Fix warnings (#69)

* Fix warnings * Fix warnings * Fix unintialized * Guard Header * Fix TODOs * Fix TODOs * Trailing whitespaces * End new line * Comma space * Else new line * Buffer lenght * Redundant blank lines * Redundant blank lines * CMake lint * Uncrustify * Uncrustify * Uncrustify * Uncrustify * Assert to Expect GTest * Updates * Fix topic define redefinition * Updates * Passing test * Uncrustify * Uncrustify * Updated pubsub test * Added CI * Comment * CMake style Co-authored-by: Your Name <[email protected]>
micro-ROS · Jul 8, 2020 · bbb3a73 · bbb3a73
1 parent 5e00c58
commit bbb3a73
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -0,0 +1,39 @@
+name: CI RMW_MicroXRCEDDS
+
+on:
+    pull_request:
+      branches: [ foxy ]
+
+jobs:
+
+    rmw_microxrcedds_ci:
+        runs-on: ubuntu-20.04
+        container: pablogs9/microros_agent:foxy
+
+        steps:
+        - uses: actions/checkout@v2
+          with:
+            path: src/rmw-microxrcedds
+
+        - name: Download dependencies
+          run: |
+            git clone -b foxy https://github.com/eProsima/Micro-CDR src/Micro-CDR 
+            git clone -b foxy https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client 
+            git clone -b feature/foxy_migration https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds
+            touch src/rosidl_typesupport_microxrcedds/test/COLCON_IGNORE
+      
+        - name: Build
+          run: source /opt/ros/foxy/setup.bash && colcon build 
+
+        - name: Test
+          run: | 
+            source /opt/ros/foxy/setup.bash && source /uros_agent/install/local_setup.bash && ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 -v6 &
+            sleep 1 
+            source /opt/ros/foxy/setup.bash && source install/local_setup.bash 
+            cd build/rmw_microxrcedds/test
+            ./test-node
+            ./test-publisher
+            ./test-subscriber
+            ./test-topic
+            ./test-pubsub
+            ./test-rmw
diff --git a/rmw_microxrcedds_c/CMakeLists.txt b/rmw_microxrcedds_c/CMakeLists.txt
@@ -73,7 +73,7 @@ elseif(${RMW_UXRCE_TRANSPORT} STREQUAL "udp")
   elseif(${RMW_UXRCE_IPV} STREQUAL "ipv6")
     set(MICRO_XRCEDDS_IPV6 ON)
     set(RMW_UXRCE_DEFAULT_UDP_IP "::1" CACHE STRING "Sets the agent IP address.")
-  endif ()
+  endif()
   set(RMW_UXRCE_DEFAULT_UDP_PORT "8888" CACHE STRING "Sets the agent IP port.")
 elseif(${RMW_UXRCE_TRANSPORT} STREQUAL "custom_serial")
   set(MICRO_XRCEDDS_CUSTOM_SERIAL ON)
@@ -94,8 +94,7 @@ endif()
 
 # Create source files with the define
 configure_file(${PROJECT_SOURCE_DIR}/src/config.h.in
-  ${PROJECT_BINARY_DIR}/include/rmw_microxrcedds_c/config.h
-  )
+  ${PROJECT_BINARY_DIR}/include/rmw_microxrcedds_c/config.h)
 
 set(SRCS
   src/identifiers.c
@@ -136,8 +135,7 @@ set(SRCS
   )
 
 add_library(${PROJECT_NAME}
-  ${SRCS}
-  )
+  ${SRCS})
 
 target_link_libraries(${PROJECT_NAME}
   microcdr
@@ -178,8 +176,7 @@ configure_rmw_library(${PROJECT_NAME})
 target_include_directories(${PROJECT_NAME}
   PUBLIC
     $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
-    $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
-  )
+    $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>)
 
 set_target_properties(${PROJECT_NAME} PROPERTIES
   C_STANDARD
@@ -209,21 +206,17 @@ ament_export_dependencies(
 
 if(rosidl_typesupport_microxrcedds_c_FOUND)
   ament_export_dependencies(rosidl_typesupport_microxrcedds_c)
-  set(implementations
-    "c:rosidl_typesupport_c:rosidl_typesupport_microxrcedds_c"
-   )
+  set(implementations "c:rosidl_typesupport_c:rosidl_typesupport_microxrcedds_c")
 endif()
 if(rosidl_typesupport_microxrcedds_cpp_FOUND)
   ament_export_dependencies(rosidl_typesupport_microxrcedds_cpp)
   set(implementations
-    ${implementations} 
+    ${implementations}
     "cpp:rosidl_typesupport_cpp:rosidl_typesupport_microxrcedds_cpp"
   )
 endif()
 
-register_rmw_implementation(
-    ${implementations}
-    )
+register_rmw_implementation(${implementations})
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

diff --git a/rmw_microxrcedds_c/include/rmw_uros/options.h b/rmw_microxrcedds_c/include/rmw_uros/options.h
@@ -10,10 +10,10 @@
 // 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
+// limitations under the License.
 
-#ifndef RMW_MICROXRCEDDS_C__RMW_UROS_OPTIONS_H
-#define RMW_MICROXRCEDDS_C__RMW_UROS_OPTIONS_H
+#ifndef RMW_UROS__OPTIONS_H_
+#define RMW_UROS__OPTIONS_H_
 
 #include <rmw/ret_types.h>
 #include <rmw/init_options.h>
@@ -28,7 +28,9 @@
  * \return RMW_RET_OK If arguments were valid and set in rmw_init_options.
  * \return RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments.
  */
-rmw_ret_t rmw_uros_init_options(int argc, const char* const argv[], rmw_init_options_t* rmw_options);
+rmw_ret_t rmw_uros_init_options(
+  int argc, const char * const argv[],
+  rmw_init_options_t * rmw_options);
 
 /**
  * \brief Fills rmw implementation-specific options with the given parameters.
@@ -38,7 +40,7 @@ rmw_ret_t rmw_uros_init_options(int argc, const char* const argv[], rmw_init_opt
  * \return RMW_RET_OK If arguments were valid and set in rmw_init_options.
  * \return RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments.
  */
-rmw_ret_t rmw_uros_options_set_serial_device(const char* dev, rmw_init_options_t* rmw_options);
+rmw_ret_t rmw_uros_options_set_serial_device(const char * dev, rmw_init_options_t * rmw_options);
 
 /**
  * \brief Fills rmw implementation-specific options with the given parameters.
@@ -49,7 +51,9 @@ rmw_ret_t rmw_uros_options_set_serial_device(const char* dev, rmw_init_options_t
  * \return RMW_RET_OK If arguments were valid and set in rmw_init_options.
  * \return RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments.
  */
-rmw_ret_t rmw_uros_options_set_udp_address(const char* ip, const char* port, rmw_init_options_t* rmw_options);
+rmw_ret_t rmw_uros_options_set_udp_address(
+  const char * ip, const char * port,
+  rmw_init_options_t * rmw_options);
 
 /**
  * \brief Fills rmw implementation-specific options with the given parameters.
@@ -59,7 +63,7 @@ rmw_ret_t rmw_uros_options_set_udp_address(const char* ip, const char* port, rmw
  * \return RMW_RET_OK If arguments were valid and set in rmw_init_options.
  * \return RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments.
  */
-rmw_ret_t rmw_uros_options_set_client_key(uint32_t client_key, rmw_init_options_t* rmw_options);
+rmw_ret_t rmw_uros_options_set_client_key(uint32_t client_key, rmw_init_options_t * rmw_options);
 
 
-#endif // !RMW_MICROXRCEDDS_C__RMW_UROS_OPTIONS_H
+#endif  // RMW_UROS__OPTIONS_H_
diff --git a/rmw_microxrcedds_c/src/callbacks.c b/rmw_microxrcedds_c/src/callbacks.c
@@ -14,11 +14,12 @@
 
 #include "./callbacks.h"
 
-void on_status( struct uxrSession* session,
-                uxrObjectId object_id,
-                uint16_t request_id,
-                uint8_t status,
-                void* args)
+void on_status(
+  struct uxrSession * session,
+  uxrObjectId object_id,
+  uint16_t request_id,
+  uint8_t status,
+  void * args)
 {
   (void)session;
   (void)object_id;
@@ -27,33 +28,42 @@ void on_status( struct uxrSession* session,
   (void)args;
 }
 
-void on_topic(  struct uxrSession* session,
-                uxrObjectId object_id,
-                uint16_t request_id,
-                uxrStreamId stream_id,
-                struct ucdrBuffer* ub,
-                uint16_t length,
-                void* args)
+void on_topic(
+  struct uxrSession * session,
+  uxrObjectId object_id,
+  uint16_t request_id,
+  uxrStreamId stream_id,
+  struct ucdrBuffer * ub,
+  uint16_t length,
+  void * args)
 {
   (void)session;
   (void)request_id;
   (void)stream_id;
+  (void)args;
 
   struct rmw_uxrce_mempool_item_t * subscription_item = subscription_memory.allocateditems;
   while (subscription_item != NULL) {
-    rmw_uxrce_subscription_t * custom_subscription = (rmw_uxrce_subscription_t *)subscription_item->data;
+    rmw_uxrce_subscription_t * custom_subscription =
+      (rmw_uxrce_subscription_t *)subscription_item->data;
     if ((custom_subscription->datareader_id.id == object_id.id) &&
       (custom_subscription->datareader_id.type == object_id.type))
-    {       
+    {
       custom_subscription->micro_buffer_lenght[custom_subscription->history_write_index] = length;
-      ucdr_deserialize_array_uint8_t(ub, custom_subscription->micro_buffer[custom_subscription->history_write_index], length);
-
-      // TODO (Pablo): Circular overlapping buffer implemented: use qos
-      if (custom_subscription->micro_buffer_in_use && custom_subscription->history_write_index == custom_subscription->history_read_index){
-        custom_subscription->history_read_index = (custom_subscription->history_read_index + 1) % RMW_UXRCE_MAX_HISTORY;
+      ucdr_deserialize_array_uint8_t(
+        ub,
+        custom_subscription->micro_buffer[custom_subscription->history_write_index], length);
+
+      // TODO(pablogs9): Circular overlapping buffer implemented: use qos
+      if (custom_subscription->micro_buffer_in_use &&
+        custom_subscription->history_write_index == custom_subscription->history_read_index)
+      {
+        custom_subscription->history_read_index = (custom_subscription->history_read_index + 1) %
+          RMW_UXRCE_MAX_HISTORY;
       }
 
-      custom_subscription->history_write_index = (custom_subscription->history_write_index + 1) % RMW_UXRCE_MAX_HISTORY;
+      custom_subscription->history_write_index = (custom_subscription->history_write_index + 1) %
+        RMW_UXRCE_MAX_HISTORY;
       custom_subscription->micro_buffer_in_use = true;
 
       break;
@@ -62,32 +72,41 @@ void on_topic(  struct uxrSession* session,
   }
 }
 
-void on_request(struct uxrSession* session,
-                uxrObjectId object_id,
-                uint16_t request_id,
-                SampleIdentity* sample_id,
-                struct ucdrBuffer* ub,
-                uint16_t length,
-                void* args)
+void on_request(
+  struct uxrSession * session,
+  uxrObjectId object_id,
+  uint16_t request_id,
+  SampleIdentity * sample_id,
+  struct ucdrBuffer * ub,
+  uint16_t length,
+  void * args)
 {
   (void)session;
   (void)object_id;
+  (void)args;
 
   struct rmw_uxrce_mempool_item_t * service_item = service_memory.allocateditems;
   while (service_item != NULL) {
     rmw_uxrce_service_t * custom_service = (rmw_uxrce_service_t *)service_item->data;
-    if (custom_service->request_id == request_id){
+    if (custom_service->request_id == request_id) {
       custom_service->micro_buffer_lenght[custom_service->history_write_index] = length;
-      ucdr_deserialize_array_uint8_t(ub, custom_service->micro_buffer[custom_service->history_write_index], length);
-      memcpy(&custom_service->sample_id[custom_service->history_write_index], 
-          sample_id, sizeof(SampleIdentity));
-
-      // TODO (Pablo): Circular overlapping buffer implemented: use qos
-      if (custom_service->micro_buffer_in_use && custom_service->history_write_index == custom_service->history_read_index){
-        custom_service->history_read_index = (custom_service->history_read_index + 1) % RMW_UXRCE_MAX_HISTORY;
+      ucdr_deserialize_array_uint8_t(
+        ub,
+        custom_service->micro_buffer[custom_service->history_write_index], length);
+      memcpy(
+        &custom_service->sample_id[custom_service->history_write_index],
+        sample_id, sizeof(SampleIdentity));
+
+      // TODO(pablogs9): Circular overlapping buffer implemented: use qos
+      if (custom_service->micro_buffer_in_use &&
+        custom_service->history_write_index == custom_service->history_read_index)
+      {
+        custom_service->history_read_index = (custom_service->history_read_index + 1) %
+          RMW_UXRCE_MAX_HISTORY;
       }
 
-      custom_service->history_write_index = (custom_service->history_write_index + 1) % RMW_UXRCE_MAX_HISTORY;
+      custom_service->history_write_index = (custom_service->history_write_index + 1) %
+        RMW_UXRCE_MAX_HISTORY;
       custom_service->micro_buffer_in_use = true;
 
       break;
@@ -96,36 +115,43 @@ void on_request(struct uxrSession* session,
   }
 }
 
-void on_reply(  struct uxrSession* session,
-                uxrObjectId object_id,
-                uint16_t request_id,
-                uint16_t reply_id,
-                struct ucdrBuffer* ub,
-                uint16_t length,
-                void* args)
-{ 
+void on_reply(
+  struct uxrSession * session,
+  uxrObjectId object_id,
+  uint16_t request_id,
+  uint16_t reply_id,
+  struct ucdrBuffer * ub,
+  uint16_t length,
+  void * args)
+{
   (void)session;
   (void)object_id;
+  (void)args;
 
   struct rmw_uxrce_mempool_item_t * client_item = client_memory.allocateditems;
   while (client_item != NULL) {
     rmw_uxrce_client_t * custom_client = (rmw_uxrce_client_t *)client_item->data;
-    if (custom_client->request_id == request_id)
-    { 
+    if (custom_client->request_id == request_id) {
       custom_client->micro_buffer_lenght[custom_client->history_write_index] = length;
-      ucdr_deserialize_array_uint8_t(ub, custom_client->micro_buffer[custom_client->history_write_index], length);
+      ucdr_deserialize_array_uint8_t(
+        ub,
+        custom_client->micro_buffer[custom_client->history_write_index], length);
       custom_client->reply_id[custom_client->history_write_index] = reply_id;
 
-      // TODO (Pablo): Circular overlapping buffer implemented: use qos
-      if (custom_client->micro_buffer_in_use && custom_client->history_write_index == custom_client->history_read_index){
-        custom_client->history_read_index = (custom_client->history_read_index + 1) % RMW_UXRCE_MAX_HISTORY;
+      // TODO(pablogs9): Circular overlapping buffer implemented: use qos
+      if (custom_client->micro_buffer_in_use &&
+        custom_client->history_write_index == custom_client->history_read_index)
+      {
+        custom_client->history_read_index = (custom_client->history_read_index + 1) %
+          RMW_UXRCE_MAX_HISTORY;
       }
 
-      custom_client->history_write_index = (custom_client->history_write_index + 1) % RMW_UXRCE_MAX_HISTORY;
+      custom_client->history_write_index = (custom_client->history_write_index + 1) %
+        RMW_UXRCE_MAX_HISTORY;
       custom_client->micro_buffer_in_use = true;
 
       break;
+    }
+    client_item = client_item->next;
   }
-  client_item = client_item->next;
-  }
-}
+}