linters and license

Author: alsora

.github/CODEOWNERS

@@ -1,3 +1,3 @@
 # These owners will be the default owners for everything in
 # the repo. Unless a later match takes precedence.
-* @irobot-ros @alsora
+* @irobot-ros @alsora @mauropasse

irobot_benchmark/CMakeLists.txt

@@ -39,5 +39,10 @@ install(FILES
   ${TOPOLOGY_FILES}
   DESTINATION lib/${PROJECT_NAME}/topology)
 
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 ament_package()
 

irobot_benchmark/benchmark_app_evaluation.py

@@ -1,13 +1,13 @@
- # Software License Agreement (BSD License)
- #
- #  Copyright (c) 2019, iRobot ROS
- #  All rights reserved.
- #
- #  This file is part of ros2-performance, which is released under BSD-3-Clause.
- #  You may use, distribute and modify this code under the BSD-3-Clause license.
- #
+# Software License Agreement (BSD License)
+#
+#  Copyright (c) 2019, iRobot ROS
+#  All rights reserved.
+#
+#  This file is part of ros2-performance, which is released under BSD-3-Clause.
+#  You may use, distribute and modify this code under the BSD-3-Clause license.
+#
 
-## Create a bar plots.
+# Create a bar plots.
 
 import argparse
 import matplotlib.pyplot
@@ -17,6 +17,7 @@
 import data_utils
 import plot_common
 
+
 def parse_total_latency_csv(file_path):
     '''parses a csv into a dictionary structure, given its filepath'''
 
@@ -71,7 +72,6 @@ def main(argv):
         texts.append(label)
         units.append(unit)
 
-
     for key, val in sorted(target_latency.items()):
         current_val.append(latency[key])
         target_val.append(val)
@@ -80,7 +80,6 @@ def main(argv):
         texts.append(label)
         units.append(unit)
 
-
     fig, axs = matplotlib.pyplot.subplots(1, len(current_val), figsize=(11, 3))
 
     for i in range(len(current_val)):
@@ -117,4 +116,4 @@ def main(argv):
 
 
 if __name__ == '__main__':
-    main(sys.argv[1:])
+    main(sys.argv[1:])

irobot_benchmark/package.xml

@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="2">
+<package format="3">
   <name>irobot_benchmark</name>
   <version>0.1.0</version>
   <description>Benchmark applications to test ros2 performance</description>
   <maintainer email="[email protected]">Juan Oxoby</maintainer>
+  <license>BSD 3.0</license>
   <author>Juan Oxoby</author>
-  <license>MIT</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
@@ -20,6 +20,12 @@
   <exec_depend>performance_test</exec_depend>
   <exec_depend>performance_test_factory</exec_depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_cmake_cppcheck</test_depend>
+  <test_depend>ament_cmake_cpplint</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_uncrustify</test_depend>
+  <test_depend>ament_cmake_xmllint</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

irobot_benchmark/src/irobot_benchmark.cpp

@@ -7,15 +7,16 @@
  *  You may use, distribute and modify this code under the BSD-3-Clause license.
  */
 
+#include <stdlib.h>
+#include <sys/wait.h>
+
 #include <vector>
 #include <chrono>
 #include <iostream>
 #include <fstream>
 #include <string>
-#include <stdlib.h>
-#include <sys/wait.h>
 
-#include <rclcpp/rclcpp.hpp>
+#include "rclcpp/rclcpp.hpp"
 
 #include "performance_test/communication.hpp"
 #include "performance_test/performance_node.hpp"
@@ -30,14 +31,14 @@
 using namespace std::chrono_literals;
 
 static void run_test(
-  int argc, char** argv,
-  const performance_test::Options &options,
-  const std::string &topology_json,
-  pid_t &pid,
-  const std::string &resources_output_path,
-  const std::string &events_output_path,
-  const std::string &latency_all_output_path,
-  const std::string &latency_total_output_path)
+  int argc, char ** argv,
+  const performance_test::Options & options,
+  const std::string & topology_json,
+  pid_t & pid,
+  const std::string & resources_output_path,
+  const std::string & events_output_path,
+  const std::string & latency_all_output_path,
+  const std::string & latency_total_output_path)
 {
   // Start resources logger
   performance_test::ResourceUsageLogger ru_logger(resources_output_path);
@@ -46,12 +47,18 @@ static void run_test(
 
   rclcpp::init(argc, argv);
 
-  performance_test::System ros2_system(static_cast<performance_test::ExecutorType>(options.executor));
+  performance_test::System ros2_system(
+    static_cast<performance_test::ExecutorType>(options.executor));
 
   // Get the node type from options
   auto node_type = static_cast<performance_test::NodeType>(options.node);
   // Load topology from json file
-  auto factory = performance_test::TemplateFactory(options.ipc, options.ros_params, false, "", node_type);
+  auto factory = performance_test::TemplateFactory(
+    options.ipc,
+    options.ros_params,
+    false,
+    "",
+    node_type);
 
   if (options.tracking_options.is_enabled) {
     ros2_system.enable_events_logger(events_output_path);
@@ -71,8 +78,7 @@ static void run_test(
 
   ros2_system.print_latency_all_stats();
 
-  if (options.topology_json_list.size() > 1)
-  {
+  if (options.topology_json_list.size() > 1) {
     std::cout << std::endl << "Process total:" << std::endl;
     ros2_system.print_latency_total_stats();
   }
@@ -82,18 +88,16 @@ static void run_test(
   ros2_system.save_latency_total_stats(latency_total_output_path);
 
   // Parent process: wait for children to exit and print system stats
-  if (pid != 0)
-  {
-    if (options.topology_json_list.size() > 1)
-    {
+  if (pid != 0) {
+    if (options.topology_json_list.size() > 1) {
       waitpid(getpid() + 1, &pid, 0);
     }
     std::cout << "System total:" << std::endl;
     ros2_system.print_agregate_stats(options.topology_json_list);
   }
 }
 
-int main(int argc, char** argv)
+int main(int argc, char ** argv)
 {
   auto non_ros_args = rclcpp::remove_ros_arguments(argc, argv);
   std::vector<char *> non_ros_args_c_strings;
@@ -103,7 +107,7 @@ int main(int argc, char** argv)
   int non_ros_argc = static_cast<int>(non_ros_args_c_strings.size());
   auto options = performance_test::Options(non_ros_argc, non_ros_args_c_strings.data());
 
-  std::cout<<options<<"\n"<<"Start test!"<<std::endl;
+  std::cout << options << "\n" << "Start test!" << std::endl;
 
   pid_t pid = getpid();
   size_t process_index = performance_test::fork_process(options.topology_json_list.size());
@@ -113,14 +117,14 @@ int main(int argc, char** argv)
   // Create results dir based on the topology name
   const size_t last_slash = topology_json.find_last_of("/");
   std::string topology_basename = topology_json.substr(last_slash + 1, topology_json.length());
-  std::string dir_name = topology_basename.substr(0,topology_basename.length()-5) + "_log";
+  std::string dir_name = topology_basename.substr(0, topology_basename.length() - 5) + "_log";
 
   std::string make_dir = "mkdir -p " + dir_name;
   const auto ret = system(make_dir.c_str());
   static_cast<void>(ret);
-  std::string resources_output_path     = dir_name + "/resources.txt";
-  std::string events_output_path        = dir_name + "/events.txt";
-  std::string latency_all_output_path   = dir_name + "/latency_all.txt";
+  std::string resources_output_path = dir_name + "/resources.txt";
+  std::string events_output_path = dir_name + "/events.txt";
+  std::string latency_all_output_path = dir_name + "/latency_all.txt";
   std::string latency_total_output_path = dir_name + "/latency_total.txt";
 
   run_test(

irobot_interfaces_plugin/package.xml

@@ -6,7 +6,7 @@
   <description>Default plugins for the performance test template factory</description>
   <maintainer email="[email protected]">Alberto Soragna</maintainer>
   <author>Alberto Soragna</author>
-  <license>MIT</license>
+  <license>BSD 3.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>

performance_test/include/performance_test/events_logger.hpp

@@ -16,7 +16,8 @@
 #include <chrono>
 #include <iomanip>
 
-namespace performance_test {
+namespace performance_test
+{
 
 /**
  * This class implements a synchronous writer for events.
@@ -44,14 +45,14 @@ class EventsLogger
 
   EventsLogger() = delete;
 
-  EventsLogger(const std::string& filename);
+  EventsLogger(const std::string & filename);
 
   void set_start_time(std::chrono::high_resolution_clock::time_point t)
   {
     _start_time = t;
   }
 
-  void write_event(const Event& event);
+  void write_event(const Event & event);
 
 private:
   std::chrono::high_resolution_clock::time_point _start_time;

performance_test/include/performance_test/executors.hpp

@@ -30,7 +30,7 @@ enum ExecutorType
   STATIC_SINGLE_THREADED_EXECUTOR = 2,
 };
 
-inline std::ostream &operator<<(std::ostream &os, const ExecutorType &t)
+inline std::ostream & operator<<(std::ostream & os, const ExecutorType & t)
 {
   std::string executor_name;
   switch (t) {

performance_test/include/performance_test/performance_node.hpp

@@ -25,8 +25,8 @@ class PerformanceNode : public NodeT, public PerformanceNodeBase
 {
 public:
   PerformanceNode(
-    const std::string& name,
-    const std::string& ros2_namespace = "",
+    const std::string & name,
+    const std::string & ros2_namespace = "",
     const rclcpp::NodeOptions& node_options = rclcpp::NodeOptions(),
     int executor_id = 0)
   : NodeT(name, ros2_namespace, node_options), PerformanceNodeBase(executor_id)