introduce clang format

.clang-format

@@ -0,0 +1,190 @@
+# Source: https://github.com/arduino/tooling-project-assets/tree/main/other/clang-format-configuration
+---
+AccessModifierOffset: -2
+AlignAfterOpenBracket: Align
+AlignArrayOfStructures: None
+AlignConsecutiveAssignments: None
+AlignConsecutiveBitFields: None
+AlignConsecutiveDeclarations: None
+AlignConsecutiveMacros: None
+AlignEscapedNewlines: DontAlign
+AlignOperands: Align
+AlignTrailingComments: true
+AllowAllArgumentsOnNextLine: true
+AllowAllConstructorInitializersOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: Always
+AllowShortCaseLabelsOnASingleLine: true
+AllowShortEnumsOnASingleLine: true
+AllowShortFunctionsOnASingleLine: Empty
+AllowShortIfStatementsOnASingleLine: AllIfsAndElse
+AllowShortLambdasOnASingleLine: Empty
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: No
+AttributeMacros:
+  - __capability
+BasedOnStyle: LLVM
+BinPackArguments: true
+BinPackParameters: true
+BitFieldColonSpacing: Both
+BraceWrapping:
+  AfterCaseLabel: false
+  AfterClass: false
+  AfterControlStatement: Never
+  AfterEnum: false
+  AfterFunction: false
+  AfterNamespace: false
+  AfterObjCDeclaration: false
+  AfterStruct: false
+  AfterUnion: false
+  AfterExternBlock: false
+  BeforeCatch: false
+  BeforeElse: false
+  BeforeLambdaBody: false
+  BeforeWhile: false
+  IndentBraces: false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakAfterJavaFieldAnnotations: false
+BreakBeforeBinaryOperators: NonAssignment
+BreakBeforeBraces: Attach
+BreakBeforeConceptDeclarations: false
+BreakBeforeInheritanceComma: false
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializers: BeforeColon
+BreakConstructorInitializersBeforeComma: false
+BreakInheritanceList: BeforeColon
+BreakStringLiterals: false
+ColumnLimit: 0
+CommentPragmas: ''
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+ConstructorInitializerIndentWidth: 2
+ContinuationIndentWidth: 2
+Cpp11BracedListStyle: false
+DeriveLineEnding: true
+DerivePointerAlignment: true
+DisableFormat: false
+EmptyLineAfterAccessModifier: Leave
+EmptyLineBeforeAccessModifier: Leave
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: false
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IfMacros:
+  - KJ_IF_MAYBE
+IncludeBlocks: Preserve
+IncludeCategories:
+  - Regex: '^"(llvm|llvm-c|clang|clang-c)/'
+    Priority: 2
+    SortPriority: 0
+    CaseSensitive: false
+  - Regex: '^(<|"(gtest|gmock|isl|json)/)'
+    Priority: 3
+    SortPriority: 0
+    CaseSensitive: false
+  - Regex: '.*'
+    Priority: 1
+    SortPriority: 0
+    CaseSensitive: false
+IncludeIsMainRegex: ''
+IncludeIsMainSourceRegex: ''
+IndentAccessModifiers: false
+IndentCaseBlocks: true
+IndentCaseLabels: true
+IndentExternBlock: Indent
+IndentGotoLabels: false
+IndentPPDirectives: None
+IndentRequires: true
+IndentWidth: 2
+IndentWrappedFunctionNames: false
+InsertTrailingCommas: None
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: true
+LambdaBodyIndentation: Signature
+Language: Cpp
+MacroBlockBegin: ''
+MacroBlockEnd: ''
+MaxEmptyLinesToKeep: 100000
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Auto
+ObjCBlockIndentWidth: 2
+ObjCBreakBeforeNestedBlockParam: true
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PPIndentWidth: -1
+PackConstructorInitializers: BinPack
+PenaltyBreakAssignment: 1
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 1
+PenaltyBreakFirstLessLess: 1
+PenaltyBreakOpenParenthesis: 1
+PenaltyBreakString: 1
+PenaltyBreakTemplateDeclaration: 1
+PenaltyExcessCharacter: 1
+PenaltyIndentedWhitespace: 1
+PenaltyReturnTypeOnItsOwnLine: 1
+PointerAlignment: Right
+QualifierAlignment: Leave
+ReferenceAlignment: Pointer
+ReflowComments: false
+RemoveBracesLLVM: false
+SeparateDefinitionBlocks: Leave
+ShortNamespaceLines: 0
+SortIncludes: Never
+SortJavaStaticImport: Before
+SortUsingDeclarations: false
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: false
+SpaceAroundPointerQualifiers: Default
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCaseColon: false
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeParensOptions:
+  AfterControlStatements: true
+  AfterForeachMacros: true
+  AfterFunctionDefinitionName: false
+  AfterFunctionDeclarationName: false
+  AfterIfMacros: true
+  AfterOverloadedOperator: false
+  BeforeNonEmptyParentheses: false
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceBeforeSquareBrackets: false
+SpaceInEmptyBlock: false
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles: Leave
+SpacesInCStyleCastParentheses: false
+SpacesInConditionalStatement: false
+SpacesInContainerLiterals: false
+SpacesInLineCommentPrefix:
+  Minimum: 0
+  Maximum: -1
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard: Auto
+StatementAttributeLikeMacros:
+  - Q_EMIT
+StatementMacros:
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TabWidth: 2
+UseCRLF: false
+UseTab: Never
+WhitespaceSensitiveMacros:
+  - STRINGIZE
+  - PP_STRINGIZE
+  - BOOST_PP_STRINGIZE
+  - NS_SWIFT_NAME
+  - CF_SWIFT_NAME

.github/workflows/ci.yml

@@ -22,6 +22,12 @@ jobs:
             path: repo
         - name: Install environment
           uses: ./repo/.github/actions/platformio-env
+        - name: Install clang-format
+          run: apt install -y clang-format
+        - name: Check formatting
+          run: |
+            cd repo
+            bash ci/check_formatting.sh
         - name: Build
           shell: bash
           run: |

.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "editor.formatOnSave": true,
+    "C_Cpp.clang_format_style": "file:${workspaceFolder}/.clang-format",
+    "files.insertFinalNewline": true
+}

ci/check_formatting.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+
+find . -regex '.*\.\(cpp\|hpp\|c\|h\)' -exec clang-format -dry-run -Werror -style=file:".clang-format" -i {} +
+formatting_violated=$?
+if [ $formatting_violated -eq 1 ]; then
+	exit 1
+fi

ci/src/main.cpp

@@ -18,10 +18,18 @@
 
 // Test custom transports
 #if defined(MICRO_ROS_TRANSPORT_ARDUINO_CUSTOM)
-bool platformio_transport_open(struct uxrCustomTransport * transport) {return false;};
-bool platformio_transport_close(struct uxrCustomTransport * transport) {return false;};
-size_t platformio_transport_write(struct uxrCustomTransport* transport, const uint8_t * buf, size_t len, uint8_t * err) {return 0;};
-size_t platformio_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err) {return 0;};
+bool platformio_transport_open(struct uxrCustomTransport* transport) {
+  return false;
+};
+bool platformio_transport_close(struct uxrCustomTransport* transport) {
+  return false;
+};
+size_t platformio_transport_write(struct uxrCustomTransport* transport, const uint8_t* buf, size_t len, uint8_t* err) {
+  return 0;
+};
+size_t platformio_transport_read(struct uxrCustomTransport* transport, uint8_t* buf, size_t len, int timeout, uint8_t* err) {
+  return 0;
+};
 #endif
 
 // Test extra packages
@@ -40,19 +48,26 @@ rcl_timer_t timer;
 
 #define LED_PIN 13
 
-#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
-#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){}}
+#define RCCHECK(fn) \
+  { \
+    rcl_ret_t temp_rc = fn; \
+    if ((temp_rc != RCL_RET_OK)) { error_loop(); } \
+  }
+#define RCSOFTCHECK(fn) \
+  { \
+    rcl_ret_t temp_rc = fn; \
+    if ((temp_rc != RCL_RET_OK)) {} \
+  }
 
 
-void error_loop(){
-  while(1){
+void error_loop() {
+  while (1) {
     digitalWrite(LED_PIN, !digitalRead(LED_PIN));
     delay(100);
   }
 }
 
-void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
-{
+void timer_callback(rcl_timer_t* timer, int64_t last_call_time) {
   RCLC_UNUSED(last_call_time);
   if (timer != NULL) {
     RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
@@ -77,7 +92,7 @@ void setup() {
   size_t agent_port = 8888;
 
   char ssid[] = "WIFI_SSID";
-  char psk[]= "WIFI_PSK";
+  char psk[] = "WIFI_PSK";
 
   set_microros_wifi_transports(ssid, psk, agent_ip, agent_port);
 #elif defined(MICRO_ROS_TRANSPORT_ARDUINO_ETHERNET)
@@ -95,8 +110,7 @@ void setup() {
     platformio_transport_open,
     platformio_transport_close,
     platformio_transport_write,
-    platformio_transport_read
-  );
+    platformio_transport_read);
 #else
 #error "No transport defined"
 #endif
@@ -137,4 +151,4 @@ void setup() {
 
 void loop() {
   RCSOFTCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100)));
-}
+}