Add workflow for static checks (#31)

* Add workflows for cpplint and cppcheck.

- Add GitHub workflows for static checks.
- Style changes for conformance with Google style enforced by cpplint.
- Apply exceptions / filters documented in CPPLINT.cfg.
- Changes mostly concern line length, indentation within namespaces, and terminating whitespace.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>

* Add status badges for cpplink and cppcheck. Fix badge for build.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>

.github/workflows/ccpcheck.yml

@@ -0,0 +1,21 @@
+# GitHub Action to run cppcheck
+# 
+name: cppcheck
+
+on: [push, pull_request]
+
+jobs:
+  cpplint:
+    runs-on: ubuntu-20.04
+    name: cppcheck
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+      - name: Install cppcheck
+        run: |
+          sudo apt-get update
+          sudo apt-get install cppcheck
+      - name: Run cppcheck
+        run: |
+          cppcheck --std=c++17 ./include/*.hh
+          cppcheck --std=c++17 ./src/*.cc

.github/workflows/ccplint.yml

@@ -0,0 +1,28 @@
+# GitHub Action to run cpplint
+# 
+# The cpplint configuration file is:
+# 
+#   ./CPPLINT.cfg
+#
+name: ccplint
+
+on: [push, pull_request]
+
+jobs:
+  cpplint:
+    runs-on: ubuntu-20.04
+    name: cpplint
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+      - name: Setup
+        uses: actions/setup-python@v4
+        with:
+          python-version: '3.10'
+      - name: Install cpplint
+        run: |
+          pip install cpplint
+      - name: Run cpplint
+        run: |
+          cpplint ./include/*.hh
+          cpplint ./src/*.cc

CPPLINT.cfg

@@ -0,0 +1,56 @@
+# filters
+#
+# 1. [-whitespace/braces]
+#   { should almost always be at the end of the previous line
+#
+#   Allow:
+#     bool SocketAPM::pollout(uint32_t timeout_ms)
+#     {
+# 
+#   Instead of:
+#     bool SocketAPM::pollout(uint32_t timeout_ms) {
+# 
+# 2. [-runtime/references]
+#   Is this a non-const reference? If so, make const or use a pointer
+# 
+#   Allow:
+#     void last_recv_address(const char *&ip_addr, uint16_t &port);
+# 
+#   Instead of:
+#     void last_recv_address(const char *&ip_addr, uint16_t *port);
+# 
+# 3. [-whitespace/indent]
+#     private: should be indented +1 space 
+# 
+# 4. [-whitespace/blank_line]
+#     Do not leave a blank line after "private:"  
+# 
+#   3 and 4 are to allow Gazebo Sim class formatting where each
+#   function / method must have an access specifier.
+# 
+# 
+# 5. [-whitespace/newline]
+#     An else should appear on the same line as the preceding }
+# 
+#   Allow:
+#     }
+#     else if (time > this->dataPtr->lastUpdateTime)
+#     {
+# 
+#   Instead of:
+#     } else if (time > this->dataPtr->lastUpdateTime) {
+#
+# 6. [-build/include_subdir]
+#     Include the directory when naming header files  
+# 
+#   This prevent an error when including the plugin headers as:
+#     #include "GimbalSmall2dPlugin.hh"
+# 
+# 7. [-build/c++11], [+build/c++14]
+#
+#   This is to allow headers not approved for C++11 such as <chrono> etc. 
+# 
+set noparent
+filter=-whitespace/braces,-runtime/references,-whitespace/indent,-whitespace/blank_line,-whitespace/newline,-build/include_subdir,-build/c++11,+build/c++14
+linelength=80
+root=include

README.md

@@ -1,6 +1,8 @@
 # ArduPilot Gazebo Plugin
 
-[![ubuntu-build](https://github.com/srmainwaring/ardupilot_gazebo-1/actions/workflows/ubuntu-build.yml/badge.svg)](https://github.com/srmainwaring/ardupilot_gazebo-1/actions/workflows/ubuntu-build.yml)
+[![ubuntu-build](https://github.com/ArduPilot/ardupilot_gazebo/actions/workflows/ubuntu-build.yml/badge.svg)](https://github.com/ArduPilot/ardupilot_gazebo/actions/workflows/ubuntu-build.yml)
+[![ccplint](https://github.com/ArduPilot/ardupilot_gazebo/actions/workflows/ccplint.yml/badge.svg)](https://github.com/ArduPilot/ardupilot_gazebo/actions/workflows/ccplint.yml)
+[![cppcheck](https://github.com/ArduPilot/ardupilot_gazebo/actions/workflows/ccpcheck.yml/badge.svg)](https://github.com/ArduPilot/ardupilot_gazebo/actions/workflows/ccpcheck.yml)
 
 This is the official ArduPilot plugin for [Gazebo Sim](https://gazebosim.org/home).
 It replaces the previous

include/ArduCopterIRLockPlugin.hh

@@ -15,8 +15,8 @@
  *
 */
 
-#ifndef _GAZEBO_ARDUCOPTERIRLOCK_PLUGIN_HH_
-#define _GAZEBO_ARDUCOPTERIRLOCK_PLUGIN_HH_
+#ifndef ARDUCOPTERIRLOCKPLUGIN_HH_
+#define ARDUCOPTERIRLOCKPLUGIN_HH_
 
 #include <string>
 #include <memory>
@@ -26,41 +26,43 @@
 
 namespace gazebo
 {
-  // Forward declare private class.
-  class ArduCopterIRLockPluginPrivate;
+// Forward declare private class.
+class ArduCopterIRLockPluginPrivate;
 
-  /// \brief A camera sensor plugin for fiducial detection
-  class GAZEBO_VISIBLE ArduCopterIRLockPlugin : public SensorPlugin
-  {
-    /// \brief Constructor
-    public: ArduCopterIRLockPlugin();
+/// \brief A camera sensor plugin for fiducial detection
+class GAZEBO_VISIBLE ArduCopterIRLockPlugin : public SensorPlugin
+{
+  /// \brief Constructor
+  public: ArduCopterIRLockPlugin();
+
+  /// \brief Destructor
+  public: virtual ~ArduCopterIRLockPlugin();
+
+  // Documentation Inherited.
+  public: void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
 
-    /// \brief Destructor
-    public: virtual ~ArduCopterIRLockPlugin();
+  /// \brief Callback when a new camera frame is available
+  /// \param[in] _image image data
+  /// \param[in] _width image width
+  /// \param[in] _height image height
+  /// \param[in] _depth image depth
+  /// \param[in] _format image format
+  public: virtual void OnNewFrame(const unsigned char *_image,
+      unsigned int _width, unsigned int _height, unsigned int _depth,
+      const std::string &_format);
 
-    // Documentation Inherited.
-    public: void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
+  /// \brief Publish the result
+  /// \param[in] _name Name of fiducial
+  /// \param[in] _x x position in image
+  /// \param[in] _y y position in image
+  public: virtual void Publish(const std::string &_fiducial, unsigned int _x,
+      unsigned int _y);
 
-    /// \brief Callback when a new camera frame is available
-    /// \param[in] _image image data
-    /// \param[in] _width image width
-    /// \param[in] _height image height
-    /// \param[in] _depth image depth
-    /// \param[in] _format image format
-    public: virtual void OnNewFrame(const unsigned char *_image,
-        unsigned int _width, unsigned int _height, unsigned int _depth,
-        const std::string &_format);
+  /// \internal
+  /// \brief Pointer to private data.
+  private: std::unique_ptr<ArduCopterIRLockPluginPrivate> dataPtr;
+};
 
-    /// \brief Publish the result
-    /// \param[in] _name Name of fiducial
-    /// \param[in] _x x position in image
-    /// \param[in] _y y position in image
-    public: virtual void Publish(const std::string &_fiducial, unsigned int _x,
-        unsigned int _y);
+}  // namespace gazebo
 
-    /// \internal
-    /// \brief Pointer to private data.
-    private: std::unique_ptr<ArduCopterIRLockPluginPrivate> dataPtr;
-  };
-}
-#endif
+#endif  // ARDUCOPTERIRLOCKPLUGIN_HH_