Format, make CI actually fail if not formatted

.github/workflows/ci.yml

@@ -27,6 +27,7 @@ jobs:
       - name: Style Check
         run: . /home/mrover/ros2_ws/src/mrover/venv/bin/activate && cd $GITHUB_WORKSPACE/src/mrover/ && ./style.sh
       - name: Compiler Cache
+        if: github.event.pull_request.draft == false
         uses: hendrikmuhs/[email protected]
       - name: Build
         if: github.event.pull_request.draft == false

perception/object_detector/object_detector.cpp

@@ -13,12 +13,11 @@ namespace mrover {
                 {"hitcount_max", mObjMaxHitcount, 10},
                 {"model_name", mModelName, "Large-Dataset"},
                 {"model_score_threshold", mModelScoreThreshold, 0.75},
-                {"model_nms_threshold", mModelNmsThreshold, 0.5}
-		};
+                {"model_nms_threshold", mModelNmsThreshold, 0.5}};
 
         ParameterWrapper::declareParameters(this, params);
 
-		std::filesystem::path packagePath = std::filesystem::path{ament_index_cpp::get_package_prefix("mrover")} / ".." / ".." / "src" / "mrover";
+        std::filesystem::path packagePath = std::filesystem::path{ament_index_cpp::get_package_prefix("mrover")} / ".." / ".." / "src" / "mrover";
 
         RCLCPP_INFO_STREAM(get_logger(), "Opening Model " << mModelName);
 

perception/object_detector/pch.hpp

@@ -28,10 +28,10 @@
 #include <opencv2/imgproc.hpp>
 
 // Ros Client Library
+#include <ament_index_cpp/get_package_prefix.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <tf2_ros/transform_broadcaster.h>
 #include <tf2_ros/transform_listener.h>
-#include <ament_index_cpp/get_package_prefix.hpp>
 
 // Messages
 #include "sensor_msgs/image_encodings.hpp"

perception/zed_wrapper/zed_wrapper.cpp

@@ -48,8 +48,7 @@ namespace mrover {
                     {"depth_maximum_distance", mDepthMaximumDistance, 12.0},
                     {"use_builtin_visual_odom", mUseBuiltinPosTracking, false},
                     {"use_pose_smoothing", mUsePoseSmoothing, true},
-                    {"use_area_memory", mUseAreaMemory, true}
-			};
+                    {"use_area_memory", mUseAreaMemory, true}};
 
             ParameterWrapper::declareParameters(this, params);
 

style.sh

@@ -3,6 +3,9 @@
 # See: https://vaneyckt.io/posts/safer_bash_scripts_with_set_euxo_pipefail/
 set -Eeuo pipefail
 
+# Prevent globbing from failing if no files match
+shopt -s nullglob
+
 readonly RED='\033[0;31m'
 readonly NC='\033[0m'
 readonly YELLOW_BOLD='\033[1;33m'
@@ -19,7 +22,7 @@ CLANG_FORMAT_ARGS=(
 if [ $# -eq 0 ] || [ "$1" != "--fix" ]; then
   BLACK_ARGS+=("--diff") # Show difference
   BLACK_ARGS+=("--check") # Exit with non-zero code if changes are required (for CI)
-  CLANG_FORMAT_ARGS+=("--dry-run")
+  CLANG_FORMAT_ARGS+=("--dry-run" "--Werror") # Don't modify, exit with non-zero code if changes are required
 fi
 
 function print_update_error() {
@@ -51,18 +54,11 @@ 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
+readonly CPP_FILES=(
+  ./{perception,lie,esw,simulator}/**/*.{cpp,hpp,h,cu,cuh}
 )
-
 echo "Style checking C++ ..."
-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
+"${CLANG_FORMAT_PATH}" "${CLANG_FORMAT_ARGS[@]}" -i "${CPP_FILES[@]}"
 echo "Done"
 
 # Add new directories with Python code here: