST_TEMPLATE.md create mode 100644 .github/dependabot.yaml create mode 100644 .github/sync-files.yaml create mode 100644 .github/workflows/build-and-test-differential.yaml create mode 100644 .github/workflows/build-and-test.yaml create mode 100644 .github/workflows/cancel-previous-workflows.yaml create mode 100644 .github/workflows/pre-commit-optional.yaml create mode 100644 .github/workflows/pre-commit.yaml create mode 100644 .github/workflows/semantic-pull-request.yaml create mode 100644 .github/workflows/spell-check-differential.yaml create mode 100644 .github/workflows/sync-files.yaml create mode 100644 .gitignore create mode 100644 .markdown-link-check.json create mode 100644 .markdownlint.yaml create mode 100644 .pre-commit-config-optional.yaml create mode 100644 .pre-commit-config.yaml create mode 100644 .prettierignore create mode 100644 .prettierrc.yaml create mode 100644 .yamllint.yaml create mode 100644 CPPLINT.cfg create mode 100644 LICENSE create mode 100644 README.md create mode 100644 build_depends.repos create mode 100644 setup.cfg diff --git a/.clang-format b/.clang-format new file mode 100644 index 0000000..b41fae9 --- /dev/null +++ b/.clang-format @@ -0,0 +1,47 @@ +# Modified from https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format +Language: Cpp +BasedOnStyle: Google + +AccessModifierOffset: -2 +AlignAfterOpenBracket: AlwaysBreak +AllowShortFunctionsOnASingleLine: InlineOnly +BraceWrapping: + AfterClass: true + AfterFunction: true + AfterNamespace: true + AfterStruct: true +BreakBeforeBraces: Custom +ColumnLimit: 100 +ConstructorInitializerIndentWidth: 0 +ContinuationIndentWidth: 2 +DerivePointerAlignment: false +PointerAlignment: Middle +ReflowComments: true +IncludeCategories: + # C++ system headers + - Regex: <[a-z_]*> + Priority: 6 + CaseSensitive: true + # C system headers + - Regex: <.*\.h> + Priority: 5 + CaseSensitive: true + # Boost headers + - Regex: boost/.* + Priority: 4 + CaseSensitive: true + # Message headers + - Regex: .*_msgs/.* + Priority: 3 + CaseSensitive: true + - Regex: .*_srvs/.* + Priority: 3 + CaseSensitive: true + # Other Package headers + - Regex: <.*> + Priority: 2 + CaseSensitive: true + # Local package headers + - Regex: '".*"' + Priority: 1 + CaseSensitive: true diff --git a/.editorconfig b/.editorconfig new file mode 100644 index 0000000..ac84037 --- /dev/null +++ b/.editorconfig @@ -0,0 +1,16 @@ +root = true + +[*] +charset = utf-8 +end_of_line = lf +indent_style = space +indent_size = 2 +insert_final_newline = true +trim_trailing_whitespace = true + +[*.md] +indent_size = 4 +trim_trailing_whitespace = false + +[*.py] +indent_size = 4 diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md new file mode 100644 index 0000000..bb00405 --- /dev/null +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -0,0 +1,47 @@ +## PR Type + + + +- New Feature +- Improvement +- Bug Fix + +## Related Links + + + +## Description + + + +## Review Procedure + + + +## Remarks + + + +## Pre-Review Checklist for the PR Author + +**PR Author should check the checkboxes below when creating the PR.** + +- [ ] Assign PR to reviewer + +## Checklist for the PR Reviewer + +**Reviewers should check the checkboxes below before approval.** + +- [ ] Commits are properly organized and messages are according to the guideline +- [ ] (Optional) Unit tests have been written for new behavior +- [ ] PR title describes the changes + +## Post-Review Checklist for the PR Author + +**PR Author should check the checkboxes below before merging.** + +- [ ] All open points are addressed and tracked via issues or tickets + +## CI Checks + +- **Build and test for PR**: Required to pass before the merge. diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml new file mode 100644 index 0000000..3f3bf24 --- /dev/null +++ b/.github/dependabot.yaml @@ -0,0 +1,10 @@ +version: 2 +updates: + - package-ecosystem: github-actions + directory: / + schedule: + interval: daily + open-pull-requests-limit: 1 + labels: + - bot + - github-actions diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml new file mode 100644 index 0000000..d3e31ac --- /dev/null +++ b/.github/sync-files.yaml @@ -0,0 +1,23 @@ +- repository: autowarefoundation/autoware + files: + - source: .github/dependabot.yaml + - source: .github/workflows/pre-commit.yaml + - source: .github/workflows/pre-commit-optional.yaml + - source: .github/workflows/semantic-pull-request.yaml + - source: .github/workflows/spell-check-differential.yaml + - source: .github/workflows/sync-files.yaml + - source: .clang-format + - source: .markdown-link-check.json + - source: .markdownlint.yaml + - source: .pre-commit-config-optional.yaml + - source: .prettierignore + - source: .prettierrc.yaml + - source: .yamllint.yaml + - source: CPPLINT.cfg + - source: setup.cfg + +- repository: autowarefoundation/autoware_common + files: + - source: .github/workflows/build-and-test.yaml + - source: .github/workflows/build-and-test-differential.yaml + - source: .github/workflows/cancel-previous-workflows.yaml diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml new file mode 100644 index 0000000..8eeb1de --- /dev/null +++ b/.github/workflows/build-and-test-differential.yaml @@ -0,0 +1,91 @@ +name: build-and-test-differential + +on: + pull_request: + +jobs: + build-and-test-differential: + runs-on: ubuntu-latest + container: ${{ matrix.container }} + strategy: + fail-fast: false + matrix: + rosdistro: + - humble + include: + - rosdistro: humble + container: ros:humble + build-depends-repos: build_depends.repos + steps: + - name: Check out repository + uses: actions/checkout@v3 + with: + fetch-depth: 0 + + - name: Remove exec_depend + uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 + + - name: Get modified packages + id: get-modified-packages + uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1 + + - name: Build + if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} + uses: autowarefoundation/autoware-github-actions/colcon-build@v1 + with: + rosdistro: ${{ matrix.rosdistro }} + target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + build-depends-repos: ${{ matrix.build-depends-repos }} + + - name: Test + id: test + if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} + uses: autowarefoundation/autoware-github-actions/colcon-test@v1 + with: + rosdistro: ${{ matrix.rosdistro }} + target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + build-depends-repos: ${{ matrix.build-depends-repos }} + + - name: Upload coverage to CodeCov + if: ${{ steps.test.outputs.coverage-report-files != '' }} + uses: codecov/codecov-action@v3 + with: + files: ${{ steps.test.outputs.coverage-report-files }} + fail_ci_if_error: false + verbose: true + flags: differential + + clang-tidy-differential: + runs-on: ubuntu-latest + container: ros:humble + needs: build-and-test-differential + steps: + - name: Check out repository + uses: actions/checkout@v3 + with: + fetch-depth: 0 + + - name: Remove exec_depend + uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 + + - name: Get modified packages + id: get-modified-packages + uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1 + + - name: Get modified files + id: get-modified-files + uses: tj-actions/changed-files@v35 + with: + files: | + **/*.cpp + **/*.hpp + + - name: Run clang-tidy + if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }} + uses: autowarefoundation/autoware-github-actions/clang-tidy@v1 + with: + rosdistro: humble + target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + target-files: ${{ steps.get-modified-files.outputs.all_changed_files }} + clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy + build-depends-repos: build_depends.repos diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml new file mode 100644 index 0000000..6459a98 --- /dev/null +++ b/.github/workflows/build-and-test.yaml @@ -0,0 +1,58 @@ +name: build-and-test + +on: + push: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + build-and-test: + if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }} + runs-on: ubuntu-latest + container: ${{ matrix.container }} + strategy: + fail-fast: false + matrix: + rosdistro: + - humble + include: + - rosdistro: humble + container: ros:humble + build-depends-repos: build_depends.repos + steps: + - name: Check out repository + uses: actions/checkout@v3 + + - name: Remove exec_depend + uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 + + - name: Get self packages + id: get-self-packages + uses: autowarefoundation/autoware-github-actions/get-self-packages@v1 + + - name: Build + if: ${{ steps.get-self-packages.outputs.self-packages != '' }} + uses: autowarefoundation/autoware-github-actions/colcon-build@v1 + with: + rosdistro: ${{ matrix.rosdistro }} + target-packages: ${{ steps.get-self-packages.outputs.self-packages }} + build-depends-repos: ${{ matrix.build-depends-repos }} + + - name: Test + if: ${{ steps.get-self-packages.outputs.self-packages != '' }} + id: test + uses: autowarefoundation/autoware-github-actions/colcon-test@v1 + with: + rosdistro: ${{ matrix.rosdistro }} + target-packages: ${{ steps.get-self-packages.outputs.self-packages }} + build-depends-repos: ${{ matrix.build-depends-repos }} + + - name: Upload coverage to CodeCov + if: ${{ steps.test.outputs.coverage-report-files != '' }} + uses: codecov/codecov-action@v3 + with: + files: ${{ steps.test.outputs.coverage-report-files }} + fail_ci_if_error: false + verbose: true + flags: total diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml new file mode 100644 index 0000000..f9c29b8 --- /dev/null +++ b/.github/workflows/cancel-previous-workflows.yaml @@ -0,0 +1,14 @@ +name: cancel-previous-workflows + +on: + pull_request_target: + +jobs: + cancel-previous-workflows: + runs-on: ubuntu-latest + steps: + - name: Cancel previous runs + uses: styfle/cancel-workflow-action@0.11.0 + with: + workflow_id: all + all_but_latest: true diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml new file mode 100644 index 0000000..93e05dc --- /dev/null +++ b/.github/workflows/pre-commit-optional.yaml @@ -0,0 +1,16 @@ +name: pre-commit-optional + +on: + pull_request: + +jobs: + pre-commit-optional: + runs-on: ubuntu-latest + steps: + - name: Check out repository + uses: actions/checkout@v3 + + - name: Run pre-commit + uses: autowarefoundation/autoware-github-actions/pre-commit@v1 + with: + pre-commit-config: .pre-commit-config-optional.yaml diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml new file mode 100644 index 0000000..b231dbd --- /dev/null +++ b/.github/workflows/pre-commit.yaml @@ -0,0 +1,27 @@ +name: pre-commit + +on: + pull_request: + +jobs: + pre-commit: + if: ${{ github.event.repository.private }} # Use pre-commit.ci for public repositories + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Check out repository + uses: actions/checkout@v3 + with: + ref: ${{ github.event.pull_request.head.ref }} + + - name: Run pre-commit + uses: autowarefoundation/autoware-github-actions/pre-commit@v1 + with: + pre-commit-config: .pre-commit-config.yaml + token: ${{ steps.generate-token.outputs.token }} diff --git a/.github/workflows/semantic-pull-request.yaml b/.github/workflows/semantic-pull-request.yaml new file mode 100644 index 0000000..71224c2 --- /dev/null +++ b/.github/workflows/semantic-pull-request.yaml @@ -0,0 +1,12 @@ +name: semantic-pull-request + +on: + pull_request_target: + types: + - opened + - edited + - synchronize + +jobs: + semantic-pull-request: + uses: autowarefoundation/autoware-github-actions/.github/workflows/semantic-pull-request.yaml@v1 diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml new file mode 100644 index 0000000..eb18ccd --- /dev/null +++ b/.github/workflows/spell-check-differential.yaml @@ -0,0 +1,16 @@ +name: spell-check-differential + +on: + pull_request: + +jobs: + spell-check-differential: + runs-on: ubuntu-latest + steps: + - name: Check out repository + uses: actions/checkout@v3 + + - name: Run spell-check + uses: autowarefoundation/autoware-github-actions/spell-check@v1 + with: + cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml new file mode 100644 index 0000000..b9dc590 --- /dev/null +++ b/.github/workflows/sync-files.yaml @@ -0,0 +1,33 @@ +name: sync-files + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + check-secret: + uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1 + secrets: + secret: ${{ secrets.APP_ID }} + + sync-files: + needs: check-secret + if: ${{ needs.check-secret.outputs.set == 'true' }} + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run sync-files + uses: autowarefoundation/autoware-github-actions/sync-files@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + pr-labels: | + bot + sync-files + auto-merge-method: squash diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..5ce2c26 --- /dev/null +++ b/.gitignore @@ -0,0 +1,15 @@ +# Vim +*.swp +*.swo + +# Visual Studio Code +.vscode/ +*.code-workspace + +# colcon +build/ +install/ +log/ + +# Python +*.pyc diff --git a/.markdown-link-check.json b/.markdown-link-check.json new file mode 100644 index 0000000..c71a3e4 --- /dev/null +++ b/.markdown-link-check.json @@ -0,0 +1,16 @@ +{ + "aliveStatusCodes": [200, 206, 403], + "ignorePatterns": [ + { + "pattern": "^http://localhost" + }, + { + "pattern": "^http://127\\.0\\.0\\.1" + }, + { + "pattern": "^https://github.com/.*/discussions/new" + } + ], + "retryOn429": true, + "retryCount": 10 +} diff --git a/.markdownlint.yaml b/.markdownlint.yaml new file mode 100644 index 0000000..babaaa1 --- /dev/null +++ b/.markdownlint.yaml @@ -0,0 +1,11 @@ +# See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules. +default: true +MD013: false +MD024: + siblings_only: true +MD029: + style: ordered +MD033: false +MD041: false +MD046: false +MD049: false diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml new file mode 100644 index 0000000..e0019e1 --- /dev/null +++ b/.pre-commit-config-optional.yaml @@ -0,0 +1,6 @@ +repos: + - repo: https://github.com/tcort/markdown-link-check + rev: v3.10.3 + hooks: + - id: markdown-link-check + args: [--config=.markdown-link-check.json] diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 0000000..c7dbeec --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,92 @@ +ci: + autofix_commit_msg: "ci(pre-commit): autofix" + autoupdate_commit_msg: "ci(pre-commit): autoupdate" + +repos: + - repo: https://github.com/pre-commit/pre-commit-hooks + rev: v4.1.0 + hooks: + - id: check-json + - id: check-merge-conflict + - id: check-toml + - id: check-xml + - id: check-yaml + - id: detect-private-key + - id: end-of-file-fixer + - id: mixed-line-ending + - id: trailing-whitespace + args: [--markdown-linebreak-ext=md] + + - repo: https://github.com/igorshubovych/markdownlint-cli + rev: v0.30.0 + hooks: + - id: markdownlint + args: [-c, .markdownlint.yaml, --fix] + + - repo: https://github.com/pre-commit/mirrors-prettier + rev: v2.5.1 + hooks: + - id: prettier + + - repo: https://github.com/adrienverge/yamllint + rev: v1.26.3 + hooks: + - id: yamllint + + - repo: https://github.com/tier4/pre-commit-hooks-ros + rev: v0.4.0 + hooks: + - id: prettier-package-xml + - id: sort-package-xml + + - repo: https://github.com/shellcheck-py/shellcheck-py + rev: v0.8.0.3 + hooks: + - id: shellcheck + + - repo: https://github.com/scop/pre-commit-shfmt + rev: v3.4.2-1 + hooks: + - id: shfmt + args: [-w, -s, -i=4] + + - repo: https://github.com/pycqa/isort + rev: 5.10.1 + hooks: + - id: isort + + - repo: https://github.com/psf/black + rev: 22.1.0 + hooks: + - id: black + args: [--line-length=100] + + - repo: https://github.com/PyCQA/flake8 + rev: 4.0.1 + hooks: + - id: flake8 + additional_dependencies: + [ + flake8-blind-except, + flake8-builtins, + flake8-class-newline, + flake8-comprehensions, + flake8-deprecated, + flake8-docstrings, + flake8-import-order, + flake8-quotes, + ] + + - repo: https://github.com/pre-commit/mirrors-clang-format + rev: v13.0.0 + hooks: + - id: clang-format + + - repo: https://github.com/cpplint/cpplint + rev: 1.5.5 + hooks: + - id: cpplint + args: [--quiet] + exclude: .cu + +exclude: .svg diff --git a/.prettierignore b/.prettierignore new file mode 100644 index 0000000..a3c34d0 --- /dev/null +++ b/.prettierignore @@ -0,0 +1,2 @@ +*.param.yaml +*.rviz diff --git a/.prettierrc.yaml b/.prettierrc.yaml new file mode 100644 index 0000000..e29bf32 --- /dev/null +++ b/.prettierrc.yaml @@ -0,0 +1,20 @@ +printWidth: 100 +tabWidth: 2 +overrides: + - files: package.xml + options: + printWidth: 1000 + xmlSelfClosingSpace: false + xmlWhitespaceSensitivity: ignore + + - files: "*.launch.xml" + options: + printWidth: 200 + xmlSelfClosingSpace: false + xmlWhitespaceSensitivity: ignore + + - files: "*.xacro" + options: + printWidth: 200 + xmlSelfClosingSpace: false + xmlWhitespaceSensitivity: ignore diff --git a/.yamllint.yaml b/.yamllint.yaml new file mode 100644 index 0000000..2c7bd08 --- /dev/null +++ b/.yamllint.yaml @@ -0,0 +1,22 @@ +extends: default + +ignore: | + *.param.yaml + +rules: + braces: + level: error + max-spaces-inside: 1 # To format with Prettier + comments: + level: error + min-spaces-from-content: 1 # To be compatible with C++ and Python + document-start: + level: error + present: false # Don't need document start markers + line-length: disable # Delegate to Prettier + truthy: + level: error + check-keys: false # To allow 'on' of GitHub Actions + quoted-strings: + level: error + required: only-when-needed # To keep consistent style diff --git a/CPPLINT.cfg b/CPPLINT.cfg new file mode 100644 index 0000000..ba6bdf0 --- /dev/null +++ b/CPPLINT.cfg @@ -0,0 +1,14 @@ +# Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_cpplint/ament_cpplint/main.py#L64-L120 +set noparent +linelength=100 +includeorder=standardcfirst +filter=-build/c++11 # we do allow C++11 +filter=-build/namespaces_literals # we allow using namespace for literals +filter=-runtime/references # we consider passing non-const references to be ok +filter=-whitespace/braces # we wrap open curly braces for namespaces, classes and functions +filter=-whitespace/indent # we don't indent keywords like public, protected and private with one space +filter=-whitespace/parens # we allow closing parenthesis to be on the next line +filter=-whitespace/semicolon # we allow the developer to decide about whitespace after a semicolon +filter=-build/header_guard # we automatically fix the names of header guards using pre-commit +filter=-build/include_order # we use the custom include order +filter=-build/include_subdir # we allow the style of "foo.hpp" diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..261eeb9 --- /dev/null +++ b/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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