✨ feat: Add pre-commit configuration for code quality checks

.pre-commit-config.yaml

@@ -0,0 +1,119 @@
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        exclude_types: [rst]
+      - id: fix-byte-order-marker
+
+  # Python hooks
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v3.19.1
+    hooks:
+    -   id: pyupgrade
+        args: [--py36-plus]
+
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.8.4
+    hooks:
+      - id: ruff
+        args: [ --fix ]
+      - id: ruff-format
+
+  # CPP hooks
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v14.0.3
+    hooks:
+      - id: clang-format
+        args: ['-fallback-style=none', '-i']
+        types_or: [c++]
+
+  - repo: local
+    hooks:
+      - id: ament_cppcheck
+        name: ament_cppcheck
+        description: Static code analysis of C/C++ files.
+        entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1 ament_cppcheck
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+
+  - repo: local
+    hooks:
+      - id: ament_cpplint
+        name: ament_cpplint
+        description: Static code analysis of C/C++ files.
+        entry: ament_cpplint
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+        args: ["--linelength=100", "--filter=-whitespace/newline"]
+
+  # Cmake hooks
+  - repo: local
+    hooks:
+      - id: ament_lint_cmake
+        name: ament_lint_cmake
+        description: Check format of CMakeLists.txt files.
+        entry: ament_lint_cmake
+        language: system
+        files: CMakeLists\.txt$
+
+  # Docs - RestructuredText hooks
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.2
+    hooks:
+      - id: doc8
+        args: ['--max-line-length=100', '--ignore=D001']
+        exclude: CHANGELOG\.rst$
+
+  - repo: https://github.com/pre-commit/pygrep-hooks
+    rev: v1.10.0
+    hooks:
+      - id: rst-backticks
+        exclude: CHANGELOG\.rst$
+      - id: rst-directive-colons
+      - id: rst-inline-touching-normal
+
+  # Spellcheck in comments and docs
+  # skipping of *.svg files is not working...
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.3.0
+    hooks:
+      - id: codespell
+        args: ['--write-changes']
+        exclude: CHANGELOG\.rst|\.(svg|pyc)|\.min.js$
+
+  - repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.30.0
+    hooks:
+      - id: check-github-workflows
+        args: ["--verbose"]
+      - id: check-github-actions
+        args: ["--verbose"]
+      - id: check-dependabot
+        args: ["--verbose"]

CMakeLists.txt

@@ -13,7 +13,7 @@ install(DIRECTORY
 )
 
 install(PROGRAMS
-    scripts/referee_system/simple_competition_1v1.py 
+    scripts/referee_system/simple_competition_1v1.py
 DESTINATION lib/${PROJECT_NAME})
 
 # environment

config/gz_world.yaml

@@ -45,4 +45,4 @@ robots:
       x_pose: "25.6"
       y_pose: "6.45"
       z_pose: "0.28"
-      yaw: "3.14"
+      yaw: "3.14"

config/ros_gz_bridge.yaml

@@ -40,4 +40,4 @@
   gz_topic_name: "/world/default/model/<robot_name>/link/front_industrial_camera/sensor/front_industrial_camera/camera_info"
   ros_type_name: "sensor_msgs/msg/CameraInfo"
   gz_type_name: "ignition.msgs.CameraInfo"
-  direction: "GZ_TO_ROS"
+  direction: "GZ_TO_ROS"

follow.sh

@@ -12,4 +12,4 @@ ign service -s /gui/follow/offset \
   -r "x: -0.8, y: 0.0, z: 1.2" \
   --reqtype ignition.msgs.Vector3d \
   --reptype ignition.msgs.Boolean \
-  --timeout 1000
+  --timeout 1000

launch/bringup_sim.launch.py

@@ -11,7 +11,7 @@ def generate_launch_description():
     pkg_simulator = get_package_share_directory("rmu_gazebo_simulator")
 
     gz_world_path = os.path.join(pkg_simulator, "config", "gz_world.yaml")
-    with open(gz_world_path, "r") as file:
+    with open(gz_world_path) as file:
         config = yaml.safe_load(file)
         selected_world = config.get("world")
 

launch/spawn_robots.launch.py

@@ -36,7 +36,7 @@ def generate_launch_description():
 
     # Get spawn robot init pose
     gz_world_path = os.path.join(pkg_simulator, "config", "gz_world.yaml")
-    with open(gz_world_path, "r") as file:
+    with open(gz_world_path) as file:
         config = yaml.safe_load(file)
         selected_world = config.get("world")
         robots = config["robots"].get(selected_world)

resource/ign/gui.config

@@ -1261,4 +1261,4 @@
     <property key="pluginToolBarColor" type="string">#03a9f4</property>
     <property key="pluginToolBarTextColor" type="string">#fafafa</property>
   </ignition-gui>
-</plugin>
+</plugin>

resource/worlds/empty_world.sdf

@@ -63,4 +63,4 @@
             </link>
         </model>
     </world>
-</sdf>
+</sdf>

rviz/visualize.rviz

@@ -237,4 +237,4 @@ Window Geometry:
     collapsed: false
   Width: 1504
   X: 550
-  Y: 85
+  Y: 85

scripts/killgazebo.sh

@@ -1,2 +1,2 @@
 #!/bin/bash
-ps -ef | grep 'ign gazebo server' | cut -c 9-15 | xargs kill -s 15
+ps -ef | grep 'ign gazebo server' | cut -c 9-15 | xargs kill -s 15

scripts/player_web/main_no_vision.py

@@ -26,7 +26,11 @@
 # ==========================================
 #    ros functions
 # ==========================================
-from ros_handler import *
+from ros_handler import (
+    publish_chassis_cmd_msg,
+    publish_gimbal_cmd_msg,
+    publish_shoot_cmd_msg,
+)
 from sensor_msgs.msg import Image
 
 from rmoss_interfaces.msg import (
@@ -127,11 +131,11 @@ def __init__(self, namespace):
     def rfid_status_callback(self, message):
         for status in message.robot_rfid_status:
             if status.robot_name == self.robot_name:
-                if status.supplier_area_is_triggered == True:
+                if status.supplier_area_is_triggered is True:
                     self.rfid_status.supplier_area_is_triggered = True
                 else:
                     self.rfid_status.supplier_area_is_triggered = False
-                if status.center_area_is_triggered == True:
+                if status.center_area_is_triggered is True:
                     self.rfid_status.center_area_is_triggered = True
                 else:
                     self.rfid_status.center_area_is_triggered = False
@@ -153,7 +157,7 @@ def exchange_callback(self, future):
                 else:
                     print("Failed to exchange ammo: " + response.message)
             except Exception as e:
-                print("Service call failed: %r" % (e,))
+                print(f"Service call failed: {e!r}")
 
     def on_connect(self):
         global info_thread, node, robot_names, chosen_robot_dict
@@ -183,7 +187,7 @@ def on_control(self, message):
         if message["shoot"]:
             shoot = True
         if message["o"]:
-            if self.rfid_status.supplier_area_is_triggered == True:
+            if self.rfid_status.supplier_area_is_triggered is True:
                 self.supply_active = True
                 emit("supply", {"value": "active"}, namespace="/" + self.robot_name)
 
@@ -257,7 +261,7 @@ def on_default_error_handler(self, e):
 
 # =============================================================================================================================
 
-# =====================================================================  funcitons   ==========================================
+# =====================================================================  functions   ==========================================
 
 
 # ==========================================
@@ -335,22 +339,18 @@ def func(message):
 def ros_info_thread(node, robot_name):
     global BLUE_HP, RED_HP, ATTACK_INFO
     for robot_name in robot_names:
-        img_sub = node.create_subscription(
+        node.create_subscription(
             Image,
             "/%s/front_camera/image" % (robot_name),
             send_img_callback(robot_name),
             45,
         )
-        hp_sub = node.create_subscription(
+        node.create_subscription(
             RobotStatus,
             "/referee_system/%s/robot_status" % (robot_name),
             send_refere_info_callback(robot_name),
             10,
         )
-        # red_hp_sub = node.create_subscription(RobotStatus, '/referee_system/red_standard_robot1/robot_status', send_refere_info_callback(RED_HP, robot_name),
-        #                                 10)
-    # attack_info_sub = node.create_subscription(String, '/referee_system/attack_info', send_refere_info_callback(ATTACK_INFO),
-    # .                                    10)
     rclpy.spin(node)
     node.destroy_node()
 

scripts/player_web/main_vision.py

@@ -27,7 +27,11 @@
 # ==========================================
 #    ros functions
 # ==========================================
-from ros_handler import *
+from ros_handler import (
+    publish_chassis_cmd_msg,
+    publish_gimbal_cmd_msg,
+    publish_shoot_cmd_msg,
+)
 from sensor_msgs.msg import Image
 from vision_interfaces.msg import AutoAim
 
@@ -137,11 +141,11 @@ def __init__(self, namespace):
     def rfid_status_callback(self, message):
         for status in message.robot_rfid_status:
             if status.robot_name == self.robot_name:
-                if status.supplier_area_is_triggered == True:
+                if status.supplier_area_is_triggered is True:
                     self.rfid_status.supplier_area_is_triggered = True
                 else:
                     self.rfid_status.supplier_area_is_triggered = False
-                if status.center_area_is_triggered == True:
+                if status.center_area_is_triggered is True:
                     self.rfid_status.center_area_is_triggered = True
                 else:
                     self.rfid_status.center_area_is_triggered = False
@@ -166,7 +170,7 @@ def exchange_callback(self, future):
                 else:
                     print("Failed to exchange ammo: " + response.message)
             except Exception as e:
-                print("Service call failed: %r" % (e,))
+                print(f"Service call failed: {e!r}")
 
     def on_connect(self):
         global info_thread, node, robot_names, chosen_robot_dict
@@ -199,7 +203,7 @@ def on_control(self, message):
         if message["autoAim"]:
             autoAim = True
         if message["o"]:
-            if self.rfid_status.supplier_area_is_triggered == True:
+            if self.rfid_status.supplier_area_is_triggered is True:
                 self.supply_active = True
                 emit("supply", {"value": "active"}, namespace="/" + self.robot_name)
         print("message['movementX']:", message["movementX"])
@@ -309,7 +313,7 @@ def on_default_error_handler(self, e):
 
 # =============================================================================================================================
 
-# =====================================================================  funcitons   ==========================================
+# =====================================================================  functions   ==========================================
 
 
 # ==========================================
@@ -388,22 +392,18 @@ def func(message):
 def ros_info_thread(node, robot_name):
     global BLUE_HP, RED_HP, ATTACK_INFO
     for robot_name in robot_names:
-        img_sub = node.create_subscription(
+        node.create_subscription(
             Image,
             "/%s/front_camera/image" % (robot_name),
             send_img_callback(robot_name),
             45,
         )
-        hp_sub = node.create_subscription(
+        node.create_subscription(
             RobotStatus,
             "/referee_system/%s/robot_status" % (robot_name),
             send_refere_info_callback(robot_name),
             10,
         )
-        # red_hp_sub = node.create_subscription(RobotStatus, '/referee_system/red_standard_robot1/robot_status', send_refere_info_callback(RED_HP, robot_name),
-        #                                 10)
-    # attack_info_sub = node.create_subscription(String, '/referee_system/attack_info', send_refere_info_callback(ATTACK_INFO),
-    # .                                    10)
     rclpy.spin(node)
     node.destroy_node()
 

scripts/player_web/static/css/main.css

@@ -89,4 +89,4 @@
 }
 .selected{
 	border: 2px solid #2499F3;
-}
+}

scripts/player_web/static/js/control.js

@@ -34,8 +34,8 @@ function select_robot(element, name, can_choose){
 	if(!can_choose) return
 	$("#choose_robot_container").children(".selected").removeClass('selected')
 	my_robot = name
-	$(element).addClass('selected') 
+	$(element).addClass('selected')
 	$('#start_btn').removeAttr("disabled");
 	console.log(my_robot)
 	$('#start_btn').text("开始游戏");
-}
+}