From eaddd45ee0f2f8ec7f9232dc0af3be3c5e5583ed Mon Sep 17 00:00:00 2001
From: qhdwight <qhdwight@gmail.com>
Date: Sun, 15 Sep 2024 11:55:08 -0700
Subject: [PATCH] Update bash scripts

---
 bootstrap.sh          | 10 ++++-----
 build.sh              |  2 +-
 build_ci.sh           |  2 +-
 style.sh              | 52 +++++++++++++++++++++++++++++++++++--------
 units/units_eigen.hpp |  3 +++
 5 files changed, 53 insertions(+), 16 deletions(-)

diff --git a/bootstrap.sh b/bootstrap.sh
index 1f93a51f..e4432299 100755
--- a/bootstrap.sh
+++ b/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 git@github.com:umrover/mrover-ros2 ${CATKIN_PATH}/src/mrover
-  cd ${CATKIN_PATH}/src/mrover
+  mkdir -p "${CATKIN_PATH}"/src
+  git clone git@github.com: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}"
diff --git a/build.sh b/build.sh
index 6fc32d8e..1f640485 100755
--- a/build.sh
+++ b/build.sh
@@ -14,4 +14,4 @@ colcon build \
 	--cmake-args -G Ninja -W no-dev -DCMAKE_BUILD_TYPE=RelWithDebInfo \
 	--symlink-install \
 	--event-handlers console_direct+ \
-	$@
+	"$@"
diff --git a/build_ci.sh b/build_ci.sh
index 0fbae0bf..07d01641 100755
--- a/build_ci.sh
+++ b/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+ \
-	$@
+	"$@"
diff --git a/style.sh b/style.sh
index ae012938..ba3febf7 100755
--- a/style.sh
+++ b/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
diff --git a/units/units_eigen.hpp b/units/units_eigen.hpp
index 5b1faad7..86a51994 100644
--- a/units/units_eigen.hpp
+++ b/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>