Add pre-commit (#19)

husarion · Dec 27, 2023 · 78da7ca · 78da7ca
1 parent 1c36382
commit 78da7ca
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diff --git a/.dockerignore b/.dockerignore
@@ -5,4 +5,4 @@
 .dockerignore
 .gitignore
 Dockerfile.*
-README.md
+README.md
diff --git a/.github/workflows/ros-docker-image.yaml b/.github/workflows/ros-docker-image.yaml
@@ -1,37 +1,41 @@
+---
 name: Selected Docker Image Build & Push
 
 on:
   workflow_dispatch:
     inputs:
       dockerfile:
-        description: "Type Dockerfile version to build"
+        description: Type Dockerfile version to build
         required: true
-        default: "cpu"
+        default: cpu
         type: choice
         options:
           - cpu
           - desktop
           - jetson
       build_type:
-        description: "Is it a \"development\" or a \"stable\" release?"
+        description: Is it a "development" or a "stable" release?
         required: true
-        default: 'development'
+        default: development
         type: choice
         options:
           - development
           - stable
       target_distro:
-        description: "In case of \"stable\" release specify the ROS distro of the existing docker image (eg. humble)"
+        description: In case of "stable" release specify the ROS distro of the existing docker image (eg.
+          humble)
         type: string
-        default: "ardent"
+        default: ardent
       target_release:
-        description: "In case of \"stable\" release specify the version of the existing docker image (eg. 1.0.12)"
+        description: In case of "stable" release specify the version of the existing docker image (eg.
+          1.0.12)
         type: string
-        default: "0.0.0"
+        default: 0.0.0
       target_date:
-        description: "In case of \"stable\" release specify the date of the existing docker image in format YYYYMMDD (eg. 20220124)"
+        description: In case of "stable" release specify the date of the existing docker image in format
+          YYYYMMDD (eg. 20220124)
         type: string
-        default: "20131206"
+        default: '20131206'
 jobs:
   build:
     runs-on: ubuntu-latest
@@ -68,7 +72,7 @@ jobs:
         uses: husarion-ci/[email protected]
         with:
           dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
-          dockerhub_token:  ${{ secrets.DOCKERHUB_TOKEN }}
+          dockerhub_token: ${{ secrets.DOCKERHUB_TOKEN }}
           main_branch_name: ros2
           dockerfile: Dockerfile.${{ inputs.dockerfile }}
           repo_name: ${{ env.REPO_NAME }}

diff --git a/.gitignore b/.gitignore
@@ -25,4 +25,4 @@ pyenv
 Vagrantfile
 
 .vscode
-__pycache__/
+__pycache__/
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -0,0 +1,55 @@
+---
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      - id: check-merge-conflict
+      - id: trailing-whitespace
+      - id: end-of-file-fixer
+      - id: check-yaml
+      - id: check-xml
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-json
+      - id: name-tests-test
+        files: ^.*\/test\/.*$
+        args: [--pytest-test-first]
+
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.6
+    hooks:
+      - id: codespell
+        entry: codespell --ignore-words .wordlist.txt *
+
+  - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
+    rev: 0.2.3
+    hooks:
+      - id: yamlfmt
+        files: ^(?!.*compose).*$
+        args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
+
+  - repo: https://github.com/psf/black
+    rev: 23.12.0
+    hooks:
+      - id: black
+        args: [--line-length=99]
+
+  - repo: https://github.com/PyCQA/flake8
+    rev: 6.1.0
+    hooks:
+      - id: flake8
+        args: ['--ignore=E501,W503']   # ignore too long line and line break before binary operator,
+                                       # black checks it
+
+      # Docs - RestructuredText hooks
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.1
+    hooks:
+      - id: doc8
+        args: [--max-line-length=100, --ignore=D001]
+        exclude: ^.*\/CHANGELOG\.rst/.*$
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v17.0.6
+    hooks:
+      - id: clang-format
diff --git a/.wordlist.txt b/.wordlist.txt
@@ -0,0 +1 @@
+empy
diff --git a/demo/compose-cpu.yaml b/demo/compose-cpu.yaml
@@ -1,12 +1,12 @@
 services:
-        
+
   zed:
     image: husarion/zed-desktop-cpu:humble
     container_name: zed
     network_mode: host
     ipc: host
     volumes:
-      - /dev:/dev 
+      - /dev:/dev
     environment:
       - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
       - RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION:-rmw_fastrtps_cpp}
@@ -25,4 +25,4 @@ services:
       - DISPLAY=${DISPLAY:?err}
       - LIBGL_ALWAYS_SOFTWARE=1
       - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
-      - RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION:-rmw_fastrtps_cpp}
+      - RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION:-rmw_fastrtps_cpp}
diff --git a/demo/params/common.yaml b/demo/params/common.yaml
diff --git a/demo/params/zed.yaml b/demo/params/zed.yaml
@@ -1,14 +1,12 @@
-# config/zed_yaml
-# Parameters for Stereolabs ZED camera
 ---
 /**:
-    ros__parameters:
-        general:
-            camera_model: "zed"
-            camera_name: "zed" # usually overwritten by launch file
-            grab_resolution: 'HD720' # The native camera grab resolution. 'HD2K', 'HD1080', 'HD720', 'VGA', 'AUTO'
-            grab_frame_rate: 15 # ZED SDK internal grabbing rate
+  ros__parameters:
+    general:
+      camera_model: zed
+      camera_name: zed         # usually overwritten by launch file
+      grab_resolution: HD720         # The native camera grab resolution. 'HD2K', 'HD1080', 'HD720', 'VGA', 'AUTO'
+      grab_frame_rate: 15       # ZED SDK internal grabbing rate
 
-        depth:
-            min_depth: 0.3 # Min: 0.3, Max: 3.0
-            max_depth: 10. # Dynamic
+    depth:
+      min_depth: 0.3       # Min: 0.3, Max: 3.0
+      max_depth: 10.       # Dynamic
diff --git a/demo/params/zed2.yaml b/demo/params/zed2.yaml
@@ -1,15 +1,12 @@
-# config/zed2_yaml
-# Parameters for Stereolabs ZED2 camera
 ---
 /**:
-    ros__parameters:
-        general:
-            camera_model: "zed2"
-            camera_name: "zed2" # usually overwritten by launch file
-            grab_resolution: 'HD720' # The native camera grab resolution. 'HD2K', 'HD1080', 'HD720', 'VGA', 'AUTO'
-            grab_frame_rate: 30 # ZED SDK internal grabbing rate
-
-        depth:
-            min_depth: 0.2 # Min: 0.2, Max: 3.0
-            max_depth: 15.0 # Max: 40.0
+  ros__parameters:
+    general:
+      camera_model: zed2
+      camera_name: zed2         # usually overwritten by launch file
+      grab_resolution: HD720         # The native camera grab resolution. 'HD2K', 'HD1080', 'HD720', 'VGA', 'AUTO'
+      grab_frame_rate: 30       # ZED SDK internal grabbing rate
 
+    depth:
+      min_depth: 0.2       # Min: 0.2, Max: 3.0
+      max_depth: 15.0       # Max: 40.0
diff --git a/demo/params/zed2i.yaml b/demo/params/zed2i.yaml
@@ -1,15 +1,12 @@
-# config/zed2i_yaml
-# Parameters for Stereolabs zed2i camera
 ---
 /**:
-    ros__parameters:
-        general:
-            camera_model: "zed2i"
-            camera_name: "zed2i" # usually overwritten by launch file
-            grab_resolution: 'HD720' # The native camera grab resolution. 'HD2K', 'HD1080', 'HD720', 'VGA', 'AUTO'
-            grab_frame_rate: 30 # ZED SDK internal grabbing rate
-
-        depth:
-            min_depth: 0.2 # Min: 0.2, Max: 3.0
-            max_depth: 10.0 # Max: 40.0
+  ros__parameters:
+    general:
+      camera_model: zed2i
+      camera_name: zed2i         # usually overwritten by launch file
+      grab_resolution: HD720         # The native camera grab resolution. 'HD2K', 'HD1080', 'HD720', 'VGA', 'AUTO'
+      grab_frame_rate: 30       # ZED SDK internal grabbing rate
 
+    depth:
+      min_depth: 0.2       # Min: 0.2, Max: 3.0
+      max_depth: 10.0       # Max: 40.0
diff --git a/demo/params/zedm.yaml b/demo/params/zedm.yaml
@@ -1,15 +1,12 @@
-# config/zedm_yaml
-# Parameters for Stereolabs ZED mini camera
 ---
 /**:
-    ros__parameters:
-        general:
-            camera_model: "zedm"
-            camera_name: "zedm" # usually overwritten by launch file
-            grab_resolution: 'HD720' # The native camera grab resolution. 'HD2K', 'HD1080', 'HD720', 'VGA', 'AUTO'
-            grab_frame_rate: 15 # ZED SDK internal grabbing rate
-
-        depth:
-            min_depth: 0.1 # Min: 0.1, Max: 3.0
-            max_depth: 10.0 # Max: 20.0
+  ros__parameters:
+    general:
+      camera_model: zedm
+      camera_name: zedm         # usually overwritten by launch file
+      grab_resolution: HD720         # The native camera grab resolution. 'HD2K', 'HD1080', 'HD720', 'VGA', 'AUTO'
+      grab_frame_rate: 15       # ZED SDK internal grabbing rate
 
+    depth:
+      min_depth: 0.1       # Min: 0.1, Max: 3.0
+      max_depth: 10.0       # Max: 20.0
diff --git a/demo/params/zedx.yaml b/demo/params/zedx.yaml
@@ -1,27 +1,25 @@
-# config/zedx.yaml
-# Parameters for Stereolabs ZED X camera
 ---
 /**:
-    ros__parameters:
-        general:
-          camera_model: "zedx"
-          camera_name: "zedx" # usually overwritten by launch file
-          grab_resolution: 'HD1200' # The native camera grab resolution. 'HD1200', 'HD1080', 'SVGA', 'AUTO'
-          grab_frame_rate: 30 # ZED SDK internal grabbing rate (HD1200/HD1080: 60, 30, 15 - SVGA: 120, 60, 30, 15)
+  ros__parameters:
+    general:
+      camera_model: zedx
+      camera_name: zedx       # usually overwritten by launch file
+      grab_resolution: HD1200       # The native camera grab resolution. 'HD1200', 'HD1080', 'SVGA', 'AUTO'
+      grab_frame_rate: 30     # ZED SDK internal grabbing rate (HD1200/HD1080: 60, 30, 15 - SVGA: 120, 60, 30, 15)
 
-        video:
-          exposure_time: 16000 # Defines the real exposure time in microseconds. Recommended to control manual exposure (instead of `video.exposure` setting)
-          auto_exposure_time_range_min: 28 # Defines the minimum range of exposure auto control in micro seconds
-          auto_exposure_time_range_max: 30000 # Defines the maximum range of exposure auto control in micro seconds
-          exposure_compensation: 50 # Defines the Exposure-target compensation made after auto exposure. Reduces the overall illumination target by factor of F-stops. Values range is [0 - 100]. Default value is 50, i.e. no compensation applied
-          analog_gain: 1255 # Defines the real analog gain (sensor) in mDB. Range [1000-16000]. Recommended to control manual sensor gain (instead of `video.gain` setting)
-          auto_analog_gain_range_min: 1000 # Defines the minimum range of sensor gain in automatic control
-          auto_analog_gain_range_max: 16000 # Defines the maximum range of sensor gain in automatic control
-          digital_gain: 1 # Defines the real digital gain (ISP) as a factor. Range [1-256]. Recommended to control manual ISP gain (instead of `video.gain` setting)
-          auto_digital_gain_range_min: 1 # Defines the minimum range of digital ISP gain in automatic control
-          auto_digital_gain_range_max: 256 # Defines the maximum range of digital ISP gain in automatic control
-          denoising: 50 # Defines the level of denoising applied on both left and right images. Range [0-100]
+    video:
+      exposure_time: 16000     # Defines the real exposure time in microseconds. Recommended to control manual exposure (instead of `video.exposure` setting)
+      auto_exposure_time_range_min: 28     # Defines the minimum range of exposure auto control in micro seconds
+      auto_exposure_time_range_max: 30000     # Defines the maximum range of exposure auto control in micro seconds
+      exposure_compensation: 50     # Defines the Exposure-target compensation made after auto exposure. Reduces the overall illumination target by factor of F-stops. Values range is [0 - 100]. Default value is 50, i.e. no compensation applied
+      analog_gain: 1255     # Defines the real analog gain (sensor) in mDB. Range [1000-16000]. Recommended to control manual sensor gain (instead of `video.gain` setting)
+      auto_analog_gain_range_min: 1000     # Defines the minimum range of sensor gain in automatic control
+      auto_analog_gain_range_max: 16000     # Defines the maximum range of sensor gain in automatic control
+      digital_gain: 1     # Defines the real digital gain (ISP) as a factor. Range [1-256]. Recommended to control manual ISP gain (instead of `video.gain` setting)
+      auto_digital_gain_range_min: 1     # Defines the minimum range of digital ISP gain in automatic control
+      auto_digital_gain_range_max: 256     # Defines the maximum range of digital ISP gain in automatic control
+      denoising: 50     # Defines the level of denoising applied on both left and right images. Range [0-100]
 
-        depth:
-          min_depth: 0.3 # Min: 0.3, Max: 3.0
-          max_depth: 10.0 # Max: 20.0
+    depth:
+      min_depth: 0.3     # Min: 0.3, Max: 3.0
+      max_depth: 10.0     # Max: 20.0
diff --git a/demo/params/zedxm.yaml b/demo/params/zedxm.yaml
@@ -1,28 +1,25 @@
-# config/zedxm_yaml
-# Parameters for Stereolabs ZED X Mini camera
 ---
 /**:
-    ros__parameters:
-        general:
-          camera_model: "zedxm"
-          camera_name: "zedxm" # usually overwritten by launch file
-          grab_resolution: 'HD1200' # The native camera grab resolution. 'HD1200', 'HD1080', 'SVGA', 'AUTO'
-          grab_frame_rate: 30 # ZED SDK internal grabbing rate (HD1200/HD1080: 60, 30, 15 - SVGA: 120, 60, 30, 15)
+  ros__parameters:
+    general:
+      camera_model: zedxm
+      camera_name: zedxm       # usually overwritten by launch file
+      grab_resolution: HD1200       # The native camera grab resolution. 'HD1200', 'HD1080', 'SVGA', 'AUTO'
+      grab_frame_rate: 30     # ZED SDK internal grabbing rate (HD1200/HD1080: 60, 30, 15 - SVGA: 120, 60, 30, 15)
 
-        video:
-          exposure_time: 16666 # Defines the real exposure time in microseconds. Recommended to control manual exposure (instead of `video.exposure` setting)
-          auto_exposure_time_range_min: 28 # Defines the minimum range of exposure auto control in micro seconds
-          auto_exposure_time_range_max: 16666 # Defines the maximum range of exposure auto control in micro seconds
-          exposure_compensation: 50 # Defines the Exposure-target compensation made after auto exposure. Reduces the overall illumination target by factor of F-stops. Values range is [0 - 100]. Default value is 50, i.e. no compensation applied
-          analog_gain: 8000 # Defines the real analog gain (sensor) in mDB. Range [1000-16000]. Recommended to control manual sensor gain (instead of `video.gain` setting)
-          auto_analog_gain_range_min: 1000 # Defines the minimum range of sensor gain in automatic control
-          auto_analog_gain_range_max: 16000 # Defines the maximum range of sensor gain in automatic control
-          digital_gain: 128 # Defines the real digital gain (ISP) as a factor. Range [1-256]. Recommended to control manual ISP gain (instead of `video.gain` setting)
-          auto_digital_gain_range_min: 1 # Defines the minimum range of digital ISP gain in automatic control
-          auto_digital_gain_range_max: 256 # Defines the maximum range of digital ISP gain in automatic control
-          denoising: 50 # Defines the level of denoising applied on both left and right images. Range [0-100]
-
-        depth:
-          min_depth: 0.3 # Min: 0.3, Max: 3.0
-          max_depth: 10.0 # Max: 20.0
+    video:
+      exposure_time: 16666     # Defines the real exposure time in microseconds. Recommended to control manual exposure (instead of `video.exposure` setting)
+      auto_exposure_time_range_min: 28     # Defines the minimum range of exposure auto control in micro seconds
+      auto_exposure_time_range_max: 16666     # Defines the maximum range of exposure auto control in micro seconds
+      exposure_compensation: 50     # Defines the Exposure-target compensation made after auto exposure. Reduces the overall illumination target by factor of F-stops. Values range is [0 - 100]. Default value is 50, i.e. no compensation applied
+      analog_gain: 8000     # Defines the real analog gain (sensor) in mDB. Range [1000-16000]. Recommended to control manual sensor gain (instead of `video.gain` setting)
+      auto_analog_gain_range_min: 1000     # Defines the minimum range of sensor gain in automatic control
+      auto_analog_gain_range_max: 16000     # Defines the maximum range of sensor gain in automatic control
+      digital_gain: 128     # Defines the real digital gain (ISP) as a factor. Range [1-256]. Recommended to control manual ISP gain (instead of `video.gain` setting)
+      auto_digital_gain_range_min: 1     # Defines the minimum range of digital ISP gain in automatic control
+      auto_digital_gain_range_max: 256     # Defines the maximum range of digital ISP gain in automatic control
+      denoising: 50     # Defines the level of denoising applied on both left and right images. Range [0-100]
 
+    depth:
+      min_depth: 0.3     # Min: 0.3, Max: 3.0
+      max_depth: 10.0     # Max: 20.0
diff --git a/healthcheck.cpp b/healthcheck.cpp
@@ -36,7 +36,8 @@ int main(int argc, char *argv[]) {
   auto node = rclcpp::Node::make_shared("healthcheck_zed");
 
   auto sub = node->create_subscription<sensor_msgs::msg::Image>(
-      "zed/zed_node/rgb/image_rect_color", rclcpp::SensorDataQoS().keep_last(1), msg_callback);
+      "zed/zed_node/rgb/image_rect_color", rclcpp::SensorDataQoS().keep_last(1),
+      msg_callback);
 
   while (rclcpp::ok()) {
     rclcpp::spin_some(node);