Merge branch 'main' into JRA/ZED-Wrapper

bootstrap.sh

@@ -50,16 +50,16 @@ echo -e "${GREY_BOLD}Using ${CATKIN_PATH} as ROS workspace${NC}"
 readonly MROVER_PATH=${CATKIN_PATH}/src/mrover
 FIRST_TIME_SETUP=false
 
-if [ ! -d ${MROVER_PATH} ]; then
+if [ ! -d "${MROVER_PATH}" ]; then
   echo -e "${GREY_BOLD}Creating ROS workspace ...${NC}"
-  mkdir -p ${CATKIN_PATH}/src
-  git clone [email protected]:umrover/mrover-ros2 ${CATKIN_PATH}/src/mrover
-  cd ${CATKIN_PATH}/src/mrover
+  mkdir -p "${CATKIN_PATH}"/src
+  git clone [email protected]:umrover/mrover-ros2 "${CATKIN_PATH}"/src/mrover
+  cd "${CATKIN_PATH}"/src/mrover
   FIRST_TIME_SETUP=true
 fi
 
 echo -e "${GREY_BOLD}Using Ansible to finish up ...${NC}"
-${MROVER_PATH}/ansible.sh dev.yml
+"${MROVER_PATH}"/ansible.sh dev.yml
 
 if [ "${FIRST_TIME_SETUP}" ]; then
   echo -e "${GREY_BOLD}All done! Welcome to MRover!${NC}"

build.sh

@@ -18,4 +18,4 @@ colcon build \
 	--cmake-args -G Ninja -W no-dev -DCMAKE_BUILD_TYPE=RelWithDebInfo \
 	--symlink-install \
 	--event-handlers console_direct+ \
-	$@
+	"$@"

build_ci.sh

@@ -14,4 +14,4 @@ colcon build \
 	--cmake-args -G Ninja -W no-dev -D CMAKE_BUILD_TYPE=Release -D MROVER_CI=ON \
 	--symlink-install \
 	--event-handlers console_direct+ \
-	$@
+	"$@"

simulator/simulator.hpp

@@ -273,7 +273,6 @@ namespace mrover {
         wgpu::Device mDevice;
         std::unique_ptr<wgpu::ErrorCallback> mErrorCallback;
         wgpu::Queue mQueue;
-        wgpu::SwapChain mSwapChain;
         wgpu::Texture mDepthTexture;
         wgpu::TextureView mDepthTextureView;
         wgpu::Texture mNormalTexture;

simulator/simulator.render.cpp

@@ -35,14 +35,15 @@ namespace mrover {
     }
 
     auto Simulator::makeFramebuffers(int width, int height) -> void {
-        wgpu::SwapChainDescriptor descriptor;
-        descriptor.usage = wgpu::TextureUsage::RenderAttachment;
-        descriptor.format = COLOR_FORMAT;
-        descriptor.width = width;
-        descriptor.height = height;
-        descriptor.presentMode = wgpu::PresentMode::Immediate;
-        mSwapChain = mDevice.createSwapChain(mSurface, descriptor);
-        if (!mSwapChain) throw std::runtime_error("Failed to create WGPU swap chain");
+        wgpu::SurfaceConfiguration surfaceConfiguration;
+        surfaceConfiguration.device = mDevice;
+        surfaceConfiguration.format = COLOR_FORMAT;
+        surfaceConfiguration.usage = wgpu::TextureUsage::RenderAttachment;
+        surfaceConfiguration.width = width;
+        surfaceConfiguration.height = height;
+        surfaceConfiguration.alphaMode = wgpu::CompositeAlphaMode::Auto;
+        surfaceConfiguration.presentMode = wgpu::PresentMode::Immediate;
+        mSurface.configure(surfaceConfiguration);
         std::tie(mNormalTexture, mNormalTextureView) = makeTextureAndView(width, height, NORMAL_FORMAT, wgpu::TextureUsage::RenderAttachment, wgpu::TextureAspect::All);
         std::tie(mDepthTexture, mDepthTextureView) = makeTextureAndView(width, height, DEPTH_FORMAT, wgpu::TextureUsage::RenderAttachment, wgpu::TextureAspect::DepthOnly);
     }
@@ -203,7 +204,9 @@ namespace mrover {
         constexpr auto WINDOW_NAME = "MRover Simulator (DEBUG BUILD, MAY BE SLOW)";
 #endif
         glfwWindowHint(GLFW_CLIENT_API, GLFW_NO_API);
-        glfwWindowHint(GLFW_RESIZABLE, GLFW_FALSE);
+        // There is still an off-by-one error on Vulkan with resizing windows and ImGui.
+        // See: https://matrix.to/#/!ZSOHTEPDbwuEgSJwYw:matrix.org
+        glfwWindowHint(GLFW_RESIZABLE, GLFW_TRUE);
         glfwWindowHint(GLFW_COCOA_RETINA_FRAMEBUFFER, GLFW_FALSE);
         mWindow = GlfwPointer<GLFWwindow, glfwCreateWindow, glfwDestroyWindow>{w, h, WINDOW_NAME, nullptr, nullptr};
         RCLCPP_INFO_STREAM(get_logger(), std::format("Created window of size: {}x{}", w, h));
@@ -258,7 +261,7 @@ namespace mrover {
         mNormalTextureView.release();
         mNormalTexture.destroy();
         mNormalTexture.release();
-        mSwapChain.release();
+        mSurface.unconfigure();
 
         makeFramebuffers(width, height);
     }
@@ -492,7 +495,7 @@ namespace mrover {
                         for (int i = 0; i < compound->getNumChildShapes(); ++i) {
                             SE3d modelInLink = btTransformToSe3(urdfPoseToBtTransform(link->collision_array.at(i)->origin));
                             SE3d modelInWorld = linkToWorld * modelInLink;
-                            auto* shape = compound->getChildShape(i);
+                            btCollisionShape* shape = compound->getChildShape(i);
                             if (auto* box = dynamic_cast<btBoxShape const*>(shape)) {
                                 btVector3 extents = box->getHalfExtentsWithoutMargin() * 2;
                                 SIM3 modelToWorld{modelInWorld, R3d{extents.x(), extents.y(), extents.z()}};
@@ -723,10 +726,20 @@ namespace mrover {
         camerasUpdate(encoder, colorAttachment, normalAttachment, depthStencilAttachment, renderPassDescriptor);
 
         if (!mIsHeadless) {
-            wgpu::TextureView nextTexture = mSwapChain.getCurrentTextureView();
-            if (!nextTexture) throw std::runtime_error("Failed to get WGPU next texture view");
-
-            colorAttachment.view = nextTexture;
+            wgpu::SurfaceTexture surfaceTexture;
+            mSurface.getCurrentTexture(&surfaceTexture);
+            if (surfaceTexture.status != wgpu::SurfaceGetCurrentTextureStatus::Success)
+                throw std::runtime_error{"Failed to get WGPU surface texture"};
+
+            wgpu::TextureViewDescriptor nextTextureViewDescriptor;
+            nextTextureViewDescriptor.format = COLOR_FORMAT;
+            nextTextureViewDescriptor.dimension = wgpu::TextureViewDimension::_2D;
+            nextTextureViewDescriptor.mipLevelCount = 1;
+            nextTextureViewDescriptor.arrayLayerCount = 1;
+            nextTextureViewDescriptor.aspect = wgpu::TextureAspect::All;
+            wgpu::TextureView nextTextureView = wgpu::Texture{surfaceTexture.texture}.createView(nextTextureViewDescriptor);
+
+            colorAttachment.view = nextTextureView;
             normalAttachment.view = mNormalTextureView;
             depthStencilAttachment.view = mDepthTextureView;
 
@@ -768,7 +781,7 @@ namespace mrover {
 
             bindGroup.release();
 
-            nextTexture.release();
+            nextTextureView.release();
         }
 
         wgpu::CommandBuffer commands = encoder.finish();
@@ -791,7 +804,7 @@ namespace mrover {
         }
 #endif
 
-        if (!mIsHeadless) mSwapChain.present();
+        if (!mIsHeadless) mSurface.present();
 
         // TODO(quintin): Remote duplicate code
         for (StereoCamera& stereoCamera: mStereoCameras) {

style.sh

@@ -28,9 +28,9 @@ function print_update_error() {
 }
 
 function find_executable() {
-  local readonly executable="$1"
-  local readonly version="$2"
-  local readonly path=$(which "${executable}")
+  local -r executable="$1"
+  local -r version="$2"
+  local -r path=$(which "${executable}")
   if [ ! -x "${path}" ]; then
     echo -e "${RED}[Error] Could not find ${executable}${NC}"
     print_update_error
@@ -44,24 +44,58 @@ function find_executable() {
 
 ## Check that all tools are installed
 
-readonly CLANG_FORMAT_PATH=$(find_executable clang-format-18 18.1.8)
+readonly CLANG_FORMAT_PATH=$(find_executable clang-format-18 18.1)
 readonly BLACK_PATH=$(find_executable black 24.8.0)
 readonly MYPY_PATH=$(find_executable mypy 1.11.2)
 
 ## Run checks
 
+# Add new directories with C++ code here:
+readonly CPP_DIRS=(
+  ./perception
+  ./lie
+  ./esw
+  ./simulator
+)
+
 echo "Style checking C++ ..."
-find ./perception ./lie ./esw ./simulator -regex '.*\.\(cpp\|hpp\|h\)' -exec "${CLANG_FORMAT_PATH}" "${CLANG_FORMAT_ARGS[@]}" -i {} \;
+readonly CPP_FILES=$(find "${CPP_DIRS[@]}" -name "*.cpp" -o -name "*.hpp" -o -name "*.h" -o -name "*.cu")
+for file in $CPP_FILES; do
+  "${CLANG_FORMAT_PATH}" "${CLANG_FORMAT_ARGS[@]}" -i "${file}"
+done
 echo "Done"
 
+# Add new directories with Python code here:
+readonly PYTHON_LINT_DIRS=(
+  ./navigation
+  ./localization
+  ./scripts
+  ./state_machine
+  ./lie
+  ./superstructure
+)
+readonly PYTHON_STYLE_DIRS=(
+  "${PYTHON_LINT_DIRS[@]}"
+  ./launch
+)
+
 echo
 echo "Style checking Python with black ..."
-"$BLACK_PATH" "${BLACK_ARGS[@]}" . --exclude=venv
+"${BLACK_PATH}" "${BLACK_ARGS[@]}" "${PYTHON_STYLE_DIRS[@]}"
 
 echo
-echo "Style checking Python with mypy ..."
-# TODO(quintin): Add other subteam folders and scripts folder
-"$MYPY_PATH" --config-file=mypy.ini --check ./navigation ./scripts
+echo "Linting Python with mypy ..."
+"${MYPY_PATH}" --config-file=mypy.ini --check "${PYTHON_LINT_DIRS[@]}"
+
+if command -v shellcheck &> /dev/null; then
+  echo
+  echo "Linting bash scripts with shellcheck ..."
+  readonly SHELL_FILES=$(find . -depth 1 -name "*.sh")
+  for file in $SHELL_FILES; do
+    # SC2155 is separate declaration and command.
+    shellcheck "${file}" --exclude=SC2155
+  done
+fi
 
 if [ $# -eq 0 ] || [ "$1" != "--fix" ]; then
   echo

units/units_eigen.hpp

@@ -1,5 +1,8 @@
 #pragma once
 
+// Including this file provides baseline compatibility with Eigen.
+// Should be able to use unit types in Eigen matrices.
+
 #include "units.hpp"
 
 #include <Eigen/Core>