Code Release 2022

Co-authored-by: Leon B.
Co-authored-by: Dominik Brämer <[email protected]>
Co-authored-by: Lisa Dasmann <[email protected]>
Co-authored-by: Jonas Dauer <[email protected]>
Co-authored-by: Alicia Gayda <[email protected]>
Co-authored-by: Henri Gründer <[email protected]>
Co-authored-by: Mrunal Hatwar <[email protected]>
Co-authored-by: Joël Haubold <[email protected]>
Co-authored-by: Diana Kleingarn <[email protected]>
Co-authored-by: Thomas Klute <[email protected]>
Co-authored-by: Simon Koschel <[email protected]>
Co-authored-by: Aaron Larisch <[email protected]>
Co-authored-by: Mahdokht Mohammadi <[email protected]>
Co-authored-by: Arne Moos <[email protected]>
Co-authored-by: Steven Pieper <[email protected]>
Co-authored-by: Ingmar Schwarz <[email protected]>
Co-authored-by: Oliver Urbann <[email protected]>
Co-authored-by: Alexander Voß <[email protected]>

.clang-format

@@ -0,0 +1,162 @@
+# Requires clang-format>=13. If that changes, also modify .github/workflows/clang-format.sh
+---
+Language:        Cpp
+AccessModifierOffset: -2
+AlignAfterOpenBracket: DontAlign
+AlignArrayOfStructures: None
+AlignConsecutiveMacros: None
+AlignConsecutiveAssignments: None
+AlignConsecutiveBitFields: None
+AlignConsecutiveDeclarations: None
+AlignEscapedNewlines: Left
+AlignOperands:   DontAlign
+AlignTrailingComments: false
+AllowAllArgumentsOnNextLine: true
+AllowAllConstructorInitializersOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortEnumsOnASingleLine: true
+AllowShortBlocksOnASingleLine: Empty
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: Inline
+AllowShortLambdasOnASingleLine: Empty
+AllowShortIfStatementsOnASingleLine: Never
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: MultiLine
+AttributeMacros: []
+BinPackArguments: false
+BinPackParameters: false
+BraceWrapping:
+  AfterCaseLabel:  true
+  AfterClass:      true
+  AfterControlStatement: Always
+  AfterEnum:       true
+  AfterFunction:   true
+  AfterNamespace:  true
+  AfterObjCDeclaration: true
+  AfterStruct:     true
+  AfterUnion:      true
+  AfterExternBlock: true
+  BeforeCatch:     true
+  BeforeElse:      true
+  BeforeLambdaBody: true
+  BeforeWhile:     false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: NonAssignment
+BreakBeforeConceptDeclarations: true
+BreakBeforeBraces: Allman
+BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: false
+ColumnLimit:     180
+CommentPragmas:  ''
+CompactNamespaces: false
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DeriveLineEnding: false
+DerivePointerAlignment: false
+DisableFormat:   false
+EmptyLineAfterAccessModifier: Never
+EmptyLineBeforeAccessModifier: LogicalBlock
+ExperimentalAutoDetectBinPacking: false
+BasedOnStyle:    'LLVM'
+FixNamespaceComments: true
+ForEachMacros: []
+IfMacros: []
+IncludeBlocks:   Preserve
+IncludeCategories: []
+IncludeIsMainRegex: ''
+IncludeIsMainSourceRegex: ''
+IndentAccessModifiers: false
+IndentCaseLabels: false
+IndentCaseBlocks: false
+IndentGotoLabels: true
+IndentPPDirectives: None
+IndentExternBlock: AfterExternBlock
+IndentRequires:  false
+IndentWidth:     2
+IndentWrappedFunctionNames: false
+InsertTrailingCommas: None
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: true
+LambdaBodyIndentation: Signature
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 2
+NamespaceIndentation: All
+ObjCBinPackProtocolList: Auto
+ObjCBlockIndentWidth: 2
+ObjCBreakBeforeNestedBlockParam: true
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 19
+PenaltyBreakBeforeFirstCallParameter: 39
+PenaltyBreakComment: 600
+PenaltyBreakFirstLessLess: 80
+PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 20
+PenaltyExcessCharacter: 1
+PenaltyReturnTypeOnItsOwnLine: 60
+PenaltyIndentedWhitespace: 5
+PointerAlignment: Left
+PPIndentWidth:   -1
+ReferenceAlignment: Pointer
+ReflowComments:  false
+ShortNamespaceLines: 1
+SortIncludes:    Never
+SortJavaStaticImport: Before
+SortUsingDeclarations: false
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCaseColon: false
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceAroundPointerQualifiers: Default
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyBlock: false
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 1
+SpacesInAngles:  Never
+SpacesInConditionalStatement: false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInLineCommentPrefix:
+  Minimum:         1
+  Maximum:         -1
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+SpaceBeforeSquareBrackets: false
+BitFieldColonSpacing: Both
+Standard:        Latest
+StatementAttributeLikeMacros: []
+StatementMacros: []
+TabWidth:        2
+UseCRLF:         false
+UseTab:          Never
+WhitespaceSensitiveMacros:
+  - DEFINES_PARAMETERS
+  - ENUM
+  - LOADS_PARAMETERS
+  - MODULE
+  - option
+  - STREAMABLE
+  - STREAMABLE_WITH_BASE
+  - STREAMABLE_WITH_BASE_EMPTY
+  - BIGENUM
+...
+

.editorconfig

@@ -0,0 +1,9 @@
+root = true
+
+[*]
+indent_style = space
+indent_size = 2
+end_of_line = lf
+charset = utf-8
+trim_trailing_whitespace = true
+insert_final_newline = true

.github/workflows/clang-format.sh

@@ -0,0 +1,48 @@
+#!/bin/bash
+# Format all files in a git repo and output the resulting diff.
+# Should be run with a clean working directory.
+# If a git ref is provided as first argument, only format the changes between the ref and HEAD.
+# The clang-format binary can be set with git setting clangFormat.binary or environment variable CF_BINARY.
+# return values:
+#   0  formatting correct
+#   2  incorrect formatting (=non-empty diff)
+#   3  wrong version of clang-format
+
+MIN_VERSION=13
+
+# Set clang-format binary
+CF_BINARY_GIT=$(git config clangFormat.binary)
+[ -z "${CF_BINARY}" ] && CF_BINARY=${CF_BINARY_GIT:-'clang-format'}
+
+# Check version
+VERSION=$("${CF_BINARY}" --version | sed -e 's/[^0-9]*//')
+MAJ_VERSION=$(echo ${VERSION} | sed -e 's/\([0-9]*\)\.[0-9]*\.[0-9]*.*/\1/')
+if [ "${MAJ_VERSION}" -lt "${MIN_VERSION}" ]; then
+  echo >&2 "requirement clang-format>=${MIN_VERSION} not met (provided ${VERSION})"
+  exit 3
+fi
+
+# Set patterns to exclude from formatting
+[ -z ${CF_EXCLUDE} ] && CF_EXCLUDE=(
+  ':!/Util/GameController/**'
+  ':!/Util/libqxt/**'
+  ':!/Util/qtpropertybrowser/**'
+  ':!/Util/visualmesh/**'
+)
+
+if [ -n "$1" ]; then
+  echo "using ref for checking changes: origin/$1"
+  F=$(git diff --name-only "origin/$1" -- "*.cpp" "*.h" ${CF_EXCLUDE[*]})
+else
+  echo "no ref provided: checking all files"
+  F=$(git ls-files -- "*.cpp" "*.h" ${CF_EXCLUDE[*]})
+fi
+
+for f in $F; do
+  msg="$("$CF_BINARY" --style=file -i "$f" 2>&1)"
+  [[ -z "$msg" ]] || echo "$f: $msg"
+done
+
+git diff --exit-code -- . ${CF_EXCLUDE[*]} || exit 2
+
+echo "ok"

.github/workflows/formatting.yml

@@ -0,0 +1,26 @@
+name: Formatting
+
+on:
+  pull_request:
+
+jobs:
+  clang_format:
+    name: ClangFormat
+    runs-on: self-hosted
+    timeout-minutes: 10
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        fetch-depth: '0'
+    - name: Check C++ formatting
+      run: bash -l -c ".github/workflows/clang-format.sh $Env:GITHUB_BASE_REF"
+  line_endings:
+    name: Line endings
+    runs-on: self-hosted
+    timeout-minutes: 10
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        fetch-depth: '0'
+    - name: Check line endings
+      run: bash -l -c ".github/workflows/line-endings.sh $Env:GITHUB_BASE_REF"

.github/workflows/line-endings.sh

@@ -0,0 +1,33 @@
+#!/bin/bash
+# Set the line ending of all text files in a git repo to LF and output the resulting diff.
+# Should be run with a clean working directory.
+# If a git ref is provided as first argument, only touch the changed files between the ref and HEAD.
+# return values:
+#   0  line endings were correct
+#   2  incorrect line endings (=non-empty diff)
+
+# Set patterns to exclude from formatting
+[ -z ${LE_EXCLUDE} ] && LE_EXCLUDE=(
+  ':!/Util/GameController/**'
+  ':!/Util/libqxt/**'
+  ':!/Util/qtpropertybrowser/**'
+  ':!/Util/visualmesh/**'
+)
+
+if [ -n "$1" ]; then
+  echo "using ref for checking changes: origin/$1"
+  F=$(git diff --name-only "origin/$1" -- ${LE_EXCLUDE[*]})
+else
+  echo "no ref provided: checking all files"
+  F=$(git ls-files -- ${LE_EXCLUDE[*]})
+fi
+
+for f in $F; do
+  if file -bi "$f" | grep text >/dev/null; then
+    dos2unix -q "$f"
+  fi
+done
+
+git diff --exit-code -- . ${LE_EXCLUDE[*]} || exit 2
+
+echo "ok"

.github/workflows/linux.yml

@@ -0,0 +1,29 @@
+name: Build and test on Linux
+
+on:
+  pull_request:
+  push:
+    paths:
+      - '.github/workflows/**'
+      - 'CMakeLists.txt'
+      - 'CMakePresets.json'
+      - 'Config/**'
+      - '!Config/Robots/**'
+      - 'Config/Robots/Nao/**'
+      - '!Config/Overlays/**'
+      - 'Make/CMake/**'
+      - 'Make/Common/test.sh'
+      - 'Src/**'
+      - 'Util/**'
+
+jobs:
+  build_simrobot:
+    name: Build framework
+    runs-on: self-hosted
+    timeout-minutes: 60
+    steps:
+    - uses: actions/checkout@v1
+    - name: compile
+      run: bash -l -c "Make/Linux/compile.sh"
+    - name: test
+      run: bash -l -c "Make/Common/test.sh"