From 96a67225e850c790b6622c15bce7f56fd3e82a46 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Tue, 27 Feb 2024 20:07:21 +0100 Subject: [PATCH] [CI] Code coverage + pre-commit (#1057) --- .../workflows/ci-coverage-build-humble.yml | 65 --------------- .github/workflows/ci-coverage-build-iron.yml | 65 --------------- .github/workflows/ci-coverage-build.yml | 65 --------------- .github/workflows/ci-format.yml | 22 ----- .github/workflows/ci-ros-lint.yml | 80 ------------------- .github/workflows/humble-coverage-build.yml | 17 ++++ .github/workflows/humble-pre-commit.yml | 14 ++++ .github/workflows/iron-coverage-build.yml | 17 ++++ .github/workflows/iron-pre-commit.yml | 14 ++++ .github/workflows/rolling-coverage-build.yml | 17 ++++ .github/workflows/rolling-pre-commit.yml | 14 ++++ .github/workflows/update-pre-commit.yml | 12 +++ .pre-commit-config.yaml | 49 +++++++----- .../joint_trajectory_controller.py | 8 +- .../update_combo.py | 2 +- rqt_joint_trajectory_controller/setup.py | 14 ++++ 16 files changed, 153 insertions(+), 322 deletions(-) delete mode 100644 .github/workflows/ci-coverage-build-humble.yml delete mode 100644 .github/workflows/ci-coverage-build-iron.yml delete mode 100644 .github/workflows/ci-coverage-build.yml delete mode 100644 .github/workflows/ci-format.yml delete mode 100644 .github/workflows/ci-ros-lint.yml create mode 100644 .github/workflows/humble-coverage-build.yml create mode 100644 .github/workflows/humble-pre-commit.yml create mode 100644 .github/workflows/iron-coverage-build.yml create mode 100644 .github/workflows/iron-pre-commit.yml create mode 100644 .github/workflows/rolling-coverage-build.yml create mode 100644 .github/workflows/rolling-pre-commit.yml create mode 100644 .github/workflows/update-pre-commit.yml diff --git a/.github/workflows/ci-coverage-build-humble.yml b/.github/workflows/ci-coverage-build-humble.yml deleted file mode 100644 index 0065223501..0000000000 --- a/.github/workflows/ci-coverage-build-humble.yml +++ /dev/null @@ -1,65 +0,0 @@ -name: Coverage Build - Humble -on: - workflow_dispatch: - push: - branches: - - humble - pull_request: - branches: - - humble - -jobs: - coverage: - name: coverage build - runs-on: ubuntu-22.04 - strategy: - fail-fast: false - env: - ROS_DISTRO: humble - steps: - - uses: ros-tooling/setup-ros@0.7.1 - with: - required-ros-distributions: ${{ env.ROS_DISTRO }} - - uses: actions/checkout@v4 - - uses: ros-tooling/action-ros-ci@0.3.6 - with: - target-ros2-distro: ${{ env.ROS_DISTRO }} - import-token: ${{ secrets.GITHUB_TOKEN }} - # build all packages listed here - package-name: - ackermann_steering_controller - admittance_controller - bicycle_steering_controller - diff_drive_controller - effort_controllers - force_torque_sensor_broadcaster - forward_command_controller - gripper_controllers - imu_sensor_broadcaster - joint_state_broadcaster - joint_trajectory_controller - position_controllers - range_sensor_broadcaster - steering_controllers_library - tricycle_controller - tricycle_steering_controller - velocity_controllers - - vcs-repo-file-url: | - https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} - colcon-defaults: | - { - "build": { - "mixin": ["coverage-gcc"] - } - } - colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml - - uses: codecov/codecov-action@v4.0.1 - with: - file: ros_ws/lcov/total_coverage.info - flags: unittests - name: codecov-umbrella - - uses: actions/upload-artifact@v4.3.1 - with: - name: colcon-logs-coverage-humble - path: ros_ws/log diff --git a/.github/workflows/ci-coverage-build-iron.yml b/.github/workflows/ci-coverage-build-iron.yml deleted file mode 100644 index 201a631923..0000000000 --- a/.github/workflows/ci-coverage-build-iron.yml +++ /dev/null @@ -1,65 +0,0 @@ -name: Coverage Build - Iron -on: - workflow_dispatch: - push: - branches: - - iron - pull_request: - branches: - - iron - -jobs: - coverage: - name: coverage build - runs-on: ubuntu-22.04 - strategy: - fail-fast: false - env: - ROS_DISTRO: iron - steps: - - uses: ros-tooling/setup-ros@0.7.1 - with: - required-ros-distributions: ${{ env.ROS_DISTRO }} - - uses: actions/checkout@v4 - - uses: ros-tooling/action-ros-ci@0.3.6 - with: - target-ros2-distro: ${{ env.ROS_DISTRO }} - import-token: ${{ secrets.GITHUB_TOKEN }} - # build all packages listed here - package-name: - ackermann_steering_controller - admittance_controller - bicycle_steering_controller - diff_drive_controller - effort_controllers - force_torque_sensor_broadcaster - forward_command_controller - gripper_controllers - imu_sensor_broadcaster - joint_state_broadcaster - joint_trajectory_controller - position_controllers - range_sensor_broadcaster - steering_controllers_library - tricycle_controller - tricycle_steering_controller - velocity_controllers - - vcs-repo-file-url: | - https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} - colcon-defaults: | - { - "build": { - "mixin": ["coverage-gcc"] - } - } - colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml - - uses: codecov/codecov-action@v4.0.1 - with: - file: ros_ws/lcov/total_coverage.info - flags: unittests - name: codecov-umbrella - - uses: actions/upload-artifact@v4.3.1 - with: - name: colcon-logs-coverage-iron - path: ros_ws/log diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml deleted file mode 100644 index ffda7a2066..0000000000 --- a/.github/workflows/ci-coverage-build.yml +++ /dev/null @@ -1,65 +0,0 @@ -name: Coverage Build -on: - workflow_dispatch: - push: - branches: - - master - pull_request: - branches: - - master - -jobs: - coverage: - name: coverage build - runs-on: ubuntu-22.04 - strategy: - fail-fast: false - env: - ROS_DISTRO: rolling - steps: - - uses: ros-tooling/setup-ros@0.7.1 - with: - required-ros-distributions: ${{ env.ROS_DISTRO }} - - uses: actions/checkout@v4 - - uses: ros-tooling/action-ros-ci@0.3.6 - with: - target-ros2-distro: ${{ env.ROS_DISTRO }} - import-token: ${{ secrets.GITHUB_TOKEN }} - # build all packages listed here - package-name: - ackermann_steering_controller - admittance_controller - bicycle_steering_controller - diff_drive_controller - effort_controllers - force_torque_sensor_broadcaster - forward_command_controller - gripper_controllers - imu_sensor_broadcaster - joint_state_broadcaster - joint_trajectory_controller - position_controllers - range_sensor_broadcaster - steering_controllers_library - tricycle_controller - tricycle_steering_controller - velocity_controllers - - vcs-repo-file-url: | - https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} - colcon-defaults: | - { - "build": { - "mixin": ["coverage-gcc"] - } - } - colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml - - uses: codecov/codecov-action@v4.0.1 - with: - file: ros_ws/lcov/total_coverage.info - flags: unittests - name: codecov-umbrella - - uses: actions/upload-artifact@v4.3.1 - with: - name: colcon-logs-coverage-rolling - path: ros_ws/log diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml deleted file mode 100644 index 824baf1b77..0000000000 --- a/.github/workflows/ci-format.yml +++ /dev/null @@ -1,22 +0,0 @@ -# This is a format job. Pre-commit has a first-party GitHub action, so we use -# that: https://github.com/pre-commit/action - -name: Format - -on: - pull_request: - -jobs: - pre-commit: - name: Format - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - - uses: actions/setup-python@v5.0.0 - with: - python-version: '3.10' - - name: Install system hooks - run: sudo apt install -qq clang-format-14 cppcheck - - uses: pre-commit/action@v3.0.1 - with: - extra_args: --all-files --hook-stage manual diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml deleted file mode 100644 index b95e3c36a2..0000000000 --- a/.github/workflows/ci-ros-lint.yml +++ /dev/null @@ -1,80 +0,0 @@ -name: ROS Lint -on: - pull_request: - -jobs: - ament_lint: - name: ament_${{ matrix.linter }} - runs-on: ubuntu-22.04 - strategy: - fail-fast: false - matrix: - linter: [cppcheck, copyright, lint_cmake] - env: - AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true - steps: - - uses: actions/checkout@v4 - - uses: ros-tooling/setup-ros@0.7.1 - - uses: ros-tooling/action-ros-lint@v0.1 - with: - distribution: iron - linter: ${{ matrix.linter }} - package-name: - ackermann_steering_controller - admittance_controller - bicycle_steering_controller - diff_drive_controller - effort_controllers - force_torque_sensor_broadcaster - forward_command_controller - gripper_controllers - imu_sensor_broadcaster - joint_state_broadcaster - joint_trajectory_controller - position_controllers - range_sensor_broadcaster - ros2_controllers - ros2_controllers_test_nodes - rqt_joint_trajectory_controller - steering_controllers_library - tricycle_controller - tricycle_steering_controller - velocity_controllers - - - ament_lint_100: - name: ament_${{ matrix.linter }} - runs-on: ubuntu-22.04 - strategy: - fail-fast: false - matrix: - linter: [cpplint] - steps: - - uses: actions/checkout@v4 - - uses: ros-tooling/setup-ros@master - - uses: ros-tooling/action-ros-lint@master - with: - distribution: iron - linter: cpplint - arguments: "--linelength=100 --filter=-whitespace/newline" - package-name: - ackermann_steering_controller - admittance_controller - bicycle_steering_controller - diff_drive_controller - effort_controllers - force_torque_sensor_broadcaster - forward_command_controller - gripper_controllers - imu_sensor_broadcaster - joint_state_broadcaster - joint_trajectory_controller - position_controllers - range_sensor_broadcaster - ros2_controllers - ros2_controllers_test_nodes - rqt_joint_trajectory_controller - steering_controllers_library - tricycle_controller - tricycle_steering_controller - velocity_controllers diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml new file mode 100644 index 0000000000..0910572227 --- /dev/null +++ b/.github/workflows/humble-coverage-build.yml @@ -0,0 +1,17 @@ +name: Coverage Build - Humble +on: + workflow_dispatch: + push: + branches: + - humble + pull_request: + branches: + - humble + +jobs: + coverage_humble: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master + secrets: inherit + with: + ros_distro: humble + os_name: ubuntu-22.04 diff --git a/.github/workflows/humble-pre-commit.yml b/.github/workflows/humble-pre-commit.yml new file mode 100644 index 0000000000..be8c84b05b --- /dev/null +++ b/.github/workflows/humble-pre-commit.yml @@ -0,0 +1,14 @@ +name: Pre-Commit - Humble + +on: + workflow_dispatch: + pull_request: + branches: + - humble + +jobs: + pre-commit: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master + with: + ros_distro: humble + os_name: ubuntu-22.04 diff --git a/.github/workflows/iron-coverage-build.yml b/.github/workflows/iron-coverage-build.yml new file mode 100644 index 0000000000..d82c52bf51 --- /dev/null +++ b/.github/workflows/iron-coverage-build.yml @@ -0,0 +1,17 @@ +name: Coverage Build - Iron +on: + workflow_dispatch: + push: + branches: + - iron + pull_request: + branches: + - iron + +jobs: + coverage_iron: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master + secrets: inherit + with: + ros_distro: iron + os_name: ubuntu-22.04 diff --git a/.github/workflows/iron-pre-commit.yml b/.github/workflows/iron-pre-commit.yml new file mode 100644 index 0000000000..60ad26d073 --- /dev/null +++ b/.github/workflows/iron-pre-commit.yml @@ -0,0 +1,14 @@ +name: Pre-Commit - Iron + +on: + workflow_dispatch: + pull_request: + branches: + - iron + +jobs: + pre-commit: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master + with: + ros_distro: iron + os_name: ubuntu-22.04 diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml new file mode 100644 index 0000000000..4d4750c54c --- /dev/null +++ b/.github/workflows/rolling-coverage-build.yml @@ -0,0 +1,17 @@ +name: Coverage Build - Rolling +on: + workflow_dispatch: + push: + branches: + - master + pull_request: + branches: + - master + +jobs: + coverage_rolling: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master + secrets: inherit + with: + ros_distro: rolling + os_name: ubuntu-22.04 diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml new file mode 100644 index 0000000000..9c87311bd7 --- /dev/null +++ b/.github/workflows/rolling-pre-commit.yml @@ -0,0 +1,14 @@ +name: Pre-Commit - Rolling + +on: + workflow_dispatch: + pull_request: + branches: + - master + +jobs: + pre-commit: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master + with: + ros_distro: rolling + os_name: ubuntu-22.04 diff --git a/.github/workflows/update-pre-commit.yml b/.github/workflows/update-pre-commit.yml new file mode 100644 index 0000000000..8b9545dff1 --- /dev/null +++ b/.github/workflows/update-pre-commit.yml @@ -0,0 +1,12 @@ +name: Auto Update pre-commit +# Update pre-commit config and create PR if changes are detected +# author: Christoph Fröhlich + +on: + workflow_dispatch: + schedule: + - cron: '0 0 * * 0' # Run every Sunday at midnight + +jobs: + auto_update_and_create_pr: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-update-pre-commit.yml@master diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 32d194d73d..6da427c6ee 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,3 +1,4 @@ + # To use: # # pre-commit run -a @@ -15,7 +16,7 @@ repos: # Standard hooks - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.4.0 + rev: v4.5.0 hooks: - id: check-added-large-files - id: check-ast @@ -29,57 +30,57 @@ repos: - 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: v3.3.1 + rev: v3.15.1 hooks: - id: pyupgrade args: [--py36-plus] - - repo: https://github.com/psf/black - rev: 22.12.0 - hooks: - - id: black - args: ["--line-length=99"] - # PyDocStyle - repo: https://github.com/PyCQA/pydocstyle - rev: 6.2.2 + rev: 6.3.0 hooks: - id: pydocstyle args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"] + - repo: https://github.com/psf/black + rev: 24.2.0 + hooks: + - id: black + args: ["--line-length=99"] + - repo: https://github.com/pycqa/flake8 - rev: 6.0.0 + rev: 7.0.0 hooks: - id: flake8 - args: ["--ignore=E501"] + args: ["--extend-ignore=E501"] # CPP hooks - repo: https://github.com/pre-commit/mirrors-clang-format - rev: v14.0.6 + rev: v17.0.6 hooks: - id: clang-format + args: ['-fallback-style=none', '-i'] - repo: local hooks: - id: ament_cppcheck name: ament_cppcheck description: Static code analysis of C/C++ files. - stages: [commit] - entry: ament_cppcheck + 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)$ - # Maybe use https://github.com/cpplint/cpplint instead - repo: local hooks: - id: ament_cpplint name: ament_cpplint description: Static code analysis of C/C++ files. - stages: [commit] entry: ament_cpplint language: system files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$ @@ -91,7 +92,6 @@ repos: - id: ament_lint_cmake name: ament_lint_cmake description: Check format of CMakeLists.txt files. - stages: [commit] entry: ament_lint_cmake language: system files: CMakeLists\.txt$ @@ -102,7 +102,6 @@ repos: - id: ament_copyright name: ament_copyright description: Check if copyright notice is available in all files. - stages: [commit] entry: ament_copyright language: system @@ -125,8 +124,18 @@ repos: # Spellcheck in comments and docs # skipping of *.svg files is not working... - repo: https://github.com/codespell-project/codespell - rev: v2.2.2 + rev: v2.2.6 hooks: - id: codespell - args: ['--write-changes', '--uri-ignore-words-list=ist'] + args: ['--write-changes', '--uri-ignore-words-list=ist', '-L manuel'] exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$ + + - repo: https://github.com/python-jsonschema/check-jsonschema + rev: 0.28.0 + hooks: + - id: check-github-workflows + args: ["--verbose"] + - id: check-github-actions + args: ["--verbose"] + - id: check-dependabot + args: ["--verbose"] diff --git a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py index 162977cdfe..72c11625e4 100644 --- a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py +++ b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py @@ -214,9 +214,9 @@ def restore_settings(self, plugin_settings, instance_settings): try: idx = jtc_list.index(jtc_name) jtc_combo.setCurrentIndex(idx) - except (ValueError): + except ValueError: pass - except (ValueError): + except ValueError: pass # def trigger_configuration(self): @@ -427,7 +427,7 @@ def _update_cmd_cb(self): cmd = pos try: cmd = self._joint_pos[name]["command"] - except (KeyError): + except KeyError: pass max_vel = self._robot_joint_limits[name]["max_velocity"] dur.append(max(abs(cmd - pos) / max_vel, self._min_traj_dur)) @@ -445,7 +445,7 @@ def _update_joint_widgets(self): try: joint_pos = self._joint_pos[joint_name]["position"] joint_widgets[id].setValue(joint_pos) - except (KeyError): + except KeyError: pass # Can happen when first connected to controller def _joint_widgets(self): # TODO: Cache instead of compute every time? diff --git a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/update_combo.py b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/update_combo.py index f0b632322f..6f736910e2 100644 --- a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/update_combo.py +++ b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/update_combo.py @@ -36,7 +36,7 @@ def update_combo(combo, new_vals): selected_id = -1 try: selected_id = new_vals.index(selected_val) - except (ValueError): + except ValueError: combo.setCurrentIndex(-1) # Re-populate items diff --git a/rqt_joint_trajectory_controller/setup.py b/rqt_joint_trajectory_controller/setup.py index d72a13ad45..d4248d5f7c 100644 --- a/rqt_joint_trajectory_controller/setup.py +++ b/rqt_joint_trajectory_controller/setup.py @@ -1,5 +1,19 @@ #!/usr/bin/env python +# Copyright 2024 Apache License, Version 2.0 +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + from setuptools import setup from glob import glob