cpplint as the code formatter (#10)

delete ros1 action managers as well

.clang-format

@@ -0,0 +1,32 @@
+# -*- yaml -*-
+
+# This file determines clang-format's style settings; for details, refer to
+# http://clang.llvm.org/docs/ClangFormatStyleOptions.html
+
+# See https://google.github.io/styleguide/cppguide.html for more info
+BasedOnStyle: Google
+
+Language: Cpp
+
+# https://clang.llvm.org/docs/ClangFormatStyleOptions.html#columnlimit
+# Maximum line with is 120 characters (default: 80)
+ColumnLimit : 120
+
+# https://clang.llvm.org/docs/ClangFormatStyleOptions.html#pointeralignment
+# Align pointer to the left:
+# int* a;
+DerivePointerAlignment: false
+PointerAlignment: Left
+
+# https://clang.llvm.org/docs/ClangFormatStyleOptions.html#allowshortfunctionsonasingleline
+# Compress functions onto a single line (when they fit) iff they are defined
+# inline (inside a of class) or are empty.
+AllowShortFunctionsOnASingleLine: Inline
+
+# https://clang.llvm.org/docs/ClangFormatStyleOptions.html#allowshortlambdasonasingleline
+# Compress lambdas onto a single line iff they are empty.
+AllowShortLambdasOnASingleLine: Empty
+
+# https://clang.llvm.org/docs/ClangFormatStyleOptions.html#includeblocks
+# Alphabetically sort each block of includes separately, and do not re-group.
+IncludeBlocks: Preserve

.github/workflows/cpplint.yml

@@ -0,0 +1,10 @@
+name: cpplint
+on: [push, pull_request]
+jobs:
+  cpplint:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v1
+    - uses: actions/setup-python@v1
+    - run: pip install cpplint
+    - run: cpplint --recursive .

CMakeLists.txt

@@ -33,64 +33,69 @@ pkg_check_modules(readylogpp REQUIRED readylog++)
 pkg_check_modules(parsegologpp REQUIRED parsegolog++)
 
  set(gologpp_action_pkgs
-	turtlesim
-	gpp_action_examples_interface
-	nav2_msgs
-	webots_spot_msgs
-	spot_msgs
+    turtlesim
+    gpp_action_examples_interface
+    nav2_msgs
+    webots_spot_msgs
+    spot_msgs
 )
 
 set(found_action_pkgs)
 foreach(pkg ${gologpp_action_pkgs})
-	find_package(${pkg})
-	if ("${${pkg}_FOUND}")
-		list(APPEND found_action_pkgs ${pkg})
-	endif()
+    find_package(${pkg})
+    if ("${${pkg}_FOUND}")
+        list(APPEND found_action_pkgs ${pkg})
+    endif()
 endforeach()
 
 if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX)
-	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations -Wno-placement-new")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations -Wno-placement-new")
 endif()
 
 set(BUILD_TESTS OFF CACHE BOOL "Enable gologpp tests" FORCE)
 
 link_directories(${readylogpp_LIBRARY_DIRS} ${parsegologpp_LIBRARY_DIRS} ${ECLIPSE_LIBRARY_DIRS})
 
 add_executable(gologpp_agent
-	src/agent_node.cpp
-	src/ros_backend.cpp
-	src/action_manager.cpp
-	src/exog_manager.cpp
+    src/agent_node.cpp
+    src/ros_backend.cpp
+    src/action_manager.cpp
+    src/exog_manager.cpp
 )
 ament_target_dependencies(gologpp_agent rclcpp rclcpp_action rclcpp_components builtin_interfaces tf2 tf2_ros std_msgs std_srvs geometry_msgs ${found_action_pkgs})
 target_link_libraries(gologpp_agent ${ECLIPSE_LIBRARIES})
 target_include_directories(gologpp_agent PUBLIC
-	src/
-	${readylogpp_INCLUDE_DIRS}
-	${parsegologpp_INCLUDE_DIRS}
-	${ECLIPSE_INCLUDE_DIRS}
+    src/
+    ${readylogpp_INCLUDE_DIRS}
+    ${parsegologpp_INCLUDE_DIRS}
+    ${ECLIPSE_INCLUDE_DIRS}
 )
 
 install(
-	TARGETS gologpp_agent
-	DESTINATION lib/${PROJECT_NAME}
+    TARGETS gologpp_agent
+    DESTINATION lib/${PROJECT_NAME}
 )
 
 foreach(pkg ${found_action_pkgs})
-	target_sources(gologpp_agent PRIVATE "src/actions/gpp_${pkg}.cpp")
-	target_compile_definitions(gologpp_agent PUBLIC "-D${pkg}_FOUND")
+    target_sources(gologpp_agent PRIVATE "src/actions/gpp_${pkg}.cpp")
+    target_compile_definitions(gologpp_agent PUBLIC "-D${pkg}_FOUND")
 endforeach()
 
 target_link_libraries(
-	gologpp_agent
-	${readylogpp_LIBRARIES}
-	${parsegologpp_LIBRARIES}
+    gologpp_agent
+    ${readylogpp_LIBRARIES}
+    ${parsegologpp_LIBRARIES}
+)
+target_include_directories(
+    gologpp_agent
+    PRIVATE
+    include
 )
 
 target_compile_features(
-	gologpp_agent
-	PUBLIC
-	c_std_99
-	cxx_std_17
+    gologpp_agent
+    PUBLIC
+    c_std_99
+    cxx_std_17
 )
 ament_package()

CPPLINT.cfg

@@ -0,0 +1,28 @@
+# Stop searching for additional config files.
+set noparent
+
+# Disable a warning about C++ features that were not in the original
+# C++11 specification (and so might not be well-supported). Our supported
+# minimum platforms should be new enough that this warning is irrelevant.
+filter=-build/c++11
+
+# We do not care about the whitespace details of a TODO comment.  It is not
+# relevant for easy grepping, and the GSG does not specify any particular
+# whitespace style.  (We *do* care what the "TODO(username)" itself looks like
+# because GSG forces a particular style there, but that formatting is covered
+# by the readability/todo rule, which we leave enabled.)
+filter=-whitespace/todo
+
+# Don't require a copyright in each file
+filter=-legal/copyright
+
+# Must match clang-format
+linelength=120
+
+# Use `#pragma once`, not the `#ifndef FOO_H` guard.
+# https://drake.mit.edu/styleguide/cppguide.html#The__pragma_once_Guard
+filter=-build/header_guard
+filter=+build/pragma_once
+
+# Trust clang-format to enforce the correct include order.
+filter=-build/include_order

agents/spot.gpp

@@ -1,13 +1,13 @@
 action navigateTo(string target_frame, number x, number y, number yaw) {
 mapping:
-	"/trajectory" {
-		frame_id = target_frame,
+    "/trajectory" {
+        frame_id = target_frame,
         posX = x,
         posY = y,
         yaw = yaw
-	}
+    }
 }
 
 procedure main(){
-	navigateTo("test_frame", 0.0, 0.0, 0.0);
+    navigateTo("test_frame", 0.0, 0.0, 0.0);
 }

agents/test_BAT.gpp

@@ -1,94 +1,94 @@
 action navigateToFrame(string target_frame) {
 mapping:
-	"trajectoryToFrame" {
-		frame_id = target_frame
-	}
+    "trajectoryToFrame" {
+        frame_id = target_frame
+    }
 }
 
 action playSound(string audio) {
 mapping:
-	"play_audio" {
-		audio_file = audio
-	}
+    "play_audio" {
+        audio_file = audio
+    }
 }
 
 // action clear_behavior_fault(bool data) {
 // mapping:
-// 	"/clear_behavior_fault" {
+//     "/clear_behavior_fault" {
 //         data = data
-// 	}
+//     }
 // }
 
 action stop(number data) {
 mapping:
-	"/stop" {data = data}
+    "/stop" {data = data}
 }
 
 action increaseHeight() {
 mapping:
-	"body_pose_service" {
-		px = 0.0,
-		py = 0.0,
-		pz = 0.2,
-		ox = 0.0,
-		oy = 0.0,
-		oz = 0.0,
-		ow = 1.0
-	}
+    "body_pose_service" {
+        px = 0.0,
+        py = 0.0,
+        pz = 0.2,
+        ox = 0.0,
+        oy = 0.0,
+        oz = 0.0,
+        ow = 1.0
+    }
 }
 action reduceHeight() {
 mapping:
-	"body_pose_service" {
-		px = 0.0,
-		py = 0.0,
-		pz = -0.2,
-		ox = 0.0,
-		oy = 0.0,
-		oz = 0.0,
-		ow = 1.0
-	}
+    "body_pose_service" {
+        px = 0.0,
+        py = 0.0,
+        pz = -0.2,
+        ox = 0.0,
+        oy = 0.0,
+        oz = 0.0,
+        ow = 1.0
+    }
 }
 action normalPose() {
 mapping:
-	"body_pose_service" {
-		px = 0.0,
-		py = 0.0,
-		pz = 0.0,
-		ox = 0.0,
-		oy = 0.0,
-		oz = 0.0,
-		ow = 1.0
-	}
+    "body_pose_service" {
+        px = 0.0,
+        py = 0.0,
+        pz = 0.0,
+        ox = 0.0,
+        oy = 0.0,
+        oz = 0.0,
+        ow = 1.0
+    }
 }
 
 // action power_on() {
 // mapping:
-// 	"/power_on" {}
+//     "/power_on" {}
 // }
 
 // action claim() {
 // mapping:
-// 	"/claim" {}
+//     "/claim" {}
 // }
 
 // action sit() {
 // mapping:
-// 	"/sit" {}
+//     "/sit" {}
 // }
 
 // action stand() {
 // mapping:
-// 	"/stand" {}
+//     "/stand" {}
 // }
 
 
 procedure main(){
-	start(playSound("Rickroll"));
-	navigateToFrame("frame1");
-	increaseHeight();
-	navigateToFrame("frame2");
-	reduceHeight();
-	navigateToFrame("frame3");
-	normalPose();
-	navigateToFrame("frame4");
+    start(playSound("Rickroll"));
+    navigateToFrame("frame1");
+    increaseHeight();
+    navigateToFrame("frame2");
+    reduceHeight();
+    navigateToFrame("frame3");
+    normalPose();
+    navigateToFrame("frame4");
 }