diff --git a/CMakeLists.txt b/CMakeLists.txt index ea6bdf12d..2a2d59a05 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -8,12 +8,12 @@ project(ignition-physics5 VERSION 5.0.0) #============================================================================ # Find ignition-cmake #============================================================================ -find_package(ignition-cmake2 2.1.0 REQUIRED) +find_package(ignition-cmake2 2.8.0 REQUIRED) #============================================================================ # Configure the project #============================================================================ -ign_configure_project() +ign_configure_project(VERSION_SUFFIX pre1) #============================================================================ @@ -37,7 +37,7 @@ message(STATUS "\n\n-- ====== Finding Dependencies ======") # Find ignition-common ign_find_package(ignition-common4 COMPONENTS graphics profiler - REQUIRED_BY mesh dartsim tpe tpelib) + REQUIRED_BY mesh dartsim tpe tpelib bullet) set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR}) #-------------------------------------- @@ -62,7 +62,7 @@ ign_find_package(EIGEN3 REQUIRED) #-------------------------------------- # Find SDFormat for the SDF features ign_find_package(sdformat12 - REQUIRED_BY sdf dartsim tpe) + REQUIRED_BY sdf dartsim tpe bullet) #-------------------------------------- # Find dartsim for the dartsim plugin wrapper @@ -78,6 +78,13 @@ ign_find_package(DART PKGCONFIG dart PKGCONFIG_VER_COMPARISON >=) +#-------------------------------------- +# Find bullet for the bullet plugin wrapper +ign_find_package(IgnBullet + VERSION 2.87 + REQUIRED_BY bullet + PKGCONFIG bullet + PKGCONFIG_VER_COMPARISON >=) message(STATUS "-------------------------------------------\n") @@ -92,7 +99,7 @@ set(IGNITION_PHYSICS_ENGINE_INSTALL_DIR # Configure the build #============================================================================ ign_configure_build(QUIT_IF_BUILD_ERRORS - COMPONENTS sdf mesh dartsim tpe) + COMPONENTS sdf mesh dartsim tpe bullet) #============================================================================ @@ -115,3 +122,5 @@ ign_create_docs( "${IGNITION-PLUGIN_DOXYGEN_TAGFILE} = ${IGNITION-PLUGIN_API_URL}" "${IGNITION-MATH_DOXYGEN_TAGFILE} = ${IGNITION-MATH_API_URL}" ) + +file(COPY ${CMAKE_SOURCE_DIR}/tutorials/img/ DESTINATION ${CMAKE_BINARY_DIR}/doxygen/html/img/) diff --git a/Changelog.md b/Changelog.md index 8960e26a5..18f690b70 100644 --- a/Changelog.md +++ b/Changelog.md @@ -8,6 +8,15 @@ ### Ignition Physics 4.x.x (20XX-XX-XX) +### Ignition Physics 4.1.0 (2021-05-01) + +1. [TPE] Update link pose and velocity + * [Pull request #179](https://github.com/ignitionrobotics/ign-physics/pull/179) + +1. Infrastructure + * [Pull request #221](https://github.com/ignitionrobotics/ign-physics/pull/221) + * [Pull request #215](https://github.com/ignitionrobotics/ign-physics/pull/215) + ### Ignition Physics 4.0.0 (2021-03-30) 1. Remove nested models @@ -85,6 +94,20 @@ ### Ignition Physics 3.x.x (20XX-XX-XX) +### Ignition Physics 3.3.0 (2021-06-18) + +1. Fix DART deprecation warning + * [Pull request #263](https://github.com/ignitionrobotics/ign-physics/pull/263) + +1. Integrate Bullet engine + * [Pull request #208](https://github.com/ignitionrobotics/ign-physics/pull/208) + +1. Remove `tools/code_check` and update codecov + * [Pull request #257](https://github.com/ignitionrobotics/ign-physics/pull/257) + +1. [Citadel] Update tutorials + * [Pull request #204](https://github.com/ignitionrobotics/ign-physics/pull/204) + ### Ignition Physics 3.2.0 (2021-04-28) 1. Infrastructure diff --git a/bullet/CMakeLists.txt b/bullet/CMakeLists.txt new file mode 100644 index 000000000..7402946be --- /dev/null +++ b/bullet/CMakeLists.txt @@ -0,0 +1,74 @@ +# This component expresses custom features of the bullet plugin, which can +# expose native bullet data types. +ign_add_component(bullet INTERFACE + DEPENDS_ON_COMPONENTS sdf mesh + GET_TARGET_NAME features) + +link_directories(${BULLET_LIBRARY_DIRS}) +target_link_libraries(${features} INTERFACE IgnBullet::IgnBullet) + +ign_get_libsources_and_unittests(sources test_sources) + +# TODO(MXG): Think about an ign_add_plugin(~) macro for ign-cmake +set(engine_name bullet-plugin) +ign_add_component(${engine_name} + SOURCES ${sources} + DEPENDS_ON_COMPONENTS bullet + GET_TARGET_NAME bullet_plugin) + +target_link_libraries(${bullet_plugin} + PUBLIC + ${features} + ${PROJECT_LIBRARY_TARGET_NAME}-sdf + ${PROJECT_LIBRARY_TARGET_NAME}-mesh + ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER} + ignition-math${IGN_MATH_VER}::eigen3) + +# Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir +install(TARGETS ${bullet_plugin} DESTINATION ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR}) + +# The library created by `ign_add_component` includes the ign-physics version +# (i.e. libignition-physics1-name-plugin.so), but for portability, +# we also install an unversioned symlink into the same versioned folder. +set(versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${bullet_plugin}${CMAKE_SHARED_LIBRARY_SUFFIX}) +set(unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX}) +if (WIN32) + # disable MSVC inherit via dominance warning + target_compile_options(${dartsim_plugin} PUBLIC "/wd4250") + INSTALL(CODE "EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E copy + ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR}\/${versioned} + ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR}\/${unversioned})") +else() + EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned}) + INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR}) +endif() +EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned}) +INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR}) + +# Testing +ign_build_tests( + TYPE UNIT_bullet + SOURCES ${test_sources} + LIB_DEPS + ${features} + ignition-plugin${IGN_PLUGIN_VER}::loader + ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER} + ${PROJECT_LIBRARY_TARGET_NAME}-sdf + ${PROJECT_LIBRARY_TARGET_NAME}-mesh + TEST_LIST tests) + +foreach(test ${tests}) + + target_compile_definitions(${test} PRIVATE + "bullet_plugin_LIB=\"$\"" + "TEST_WORLD_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/worlds/\"" + "IGNITION_PHYSICS_RESOURCE_DIR=\"${IGNITION_PHYSICS_RESOURCE_DIR}\"") + +endforeach() + +if(TARGET UNIT_FindFeatures_TEST) + + target_compile_definitions(UNIT_FindFeatures_TEST PRIVATE + "bullet_plugin_LIB=\"$\"") + +endif() diff --git a/bullet/src/Base.hh b/bullet/src/Base.hh new file mode 100644 index 000000000..e8cd7e878 --- /dev/null +++ b/bullet/src/Base.hh @@ -0,0 +1,266 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#ifndef IGNITION_PHYSICS_BULLET_BASE_HH_ +#define IGNITION_PHYSICS_BULLET_BASE_HH_ + +#include +#include + +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +namespace ignition { +namespace physics { +namespace bullet { + +/// \brief The Info structs are used for three reasons: +/// 1) Holding extra information such as the name +/// that will be different from the underlying engine +/// 2) Wrap shared pointers to Bullet entities to use as parameters to +/// GenerateIdentity. +/// 3) Hold explicit copies of raw pointers that can be deallocated + +// TO-DO(): Consider using unique_ptrs instead of shared pointers +// for Bullet internal objects + +// Note: For Bullet library it's important the order in which the elements +// are destroyed. The current implementation relies on C++ destroying the +// elements in the opposite order stated in the structure +struct WorldInfo +{ + std::string name; + std::shared_ptr collisionConfiguration; + std::shared_ptr dispatcher; + std::shared_ptr broadphase; + std::shared_ptr solver; + std::shared_ptr world; +}; + +struct ModelInfo +{ + std::string name; + Identity world; + // cppcheck-suppress unusedStructMember + bool fixed; + math::Pose3d pose; + std::vector links = {}; +}; + +struct LinkInfo +{ + std::string name; + Identity model; + math::Pose3d pose; + math::Pose3d inertialPose; + // cppcheck-suppress unusedStructMember + double mass; + btVector3 inertia; + std::shared_ptr motionState; + std::shared_ptr collisionShape; + std::shared_ptr link; +}; + +struct CollisionInfo +{ + std::string name; + std::shared_ptr shape; + Identity link; + Identity model; + math::Pose3d pose; + // cppcheck-suppress unusedStructMember + bool isMesh; + std::shared_ptr mesh; +}; + +struct JointInfo +{ + std::string name; + // Base class for all the constraint objects, + std::shared_ptr joint; + // cppcheck-suppress unusedStructMember + std::size_t childLinkId; + // cppcheck-suppress unusedStructMember + std::size_t parentLinkId; + // cppcheck-suppress unusedStructMember + int constraintType; + ignition::math::Vector3d axis; +}; + +inline btMatrix3x3 convertMat(Eigen::Matrix3d mat) +{ + return btMatrix3x3(mat(0, 0), mat(0, 1), mat(0, 2), + mat(1, 0), mat(1, 1), mat(1, 2), + mat(2, 0), mat(2, 1), mat(2, 2)); +} + +inline btVector3 convertVec(Eigen::Vector3d vec) +{ + return btVector3(vec(0), vec(1), vec(2)); +} + +inline Eigen::Matrix3d convert(btMatrix3x3 mat) +{ + Eigen::Matrix3d val; + val << mat[0][0], mat[0][1], mat[0][2], + mat[1][0], mat[1][1], mat[1][2], + mat[2][0], mat[2][1], mat[2][2]; + return val; +} + +inline Eigen::Vector3d convert(btVector3 vec) +{ + Eigen::Vector3d val; + val << vec[0], vec[1], vec[2]; + return val; +} + +class Base : public Implements3d> +{ + public: std::size_t entityCount = 0; + + public: inline std::size_t GetNextEntity() + { + return entityCount++; + } + + public: inline Identity InitiateEngine(std::size_t /*_engineID*/) override + { + const auto id = this->GetNextEntity(); + assert(id == 0); + + return this->GenerateIdentity(0); + } + + public: inline std::size_t idToIndexInContainer(std::size_t _id) const + { + auto it = this->childIdToParentId.find(_id); + if (it != this->childIdToParentId.end()) + { + std::size_t index = 0; + for (const auto &pair : this->childIdToParentId) + { + if (pair.first == _id && pair.second == it->second) + { + return index; + } + else if (pair.second == it->second) + { + ++index; + } + } + } + // return invalid index if not found in id map + return -1; + } + + public: inline std::size_t indexInContainerToId( + const std::size_t _containerId, const std::size_t _index) const + { + std::size_t counter = 0; + auto it = this->childIdToParentId.begin(); + + while (counter <= _index && it != this->childIdToParentId.end()) + { + if (it->second == _containerId && counter == _index) + { + return it->first; + } + else if (it->second == _containerId) + { + ++counter; + } + ++it; + } + // return invalid id if entity not found + return -1; + } + + public: inline Identity AddWorld(WorldInfo _worldInfo) + { + const auto id = this->GetNextEntity(); + this->worlds[id] = std::make_shared(_worldInfo); + this->childIdToParentId.insert({id, -1}); + return this->GenerateIdentity(id, this->worlds.at(id)); + } + + public: inline Identity AddModel(std::size_t _worldId, ModelInfo _modelInfo) + { + const auto id = this->GetNextEntity(); + this->models[id] = std::make_shared(_modelInfo); + this->childIdToParentId.insert({id, _worldId}); + return this->GenerateIdentity(id, this->models.at(id)); + } + + public: inline Identity AddLink(std::size_t _modelId, LinkInfo _linkInfo) + { + const auto id = this->GetNextEntity(); + this->links[id] = std::make_shared(_linkInfo); + + auto model = this->models.at(_linkInfo.model); + model->links.push_back(id); + + this->childIdToParentId.insert({id, _modelId}); + return this->GenerateIdentity(id, this->links.at(id)); + } + public: inline Identity AddCollision( + std::size_t _linkId, CollisionInfo _collisionInfo) + { + const auto id = this->GetNextEntity(); + this->collisions[id] = std::make_shared(_collisionInfo); + this->childIdToParentId.insert({id, _linkId}); + return this->GenerateIdentity(id, this->collisions.at(id)); + } + + public: inline Identity AddJoint(JointInfo _jointInfo) + { + const auto id = this->GetNextEntity(); + this->joints[id] = std::make_shared(_jointInfo); + + return this->GenerateIdentity(id, this->joints.at(id)); + } + + public: using WorldInfoPtr = std::shared_ptr; + public: using ModelInfoPtr = std::shared_ptr; + public: using LinkInfoPtr = std::shared_ptr; + public: using CollisionInfoPtr = std::shared_ptr; + public: using JointInfoPtr = std::shared_ptr; + + public: std::unordered_map worlds; + public: std::unordered_map models; + public: std::unordered_map links; + public: std::unordered_map collisions; + public: std::unordered_map joints; + + // childIdToParentId needs to be an ordered map so this iteration proceeds + // in ascending order of the keys of that map. Do not change. + public: std::map childIdToParentId; +}; + +} // namespace bullet +} // namespace physics +} // namespace ignition + +#endif diff --git a/bullet/src/EntityManagementFeatures.cc b/bullet/src/EntityManagementFeatures.cc new file mode 100644 index 000000000..a0da6fb2a --- /dev/null +++ b/bullet/src/EntityManagementFeatures.cc @@ -0,0 +1,173 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include + +#include +#include +#include + +#include "EntityManagementFeatures.hh" +#include + +namespace ignition { +namespace physics { +namespace bullet { + +///////////////////////////////////////////////// +Identity EntityManagementFeatures::ConstructEmptyWorld( + const Identity &/*_engineID*/, const std::string &_name) +{ + // Create bullet empty multibody dynamics world + const auto collisionConfiguration = + std::make_shared(); + const auto dispatcher = + std::make_shared(collisionConfiguration.get()); + const auto broadphase = std::make_shared(); + const auto solver = + std::make_shared(); + const auto world = std::make_shared( + dispatcher.get(), broadphase.get(), solver.get(), + collisionConfiguration.get()); + + /* TO-DO(Lobotuerk): figure out what this line does*/ + world->getSolverInfo().m_globalCfm = 0; + + btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher.get()); + + return this->AddWorld( + {_name, collisionConfiguration, dispatcher, broadphase, solver, world}); +} + +///////////////////////////////////////////////// +bool EntityManagementFeatures::RemoveModel(const Identity &_modelID) +{ + // Check if the model exists + if (this->models.find(_modelID.id) == this->models.end()) + { + return false; + } + + auto worldID = this->models.at(_modelID)->world; + auto modelIndex = idToIndexInContainer(_modelID); + + return this->RemoveModelByIndex(worldID, modelIndex); +} + +bool EntityManagementFeatures::ModelRemoved( + const Identity &_modelID) const +{ + return this->models.find(_modelID) == this->models.end(); +} + +bool EntityManagementFeatures::RemoveModelByIndex( + const Identity & _worldID, std::size_t _modelIndex) +{ + // Check if the model exists + auto _modelEntity = indexInContainerToId(_worldID, _modelIndex); + if (this->models.find(_modelEntity) == this->models.end()) + { + return false; + } + + auto model = this->models.at(_modelEntity); + auto bulletWorld = this->worlds.at(model->world)->world; + + // Clean up joints, this section considers both links in the joint + // are part of the same world + auto joint_it = this->joints.begin(); + while (joint_it != this->joints.end()) + { + const auto &jointInfo = joint_it->second; + const auto &childLinkInfo = this->links[jointInfo->childLinkId]; + if (childLinkInfo->model.id == _modelIndex) + { + bulletWorld->removeConstraint(jointInfo->joint.get()); + this->childIdToParentId.erase(joint_it->first); + joint_it = this->joints.erase(joint_it); + continue; + } + joint_it++; + } + + // Clean up collisions + auto collision_it = this->collisions.begin(); + while (collision_it != this->collisions.end()) + { + const auto &collisionInfo = collision_it->second; + if (collisionInfo->model.id == _modelIndex) + { + this->childIdToParentId.erase(collision_it->first); + collision_it = this->collisions.erase(collision_it); + continue; + } + collision_it++; + } + + // Clean up links + auto it = this->links.begin(); + while (it != this->links.end()) + { + const auto &linkInfo = it->second; + + if (linkInfo->model.id == _modelIndex) + { + bulletWorld->removeRigidBody(linkInfo->link.get()); + this->childIdToParentId.erase(it->first); + it = this->links.erase(it); + continue; + } + it++; + } + + // Clean up model + this->models.erase(_modelEntity); + this->childIdToParentId.erase(_modelIndex); + + return true; +} + +bool EntityManagementFeatures::RemoveModelByName( + const Identity & _worldID, const std::string & _modelName ) +{ + // Check if there is a model with the requested name + bool found = false; + size_t entity = 0; + // We need a link to model relationship + for (const auto &model : this->models) + { + const auto &modelInfo = model.second; + if (modelInfo->name == _modelName) + { + found = true; + entity = model.first; + break; + } + } + + if (found) + { + auto modelIndex = idToIndexInContainer(entity); + return this->RemoveModelByIndex(_worldID, modelIndex); + } + + return false; +} + +} // namespace bullet +} // namespace physics +} // namespace ignition diff --git a/bullet/src/EntityManagementFeatures.hh b/bullet/src/EntityManagementFeatures.hh new file mode 100644 index 000000000..cf6e90dd7 --- /dev/null +++ b/bullet/src/EntityManagementFeatures.hh @@ -0,0 +1,65 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#ifndef IGNITION_PHYSICS_BULLET_SRC_GETENTITIESFEATURE_HH_ +#define IGNITION_PHYSICS_BULLET_SRC_GETENTITIESFEATURE_HH_ + +#include + +#include +#include +#include +#include + +#include "Base.hh" + +namespace ignition { +namespace physics { +namespace bullet { + +struct EntityManagementFeatureList : ignition::physics::FeatureList< + RemoveModelFromWorld, + ConstructEmptyWorldFeature +> { }; + +class EntityManagementFeatures : + public virtual Base, + public virtual Implements3d +{ + + // ----- Remove entities ----- + public: bool RemoveModelByIndex( + const Identity &_worldID, std::size_t _modelIndex) override; + + public: bool RemoveModelByName( + const Identity &_worldID, + const std::string &_modelName) override; + + public: bool RemoveModel(const Identity &_modelID) override; + + public: bool ModelRemoved(const Identity &_modelID) const override; + + // ----- Construct empty entities ----- + public: Identity ConstructEmptyWorld( + const Identity &_engineID, const std::string & _name) override; +}; + +} // namespace bullet +} // namespace physics +} // namespace ignition + +#endif diff --git a/bullet/src/EntityManagement_TEST.cc b/bullet/src/EntityManagement_TEST.cc new file mode 100644 index 000000000..3edcd7e6d --- /dev/null +++ b/bullet/src/EntityManagement_TEST.cc @@ -0,0 +1,57 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include + +#include + +#include + +#include + +#include "EntityManagementFeatures.hh" +#include "JointFeatures.hh" + +// ToDo(Lobotuerk): Once more tests are added into this plugin, delete line 35 +// and uncomment 31~33 adding another feature list to clear the warn. +// struct TestFeatureList : ignition::physics::FeatureList< +// ignition::physics::bullet::EntityManagementFeatureList +// > { }; + +using TestFeatureList = ignition::physics::bullet::EntityManagementFeatureList; + +TEST(EntityManagement_TEST, ConstructEmptyWorld) +{ + ignition::plugin::Loader loader; + loader.LoadLib(bullet_plugin_LIB); + + ignition::plugin::PluginPtr bullet = + loader.Instantiate("ignition::physics::bullet::Plugin"); + + auto engine = + ignition::physics::RequestEngine3d::From(bullet); + ASSERT_NE(nullptr, engine); + + auto world = engine->ConstructEmptyWorld("empty world"); + ASSERT_NE(nullptr, world); +} + +int main(int argc, char *argv[]) +{ + ::testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/bullet/src/FreeGroupFeatures.cc b/bullet/src/FreeGroupFeatures.cc new file mode 100644 index 000000000..5df46da6b --- /dev/null +++ b/bullet/src/FreeGroupFeatures.cc @@ -0,0 +1,84 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include "FreeGroupFeatures.hh" + +namespace ignition { +namespace physics { +namespace bullet { + +///////////////////////////////////////////////// +Identity FreeGroupFeatures::FindFreeGroupForModel( + const Identity &_modelID) const +{ + const auto &model = this->models.at(_modelID); + + // If there are no links at all in this model, then the FreeGroup functions + // will not work properly, so we'll just reject these cases. + if (model->links.size() == 0) + return this->GenerateInvalidId(); + + // Reject also if the model has fixed base + if (model->fixed) + return this->GenerateInvalidId(); + + return _modelID; +} + +///////////////////////////////////////////////// +Identity FreeGroupFeatures::FindFreeGroupForLink( + const Identity &_linkID) const +{ + const auto &link_it = this->links.find(_linkID); + + if (link_it != this->links.end() && link_it->second != nullptr) + return this->GenerateIdentity(_linkID.id, link_it->second); + return this->GenerateInvalidId(); +} + +///////////////////////////////////////////////// +Identity FreeGroupFeatures::GetFreeGroupRootLink( + const Identity &_groupID) const +{ + (void) _groupID; + // Todo(Lobotuerk) implement canonical links + return this->GenerateInvalidId(); +} + +///////////////////////////////////////////////// +void FreeGroupFeatures::SetFreeGroupWorldPose( + const Identity &_groupID, + const PoseType &_pose) +{ + // Convert pose + const auto poseTranslation = _pose.translation(); + const auto poseLinear = _pose.linear(); + btTransform baseTransform; + baseTransform.setOrigin(convertVec(poseTranslation)); + baseTransform.setBasis(convertMat(poseLinear)); + + // Set base transform + const auto &model = this->models.at(_groupID); + for (auto link : model->links) + { + this->links.at(link)->link->setCenterOfMassTransform(baseTransform); + } +} + +} // namespace bullet +} // namespace physics +} // namespace ignition diff --git a/bullet/src/FreeGroupFeatures.hh b/bullet/src/FreeGroupFeatures.hh new file mode 100644 index 000000000..1a4c58f4d --- /dev/null +++ b/bullet/src/FreeGroupFeatures.hh @@ -0,0 +1,55 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#ifndef IGNITION_PHYSICS_BULLET_SRC_FREEGROUPFEATURES_HH_ +#define IGNITION_PHYSICS_BULLET_SRC_FREEGROUPFEATURES_HH_ + +#include + +#include "Base.hh" + +namespace ignition { +namespace physics { +namespace bullet { + +struct FreeGroupFeatureList : ignition::physics::FeatureList< + FindFreeGroupFeature, + SetFreeGroupWorldPose +> { }; + +class FreeGroupFeatures + : public virtual Base, + public virtual Implements3d +{ + // ----- FindFreeGroupFeature ----- + Identity FindFreeGroupForModel(const Identity &_modelID) const override; + + Identity FindFreeGroupForLink(const Identity &_linkID) const override; + + Identity GetFreeGroupRootLink(const Identity &_groupID) const override; + + // ----- SetFreeGroupWorldPose ----- + void SetFreeGroupWorldPose( + const Identity &_groupID, + const PoseType &_pose) override; +}; + +} // namespace bullet +} // namespace physics +} // namespace ignition + +#endif diff --git a/bullet/src/JointFeatures.cc b/bullet/src/JointFeatures.cc new file mode 100644 index 000000000..7c1b17bf4 --- /dev/null +++ b/bullet/src/JointFeatures.cc @@ -0,0 +1,463 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include "JointFeatures.hh" + +#include +#include + +namespace ignition { +namespace physics { +namespace bullet { + +///////////////////////////////////////////////// +double JointFeatures::GetJointPosition( + const Identity &_id, const std::size_t _dof) const +{ + (void) _dof; + double result = ignition::math::NAN_D; + if (this->joints.find(_id.id) != this->joints.end()) + { + const JointInfoPtr &jointInfo = this->joints.at(_id.id); + const int jointType = jointInfo->constraintType; + // Check the type of joint and act accordignly + switch(jointInfo->constraintType) + { + case static_cast(::sdf::JointType::REVOLUTE) : + { + btHingeAccumulatedAngleConstraint* hinge = + dynamic_cast< + btHingeAccumulatedAngleConstraint*>(jointInfo->joint.get()); + if (hinge) + { + result = hinge->getAccumulatedHingeAngle(); + // result -= this->angleOffset; + } + else + { + ignerr << "Corrupted joint at index:" << _id.id << "\n"; + } + } + break; + default: + ignwarn << "Not a valid getJointPosition type: " << jointType << "\n"; + break; + } + } + return result; +} + +///////////////////////////////////////////////// +double JointFeatures::GetJointVelocity( + const Identity &_id, const std::size_t _dof) const +{ + (void) _dof; + double result = ignition::math::NAN_D; + if (this->joints.find(_id.id) != this->joints.end()) + { + const JointInfoPtr &jointInfo = this->joints.at(_id.id); + const int jointType = jointInfo->constraintType; + switch(jointInfo->constraintType) + { + case static_cast(::sdf::JointType::REVOLUTE) : + { + btHingeAccumulatedAngleConstraint* hinge = + dynamic_cast< + btHingeAccumulatedAngleConstraint*>(jointInfo->joint.get()); + if (hinge) + { + result = 0.0; + // Get the axis of the joint + btVector3 vec = + hinge->getRigidBodyA().getCenterOfMassTransform().getBasis() * + hinge->getFrameOffsetA().getBasis().getColumn(2); + + math::Vector3 globalAxis(vec[0], vec[1], vec[2]); + + if (this->links.find(jointInfo->childLinkId) != this->links.end()) + { + btRigidBody *childLink = + this->links.at(jointInfo->childLinkId)->link.get(); + btVector3 aux = childLink->getAngularVelocity(); + math::Vector3 angularVelocity(aux[0], aux[1], aux[2]); + // result += + // globalAxis.Dot(convertVec(childLink->getAngularVelocity())); + result += globalAxis.Dot(angularVelocity); + } + if (this->links.find(jointInfo->parentLinkId) != this->links.end()) + { + btRigidBody *parentLink = + this->links.at(jointInfo->parentLinkId)->link.get(); + btVector3 aux = parentLink->getAngularVelocity(); + math::Vector3 angularVelocity(aux[0], aux[1], aux[2]); + // result -= + // globalAxis.Dot(convertVec(parentLink->getAngularVelocity())); + result -= globalAxis.Dot(angularVelocity); + } + } + else + { + ignerr << "Corrupted joint at index:" << _id.id << "\n"; + } + } + break; + default: + ignwarn << "Not a valid getJointVelocity type: " << jointType << "\n"; + break; + } + } + return result; +} + +///////////////////////////////////////////////// +double JointFeatures::GetJointAcceleration( + const Identity &_id, const std::size_t _dof) const +{ + (void) _dof; + double result = ignition::math::NAN_D; + if (this->joints.find(_id.id) != this->joints.end()) + { + const JointInfoPtr &jointInfo = this->joints.at(_id.id); + const int jointType = jointInfo->constraintType; + switch(jointInfo->constraintType) + { + case static_cast(::sdf::JointType::REVOLUTE) : + { + btHingeAccumulatedAngleConstraint* hinge = + static_cast< + btHingeAccumulatedAngleConstraint*>(jointInfo->joint.get()); + if (hinge) + { + result = 0.0; + // Get the axis of the joint + btVector3 vec = + hinge->getRigidBodyA().getCenterOfMassTransform().getBasis() * + hinge->getFrameOffsetA().getBasis().getColumn(2); + + math::Vector3 globalAxis(vec[0], vec[1], vec[2]); + + if (this->links.find(jointInfo->childLinkId) != this->links.end()) + { + btRigidBody *childLink = + this->links.at(jointInfo->childLinkId)->link.get(); + btVector3 aux = childLink->getTotalTorque(); + math::Vector3 angularTorque(aux[0], aux[1], aux[2]); + const btVector3 localInertia = childLink->getLocalInertia(); + math::Vector3 angularAcceleration( + angularTorque[0]/localInertia[0], + angularTorque[1]/localInertia[1], + angularTorque[2]/localInertia[2]); + result += globalAxis.Dot(angularTorque); + } + if (this->links.find(jointInfo->parentLinkId) != this->links.end()) + { + btRigidBody *parentLink = + this->links.at(jointInfo->parentLinkId)->link.get(); + btVector3 aux = parentLink->getTotalTorque(); + math::Vector3 angularTorque(aux[0], aux[1], aux[2]); + const btVector3 localInertia = parentLink->getLocalInertia(); + math::Vector3 angularAcceleration( + angularTorque[0]/localInertia[0], + angularTorque[1]/localInertia[1], + angularTorque[2]/localInertia[2]); + result -= globalAxis.Dot(angularTorque); + } + } + else + { + ignerr << "Corrupted joint at index:" << _id.id << "\n"; + } + } + break; + default: + ignwarn << "Not a valid getJointAcceleration type: " << jointType << "\n"; + break; + } + } + return result; +} + +///////////////////////////////////////////////// +double JointFeatures::GetJointForce( + const Identity &_id, const std::size_t _dof) const +{ + (void) _dof; + double result = ignition::math::NAN_D; + if (this->joints.find(_id.id) != this->joints.end()) + { + const JointInfoPtr &jointInfo = this->joints.at(_id.id); + const int jointType = jointInfo->constraintType; + switch(jointInfo->constraintType) + { + case static_cast(::sdf::JointType::REVOLUTE) : + { + btHingeAccumulatedAngleConstraint* hinge = + static_cast< + btHingeAccumulatedAngleConstraint*>(jointInfo->joint.get()); + if (hinge) + { + result = 0.0; + // Get the axis of the joint + btVector3 vec = + hinge->getRigidBodyA().getCenterOfMassTransform().getBasis() * + hinge->getFrameOffsetA().getBasis().getColumn(2); + + math::Vector3 globalAxis(vec[0], vec[1], vec[2]); + + if (this->links.find(jointInfo->childLinkId) != this->links.end()) + { + btRigidBody *childLink = + this->links.at(jointInfo->childLinkId)->link.get(); + btVector3 aux = childLink->getTotalTorque(); + math::Vector3 angularTorque(aux[0], aux[1], aux[2]); + result += globalAxis.Dot(angularTorque); + } + if (this->links.find(jointInfo->parentLinkId) != this->links.end()) + { + btRigidBody *parentLink = + this->links.at(jointInfo->parentLinkId)->link.get(); + btVector3 aux = parentLink->getTotalTorque(); + math::Vector3 angularTorque(aux[0], aux[1], aux[2]); + result -= globalAxis.Dot(angularTorque); + } + } + else + { + ignerr << "Corrupted joint at index:" << _id.id << "\n"; + } + } + break; + default: + ignwarn << "Not a valid getJointForce type: " << jointType << "\n"; + break; + } + } + return result; +} + +///////////////////////////////////////////////// +Pose3d JointFeatures::GetJointTransform(const Identity &_id) const +{ + (void) _id; + ignwarn << "Dummy function GetJointTransform\n"; + return Pose3d(); +} + +///////////////////////////////////////////////// +void JointFeatures::SetJointPosition( + const Identity &_id, const std::size_t _dof, const double _value) +{ + (void) _id; + (void) _dof; + (void) _value; + ignwarn << "Dummy function SetJointPosition\n"; +} + +///////////////////////////////////////////////// +void JointFeatures::SetJointVelocity( + const Identity &_id, const std::size_t _dof, const double _value) +{ + (void) _id; + (void) _dof; + (void) _value; + ignwarn << "Dummy SetJointVelocity\n"; +} + +///////////////////////////////////////////////// +void JointFeatures::SetJointAcceleration( + const Identity &_id, const std::size_t _dof, const double _value) +{ + (void) _id; + (void) _dof; + (void) _value; + ignwarn << "Dummy SetJointAcceleration\n"; +} + +///////////////////////////////////////////////// +void JointFeatures::SetJointForce( + const Identity &_id, const std::size_t _dof, const double _value) +{ + (void) _dof; + + if (this->joints.find(_id.id) != this->joints.end()) + { + const JointInfoPtr &jointInfo = this->joints.at(_id.id); + const int jointType = jointInfo->constraintType; + switch(jointInfo->constraintType) + { + case static_cast(::sdf::JointType::REVOLUTE) : + { + btHingeAccumulatedAngleConstraint* hinge = + static_cast< + btHingeAccumulatedAngleConstraint*>(jointInfo->joint.get()); + if (hinge) + { + // TO-DO (blast545): Find how to address limitation caused by + // https://pybullet.org/Bullet/BulletFull/btHingeConstraint_8cpp_source.html#l00318 + // double thresholdValue = std::max(std::min(_value, 0.1), -0.1); + + // z-axis of constraint frame + btVector3 hingeAxisLocalA = + hinge->getFrameOffsetA().getBasis().getColumn(2); + btVector3 hingeAxisLocalB = + hinge->getFrameOffsetB().getBasis().getColumn(2); + + btVector3 hingeAxisWorldA = + hinge->getRigidBodyA().getWorldTransform().getBasis() * + hingeAxisLocalA; + btVector3 hingeAxisWorldB = + hinge->getRigidBodyB().getWorldTransform().getBasis() * + hingeAxisLocalB; + + btVector3 hingeTorqueA = _value * hingeAxisWorldA; + btVector3 hingeTorqueB = _value * hingeAxisWorldB; + + hinge->getRigidBodyA().applyTorque(hingeTorqueA); + hinge->getRigidBodyB().applyTorque(-hingeTorqueB); + } + } + break; + default: + ignwarn << "Not a valid setJointForce type: " << jointType << "\n"; + break; + } + } +} + +///////////////////////////////////////////////// +void JointFeatures::SetJointVelocityCommand( + const Identity &_id, const std::size_t _dof, const double _value) +{ + // Only support available for single DoF joints + (void) _dof; + const auto &jointInfo = this->joints.at(_id.id); + + // Take extra care that the value is finite + if (!std::isfinite(_value)) + { + ignerr << "Invalid joint velocity value [" << _value << "] set on joint [" + << jointInfo->name << " DOF " << _dof + << "]. The value will be ignored\n"; + return; + } + + // Check the type of joint and act accordignly + switch(jointInfo->constraintType) + { + case static_cast(::sdf::JointType::REVOLUTE) : + { + const auto &link = this->links.at(jointInfo->childLinkId)->link; + btTransform trans; + link->getMotionState()->getWorldTransform(trans); + btVector3 motion = quatRotate(trans.getRotation(), + convertVec(ignition::math::eigen3::convert(jointInfo->axis))); + btVector3 angular_vel = motion * _value; + link->setAngularVelocity(angular_vel); + } + break; + default: + ignwarn << "Not a valid setJointVelocityCommand type: " + << jointInfo->constraintType << "\n"; + break; + } +} + +///////////////////////////////////////////////// +std::size_t JointFeatures::GetJointDegreesOfFreedom(const Identity &_id) const +{ + // Degrees of freedom may need to be saved in the JointInfo struct + // Currently supporting 1DoF revolute joints and fixed joints + const JointInfoPtr &jointInfo = this->joints.at(_id.id); + if (jointInfo->constraintType == static_cast(::sdf::JointType::FIXED)) + { + return 0; + } + return 1; +} + +///////////////////////////////////////////////// +Pose3d JointFeatures::GetJointTransformFromParent(const Identity &_id) const +{ + (void) _id; + ignwarn << "Dummy get joint transform from parent\n"; + return Pose3d(); +} + +///////////////////////////////////////////////// +Pose3d JointFeatures::GetJointTransformToChild(const Identity &_id) const +{ + (void) _id; + ignwarn << "Dummy get joint transform to child\n"; + return Pose3d(); +} + +///////////////////////////////////////////////// +Identity JointFeatures::CastToFixedJoint( + const Identity &_jointID) const +{ + if (this->joints.find(_jointID.id) != this->joints.end()) + { + const JointInfoPtr &jointInfo = this->joints.at(_jointID.id); + if (jointInfo->constraintType == static_cast(::sdf::JointType::FIXED)) + { + return this->GenerateIdentity(_jointID, this->Reference(_jointID)); + } + } + return this->GenerateInvalidId(); +} + +///////////////////////////////////////////////// +Identity JointFeatures::CastToRevoluteJoint( + const Identity &_jointID) const +{ + if (this->joints.find(_jointID.id) != this->joints.end()) + { + const JointInfoPtr &jointInfo = this->joints.at(_jointID.id); + if ( + jointInfo->constraintType == static_cast(::sdf::JointType::REVOLUTE)) + { + return this->GenerateIdentity(_jointID, this->Reference(_jointID)); + } + } + return this->GenerateInvalidId(); +} + +///////////////////////////////////////////////// +AngularVector3d JointFeatures::GetRevoluteJointAxis( + const Identity &_jointID) const +{ + if (this->joints.find(_jointID.id) != this->joints.end()) + { + const JointInfoPtr &jointInfo = this->joints.at(_jointID.id); + btHingeAccumulatedAngleConstraint* hinge = + dynamic_cast(jointInfo->joint.get()); + if (hinge) + { + btVector3 vec = + hinge->getRigidBodyA().getCenterOfMassTransform().getBasis() * + hinge->getFrameOffsetA().getBasis().getColumn(2); + // math::Vector3 globalAxis(vec[0], vec[1], vec[2]); + return AngularVector3d(vec[0], vec[1], vec[2]); + } + } + ignerr << "Error getting revolute Joint axis: " << _jointID.id << " \n"; + return AngularVector3d(); +} + +} // namespace bullet +} // namespace physics +} // namespace ignition diff --git a/bullet/src/JointFeatures.hh b/bullet/src/JointFeatures.hh new file mode 100644 index 000000000..e244eef0e --- /dev/null +++ b/bullet/src/JointFeatures.hh @@ -0,0 +1,112 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#ifndef IGNITION_PHYSICS_BULLET_SRC_JOINTFEATURES_HH_ +#define IGNITION_PHYSICS_BULLET_SRC_JOINTFEATURES_HH_ + +#include + +#include +#include +#include +#include + +#include "Base.hh" + +namespace ignition { +namespace physics { +namespace bullet { + +struct JointFeatureList : FeatureList< + GetBasicJointState, + SetBasicJointState, + GetBasicJointProperties, + + GetRevoluteJointProperties, + FixedJointCast, + SetJointVelocityCommandFeature +> { }; + +class JointFeatures : + public virtual Base, + public virtual Implements3d +{ + // ----- Get Basic Joint State ----- + public: double GetJointPosition( + const Identity &_id, const std::size_t _dof) const override; + + public: double GetJointVelocity( + const Identity &_id, const std::size_t _dof) const override; + + public: double GetJointAcceleration( + const Identity &_id, const std::size_t _dof) const override; + + public: double GetJointForce( + const Identity &_id, const std::size_t _dof) const override; + + public: Pose3d GetJointTransform(const Identity &_id) const override; + + + // ----- Set Basic Joint State ----- + public: void SetJointPosition( + const Identity &_id, const std::size_t _dof, + const double _value) override; + + public: void SetJointVelocity( + const Identity &_id, const std::size_t _dof, + const double _value) override; + + public: void SetJointAcceleration( + const Identity &_id, const std::size_t _dof, + const double _value) override; + + public: void SetJointForce( + const Identity &_id, const std::size_t _dof, + const double _value) override; + + // ----- Get Basic Joint Properties ----- + public: std::size_t GetJointDegreesOfFreedom( + const Identity &_id) const override; + + public: Pose3d GetJointTransformFromParent( + const Identity &_id) const override; + + public: Pose3d GetJointTransformToChild( + const Identity &_id) const override; + + // ----- Fixed Joint ----- + public: Identity CastToFixedJoint( + const Identity &_jointID) const override; + + // ----- Revolute Joint ----- + public: Identity CastToRevoluteJoint( + const Identity &_jointID) const override; + + public: AngularVector3d GetRevoluteJointAxis( + const Identity &_jointID) const override; + + // ----- Joint Commands ----- + public: void SetJointVelocityCommand( + const Identity &_id, const std::size_t _dof, + const double _value) override; +}; + +} // namespace bullet +} // namespace physics +} // namespace ignition + +#endif diff --git a/bullet/src/KinematicsFeatures.cc b/bullet/src/KinematicsFeatures.cc new file mode 100644 index 000000000..9c73233fd --- /dev/null +++ b/bullet/src/KinematicsFeatures.cc @@ -0,0 +1,81 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include +#include "KinematicsFeatures.hh" + +namespace ignition { +namespace physics { +namespace bullet { + +///////////////////////////////////////////////// +FrameData3d KinematicsFeatures::FrameDataRelativeToWorld( + const FrameID &_id) const +{ + FrameData3d data; + + // The feature system should never send us the world ID. + if (_id.IsWorld()) + { + ignerr << "Given a FrameID belonging to the world. This should not be " + << "possible! Please report this bug!\n"; + assert(false); + return data; + } + + const auto linkID = _id.ID(); + + if (this->links.find(linkID) == this->links.end()) + { + ignerr << "Given a FrameID not belonging to a link.\n"; + return data; + } + const auto &linkInfo = this->links.at(linkID); + const auto &rigidBody = linkInfo->link; + + btTransform trans; + trans = rigidBody->getCenterOfMassTransform(); + const btVector3 pos = trans.getOrigin(); + const btMatrix3x3 mat = trans.getBasis(); + + const Eigen::Isometry3d poseIsometry = + ignition::math::eigen3::convert(linkInfo->inertialPose.Inverse()); + Eigen::Isometry3d poseIsometryBase; + poseIsometryBase.linear() = convert(mat); + poseIsometryBase.translation() = convert(pos); + poseIsometryBase = poseIsometryBase * poseIsometry; + data.pose.linear() = poseIsometryBase.linear(); + data.pose.translation() = poseIsometryBase.translation(); + + // Add base velocities + btVector3 omega = rigidBody->getAngularVelocity(); + btVector3 vel = rigidBody->getLinearVelocity(); + + data.linearVelocity = convert(vel) + ignition::math::eigen3::convert( + ignition::math::eigen3::convert(convert(omega)).Cross( + -ignition::math::eigen3::convert(data.pose).Rot() * + linkInfo->inertialPose.Pos())); + data.angularVelocity = convert(omega); + + // \todo(anyone) compute frame accelerations + + return data; +} + +} // namespace bullet +} // namespace physics +} // namespace ignition diff --git a/bullet/src/KinematicsFeatures.hh b/bullet/src/KinematicsFeatures.hh new file mode 100644 index 000000000..878a3f73b --- /dev/null +++ b/bullet/src/KinematicsFeatures.hh @@ -0,0 +1,46 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#ifndef IGNITION_PHYSICS_BULLET_SRC_KINEMATICSFEATURES_HH_ +#define IGNITION_PHYSICS_BULLET_SRC_KINEMATICSFEATURES_HH_ + +#include +#include + +#include "Base.hh" + +namespace ignition { +namespace physics { +namespace bullet { + +struct KinematicsFeatureList : ignition::physics::FeatureList< + LinkFrameSemantics +> { }; + +class KinematicsFeatures : + public virtual Base, + public virtual Implements3d +{ + public: FrameData3d FrameDataRelativeToWorld( + const FrameID &_id) const override; +}; + +} // namespace bullet +} // namespace physics +} // namespace ignition + +#endif diff --git a/bullet/src/SDFFeatures.cc b/bullet/src/SDFFeatures.cc new file mode 100644 index 000000000..7183b6056 --- /dev/null +++ b/bullet/src/SDFFeatures.cc @@ -0,0 +1,483 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include "SDFFeatures.hh" +#include +#include + +#include +#include +#include +#include +#include +#include + +#include + +namespace ignition { +namespace physics { +namespace bullet { + +///////////////////////////////////////////////// +/// \brief Resolve the pose of an SDF DOM object with respect to its relative_to +/// frame. If that fails, return the raw pose +static math::Pose3d ResolveSdfPose(const ::sdf::SemanticPose &_semPose) +{ + math::Pose3d pose; + ::sdf::Errors errors = _semPose.Resolve(pose); + if (!errors.empty()) + { + if (!_semPose.RelativeTo().empty()) + { + ignerr << "There was an error in SemanticPose::Resolve\n"; + for (const auto &err : errors) + { + ignerr << err.Message() << std::endl; + } + ignerr << "There is no optimal fallback since the relative_to attribute[" + << _semPose.RelativeTo() << "] of the pose is not empty. " + << "Falling back to using the raw Pose.\n"; + } + pose = _semPose.RawPose(); + } + + return pose; +} + +///////////////////////////////////////////////// +Identity SDFFeatures::ConstructSdfWorld( + const Identity &_engine, + const ::sdf::World &_sdfWorld) +{ + const Identity worldID = this->ConstructEmptyWorld(_engine, _sdfWorld.Name()); + + const WorldInfoPtr &worldInfo = this->worlds.at(worldID); + + auto gravity = _sdfWorld.Gravity(); + worldInfo->world->setGravity(btVector3(gravity[0], gravity[1], gravity[2])); + + for (std::size_t i=0; i < _sdfWorld.ModelCount(); ++i) + { + const ::sdf::Model *model = _sdfWorld.ModelByIndex(i); + + if (!model) + continue; + + this->ConstructSdfModel(worldID, *model); + } + + return worldID; +} + +///////////////////////////////////////////////// +Identity SDFFeatures::ConstructSdfModel( + const Identity &_worldID, + const ::sdf::Model &_sdfModel) +{ + // check if parent is a world + if (this->worlds.find(_worldID) == this->worlds.end()) + { + ignerr << "Unable to construct model: " << _sdfModel.Name() << ". " + << "Parent of model is not a world. " << std::endl; + return this->GenerateInvalidId(); + } + + // Read sdf params + const std::string name = _sdfModel.Name(); + const math::Pose3d pose = ResolveSdfPose(_sdfModel.SemanticPose()); + const bool isStatic = _sdfModel.Static(); + // Links within a model will collide unless these are chained with a joint + // const bool selfCollide = _sdfModel.SelfCollide(); + + const auto modelIdentity = + this->AddModel(_worldID, {name, _worldID, isStatic, pose}); + + // First, construct all links + for (std::size_t i=0; i < _sdfModel.LinkCount(); ++i) + { + this->FindOrConstructLink( + modelIdentity, _sdfModel, _sdfModel.LinkByIndex(i)->Name()); + } + + // Next, join all links that have joints + for (std::size_t i=0; i < _sdfModel.JointCount(); ++i) + { + const ::sdf::Joint *sdfJoint = _sdfModel.JointByIndex(i); + if (!sdfJoint) + { + ignerr << "The joint with index [" << i << "] in model [" + << _sdfModel.Name() << "] is a nullptr. It will be skipped.\n"; + continue; + } + + const std::size_t parent = this->FindOrConstructLink( + modelIdentity, _sdfModel, sdfJoint->ParentLinkName()); + + const std::size_t child = this->FindOrConstructLink( + modelIdentity, _sdfModel, sdfJoint->ChildLinkName()); + + this->ConstructSdfJoint(modelIdentity, *sdfJoint, parent, child); + } + + return modelIdentity; +} + +///////////////////////////////////////////////// +Identity SDFFeatures::ConstructSdfLink( + const Identity &_modelID, + const ::sdf::Link &_sdfLink) +{ + // Read sdf params + const std::string name = _sdfLink.Name(); + const math::Pose3d pose = ResolveSdfPose(_sdfLink.SemanticPose()); + const ignition::math::Inertiald inertial = _sdfLink.Inertial(); + double mass = inertial.MassMatrix().Mass(); + math::Pose3d inertialPose = inertial.Pose(); + inertialPose.Rot() *= inertial.MassMatrix().PrincipalAxesOffset(); + const auto diagonalMoments = inertial.MassMatrix().PrincipalMoments(); + + // Get link properties + btVector3 linkInertiaDiag = + convertVec(ignition::math::eigen3::convert(diagonalMoments)); + + const auto &modelInfo = this->models.at(_modelID); + math::Pose3d basePose = modelInfo->pose; + const auto poseIsometry = + ignition::math::eigen3::convert(basePose * pose * inertialPose); + const auto poseTranslation = poseIsometry.translation(); + const auto poseLinear = poseIsometry.linear(); + btTransform baseTransform; + baseTransform.setOrigin(convertVec(poseTranslation)); + baseTransform.setBasis(convertMat(poseLinear)); + + // Fixed links have 0 mass and inertia + if (this->models.at(_modelID)->fixed) + { + mass = 0; + linkInertiaDiag = btVector3(0, 0, 0); + } + + auto myMotionState = std::make_shared(baseTransform); + auto collisionShape = std::make_shared(); + btRigidBody::btRigidBodyConstructionInfo + rbInfo(mass, myMotionState.get(), collisionShape.get(), linkInertiaDiag); + + auto body = std::make_shared(rbInfo); + body.get()->setActivationState(DISABLE_DEACTIVATION); + + const auto &world = this->worlds.at(modelInfo->world)->world; + + // Links collide with everything except elements sharing a joint + world->addRigidBody(body.get()); + + // Generate an identity for it + const auto linkIdentity = + this->AddLink(_modelID, {name, _modelID, pose, inertialPose, + mass, linkInertiaDiag, myMotionState, collisionShape, body}); + + // Create associated collisions to this model + for (std::size_t i = 0; i < _sdfLink.CollisionCount(); ++i) + { + const auto collision = _sdfLink.CollisionByIndex(i); + if (collision) + this->ConstructSdfCollision(linkIdentity, *collision); + } + + return linkIdentity; +} + +Identity SDFFeatures::ConstructSdfCollision( + const Identity &_linkID, + const ::sdf::Collision &_collision) +{ + if (!_collision.Geom()) + { + ignerr << "The geometry element of collision [" << _collision.Name() << "] " + << "was a nullptr\n"; + return this->GenerateInvalidId(); + } + + const auto &geom = _collision.Geom(); + std::shared_ptr shape; + + if (geom->BoxShape()) + { + const auto box = geom->BoxShape(); + const auto size = math::eigen3::convert(box->Size()); + const auto halfExtents = convertVec(size)*0.5; + shape = std::make_shared(halfExtents); + } + else if (geom->SphereShape()) + { + const auto sphere = geom->SphereShape(); + const auto radius = sphere->Radius(); + shape = std::make_shared(radius); + } + else if (geom->CylinderShape()) + { + const auto cylinder = geom->CylinderShape(); + const auto radius = cylinder->Radius(); + const auto halfLength = cylinder->Length()*0.5; + shape = + std::make_shared(btVector3(radius, radius, halfLength)); + } + else if (geom->PlaneShape()) + { + const auto plane = geom->PlaneShape(); + const auto normal = convertVec(math::eigen3::convert(plane->Normal())); + shape = std::make_shared(normal, 0); + } + + // TODO(lobotuerk/blast545) Add additional friction parameters for bullet + // Currently supporting mu and mu2 + const auto &surfaceElement = _collision.Element()->GetElement("surface"); + + // Get friction + const auto &odeFriction = surfaceElement->GetElement("friction") + ->GetElement("ode"); + const auto mu = odeFriction->Get("mu"); + const auto mu2 = odeFriction->Get("mu2"); + + // Restitution coefficient not tested + // const auto restitution = surfaceElement->GetElement("bounce") + // ->Get("restitution_coefficient"); + if (shape != nullptr) + { + const auto &linkInfo = this->links.at(_linkID); + const auto &body = linkInfo->link; + const auto &modelID = linkInfo->model; + + const math::Pose3d pose = + linkInfo->inertialPose.Inverse() * + ResolveSdfPose(_collision.SemanticPose()); + const Eigen::Isometry3d poseIsometry = + ignition::math::eigen3::convert(pose); + const Eigen::Vector3d poseTranslation = poseIsometry.translation(); + const auto poseLinear = poseIsometry.linear(); + btTransform baseTransform; + baseTransform.setOrigin(convertVec(poseTranslation)); + baseTransform.setBasis(convertMat(poseLinear)); + + // shape->setMargin(btScalar(0.0001)); + // body->setRollingFriction(0.25); + body->setFriction(1); + body->setAnisotropicFriction(btVector3(mu, mu2, 1), + btCollisionObject::CF_ANISOTROPIC_FRICTION); + + dynamic_cast(body->getCollisionShape()) + ->addChildShape(baseTransform, shape.get()); + + auto identity = + this->AddCollision(_linkID, { + _collision.Name(), shape, _linkID, modelID, pose, false, nullptr}); + return identity; + } + return this->GenerateInvalidId(); +} + +///////////////////////////////////////////////// +Identity SDFFeatures::ConstructSdfJoint( + const Identity &_modelID, + const ::sdf::Joint &_sdfJoint) +{ + // Check supported Joints + const ::sdf::JointType type = _sdfJoint.Type(); + if( type != ::sdf::JointType::REVOLUTE && type != ::sdf::JointType::FIXED ) + { + ignerr << "Asked to construct a joint of sdf::JointType [" + << static_cast(type) << "], but that is not supported yet.\n"; + return this->GenerateInvalidId(); + } + + // Dummy world to reuse FindOrConstructLink code + const ::sdf::Model dummyEmptyModel; + + // Get the parent and child ids + const std::string parentLinkName = _sdfJoint.ParentLinkName(); + std::size_t parentId = + this->FindOrConstructLink(_modelID, dummyEmptyModel, parentLinkName); + + const std::string childLinkName = _sdfJoint.ChildLinkName(); + std::size_t childId = + this->FindOrConstructLink(_modelID, dummyEmptyModel, childLinkName); + + return this->ConstructSdfJoint(_modelID, _sdfJoint, parentId, childId); +} + +Identity SDFFeatures::ConstructSdfJoint( + const Identity &_modelID, + const ::sdf::Joint &_sdfJoint, + std::size_t parentId, + std::size_t childId) +{ + // Check if chilId and parentId are valid values + const auto invalidEntity = this->GenerateInvalidId().id; + if (parentId == invalidEntity || childId == invalidEntity) + { + ignerr << "There was a problem finding/creating parent/child links\n"; + return this->GenerateInvalidId(); + } + + // Handle the case where either child is the world, not supported + const std::size_t worldId = this->models.at(_modelID)->world; + if (childId == worldId) + { + ignwarn << "Not implemented joints using world as child\n"; + return this->GenerateInvalidId(); + } + + // Get axis unit vector (expressed in world frame). + // IF fixed joint, use UnitZ, if revolute use the Axis given by the joint + // Eigen::Vector3d axis; + // ignition::math::Vector3d axis = ignition::math::Vector3d::UnitZ; + ignition::math::Vector3d axis; + const ::sdf::JointType type = _sdfJoint.Type(); + if(type == ::sdf::JointType::FIXED ) + { + axis = ignition::math::Vector3d::UnitZ; + } + else + { + // Resolve Axis XYZ. If it fails, use xyz function instead + math::Vector3d resolvedAxis; + if(_sdfJoint.Axis(0)) + { + ::sdf::Errors errors = _sdfJoint.Axis(0)->ResolveXyz(resolvedAxis); + if (!errors.empty()) + resolvedAxis = _sdfJoint.Axis(0)->Xyz(); + axis = + (this->links.at(childId)->pose * + ResolveSdfPose(_sdfJoint.SemanticPose())).Rot() + * resolvedAxis; + } + } + + // Local variables used to compute pivots and axes in body-fixed frames + // for the parent and child links. + math::Vector3d pivotParent, pivotChild, axisParent, axisChild; + math::Pose3d pose; + + if (parentId != worldId) + { + pivotParent = + (ResolveSdfPose(_sdfJoint.SemanticPose()) * + this->links.at(childId)->pose).Pos(); + pose = + this->links.at(parentId)->pose * this->links.at(parentId)->inertialPose; + pivotParent -= pose.Pos(); + pivotParent = pose.Rot().RotateVectorReverse(pivotParent); + axisParent = pose.Rot().RotateVectorReverse(axis); + axisParent = axisParent.Normalize(); + } + + pivotChild = + (ResolveSdfPose(_sdfJoint.SemanticPose()) * + this->links.at(childId)->pose).Pos(); + pose = this->links.at(childId)->pose * this->links.at(childId)->inertialPose; + pivotChild -= pose.Pos(); + pivotChild = pose.Rot().RotateVectorReverse(pivotChild); + axisChild = pose.Rot().RotateVectorReverse(axis); + axisChild = axisChild.Normalize(); + + std::shared_ptr joint; + if (parentId != worldId) + { + joint = std::make_shared( + *this->links.at(childId)->link.get(), + *this->links.at(parentId)->link.get(), + convertVec(ignition::math::eigen3::convert(pivotChild)), + convertVec(ignition::math::eigen3::convert(pivotParent)), + convertVec(ignition::math::eigen3::convert(axisChild)), + convertVec(ignition::math::eigen3::convert(axisParent))); + } + else + { + joint = std::make_shared( + *this->links.at(childId)->link.get(), + convertVec(ignition::math::eigen3::convert(pivotChild)), + convertVec(ignition::math::eigen3::convert(axisChild))); + } + + // Limit movement for fixed joints + if(type == ::sdf::JointType::FIXED) + { + btScalar offset = joint->getHingeAngle(); + joint->setLimit(offset, offset); + } + + const auto &modelInfo = this->models.at(_modelID); + const auto &world = this->worlds.at(modelInfo->world)->world.get(); + world->addConstraint(joint.get(), true); + joint->enableFeedback(true); + + /* TO-DO(Lobotuerk): find how to implement axis friction properly for bullet*/ + if (_sdfJoint.Axis(0) != nullptr) + { + double friction = _sdfJoint.Axis(0)->Friction(); + joint->enableAngularMotor(true, 0.0, friction); + joint->setLimit(_sdfJoint.Axis(0)->Lower(), _sdfJoint.Axis(0)->Upper()); + } + else + { + joint->enableAngularMotor(true, 0.0, 0.0); + } + + // Generate an identity for it and return it + auto identity = + this->AddJoint({_sdfJoint.Name(), joint, childId, parentId, + static_cast(type), axis}); + return identity; +} + +///////////////////////////////////////////////// +std::size_t SDFFeatures::FindOrConstructLink( + const Identity &_modelID, + const ::sdf::Model &_sdfModel, + const std::string &_sdfLinkName) +{ + for (const auto &link : this->links) + { + const auto &linkInfo = link.second; + if (linkInfo->name == _sdfLinkName && linkInfo->model.id == _modelID.id) + { + // A link was previously created with that name, + // Return its entity value + return link.first; + } + } + + // Link wasn't found, check if the requested link is "world" + if (_sdfLinkName == "world") + { + // Return the ID of the parent world of the model + return this->models.at(_modelID)->world; + } + + const ::sdf::Link * const sdfLink = _sdfModel.LinkByName(_sdfLinkName); + if (!sdfLink) + { + ignerr << "Model [" << _sdfModel.Name() << "] does not contain a Link " + << "with the name [" << _sdfLinkName << "].\n"; + return this->GenerateInvalidId().id; + } + + return this->ConstructSdfLink(_modelID, *sdfLink); +} + +} // namespace bullet +} // namespace physics +} // namespace ignition diff --git a/bullet/src/SDFFeatures.hh b/bullet/src/SDFFeatures.hh new file mode 100644 index 000000000..b28981a17 --- /dev/null +++ b/bullet/src/SDFFeatures.hh @@ -0,0 +1,85 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#ifndef IGNITION_PHYSICS_BULLET_SRC_SDFFEATURES_HH_ +#define IGNITION_PHYSICS_BULLET_SRC_SDFFEATURES_HH_ + +#include + +#include +#include +#include +#include +#include + +#include + +#include "EntityManagementFeatures.hh" + +namespace ignition { +namespace physics { +namespace bullet { + +struct SDFFeatureList : ignition::physics::FeatureList< + sdf::ConstructSdfJoint, + sdf::ConstructSdfLink, + sdf::ConstructSdfModel, + sdf::ConstructSdfCollision, + sdf::ConstructSdfWorld +> { }; + +class SDFFeatures : + public virtual EntityManagementFeatures, + public virtual Implements3d +{ + public: Identity ConstructSdfWorld( + const Identity &/*_engine*/, + const ::sdf::World &_sdfWorld) override; + + public: Identity ConstructSdfModel( + const Identity &_worldID, + const ::sdf::Model &_sdfModel) override; + + private: Identity ConstructSdfLink( + const Identity &_modelID, + const ::sdf::Link &_sdfLink) override; + + private: Identity ConstructSdfCollision( + const Identity &_linkID, + const ::sdf::Collision &_collision) override; + + private: Identity ConstructSdfJoint( + const Identity &_modelID, + const ::sdf::Joint &_sdfJoint) override; + + private: Identity ConstructSdfJoint( + const Identity &_modelID, + const ::sdf::Joint &_sdfJoint, + std::size_t parentId, + std::size_t childId); + + private: std::size_t FindOrConstructLink( + const Identity &_modelID, + const ::sdf::Model &_sdfModel, + const std::string &_sdfLinkName); +}; + +} // namespace bullet +} // namespace physics +} // namespace ignition + +#endif diff --git a/bullet/src/SDFFeatures_TEST.cc b/bullet/src/SDFFeatures_TEST.cc new file mode 100644 index 000000000..3a8000f5a --- /dev/null +++ b/bullet/src/SDFFeatures_TEST.cc @@ -0,0 +1,134 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include + +#include + +#include + +#include +#include +#include + +#include +#include +#include +#include + +#include +#include + +#include + +struct TestFeatureList : ignition::physics::FeatureList< + ignition::physics::GetBasicJointState, + ignition::physics::SetBasicJointState, + ignition::physics::sdf::ConstructSdfJoint, + ignition::physics::sdf::ConstructSdfLink, + ignition::physics::sdf::ConstructSdfModel, + ignition::physics::sdf::ConstructSdfWorld +> { }; + +using World = ignition::physics::World3d; +using WorldPtr = ignition::physics::World3dPtr; + +auto LoadEngine() +{ + ignition::plugin::Loader loader; + loader.LoadLib(bullet_plugin_LIB); + + ignition::plugin::PluginPtr bullet = + loader.Instantiate("ignition::physics::bullet::Plugin"); + + auto engine = + ignition::physics::RequestEngine3d::From(bullet); + return engine; +} + +// Create Model with parent and child links. If a link is not set, the joint +// will use the world as that link. +auto CreateTestModel(WorldPtr _world, const std::string &_model, + const std::optional &_parentLink, + const std::optional &_childLink) +{ + sdf::Model sdfModel; + sdfModel.SetName(_model); + auto model = _world->ConstructModel(sdfModel); + EXPECT_NE(nullptr, model); + + sdf::Joint sdfJoint; + sdfJoint.SetName("joint0"); + sdfJoint.SetType(sdf::JointType::REVOLUTE); + if (_parentLink) + { + auto parent = model->ConstructLink(*_parentLink); + EXPECT_NE(nullptr, parent); + sdfJoint.SetParentLinkName(_parentLink->Name()); + } + else + { + sdfJoint.SetParentLinkName("world"); + } + + if (_childLink) + { + auto child = model->ConstructLink(*_childLink); + EXPECT_NE(nullptr, child); + sdfJoint.SetChildLinkName(_childLink->Name()); + } + else + { + sdfJoint.SetChildLinkName("world"); + } + + auto joint0 = model->ConstructJoint(sdfJoint); + return std::make_tuple(model, joint0); +} + +// Test joints with world as parent or child +TEST(SDFFeatures_TEST, WorldIsParentOrChild) +{ + auto engine = LoadEngine(); + ASSERT_NE(nullptr, engine); + sdf::World sdfWorld; + sdfWorld.SetName("default"); + auto world = engine->ConstructWorld(sdfWorld); + EXPECT_NE(nullptr, world); + + std::optional parent = sdf::Link(); + parent->SetName("parent"); + std::optional child = sdf::Link(); + child->SetName("child"); + + { + const auto &[model, joint] = + CreateTestModel(world, "test0", std::nullopt, std::nullopt); + EXPECT_EQ(nullptr, joint); + } + { + const auto &[model, joint] = + CreateTestModel(world, "test2", std::nullopt, child); + EXPECT_NE(nullptr, joint); + } +} + +int main(int argc, char *argv[]) +{ + ::testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/bullet/src/ShapeFeatures.cc b/bullet/src/ShapeFeatures.cc new file mode 100644 index 000000000..1905f90f2 --- /dev/null +++ b/bullet/src/ShapeFeatures.cc @@ -0,0 +1,120 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include "ShapeFeatures.hh" +#include + +#include + +namespace ignition { +namespace physics { +namespace bullet { + +///////////////////////////////////////////////// +Identity ShapeFeatures::AttachMeshShape( + const Identity &_linkID, + const std::string &_name, + const ignition::common::Mesh &_mesh, + const Pose3d &_pose, + const LinearVector3d &_scale) +{ + double *vertices = nullptr; + int *indices = nullptr; + _mesh.FillArrays(&vertices, &indices); + + unsigned int numVertices = _mesh.VertexCount(); + unsigned int numIndices = _mesh.IndexCount(); + + const auto mTriMesh = std::make_shared(); + + for (unsigned int j = 0; j < numVertices; ++j) + { + // Scale the vertex data + vertices[j*3+0] = vertices[j*3+0] * _scale[0]; + vertices[j*3+1] = vertices[j*3+1] * _scale[1]; + vertices[j*3+2] = vertices[j*3+2] * _scale[2]; + } + + // Create the Bullet trimesh + for (unsigned int j = 0; j < numIndices; j += 3) + { + btVector3 bv0(vertices[indices[j]*3+0], + vertices[indices[j]*3+1], + vertices[indices[j]*3+2]); + + btVector3 bv1(vertices[indices[j+1]*3+0], + vertices[indices[j+1]*3+1], + vertices[indices[j+1]*3+2]); + + btVector3 bv2(vertices[indices[j+2]*3+0], + vertices[indices[j+2]*3+1], + vertices[indices[j+2]*3+2]); + + mTriMesh.get()->addTriangle(bv0, bv1, bv2); + } + + auto gimpactMeshShape = + std::make_shared(mTriMesh.get()); + gimpactMeshShape.get()->updateBound(); + + // TODO(lobotuerk) Save collision if needed + // collision->shape = gimpactMeshShape; + + delete [] vertices; + delete [] indices; + + const auto &linkInfo = this->links.at(_linkID); + const auto &modelID = linkInfo->model; + const auto &body = linkInfo->link.get(); + + auto poseWithInertia = + linkInfo->inertialPose.Inverse() * ignition::math::eigen3::convert(_pose); + const auto poseIsometry = ignition::math::eigen3::convert(poseWithInertia); + const auto poseTranslation = poseIsometry.translation(); + const auto poseLinear = poseIsometry.linear(); + btTransform baseTransform; + baseTransform.setOrigin(convertVec(poseTranslation)); + baseTransform.setBasis(convertMat(poseLinear)); + + /* TO-DO(Lobotuerk): figure out if this line is needed */ + // gimpactMeshShape->setMargin(btScalar(0.001)); + + dynamic_cast( + body->getCollisionShape())->addChildShape( + baseTransform, gimpactMeshShape.get()); + + auto identity = this->AddCollision( + _linkID, {_name, gimpactMeshShape, _linkID, modelID, + ignition::math::eigen3::convert(_pose), true, mTriMesh}); + return identity; + +} + +///////////////////////////////////////////////// +Identity ShapeFeatures::CastToMeshShape( + const Identity &_shapeID) const +{ + if (this->collisions.at(_shapeID)->isMesh) + { + return _shapeID; + } + return this->GenerateInvalidId(); +} + +} // namespace bullet +} // namespace physics +} // namespace ignition diff --git a/bullet/src/ShapeFeatures.hh b/bullet/src/ShapeFeatures.hh new file mode 100644 index 000000000..21daaea7b --- /dev/null +++ b/bullet/src/ShapeFeatures.hh @@ -0,0 +1,53 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#ifndef IGNITION_PHYSICS_BULLET_SRC_SHAPEFEATURES_HH_ +#define IGNITION_PHYSICS_BULLET_SRC_SHAPEFEATURES_HH_ + +#include +#include + +#include "Base.hh" + +namespace ignition { +namespace physics { +namespace bullet { + +struct ShapeFeatureList : ignition::physics::FeatureList< + mesh::AttachMeshShapeFeature +> { }; + +class ShapeFeatures : + public virtual Base, + public virtual Implements3d +{ + public: Identity AttachMeshShape( + const Identity &_linkID, + const std::string &_name, + const ignition::common::Mesh &_mesh, + const Pose3d &_pose, + const LinearVector3d &_scale) override; + + public: Identity CastToMeshShape( + const Identity &_shapeID) const override; +}; + +} // namespace bullet +} // namespace physics +} // namespace ignition + +#endif diff --git a/bullet/src/SimulationFeatures.cc b/bullet/src/SimulationFeatures.cc new file mode 100644 index 000000000..2c65870d7 --- /dev/null +++ b/bullet/src/SimulationFeatures.cc @@ -0,0 +1,40 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include "SimulationFeatures.hh" + +namespace ignition { +namespace physics { +namespace bullet { + +void SimulationFeatures::WorldForwardStep( + const Identity &_worldID, + ForwardStep::Output & /*_h*/, + ForwardStep::State & /*_x*/, + const ForwardStep::Input & _u) +{ + const WorldInfoPtr &worldInfo = this->worlds.at(_worldID); + + auto *dtDur = + _u.Query(); + std::chrono::duration dt = *dtDur; + worldInfo->world->stepSimulation(dt.count(), 1, dt.count()); +} + +} // namespace bullet +} // namespace physics +} // namespace ignition diff --git a/bullet/src/SimulationFeatures.hh b/bullet/src/SimulationFeatures.hh new file mode 100644 index 000000000..7c7364d10 --- /dev/null +++ b/bullet/src/SimulationFeatures.hh @@ -0,0 +1,49 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#ifndef IGNITION_PHYSICS_BULLET_SRC_SIMULATIONFEATURES_HH_ +#define IGNITION_PHYSICS_BULLET_SRC_SIMULATIONFEATURES_HH_ + +#include +#include + +#include "Base.hh" + +namespace ignition { +namespace physics { +namespace bullet { + +struct SimulationFeatureList : ignition::physics::FeatureList< + ForwardStep +> { }; + +class SimulationFeatures : + public virtual Base, + public virtual Implements3d +{ + public: void WorldForwardStep( + const Identity &_worldID, + ForwardStep::Output &_h, + ForwardStep::State &_x, + const ForwardStep::Input &_u) override; +}; + +} // namespace bullet +} // namespace physics +} // namespace ignition + +#endif diff --git a/bullet/src/plugin.cc b/bullet/src/plugin.cc new file mode 100644 index 000000000..f565a4d9a --- /dev/null +++ b/bullet/src/plugin.cc @@ -0,0 +1,62 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include +#include +#include +#include + +#include "Base.hh" +#include "EntityManagementFeatures.hh" +#include "SimulationFeatures.hh" +#include "SDFFeatures.hh" +#include "KinematicsFeatures.hh" +#include "FreeGroupFeatures.hh" +#include "ShapeFeatures.hh" +#include "JointFeatures.hh" + +namespace ignition { +namespace physics { +namespace bullet { + +struct BulletFeatures : FeatureList < + EntityManagementFeatureList, + SimulationFeatureList, + FreeGroupFeatureList, + KinematicsFeatureList, + SDFFeatureList, + ShapeFeatureList, + JointFeatureList +> { }; + +class Plugin : + public virtual Implements3d, + public virtual Base, + public virtual EntityManagementFeatures, + public virtual SimulationFeatures, + public virtual FreeGroupFeatures, + public virtual KinematicsFeatures, + public virtual SDFFeatures, + public virtual ShapeFeatures, + public virtual JointFeatures +{}; + +IGN_PHYSICS_ADD_PLUGIN(Plugin, FeaturePolicy3d, BulletFeatures) + +} // namespace bullet +} // namespace physics +} // namespace ignition diff --git a/dartsim/src/SDFFeatures.cc b/dartsim/src/SDFFeatures.cc index 8baff95aa..3dc16fc43 100644 --- a/dartsim/src/SDFFeatures.cc +++ b/dartsim/src/SDFFeatures.cc @@ -818,7 +818,7 @@ Identity SDFFeatures::ConstructSdfCollision( } if (odeFriction->HasElement("slip1")) { - aspect->setSlipCompliance(odeFriction->Get("slip1")); + aspect->setPrimarySlipCompliance(odeFriction->Get("slip1")); } if (odeFriction->HasElement("slip2")) { diff --git a/dartsim/src/ShapeFeatures.cc b/dartsim/src/ShapeFeatures.cc index c51264149..4cec3febe 100644 --- a/dartsim/src/ShapeFeatures.cc +++ b/dartsim/src/ShapeFeatures.cc @@ -469,7 +469,7 @@ double ShapeFeatures::GetShapeFrictionPyramidPrimarySlipCompliance( << std::endl; return 0.0; } - return aspect->getSlipCompliance(); + return aspect->getPrimarySlipCompliance(); } ///////////////////////////////////////////////// @@ -505,7 +505,7 @@ bool ShapeFeatures::SetShapeFrictionPyramidPrimarySlipCompliance( << std::endl; return false; } - aspect->setSlipCompliance(_value); + aspect->setPrimarySlipCompliance(_value); return true; } diff --git a/dartsim/src/ShapeFeatures_TEST.cc b/dartsim/src/ShapeFeatures_TEST.cc index 1617b10a8..c488850c3 100644 --- a/dartsim/src/ShapeFeatures_TEST.cc +++ b/dartsim/src/ShapeFeatures_TEST.cc @@ -70,6 +70,7 @@ using TestFeatureList = ignition::physics::FeatureList< physics::RevoluteJointCast, physics::SetJointVelocityCommandFeature, #if DART_VERSION_AT_LEAST(6, 10, 0) + physics::GetShapeFrictionPyramidSlipCompliance, physics::SetShapeFrictionPyramidSlipCompliance, #endif physics::sdf::ConstructSdfModel, @@ -180,7 +181,11 @@ TEST_F(ShapeFeaturesFixture, PrimarySlipCompliance) const Eigen::Vector3d cmdForce{1, 0, 0}; const double primarySlip = 0.5; + // expect 0.0 initial slip + EXPECT_DOUBLE_EQ(0.0, boxShape->GetPrimarySlipCompliance()); + boxShape->SetPrimarySlipCompliance(primarySlip); + EXPECT_DOUBLE_EQ(primarySlip, boxShape->GetPrimarySlipCompliance()); const std::size_t numSteps = 10000; for (std::size_t i = 0; i < numSteps; ++i) @@ -239,7 +244,11 @@ TEST_F(ShapeFeaturesFixture, SecondarySlipCompliance) const Eigen::Vector3d cmdForce{0, 1, 0}; const double secondarySlip = 0.25; + // expect 0.0 initial slip + EXPECT_DOUBLE_EQ(0.0, boxShape->GetSecondarySlipCompliance()); + boxShape->SetSecondarySlipCompliance(secondarySlip); + EXPECT_DOUBLE_EQ(secondarySlip, boxShape->GetSecondarySlipCompliance()); const std::size_t numSteps = 10000; for (std::size_t i = 0; i < numSteps; ++i) diff --git a/examples/hello_world_loader/hello_world_loader.cc b/examples/hello_world_loader/hello_world_loader.cc index 56cd2d7a4..7b185a495 100644 --- a/examples/hello_world_loader/hello_world_loader.cc +++ b/examples/hello_world_loader/hello_world_loader.cc @@ -15,6 +15,8 @@ * */ +//////////////////////////////////////////////////////////////////// +//! [include statements] #include #include @@ -28,7 +30,10 @@ using Features = ignition::physics::FeatureList< ignition::physics::GetEngineInfo >; +//! [include statements] +//////////////////////////////////////////////////////////////////// +//! [main] int main(int argc, char **argv) { // User should provide path to plugin library @@ -62,3 +67,4 @@ int main(int argc, char **argv) std::cout << " engine name: " << engine->GetName() << std::endl; } } +//! [main] \ No newline at end of file diff --git a/examples/hello_world_plugin/HelloWorldPlugin.cc b/examples/hello_world_plugin/HelloWorldPlugin.cc index 8e10cb4ab..ac616a10d 100644 --- a/examples/hello_world_plugin/HelloWorldPlugin.cc +++ b/examples/hello_world_plugin/HelloWorldPlugin.cc @@ -15,18 +15,26 @@ * */ +//////////////////////////////////////////////////////////// +//! [include statements] #include #include #include #include +//! [include statements] namespace mock { + //////////////////////////////////////////////////////// + //! [feature list] // List of all features that this plugin will implement struct HelloWorldFeatureList : ignition::physics::FeatureList< ignition::physics::GetEngineInfo > { }; + //! [feature list] + //////////////////////////////////////////////////////// + //! [implementation] // The plugin class, which implements a 3D policy class HelloWorldPlugin : public ignition::physics::Implements3d @@ -52,10 +60,14 @@ namespace mock std::string engineName; }; + //! [implementation] + //////////////////////////////////////////////////////// + //! [register] // Register plugin IGN_PHYSICS_ADD_PLUGIN( HelloWorldPlugin, ignition::physics::FeaturePolicy3d, HelloWorldFeatureList) + //! [register] } diff --git a/examples/simple_plugin/CMakeLists.txt b/examples/simple_plugin/CMakeLists.txt new file mode 100644 index 000000000..5cd41a446 --- /dev/null +++ b/examples/simple_plugin/CMakeLists.txt @@ -0,0 +1,20 @@ +cmake_minimum_required(VERSION 3.5 FATAL_ERROR) + +set(IGN_PLUGIN_VER 1) +find_package(ignition-plugin${IGN_PLUGIN_VER} 1.1 REQUIRED COMPONENTS all) + +set(IGN_PHYSICS_VER 4) +find_package(ignition-physics${IGN_PHYSICS_VER} REQUIRED) + +add_library(SimplePlugin SHARED plugin.cc EntityManagementFeatures.cc) +target_link_libraries(SimplePlugin + PRIVATE + ignition-physics${IGN_PHYSICS_VER}::ignition-physics${IGN_PHYSICS_VER}) + +add_executable(PluginTest EntityManagementFeatures_TEST.cc) +target_link_libraries(PluginTest + ignition-plugin${IGN_PLUGIN_VER}::loader + ignition-physics${IGN_PHYSICS_VER}::ignition-physics${IGN_PHYSICS_VER}) + +target_compile_definitions(PluginTest PRIVATE + "simple_plugin_LIB=\"$\"") diff --git a/examples/simple_plugin/EntityManagementFeatures.cc b/examples/simple_plugin/EntityManagementFeatures.cc new file mode 100644 index 000000000..ea71494db --- /dev/null +++ b/examples/simple_plugin/EntityManagementFeatures.cc @@ -0,0 +1,31 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include +#include "EntityManagementFeatures.hh" + +using namespace ignition; +using namespace physics; +using namespace simpleplugin; + +///////////////////////////////////////////////// +Identity EntityManagementFeatures::ConstructEmptyWorld( + const Identity &, const std::string &_name) +{ + // Generate dummy identity + return this->GenerateIdentity(0); +} diff --git a/examples/simple_plugin/EntityManagementFeatures.hh b/examples/simple_plugin/EntityManagementFeatures.hh new file mode 100644 index 000000000..86aaecbf8 --- /dev/null +++ b/examples/simple_plugin/EntityManagementFeatures.hh @@ -0,0 +1,50 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +//! [basic include] +#include +#include +//! [basic include] + +//! [include feature] +#include + +namespace ignition { +namespace physics { +namespace simpleplugin { + +struct EntityManagementFeatureList : FeatureList< + ConstructEmptyWorldFeature +> { }; + +//! [include feature] + +//! [override feature] +class EntityManagementFeatures : + public virtual Implements3d +{ + /// \brief Construct an empty dummy world. + /// \param[in] _engineID Identity for the engine. + /// \param[in] _name Name of the world. + public: Identity ConstructEmptyWorld( + const Identity &_engineID, const std::string &_name) override; +}; + +} +} +} +//! [override feature] diff --git a/examples/simple_plugin/EntityManagementFeatures_TEST.cc b/examples/simple_plugin/EntityManagementFeatures_TEST.cc new file mode 100644 index 000000000..2cfbe88f7 --- /dev/null +++ b/examples/simple_plugin/EntityManagementFeatures_TEST.cc @@ -0,0 +1,60 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include + +#include +#include +#include "EntityManagementFeatures.hh" + +// Simple executable that loads the simple plugin and constructs a world. + +struct TestFeatureList : ignition::physics::FeatureList< + ignition::physics::simpleplugin::EntityManagementFeatureList +> { }; + +int main(int argc, char *argv[]) +{ + // Load the custom plugin + ignition::plugin::Loader loader; + loader.LoadLib(simple_plugin_LIB); + + auto simplePlugin = + loader.Instantiate("ignition::physics::simpleplugin::Plugin"); + + // Get the engine pointer + auto engine = + ignition::physics::RequestEngine3d::From(simplePlugin); + + if (nullptr == engine) + { + std::cerr << "Something went wrong, the engine is null" << std::endl; + return -1; + } + + auto world = engine->ConstructEmptyWorld("empty world"); + + if (nullptr == world) + { + std::cerr << "Failed to create empty world" << std::endl; + return -1; + } + + std::cout << "Created empty world!" << std::endl; + + return 0; +} diff --git a/examples/simple_plugin/plugin.cc b/examples/simple_plugin/plugin.cc new file mode 100644 index 000000000..673f9b34f --- /dev/null +++ b/examples/simple_plugin/plugin.cc @@ -0,0 +1,47 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include +#include +#include + +#include "EntityManagementFeatures.hh" + +namespace ignition { +namespace physics { +namespace simpleplugin { + + struct SimplePluginFeatures : FeatureList< + EntityManagementFeatureList + > { }; + + class Plugin : + public virtual EntityManagementFeatures, + public virtual Implements3d + { + using Identity = ignition::physics::Identity; + public: Identity InitiateEngine(std::size_t /*_engineID*/) override + { + return this->GenerateIdentity(0); + } + }; + + IGN_PHYSICS_ADD_PLUGIN(Plugin, FeaturePolicy3d, SimplePluginFeatures) + +} +} +} diff --git a/include/ignition/physics/ConstructEmpty.hh b/include/ignition/physics/ConstructEmpty.hh index 4adbf97e9..c4ea5e60f 100644 --- a/include/ignition/physics/ConstructEmpty.hh +++ b/include/ignition/physics/ConstructEmpty.hh @@ -26,6 +26,7 @@ namespace ignition { namespace physics { ///////////////////////////////////////////////// +//! [ConstructEmptyWorld] /// \brief This feature constructs an empty world and returns its pointer /// from the current physics engine in use. class ConstructEmptyWorldFeature : public virtual Feature @@ -50,6 +51,7 @@ class ConstructEmptyWorldFeature : public virtual Feature const Identity &_engineID, const std::string &_name) = 0; }; }; +//! [ConstructEmptyWorld] ///////////////////////////////////////////////// /// \brief This feature constructs an empty model and returns its pointer diff --git a/test/plugins/DARTDoublePendulum.cc b/test/plugins/DARTDoublePendulum.cc index b4d556172..a1a29fb95 100644 --- a/test/plugins/DARTDoublePendulum.cc +++ b/test/plugins/DARTDoublePendulum.cc @@ -73,7 +73,12 @@ namespace mock for (std::size_t i=0; i < robot->getNumJoints(); ++i) { +// From upstream 6.10.0 or OSRF 6.10.0~osrf19~2021-06-10 +#if DART_VERSION_AT_LEAST(6, 10, 0) + this->robot->getJoint(i)->setLimitEnforcement(false); +#else this->robot->getJoint(i)->setPositionLimitEnforced(false); +#endif this->robot->getJoint(i)->setDampingCoefficient(0, 0); } diff --git a/tools/check_test_ran.py b/tools/check_test_ran.py deleted file mode 100755 index 481693435..000000000 --- a/tools/check_test_ran.py +++ /dev/null @@ -1,79 +0,0 @@ -#!/usr/bin/env python -# Software License Agreement (BSD License) -# -# Copyright (c) 2008, Willow Garage, Inc. -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following -# disclaimer in the documentation and/or other materials provided -# with the distribution. -# * Neither the name of Willow Garage, Inc. nor the names of its -# contributors may be used to endorse or promote products derived -# from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -# Revision $Id: check_test_ran.py 16671 2012-04-27 16:15:28Z dthomas $ - -""" -Writes a test failure out to test file if it doesn't exist. -""" - -# Adapted from rosunit/check_test_ran.py - -from __future__ import print_function -NAME="check_test_ran.py" - -import os -import sys - -def usage(): - print("""Usage: -\t%s test-file.xml -"""%(NAME), file=sys.stderr) - print(sys.argv) - sys.exit(getattr(os, 'EX_USAGE', 1)) - -def check_main(): - if len(sys.argv) < 2: - usage() - test_file = sys.argv[1] - - print("Checking for test results in %s"%test_file) - - if not os.path.exists(test_file): - if not os.path.exists(os.path.dirname(test_file)): - os.makedirs(os.path.dirname(test_file)) - - print("Cannot find results, writing failure results to", test_file) - - with open(test_file, 'w') as f: - test_name = os.path.basename(test_file) - d = {'test': test_name, 'test_file': test_file , 'test_no_xml': test_name.replace('.xml', '')} - f.write(""" - - - - -"""%d) - -if __name__ == '__main__': - check_main() diff --git a/tools/code_check.sh b/tools/code_check.sh deleted file mode 100755 index 8a0badecf..000000000 --- a/tools/code_check.sh +++ /dev/null @@ -1,143 +0,0 @@ -#!/bin/sh - -# Jenkins will pass -xml, in which case we want to generate XML output -xmlout=0 -if test "$1" = "-xmldir" -a -n "$2"; then - xmlout=1 - xmldir=$2 - mkdir -p $xmldir - rm -rf $xmldir/*.xml - # Assuming that Jenkins called, the `build` directory is sibling to src dir - builddir=../build -else - # This is a heuristic guess; not everyone puts the `build` dir in the src dir - builddir=./build -fi - -# Identify cppcheck version -CPPCHECK_VERSION=`cppcheck --version | sed -e 's@Cppcheck @@'` -CPPCHECK_LT_157=`echo "$CPPCHECK_VERSION 1.57" | \ - awk '{if ($1 < $2) print 1; else print 0}'` - -QUICK_CHECK=0 -if test "$1" = "--quick" -then - QUICK_CHECK=1 - QUICK_SOURCE=$2 - hg_root=`hg root` - if [ "$?" -ne "0" ] ; then - echo This is not an hg repository - exit - fi - cd $hg_root - hg log -r $QUICK_SOURCE > /dev/null - if [ "$?" -ne "0" ] ; then - echo $QUICK_SOURCE is not a valid changeset hash - exit - fi - CHECK_FILES="" - while read line; do - for f in $line; do - CHECK_FILES="$CHECK_FILES `echo $f | grep '\.[ch][ch]*$' | grep -v '^deps'`" - done - done - CPPCHECK_FILES="$CHECK_FILES" - CPPLINT_FILES="$CHECK_FILES" - QUICK_TMP=`mktemp -t asdfXXXXXXXXXX` -else - CHECK_DIRS="./src ./include ./test/integration ./test/regression ./test/performance ./tpe" - EXCLUDE_DIRS="tpe/lib/src/aabb_tree" - if [ $CPPCHECK_LT_157 -eq 1 ]; then - # cppcheck is older than 1.57, so don't check header files (issue #907) - CPPCHECK_FILES=`find $CHECK_DIRS -name "*.cc" | grep -v "$EXCLUDE_DIRS"` - else - CPPCHECK_FILES=`find $CHECK_DIRS -name "*.cc" -o -name "*.hh" | grep -v "$EXCLUDE_DIRS"` - fi - CPPLINT_FILES=`\ - find $CHECK_DIRS -name "*.cc" -o -name "*.hh" -o -name "*.c" -o -name "*.h" | grep -v -e NetUtils | grep -v "$EXCLUDE_DIRS"` -fi - -SUPPRESS=/tmp/cpp_check.suppress - -# The follow suppression is useful when checking for missing includes. -# It's disable for now because checking for missing includes is very -# time consuming. See CPPCHECK_CMD3. -#echo "missingIncludeSystem" >> $SUPPRESS -echo "*:include/ignition/transport/TransportTypes.hh:63" > $SUPPRESS - -#cppcheck -CPPCHECK_BASE="cppcheck -q --suppressions-list=$SUPPRESS --inline-suppr" -if [ $CPPCHECK_LT_157 -eq 0 ]; then - # use --language argument if 1.57 or greater (issue #907) - CPPCHECK_BASE="$CPPCHECK_BASE --language=c++" -fi -CPPCHECK_INCLUDES="-I . -I $builddir -I test -I include" -CPPCHECK_RULES="-DIGNITION_VISIBLE" -CPPCHECK_CMD1A="-j 4 --enable=style,performance,portability,information" -CPPCHECK_CMD1B="$CPPCHECK_RULES $CPPCHECK_FILES" -CPPCHECK_CMD1="$CPPCHECK_CMD1A $CPPCHECK_CMD1B -I include" -CPPCHECK_CMD2="--enable=unusedFunction $CPPCHECK_FILES" - -# Checking for missing includes is very time consuming. This is disabled -# for now -CPPCHECK_CMD3="-j 4 --enable=missingInclude $CPPCHECK_FILES"\ -" $CPPCHECK_INCLUDES" -#CPPCHECK_CMD3="" - -if [ $xmlout -eq 1 ]; then - # Performance, style, portability, and information - ($CPPCHECK_BASE --xml $CPPCHECK_CMD1) 2> $xmldir/cppcheck.xml - - # Check the configuration - ($CPPCHECK_BASE --xml $CPPCHECK_CMD3) 2> $xmldir/cppcheck-configuration.xml -elif [ $QUICK_CHECK -eq 1 ]; then - for f in $CHECK_FILES; do - prefix=`basename $f | sed -e 's@\..*$@@'` - ext=`echo $f | sed -e 's@^.*\.@@'` - tmp2="$QUICK_TMP"."$ext" - tmp2base=`basename "$QUICK_TMP"` - hg cat -r $QUICK_SOURCE $hg_root/$f > $tmp2 - - # Fix suppressions for tmp files - sed -i -e "s@$f@$tmp2@" $SUPPRESS - - # Skip cppcheck for header files if cppcheck is old - DO_CPPCHECK=0 - if [ $ext = 'cc' ]; then - DO_CPPCHECK=1 - elif [ $CPPCHECK_LT_157 -eq 0 ]; then - DO_CPPCHECK=1 - fi - - if [ $DO_CPPCHECK -eq 1 ]; then - $CPPCHECK_BASE $CPPCHECK_CMD1A $CPPCHECK_RULES $tmp2 2>&1 \ - | sed -e "s@$tmp2@$f@g" \ - | grep -v 'use --check-config for details' \ - | grep -v 'Include file: .*not found' - fi - - # Undo changes to suppression file - sed -i -e "s@$tmp2@$f@" $SUPPRESS - - python $hg_root/tools/cpplint.py $tmp2 2>&1 \ - | sed -e "s@$tmp2@$f@g" -e "s@$tmp2base@$prefix@g" \ - | grep -v 'Total errors found: 0' - - rm $tmp2 - done - rm $QUICK_TMP -else - # Performance, style, portability, and information - $CPPCHECK_BASE $CPPCHECK_CMD1 2>&1 - - # Check the configuration - $CPPCHECK_BASE $CPPCHECK_CMD3 2>&1 -fi - -# cpplint -if [ $xmlout -eq 1 ]; then - (echo $CPPLINT_FILES | xargs python tools/cpplint.py --extensions=cc,hh --quiet 2>&1) \ - | python tools/cpplint_to_cppcheckxml.py 2> $xmldir/cpplint.xml -elif [ $QUICK_CHECK -eq 0 ]; then - echo $CPPLINT_FILES | xargs python tools/cpplint.py --extensions=cc,hh --quiet 2>&1 -fi diff --git a/tools/cpplint.py b/tools/cpplint.py deleted file mode 100644 index 9bcd5b3bd..000000000 --- a/tools/cpplint.py +++ /dev/null @@ -1,6221 +0,0 @@ -#!/usr/bin/env python -# -# Copyright (c) 2009 Google Inc. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are -# met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following disclaimer -# in the documentation and/or other materials provided with the -# distribution. -# * Neither the name of Google Inc. nor the names of its -# contributors may be used to endorse or promote products derived from -# this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR -# A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT -# OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT -# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, -# DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY -# THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -"""Does google-lint on c++ files. - -The goal of this script is to identify places in the code that *may* -be in non-compliance with google style. It does not attempt to fix -up these problems -- the point is to educate. It does also not -attempt to find all problems, or to ensure that everything it does -find is legitimately a problem. - -In particular, we can get very confused by /* and // inside strings! -We do a small hack, which is to ignore //'s with "'s after them on the -same line, but it is far from perfect (in either direction). -""" - -import codecs -import copy -import getopt -import math # for log -import os -import re -import sre_compile -import string -import sys -import unicodedata - - -_USAGE = """ -Syntax: cpplint.py [--verbose=#] [--output=vs7] [--filter=-x,+y,...] - [--counting=total|toplevel|detailed] [--root=subdir] - [--linelength=digits] [--headers=x,y,...] - [--quiet] - [file] ... - - The style guidelines this tries to follow are those in - https://google-styleguide.googlecode.com/svn/trunk/cppguide.xml - - Every problem is given a confidence score from 1-5, with 5 meaning we are - certain of the problem, and 1 meaning it could be a legitimate construct. - This will miss some errors, and is not a substitute for a code review. - - To suppress false-positive errors of a certain category, add a - 'NOLINT(category)' comment to the line. NOLINT or NOLINT(*) - suppresses errors of all categories on that line. - - The files passed in will be linted; at least one file must be provided. - Default linted extensions are .cc, .cpp, .cu, .cuh and .h. Change the - extensions with the --extensions flag. - - Flags: - - output=vs7 - By default, the output is formatted to ease emacs parsing. Visual Studio - compatible output (vs7) may also be used. Other formats are unsupported. - - verbose=# - Specify a number 0-5 to restrict errors to certain verbosity levels. - - quiet - Don't print anything if no errors are found. - - filter=-x,+y,... - Specify a comma-separated list of category-filters to apply: only - error messages whose category names pass the filters will be printed. - (Category names are printed with the message and look like - "[whitespace/indent]".) Filters are evaluated left to right. - "-FOO" and "FOO" means "do not print categories that start with FOO". - "+FOO" means "do print categories that start with FOO". - - Examples: --filter=-whitespace,+whitespace/braces - --filter=whitespace,runtime/printf,+runtime/printf_format - --filter=-,+build/include_what_you_use - - To see a list of all the categories used in cpplint, pass no arg: - --filter= - - counting=total|toplevel|detailed - The total number of errors found is always printed. If - 'toplevel' is provided, then the count of errors in each of - the top-level categories like 'build' and 'whitespace' will - also be printed. If 'detailed' is provided, then a count - is provided for each category like 'build/class'. - - root=subdir - The root directory used for deriving header guard CPP variable. - By default, the header guard CPP variable is calculated as the relative - path to the directory that contains .git, .hg, or .svn. When this flag - is specified, the relative path is calculated from the specified - directory. If the specified directory does not exist, this flag is - ignored. - - Examples: - Assuming that top/src/.git exists (and cwd=top/src), the header guard - CPP variables for top/src/chrome/browser/ui/browser.h are: - - No flag => CHROME_BROWSER_UI_BROWSER_H_ - --root=chrome => BROWSER_UI_BROWSER_H_ - --root=chrome/browser => UI_BROWSER_H_ - --root=.. => SRC_CHROME_BROWSER_UI_BROWSER_H_ - - linelength=digits - This is the allowed line length for the project. The default value is - 80 characters. - - Examples: - --linelength=120 - - extensions=extension,extension,... - The allowed file extensions that cpplint will check - - Examples: - --extensions=hpp,cpp - - headers=x,y,... - The header extensions that cpplint will treat as .h in checks. Values are - automatically added to --extensions list. - - Examples: - --headers=hpp,hxx - --headers=hpp - - cpplint.py supports per-directory configurations specified in CPPLINT.cfg - files. CPPLINT.cfg file can contain a number of key=value pairs. - Currently the following options are supported: - - set noparent - filter=+filter1,-filter2,... - exclude_files=regex - linelength=80 - root=subdir - headers=x,y,... - - "set noparent" option prevents cpplint from traversing directory tree - upwards looking for more .cfg files in parent directories. This option - is usually placed in the top-level project directory. - - The "filter" option is similar in function to --filter flag. It specifies - message filters in addition to the |_DEFAULT_FILTERS| and those specified - through --filter command-line flag. - - "exclude_files" allows to specify a regular expression to be matched against - a file name. If the expression matches, the file is skipped and not run - through liner. - - "linelength" allows to specify the allowed line length for the project. - - The "root" option is similar in function to the --root flag (see example - above). Paths are relative to the directory of the CPPLINT.cfg. - - The "headers" option is similar in function to the --headers flag - (see example above). - - CPPLINT.cfg has an effect on files in the same directory and all - sub-directories, unless overridden by a nested configuration file. - - Example file: - filter=-build/include_order,+build/include_alpha - exclude_files=.*\.cc - - The above example disables build/include_order warning and enables - build/include_alpha as well as excludes all .cc from being - processed by linter, in the current directory (where the .cfg - file is located) and all sub-directories. -""" - -# We categorize each error message we print. Here are the categories. -# We want an explicit list so we can list them all in cpplint --filter=. -# If you add a new error message with a new category, add it to the list -# here! cpplint_unittest.py should tell you if you forget to do this. -_ERROR_CATEGORIES = [ - 'build/class', - 'build/c++11', - 'build/c++14', - 'build/c++tr1', - 'build/deprecated', - 'build/endif_comment', - 'build/explicit_make_pair', - 'build/forward_decl', - 'build/header_guard', - 'build/include', - 'build/include_alpha', - 'build/include_order', - 'build/include_what_you_use', - 'build/namespaces', - 'build/printf_format', - 'build/storage_class', - 'legal/copyright', - 'readability/alt_tokens', - 'readability/braces', - 'readability/casting', - 'readability/check', - 'readability/constructors', - 'readability/fn_size', - 'readability/inheritance', - 'readability/multiline_comment', - 'readability/multiline_string', - 'readability/namespace', - 'readability/nolint', - 'readability/nul', - 'readability/strings', - 'readability/todo', - 'readability/utf8', - 'runtime/arrays', - 'runtime/casting', - 'runtime/explicit', - 'runtime/int', - 'runtime/init', - 'runtime/invalid_increment', - 'runtime/member_string_references', - 'runtime/memset', - 'runtime/indentation_namespace', - 'runtime/operator', - 'runtime/printf', - 'runtime/printf_format', - 'runtime/references', - 'runtime/string', - 'runtime/threadsafe_fn', - 'runtime/vlog', - 'whitespace/blank_line', - 'whitespace/braces', - 'whitespace/comma', - 'whitespace/comments', - 'whitespace/empty_conditional_body', - 'whitespace/empty_if_body', - 'whitespace/empty_loop_body', - 'whitespace/end_of_line', - 'whitespace/ending_newline', - 'whitespace/forcolon', - 'whitespace/indent', - 'whitespace/line_length', - 'whitespace/newline', - 'whitespace/operators', - 'whitespace/parens', - 'whitespace/semicolon', - 'whitespace/tab', - 'whitespace/todo', - ] - -# These error categories are no longer enforced by cpplint, but for backwards- -# compatibility they may still appear in NOLINT comments. -_LEGACY_ERROR_CATEGORIES = [ - 'readability/streams', - 'readability/function', - ] - -# The default state of the category filter. This is overridden by the --filter= -# flag. By default all errors are on, so only add here categories that should be -# off by default (i.e., categories that must be enabled by the --filter= flags). -# All entries here should start with a '-' or '+', as in the --filter= flag. -_DEFAULT_FILTERS = ['-build/include_alpha'] - -# The default list of categories suppressed for C (not C++) files. -_DEFAULT_C_SUPPRESSED_CATEGORIES = [ - 'readability/casting', - ] - -# The default list of categories suppressed for Linux Kernel files. -_DEFAULT_KERNEL_SUPPRESSED_CATEGORIES = [ - 'whitespace/tab', - ] - -# We used to check for high-bit characters, but after much discussion we -# decided those were OK, as long as they were in UTF-8 and didn't represent -# hard-coded international strings, which belong in a separate i18n file. - -# C++ headers -_CPP_HEADERS = frozenset([ - # Legacy - 'algobase.h', - 'algo.h', - 'alloc.h', - 'builtinbuf.h', - 'bvector.h', - 'complex.h', - 'defalloc.h', - 'deque.h', - 'editbuf.h', - 'fstream.h', - 'function.h', - 'hash_map', - 'hash_map.h', - 'hash_set', - 'hash_set.h', - 'hashtable.h', - 'heap.h', - 'indstream.h', - 'iomanip.h', - 'iostream.h', - 'istream.h', - 'iterator.h', - 'list.h', - 'map.h', - 'multimap.h', - 'multiset.h', - 'ostream.h', - 'pair.h', - 'parsestream.h', - 'pfstream.h', - 'procbuf.h', - 'pthread_alloc', - 'pthread_alloc.h', - 'rope', - 'rope.h', - 'ropeimpl.h', - 'set.h', - 'slist', - 'slist.h', - 'stack.h', - 'stdiostream.h', - 'stl_alloc.h', - 'stl_relops.h', - 'streambuf.h', - 'stream.h', - 'strfile.h', - 'strstream.h', - 'tempbuf.h', - 'tree.h', - 'type_traits.h', - 'vector.h', - # 17.6.1.2 C++ library headers - 'algorithm', - 'array', - 'atomic', - 'bitset', - 'chrono', - 'codecvt', - 'complex', - 'condition_variable', - 'deque', - 'exception', - 'forward_list', - 'fstream', - 'functional', - 'future', - 'initializer_list', - 'iomanip', - 'ios', - 'iosfwd', - 'iostream', - 'istream', - 'iterator', - 'limits', - 'list', - 'locale', - 'map', - 'memory', - 'mutex', - 'new', - 'numeric', - 'ostream', - 'queue', - 'random', - 'ratio', - 'regex', - 'scoped_allocator', - 'set', - 'sstream', - 'stack', - 'stdexcept', - 'streambuf', - 'string', - 'strstream', - 'system_error', - 'thread', - 'tuple', - 'typeindex', - 'typeinfo', - 'type_traits', - 'unordered_map', - 'unordered_set', - 'utility', - 'valarray', - 'vector', - # 17.6.1.2 C++14 headers - 'shared_mutex', - # 17.6.1.2 C++17 headers - 'any', - 'charconv', - 'codecvt', - 'execution', - 'filesystem', - 'memory_resource', - 'optional', - 'string_view', - 'variant', - # 17.6.1.2 C++ headers for C library facilities - 'cassert', - 'ccomplex', - 'cctype', - 'cerrno', - 'cfenv', - 'cfloat', - 'cinttypes', - 'ciso646', - 'climits', - 'clocale', - 'cmath', - 'csetjmp', - 'csignal', - 'cstdalign', - 'cstdarg', - 'cstdbool', - 'cstddef', - 'cstdint', - 'cstdio', - 'cstdlib', - 'cstring', - 'ctgmath', - 'ctime', - 'cuchar', - 'cwchar', - 'cwctype', - ]) - -# Type names -_TYPES = re.compile( - r'^(?:' - # [dcl.type.simple] - r'(char(16_t|32_t)?)|wchar_t|' - r'bool|short|int|long|signed|unsigned|float|double|' - # [support.types] - r'(ptrdiff_t|size_t|max_align_t|nullptr_t)|' - # [cstdint.syn] - r'(u?int(_fast|_least)?(8|16|32|64)_t)|' - r'(u?int(max|ptr)_t)|' - r')$') - - -# These headers are excluded from [build/include] and [build/include_order] -# checks: -# - Anything not following google file name conventions (containing an -# uppercase character, such as Python.h or nsStringAPI.h, for example). -# - Lua headers. -_THIRD_PARTY_HEADERS_PATTERN = re.compile( - r'^(?:[^/]*[A-Z][^/]*\.h|lua\.h|lauxlib\.h|lualib\.h)$') - -# Pattern for matching FileInfo.BaseName() against test file name -_TEST_FILE_SUFFIX = r'(_test|_unittest|_regtest)$' - -# Pattern that matches only complete whitespace, possibly across multiple lines. -_EMPTY_CONDITIONAL_BODY_PATTERN = re.compile(r'^\s*$', re.DOTALL) - -# Assertion macros. These are defined in base/logging.h and -# testing/base/public/gunit.h. -_CHECK_MACROS = [ - 'DCHECK', 'CHECK', - 'EXPECT_TRUE', 'ASSERT_TRUE', - 'EXPECT_FALSE', 'ASSERT_FALSE', - ] - -# Replacement macros for CHECK/DCHECK/EXPECT_TRUE/EXPECT_FALSE -_CHECK_REPLACEMENT = dict([(m, {}) for m in _CHECK_MACROS]) - -for op, replacement in [('==', 'EQ'), ('!=', 'NE'), - ('>=', 'GE'), ('>', 'GT'), - ('<=', 'LE'), ('<', 'LT')]: - _CHECK_REPLACEMENT['DCHECK'][op] = 'DCHECK_%s' % replacement - _CHECK_REPLACEMENT['CHECK'][op] = 'CHECK_%s' % replacement - _CHECK_REPLACEMENT['EXPECT_TRUE'][op] = 'EXPECT_%s' % replacement - _CHECK_REPLACEMENT['ASSERT_TRUE'][op] = 'ASSERT_%s' % replacement - -for op, inv_replacement in [('==', 'NE'), ('!=', 'EQ'), - ('>=', 'LT'), ('>', 'LE'), - ('<=', 'GT'), ('<', 'GE')]: - _CHECK_REPLACEMENT['EXPECT_FALSE'][op] = 'EXPECT_%s' % inv_replacement - _CHECK_REPLACEMENT['ASSERT_FALSE'][op] = 'ASSERT_%s' % inv_replacement - -# Alternative tokens and their replacements. For full list, see section 2.5 -# Alternative tokens [lex.digraph] in the C++ standard. -# -# Digraphs (such as '%:') are not included here since it's a mess to -# match those on a word boundary. -_ALT_TOKEN_REPLACEMENT = { - 'and': '&&', - 'bitor': '|', - 'or': '||', - 'xor': '^', - 'compl': '~', - 'bitand': '&', - 'and_eq': '&=', - 'or_eq': '|=', - 'xor_eq': '^=', - 'not': '!', - 'not_eq': '!=' - } - -# Compile regular expression that matches all the above keywords. The "[ =()]" -# bit is meant to avoid matching these keywords outside of boolean expressions. -# -# False positives include C-style multi-line comments and multi-line strings -# but those have always been troublesome for cpplint. -_ALT_TOKEN_REPLACEMENT_PATTERN = re.compile( - r'[ =()](' + ('|'.join(_ALT_TOKEN_REPLACEMENT.keys())) + r')(?=[ (]|$)') - - -# These constants define types of headers for use with -# _IncludeState.CheckNextIncludeOrder(). -_C_SYS_HEADER = 1 -_CPP_SYS_HEADER = 2 -_LIKELY_MY_HEADER = 3 -_POSSIBLE_MY_HEADER = 4 -_OTHER_HEADER = 5 - -# These constants define the current inline assembly state -_NO_ASM = 0 # Outside of inline assembly block -_INSIDE_ASM = 1 # Inside inline assembly block -_END_ASM = 2 # Last line of inline assembly block -_BLOCK_ASM = 3 # The whole block is an inline assembly block - -# Match start of assembly blocks -_MATCH_ASM = re.compile(r'^\s*(?:asm|_asm|__asm|__asm__)' - r'(?:\s+(volatile|__volatile__))?' - r'\s*[{(]') - -# Match strings that indicate we're working on a C (not C++) file. -_SEARCH_C_FILE = re.compile(r'\b(?:LINT_C_FILE|' - r'vim?:\s*.*(\s*|:)filetype=c(\s*|:|$))') - -# Match string that indicates we're working on a Linux Kernel file. -_SEARCH_KERNEL_FILE = re.compile(r'\b(?:LINT_KERNEL_FILE)') - -_regexp_compile_cache = {} - -# {str, set(int)}: a map from error categories to sets of linenumbers -# on which those errors are expected and should be suppressed. -_error_suppressions = {} - -# The root directory used for deriving header guard CPP variable. -# This is set by --root flag. -_root = None -_root_debug = False - -# The allowed line length of files. -# This is set by --linelength flag. -_line_length = 80 - -# The allowed extensions for file names -# This is set by --extensions flag. -_valid_extensions = set(['cc', 'h', 'cpp', 'cu', 'cuh']) - -# Treat all headers starting with 'h' equally: .h, .hpp, .hxx etc. -# This is set by --headers flag. -_hpp_headers = set(['h']) - -# {str, bool}: a map from error categories to booleans which indicate if the -# category should be suppressed for every line. -_global_error_suppressions = {} - -def ProcessHppHeadersOption(val): - global _hpp_headers - try: - _hpp_headers = set(val.split(',')) - # Automatically append to extensions list so it does not have to be set 2 times - _valid_extensions.update(_hpp_headers) - except ValueError: - PrintUsage('Header extensions must be comma seperated list.') - -def IsHeaderExtension(file_extension): - return file_extension in _hpp_headers - -def ParseNolintSuppressions(filename, raw_line, linenum, error): - """Updates the global list of line error-suppressions. - - Parses any NOLINT comments on the current line, updating the global - error_suppressions store. Reports an error if the NOLINT comment - was malformed. - - Args: - filename: str, the name of the input file. - raw_line: str, the line of input text, with comments. - linenum: int, the number of the current line. - error: function, an error handler. - """ - matched = Search(r'\bNOLINT(NEXTLINE)?\b(\([^)]+\))?', raw_line) - if matched: - if matched.group(1): - suppressed_line = linenum + 1 - else: - suppressed_line = linenum - category = matched.group(2) - if category in (None, '(*)'): # => "suppress all" - _error_suppressions.setdefault(None, set()).add(suppressed_line) - else: - if category.startswith('(') and category.endswith(')'): - category = category[1:-1] - if category in _ERROR_CATEGORIES: - _error_suppressions.setdefault(category, set()).add(suppressed_line) - elif category not in _LEGACY_ERROR_CATEGORIES: - error(filename, linenum, 'readability/nolint', 5, - 'Unknown NOLINT error category: %s' % category) - - -def ProcessGlobalSuppresions(lines): - """Updates the list of global error suppressions. - - Parses any lint directives in the file that have global effect. - - Args: - lines: An array of strings, each representing a line of the file, with the - last element being empty if the file is terminated with a newline. - """ - for line in lines: - if _SEARCH_C_FILE.search(line): - for category in _DEFAULT_C_SUPPRESSED_CATEGORIES: - _global_error_suppressions[category] = True - if _SEARCH_KERNEL_FILE.search(line): - for category in _DEFAULT_KERNEL_SUPPRESSED_CATEGORIES: - _global_error_suppressions[category] = True - - -def ResetNolintSuppressions(): - """Resets the set of NOLINT suppressions to empty.""" - _error_suppressions.clear() - _global_error_suppressions.clear() - - -def IsErrorSuppressedByNolint(category, linenum): - """Returns true if the specified error category is suppressed on this line. - - Consults the global error_suppressions map populated by - ParseNolintSuppressions/ProcessGlobalSuppresions/ResetNolintSuppressions. - - Args: - category: str, the category of the error. - linenum: int, the current line number. - Returns: - bool, True iff the error should be suppressed due to a NOLINT comment or - global suppression. - """ - return (_global_error_suppressions.get(category, False) or - linenum in _error_suppressions.get(category, set()) or - linenum in _error_suppressions.get(None, set())) - - -def Match(pattern, s): - """Matches the string with the pattern, caching the compiled regexp.""" - # The regexp compilation caching is inlined in both Match and Search for - # performance reasons; factoring it out into a separate function turns out - # to be noticeably expensive. - if pattern not in _regexp_compile_cache: - _regexp_compile_cache[pattern] = sre_compile.compile(pattern) - return _regexp_compile_cache[pattern].match(s) - - -def ReplaceAll(pattern, rep, s): - """Replaces instances of pattern in a string with a replacement. - - The compiled regex is kept in a cache shared by Match and Search. - - Args: - pattern: regex pattern - rep: replacement text - s: search string - - Returns: - string with replacements made (or original string if no replacements) - """ - if pattern not in _regexp_compile_cache: - _regexp_compile_cache[pattern] = sre_compile.compile(pattern) - return _regexp_compile_cache[pattern].sub(rep, s) - - -def Search(pattern, s): - """Searches the string for the pattern, caching the compiled regexp.""" - if pattern not in _regexp_compile_cache: - _regexp_compile_cache[pattern] = sre_compile.compile(pattern) - return _regexp_compile_cache[pattern].search(s) - - -def _IsSourceExtension(s): - """File extension (excluding dot) matches a source file extension.""" - return s in ('c', 'cc', 'cpp', 'cxx') - - -class _IncludeState(object): - """Tracks line numbers for includes, and the order in which includes appear. - - include_list contains list of lists of (header, line number) pairs. - It's a lists of lists rather than just one flat list to make it - easier to update across preprocessor boundaries. - - Call CheckNextIncludeOrder() once for each header in the file, passing - in the type constants defined above. Calls in an illegal order will - raise an _IncludeError with an appropriate error message. - - """ - # self._section will move monotonically through this set. If it ever - # needs to move backwards, CheckNextIncludeOrder will raise an error. - _INITIAL_SECTION = 0 - _MY_H_SECTION = 1 - _C_SECTION = 2 - _CPP_SECTION = 3 - _OTHER_H_SECTION = 4 - - _TYPE_NAMES = { - _C_SYS_HEADER: 'C system header', - _CPP_SYS_HEADER: 'C++ system header', - _LIKELY_MY_HEADER: 'header this file implements', - _POSSIBLE_MY_HEADER: 'header this file may implement', - _OTHER_HEADER: 'other header', - } - _SECTION_NAMES = { - _INITIAL_SECTION: "... nothing. (This can't be an error.)", - _MY_H_SECTION: 'a header this file implements', - _C_SECTION: 'C system header', - _CPP_SECTION: 'C++ system header', - _OTHER_H_SECTION: 'other header', - } - - def __init__(self): - self.include_list = [[]] - self.ResetSection('') - - def FindHeader(self, header): - """Check if a header has already been included. - - Args: - header: header to check. - Returns: - Line number of previous occurrence, or -1 if the header has not - been seen before. - """ - for section_list in self.include_list: - for f in section_list: - if f[0] == header: - return f[1] - return -1 - - def ResetSection(self, directive): - """Reset section checking for preprocessor directive. - - Args: - directive: preprocessor directive (e.g. "if", "else"). - """ - # The name of the current section. - self._section = self._INITIAL_SECTION - # The path of last found header. - self._last_header = '' - - # Update list of includes. Note that we never pop from the - # include list. - if directive in ('if', 'ifdef', 'ifndef'): - self.include_list.append([]) - elif directive in ('else', 'elif'): - self.include_list[-1] = [] - - def SetLastHeader(self, header_path): - self._last_header = header_path - - def CanonicalizeAlphabeticalOrder(self, header_path): - """Returns a path canonicalized for alphabetical comparison. - - - replaces "-" with "_" so they both cmp the same. - - removes '-inl' since we don't require them to be after the main header. - - lowercase everything, just in case. - - Args: - header_path: Path to be canonicalized. - - Returns: - Canonicalized path. - """ - return header_path.replace('-inl.h', '.h').replace('-', '_').lower() - - def IsInAlphabeticalOrder(self, clean_lines, linenum, header_path): - """Check if a header is in alphabetical order with the previous header. - - Args: - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - header_path: Canonicalized header to be checked. - - Returns: - Returns true if the header is in alphabetical order. - """ - # If previous section is different from current section, _last_header will - # be reset to empty string, so it's always less than current header. - # - # If previous line was a blank line, assume that the headers are - # intentionally sorted the way they are. - if (self._last_header > header_path and - Match(r'^\s*#\s*include\b', clean_lines.elided[linenum - 1])): - return False - return True - - def CheckNextIncludeOrder(self, header_type): - """Returns a non-empty error message if the next header is out of order. - - This function also updates the internal state to be ready to check - the next include. - - Args: - header_type: One of the _XXX_HEADER constants defined above. - - Returns: - The empty string if the header is in the right order, or an - error message describing what's wrong. - - """ - error_message = ('Found %s after %s' % - (self._TYPE_NAMES[header_type], - self._SECTION_NAMES[self._section])) - - last_section = self._section - - if header_type == _C_SYS_HEADER: - if self._section <= self._C_SECTION: - self._section = self._C_SECTION - else: - self._last_header = '' - return error_message - elif header_type == _CPP_SYS_HEADER: - if self._section <= self._CPP_SECTION: - self._section = self._CPP_SECTION - else: - self._last_header = '' - return error_message - elif header_type == _LIKELY_MY_HEADER: - if self._section <= self._MY_H_SECTION: - self._section = self._MY_H_SECTION - else: - self._section = self._OTHER_H_SECTION - elif header_type == _POSSIBLE_MY_HEADER: - if self._section <= self._MY_H_SECTION: - self._section = self._MY_H_SECTION - else: - # This will always be the fallback because we're not sure - # enough that the header is associated with this file. - self._section = self._OTHER_H_SECTION - else: - assert header_type == _OTHER_HEADER - self._section = self._OTHER_H_SECTION - - if last_section != self._section: - self._last_header = '' - - return '' - - -class _CppLintState(object): - """Maintains module-wide state..""" - - def __init__(self): - self.verbose_level = 1 # global setting. - self.error_count = 0 # global count of reported errors - # filters to apply when emitting error messages - self.filters = _DEFAULT_FILTERS[:] - # backup of filter list. Used to restore the state after each file. - self._filters_backup = self.filters[:] - self.counting = 'total' # In what way are we counting errors? - self.errors_by_category = {} # string to int dict storing error counts - self.quiet = False # Suppress non-error messagess? - - # output format: - # "emacs" - format that emacs can parse (default) - # "vs7" - format that Microsoft Visual Studio 7 can parse - self.output_format = 'emacs' - - def SetOutputFormat(self, output_format): - """Sets the output format for errors.""" - self.output_format = output_format - - def SetQuiet(self, quiet): - """Sets the module's quiet settings, and returns the previous setting.""" - last_quiet = self.quiet - self.quiet = quiet - return last_quiet - - def SetVerboseLevel(self, level): - """Sets the module's verbosity, and returns the previous setting.""" - last_verbose_level = self.verbose_level - self.verbose_level = level - return last_verbose_level - - def SetCountingStyle(self, counting_style): - """Sets the module's counting options.""" - self.counting = counting_style - - def SetFilters(self, filters): - """Sets the error-message filters. - - These filters are applied when deciding whether to emit a given - error message. - - Args: - filters: A string of comma-separated filters (eg "+whitespace/indent"). - Each filter should start with + or -; else we die. - - Raises: - ValueError: The comma-separated filters did not all start with '+' or '-'. - E.g. "-,+whitespace,-whitespace/indent,whitespace/badfilter" - """ - # Default filters always have less priority than the flag ones. - self.filters = _DEFAULT_FILTERS[:] - self.AddFilters(filters) - - def AddFilters(self, filters): - """ Adds more filters to the existing list of error-message filters. """ - for filt in filters.split(','): - clean_filt = filt.strip() - if clean_filt: - self.filters.append(clean_filt) - for filt in self.filters: - if not (filt.startswith('+') or filt.startswith('-')): - raise ValueError('Every filter in --filters must start with + or -' - ' (%s does not)' % filt) - - def BackupFilters(self): - """ Saves the current filter list to backup storage.""" - self._filters_backup = self.filters[:] - - def RestoreFilters(self): - """ Restores filters previously backed up.""" - self.filters = self._filters_backup[:] - - def ResetErrorCounts(self): - """Sets the module's error statistic back to zero.""" - self.error_count = 0 - self.errors_by_category = {} - - def IncrementErrorCount(self, category): - """Bumps the module's error statistic.""" - self.error_count += 1 - if self.counting in ('toplevel', 'detailed'): - if self.counting != 'detailed': - category = category.split('/')[0] - if category not in self.errors_by_category: - self.errors_by_category[category] = 0 - self.errors_by_category[category] += 1 - - def PrintErrorCounts(self): - """Print a summary of errors by category, and the total.""" - for category, count in self.errors_by_category.iteritems(): - sys.stderr.write('Category \'%s\' errors found: %d\n' % - (category, count)) - sys.stdout.write('Total errors found: %d\n' % self.error_count) - -_cpplint_state = _CppLintState() - - -def _OutputFormat(): - """Gets the module's output format.""" - return _cpplint_state.output_format - - -def _SetOutputFormat(output_format): - """Sets the module's output format.""" - _cpplint_state.SetOutputFormat(output_format) - -def _Quiet(): - """Return's the module's quiet setting.""" - return _cpplint_state.quiet - -def _SetQuiet(quiet): - """Set the module's quiet status, and return previous setting.""" - return _cpplint_state.SetQuiet(quiet) - - -def _VerboseLevel(): - """Returns the module's verbosity setting.""" - return _cpplint_state.verbose_level - - -def _SetVerboseLevel(level): - """Sets the module's verbosity, and returns the previous setting.""" - return _cpplint_state.SetVerboseLevel(level) - - -def _SetCountingStyle(level): - """Sets the module's counting options.""" - _cpplint_state.SetCountingStyle(level) - - -def _Filters(): - """Returns the module's list of output filters, as a list.""" - return _cpplint_state.filters - - -def _SetFilters(filters): - """Sets the module's error-message filters. - - These filters are applied when deciding whether to emit a given - error message. - - Args: - filters: A string of comma-separated filters (eg "whitespace/indent"). - Each filter should start with + or -; else we die. - """ - _cpplint_state.SetFilters(filters) - -def _AddFilters(filters): - """Adds more filter overrides. - - Unlike _SetFilters, this function does not reset the current list of filters - available. - - Args: - filters: A string of comma-separated filters (eg "whitespace/indent"). - Each filter should start with + or -; else we die. - """ - _cpplint_state.AddFilters(filters) - -def _BackupFilters(): - """ Saves the current filter list to backup storage.""" - _cpplint_state.BackupFilters() - -def _RestoreFilters(): - """ Restores filters previously backed up.""" - _cpplint_state.RestoreFilters() - -class _FunctionState(object): - """Tracks current function name and the number of lines in its body.""" - - _NORMAL_TRIGGER = 250 # for --v=0, 500 for --v=1, etc. - _TEST_TRIGGER = 400 # about 50% more than _NORMAL_TRIGGER. - - def __init__(self): - self.in_a_function = False - self.lines_in_function = 0 - self.current_function = '' - - def Begin(self, function_name): - """Start analyzing function body. - - Args: - function_name: The name of the function being tracked. - """ - self.in_a_function = True - self.lines_in_function = 0 - self.current_function = function_name - - def Count(self): - """Count line in current function body.""" - if self.in_a_function: - self.lines_in_function += 1 - - def Check(self, error, filename, linenum): - """Report if too many lines in function body. - - Args: - error: The function to call with any errors found. - filename: The name of the current file. - linenum: The number of the line to check. - """ - if not self.in_a_function: - return - - if Match(r'T(EST|est)', self.current_function): - base_trigger = self._TEST_TRIGGER - else: - base_trigger = self._NORMAL_TRIGGER - trigger = base_trigger * 2**_VerboseLevel() - - if self.lines_in_function > trigger: - error_level = int(math.log(self.lines_in_function / base_trigger, 2)) - # 50 => 0, 100 => 1, 200 => 2, 400 => 3, 800 => 4, 1600 => 5, ... - if error_level > 5: - error_level = 5 - error(filename, linenum, 'readability/fn_size', error_level, - 'Small and focused functions are preferred:' - ' %s has %d non-comment lines' - ' (error triggered by exceeding %d lines).' % ( - self.current_function, self.lines_in_function, trigger)) - - def End(self): - """Stop analyzing function body.""" - self.in_a_function = False - - -class _IncludeError(Exception): - """Indicates a problem with the include order in a file.""" - pass - - -class FileInfo(object): - """Provides utility functions for filenames. - - FileInfo provides easy access to the components of a file's path - relative to the project root. - """ - - def __init__(self, filename): - self._filename = filename - - def FullName(self): - """Make Windows paths like Unix.""" - return os.path.abspath(self._filename).replace('\\', '/') - - def RepositoryName(self): - """FullName after removing the local path to the repository. - - If we have a real absolute path name here we can try to do something smart: - detecting the root of the checkout and truncating /path/to/checkout from - the name so that we get header guards that don't include things like - "C:\Documents and Settings\..." or "/home/username/..." in them and thus - people on different computers who have checked the source out to different - locations won't see bogus errors. - """ - fullname = self.FullName() - - if os.path.exists(fullname): - project_dir = os.path.dirname(fullname) - - if os.path.exists(os.path.join(project_dir, ".svn")): - # If there's a .svn file in the current directory, we recursively look - # up the directory tree for the top of the SVN checkout - root_dir = project_dir - one_up_dir = os.path.dirname(root_dir) - while os.path.exists(os.path.join(one_up_dir, ".svn")): - root_dir = os.path.dirname(root_dir) - one_up_dir = os.path.dirname(one_up_dir) - - prefix = os.path.commonprefix([root_dir, project_dir]) - return fullname[len(prefix) + 1:] - - # Not SVN <= 1.6? Try to find a git, hg, or svn top level directory by - # searching up from the current path. - root_dir = current_dir = os.path.dirname(fullname) - while current_dir != os.path.dirname(current_dir): - if (os.path.exists(os.path.join(current_dir, ".git")) or - os.path.exists(os.path.join(current_dir, ".hg")) or - os.path.exists(os.path.join(current_dir, ".svn"))): - root_dir = current_dir - current_dir = os.path.dirname(current_dir) - - if (os.path.exists(os.path.join(root_dir, ".git")) or - os.path.exists(os.path.join(root_dir, ".hg")) or - os.path.exists(os.path.join(root_dir, ".svn"))): - prefix = os.path.commonprefix([root_dir, project_dir]) - return fullname[len(prefix) + 1:] - - # Don't know what to do; header guard warnings may be wrong... - return fullname - - def Split(self): - """Splits the file into the directory, basename, and extension. - - For 'chrome/browser/browser.cc', Split() would - return ('chrome/browser', 'browser', '.cc') - - Returns: - A tuple of (directory, basename, extension). - """ - - googlename = self.RepositoryName() - project, rest = os.path.split(googlename) - return (project,) + os.path.splitext(rest) - - def BaseName(self): - """File base name - text after the final slash, before the final period.""" - return self.Split()[1] - - def Extension(self): - """File extension - text following the final period.""" - return self.Split()[2] - - def NoExtension(self): - """File has no source file extension.""" - return '/'.join(self.Split()[0:2]) - - def IsSource(self): - """File has a source file extension.""" - return _IsSourceExtension(self.Extension()[1:]) - - -def _ShouldPrintError(category, confidence, linenum): - """If confidence >= verbose, category passes filter and is not suppressed.""" - - # There are three ways we might decide not to print an error message: - # a "NOLINT(category)" comment appears in the source, - # the verbosity level isn't high enough, or the filters filter it out. - if IsErrorSuppressedByNolint(category, linenum): - return False - - if confidence < _cpplint_state.verbose_level: - return False - - is_filtered = False - for one_filter in _Filters(): - if one_filter.startswith('-'): - if category.startswith(one_filter[1:]): - is_filtered = True - elif one_filter.startswith('+'): - if category.startswith(one_filter[1:]): - is_filtered = False - else: - assert False # should have been checked for in SetFilter. - if is_filtered: - return False - - return True - - -def Error(filename, linenum, category, confidence, message): - """Logs the fact we've found a lint error. - - We log where the error was found, and also our confidence in the error, - that is, how certain we are this is a legitimate style regression, and - not a misidentification or a use that's sometimes justified. - - False positives can be suppressed by the use of - "cpplint(category)" comments on the offending line. These are - parsed into _error_suppressions. - - Args: - filename: The name of the file containing the error. - linenum: The number of the line containing the error. - category: A string used to describe the "category" this bug - falls under: "whitespace", say, or "runtime". Categories - may have a hierarchy separated by slashes: "whitespace/indent". - confidence: A number from 1-5 representing a confidence score for - the error, with 5 meaning that we are certain of the problem, - and 1 meaning that it could be a legitimate construct. - message: The error message. - """ - if _ShouldPrintError(category, confidence, linenum): - _cpplint_state.IncrementErrorCount(category) - if _cpplint_state.output_format == 'vs7': - sys.stderr.write('%s(%s): error cpplint: [%s] %s [%d]\n' % ( - filename, linenum, category, message, confidence)) - elif _cpplint_state.output_format == 'eclipse': - sys.stderr.write('%s:%s: warning: %s [%s] [%d]\n' % ( - filename, linenum, message, category, confidence)) - else: - sys.stderr.write('%s:%s: %s [%s] [%d]\n' % ( - filename, linenum, message, category, confidence)) - - -# Matches standard C++ escape sequences per 2.13.2.3 of the C++ standard. -_RE_PATTERN_CLEANSE_LINE_ESCAPES = re.compile( - r'\\([abfnrtv?"\\\']|\d+|x[0-9a-fA-F]+)') -# Match a single C style comment on the same line. -_RE_PATTERN_C_COMMENTS = r'/\*(?:[^*]|\*(?!/))*\*/' -# Matches multi-line C style comments. -# This RE is a little bit more complicated than one might expect, because we -# have to take care of space removals tools so we can handle comments inside -# statements better. -# The current rule is: We only clear spaces from both sides when we're at the -# end of the line. Otherwise, we try to remove spaces from the right side, -# if this doesn't work we try on left side but only if there's a non-character -# on the right. -_RE_PATTERN_CLEANSE_LINE_C_COMMENTS = re.compile( - r'(\s*' + _RE_PATTERN_C_COMMENTS + r'\s*$|' + - _RE_PATTERN_C_COMMENTS + r'\s+|' + - r'\s+' + _RE_PATTERN_C_COMMENTS + r'(?=\W)|' + - _RE_PATTERN_C_COMMENTS + r')') - - -def IsCppString(line): - """Does line terminate so, that the next symbol is in string constant. - - This function does not consider single-line nor multi-line comments. - - Args: - line: is a partial line of code starting from the 0..n. - - Returns: - True, if next character appended to 'line' is inside a - string constant. - """ - - line = line.replace(r'\\', 'XX') # after this, \\" does not match to \" - return ((line.count('"') - line.count(r'\"') - line.count("'\"'")) & 1) == 1 - - -def CleanseRawStrings(raw_lines): - """Removes C++11 raw strings from lines. - - Before: - static const char kData[] = R"( - multi-line string - )"; - - After: - static const char kData[] = "" - (replaced by blank line) - ""; - - Args: - raw_lines: list of raw lines. - - Returns: - list of lines with C++11 raw strings replaced by empty strings. - """ - - delimiter = None - lines_without_raw_strings = [] - for line in raw_lines: - if delimiter: - # Inside a raw string, look for the end - end = line.find(delimiter) - if end >= 0: - # Found the end of the string, match leading space for this - # line and resume copying the original lines, and also insert - # a "" on the last line. - leading_space = Match(r'^(\s*)\S', line) - line = leading_space.group(1) + '""' + line[end + len(delimiter):] - delimiter = None - else: - # Haven't found the end yet, append a blank line. - line = '""' - - # Look for beginning of a raw string, and replace them with - # empty strings. This is done in a loop to handle multiple raw - # strings on the same line. - while delimiter is None: - # Look for beginning of a raw string. - # See 2.14.15 [lex.string] for syntax. - # - # Once we have matched a raw string, we check the prefix of the - # line to make sure that the line is not part of a single line - # comment. It's done this way because we remove raw strings - # before removing comments as opposed to removing comments - # before removing raw strings. This is because there are some - # cpplint checks that requires the comments to be preserved, but - # we don't want to check comments that are inside raw strings. - matched = Match(r'^(.*?)\b(?:R|u8R|uR|UR|LR)"([^\s\\()]*)\((.*)$', line) - if (matched and - not Match(r'^([^\'"]|\'(\\.|[^\'])*\'|"(\\.|[^"])*")*//', - matched.group(1))): - delimiter = ')' + matched.group(2) + '"' - - end = matched.group(3).find(delimiter) - if end >= 0: - # Raw string ended on same line - line = (matched.group(1) + '""' + - matched.group(3)[end + len(delimiter):]) - delimiter = None - else: - # Start of a multi-line raw string - line = matched.group(1) + '""' - else: - break - - lines_without_raw_strings.append(line) - - # TODO(unknown): if delimiter is not None here, we might want to - # emit a warning for unterminated string. - return lines_without_raw_strings - - -def FindNextMultiLineCommentStart(lines, lineix): - """Find the beginning marker for a multiline comment.""" - while lineix < len(lines): - if lines[lineix].strip().startswith('/*'): - # Only return this marker if the comment goes beyond this line - if lines[lineix].strip().find('*/', 2) < 0: - return lineix - lineix += 1 - return len(lines) - - -def FindNextMultiLineCommentEnd(lines, lineix): - """We are inside a comment, find the end marker.""" - while lineix < len(lines): - if lines[lineix].strip().endswith('*/'): - return lineix - lineix += 1 - return len(lines) - - -def RemoveMultiLineCommentsFromRange(lines, begin, end): - """Clears a range of lines for multi-line comments.""" - # Having // dummy comments makes the lines non-empty, so we will not get - # unnecessary blank line warnings later in the code. - for i in range(begin, end): - lines[i] = '/**/' - - -def RemoveMultiLineComments(filename, lines, error): - """Removes multiline (c-style) comments from lines.""" - lineix = 0 - while lineix < len(lines): - lineix_begin = FindNextMultiLineCommentStart(lines, lineix) - if lineix_begin >= len(lines): - return - lineix_end = FindNextMultiLineCommentEnd(lines, lineix_begin) - if lineix_end >= len(lines): - error(filename, lineix_begin + 1, 'readability/multiline_comment', 5, - 'Could not find end of multi-line comment') - return - RemoveMultiLineCommentsFromRange(lines, lineix_begin, lineix_end + 1) - lineix = lineix_end + 1 - - -def CleanseComments(line): - """Removes //-comments and single-line C-style /* */ comments. - - Args: - line: A line of C++ source. - - Returns: - The line with single-line comments removed. - """ - commentpos = line.find('//') - if commentpos != -1 and not IsCppString(line[:commentpos]): - line = line[:commentpos].rstrip() - # get rid of /* ... */ - return _RE_PATTERN_CLEANSE_LINE_C_COMMENTS.sub('', line) - - -class CleansedLines(object): - """Holds 4 copies of all lines with different preprocessing applied to them. - - 1) elided member contains lines without strings and comments. - 2) lines member contains lines without comments. - 3) raw_lines member contains all the lines without processing. - 4) lines_without_raw_strings member is same as raw_lines, but with C++11 raw - strings removed. - All these members are of , and of the same length. - """ - - def __init__(self, lines): - self.elided = [] - self.lines = [] - self.raw_lines = lines - self.num_lines = len(lines) - self.lines_without_raw_strings = CleanseRawStrings(lines) - for linenum in range(len(self.lines_without_raw_strings)): - self.lines.append(CleanseComments( - self.lines_without_raw_strings[linenum])) - elided = self._CollapseStrings(self.lines_without_raw_strings[linenum]) - self.elided.append(CleanseComments(elided)) - - def NumLines(self): - """Returns the number of lines represented.""" - return self.num_lines - - @staticmethod - def _CollapseStrings(elided): - """Collapses strings and chars on a line to simple "" or '' blocks. - - We nix strings first so we're not fooled by text like '"http://"' - - Args: - elided: The line being processed. - - Returns: - The line with collapsed strings. - """ - if _RE_PATTERN_INCLUDE.match(elided): - return elided - - # Remove escaped characters first to make quote/single quote collapsing - # basic. Things that look like escaped characters shouldn't occur - # outside of strings and chars. - elided = _RE_PATTERN_CLEANSE_LINE_ESCAPES.sub('', elided) - - # Replace quoted strings and digit separators. Both single quotes - # and double quotes are processed in the same loop, otherwise - # nested quotes wouldn't work. - collapsed = '' - while True: - # Find the first quote character - match = Match(r'^([^\'"]*)([\'"])(.*)$', elided) - if not match: - collapsed += elided - break - head, quote, tail = match.groups() - - if quote == '"': - # Collapse double quoted strings - second_quote = tail.find('"') - if second_quote >= 0: - collapsed += head + '""' - elided = tail[second_quote + 1:] - else: - # Unmatched double quote, don't bother processing the rest - # of the line since this is probably a multiline string. - collapsed += elided - break - else: - # Found single quote, check nearby text to eliminate digit separators. - # - # There is no special handling for floating point here, because - # the integer/fractional/exponent parts would all be parsed - # correctly as long as there are digits on both sides of the - # separator. So we are fine as long as we don't see something - # like "0.'3" (gcc 4.9.0 will not allow this literal). - if Search(r'\b(?:0[bBxX]?|[1-9])[0-9a-fA-F]*$', head): - match_literal = Match(r'^((?:\'?[0-9a-zA-Z_])*)(.*)$', "'" + tail) - collapsed += head + match_literal.group(1).replace("'", '') - elided = match_literal.group(2) - else: - second_quote = tail.find('\'') - if second_quote >= 0: - collapsed += head + "''" - elided = tail[second_quote + 1:] - else: - # Unmatched single quote - collapsed += elided - break - - return collapsed - - -def FindEndOfExpressionInLine(line, startpos, stack): - """Find the position just after the end of current parenthesized expression. - - Args: - line: a CleansedLines line. - startpos: start searching at this position. - stack: nesting stack at startpos. - - Returns: - On finding matching end: (index just after matching end, None) - On finding an unclosed expression: (-1, None) - Otherwise: (-1, new stack at end of this line) - """ - for i in xrange(startpos, len(line)): - char = line[i] - if char in '([{': - # Found start of parenthesized expression, push to expression stack - stack.append(char) - elif char == '<': - # Found potential start of template argument list - if i > 0 and line[i - 1] == '<': - # Left shift operator - if stack and stack[-1] == '<': - stack.pop() - if not stack: - return (-1, None) - elif i > 0 and Search(r'\boperator\s*$', line[0:i]): - # operator<, don't add to stack - continue - else: - # Tentative start of template argument list - stack.append('<') - elif char in ')]}': - # Found end of parenthesized expression. - # - # If we are currently expecting a matching '>', the pending '<' - # must have been an operator. Remove them from expression stack. - while stack and stack[-1] == '<': - stack.pop() - if not stack: - return (-1, None) - if ((stack[-1] == '(' and char == ')') or - (stack[-1] == '[' and char == ']') or - (stack[-1] == '{' and char == '}')): - stack.pop() - if not stack: - return (i + 1, None) - else: - # Mismatched parentheses - return (-1, None) - elif char == '>': - # Found potential end of template argument list. - - # Ignore "->" and operator functions - if (i > 0 and - (line[i - 1] == '-' or Search(r'\boperator\s*$', line[0:i - 1]))): - continue - - # Pop the stack if there is a matching '<'. Otherwise, ignore - # this '>' since it must be an operator. - if stack: - if stack[-1] == '<': - stack.pop() - if not stack: - return (i + 1, None) - elif char == ';': - # Found something that look like end of statements. If we are currently - # expecting a '>', the matching '<' must have been an operator, since - # template argument list should not contain statements. - while stack and stack[-1] == '<': - stack.pop() - if not stack: - return (-1, None) - - # Did not find end of expression or unbalanced parentheses on this line - return (-1, stack) - - -def CloseExpression(clean_lines, linenum, pos): - """If input points to ( or { or [ or <, finds the position that closes it. - - If lines[linenum][pos] points to a '(' or '{' or '[' or '<', finds the - linenum/pos that correspond to the closing of the expression. - - TODO(unknown): cpplint spends a fair bit of time matching parentheses. - Ideally we would want to index all opening and closing parentheses once - and have CloseExpression be just a simple lookup, but due to preprocessor - tricks, this is not so easy. - - Args: - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - pos: A position on the line. - - Returns: - A tuple (line, linenum, pos) pointer *past* the closing brace, or - (line, len(lines), -1) if we never find a close. Note we ignore - strings and comments when matching; and the line we return is the - 'cleansed' line at linenum. - """ - - line = clean_lines.elided[linenum] - if (line[pos] not in '({[<') or Match(r'<[<=]', line[pos:]): - return (line, clean_lines.NumLines(), -1) - - # Check first line - (end_pos, stack) = FindEndOfExpressionInLine(line, pos, []) - if end_pos > -1: - return (line, linenum, end_pos) - - # Continue scanning forward - while stack and linenum < clean_lines.NumLines() - 1: - linenum += 1 - line = clean_lines.elided[linenum] - (end_pos, stack) = FindEndOfExpressionInLine(line, 0, stack) - if end_pos > -1: - return (line, linenum, end_pos) - - # Did not find end of expression before end of file, give up - return (line, clean_lines.NumLines(), -1) - - -def FindStartOfExpressionInLine(line, endpos, stack): - """Find position at the matching start of current expression. - - This is almost the reverse of FindEndOfExpressionInLine, but note - that the input position and returned position differs by 1. - - Args: - line: a CleansedLines line. - endpos: start searching at this position. - stack: nesting stack at endpos. - - Returns: - On finding matching start: (index at matching start, None) - On finding an unclosed expression: (-1, None) - Otherwise: (-1, new stack at beginning of this line) - """ - i = endpos - while i >= 0: - char = line[i] - if char in ')]}': - # Found end of expression, push to expression stack - stack.append(char) - elif char == '>': - # Found potential end of template argument list. - # - # Ignore it if it's a "->" or ">=" or "operator>" - if (i > 0 and - (line[i - 1] == '-' or - Match(r'\s>=\s', line[i - 1:]) or - Search(r'\boperator\s*$', line[0:i]))): - i -= 1 - else: - stack.append('>') - elif char == '<': - # Found potential start of template argument list - if i > 0 and line[i - 1] == '<': - # Left shift operator - i -= 1 - else: - # If there is a matching '>', we can pop the expression stack. - # Otherwise, ignore this '<' since it must be an operator. - if stack and stack[-1] == '>': - stack.pop() - if not stack: - return (i, None) - elif char in '([{': - # Found start of expression. - # - # If there are any unmatched '>' on the stack, they must be - # operators. Remove those. - while stack and stack[-1] == '>': - stack.pop() - if not stack: - return (-1, None) - if ((char == '(' and stack[-1] == ')') or - (char == '[' and stack[-1] == ']') or - (char == '{' and stack[-1] == '}')): - stack.pop() - if not stack: - return (i, None) - else: - # Mismatched parentheses - return (-1, None) - elif char == ';': - # Found something that look like end of statements. If we are currently - # expecting a '<', the matching '>' must have been an operator, since - # template argument list should not contain statements. - while stack and stack[-1] == '>': - stack.pop() - if not stack: - return (-1, None) - - i -= 1 - - return (-1, stack) - - -def ReverseCloseExpression(clean_lines, linenum, pos): - """If input points to ) or } or ] or >, finds the position that opens it. - - If lines[linenum][pos] points to a ')' or '}' or ']' or '>', finds the - linenum/pos that correspond to the opening of the expression. - - Args: - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - pos: A position on the line. - - Returns: - A tuple (line, linenum, pos) pointer *at* the opening brace, or - (line, 0, -1) if we never find the matching opening brace. Note - we ignore strings and comments when matching; and the line we - return is the 'cleansed' line at linenum. - """ - line = clean_lines.elided[linenum] - if line[pos] not in ')}]>': - return (line, 0, -1) - - # Check last line - (start_pos, stack) = FindStartOfExpressionInLine(line, pos, []) - if start_pos > -1: - return (line, linenum, start_pos) - - # Continue scanning backward - while stack and linenum > 0: - linenum -= 1 - line = clean_lines.elided[linenum] - (start_pos, stack) = FindStartOfExpressionInLine(line, len(line) - 1, stack) - if start_pos > -1: - return (line, linenum, start_pos) - - # Did not find start of expression before beginning of file, give up - return (line, 0, -1) - - -def CheckForCopyright(filename, lines, error): - """Logs an error if no Copyright message appears at the top of the file.""" - - # We'll say it should occur by line 10. Don't forget there's a - # dummy line at the front. - for line in xrange(1, min(len(lines), 11)): - if re.search(r'Copyright', lines[line], re.I): break - else: # means no copyright line was found - error(filename, 0, 'legal/copyright', 5, - 'No copyright message found. ' - 'You should have a line: "Copyright [year] "') - - -def GetIndentLevel(line): - """Return the number of leading spaces in line. - - Args: - line: A string to check. - - Returns: - An integer count of leading spaces, possibly zero. - """ - indent = Match(r'^( *)\S', line) - if indent: - return len(indent.group(1)) - else: - return 0 - -def PathSplitToList(path): - """Returns the path split into a list by the separator. - - Args: - path: An absolute or relative path (e.g. '/a/b/c/' or '../a') - - Returns: - A list of path components (e.g. ['a', 'b', 'c]). - """ - lst = [] - while True: - (head, tail) = os.path.split(path) - if head == path: # absolute paths end - lst.append(head) - break - if tail == path: # relative paths end - lst.append(tail) - break - - path = head - lst.append(tail) - - lst.reverse() - return lst - -def GetHeaderGuardCPPVariable(filename): - """Returns the CPP variable that should be used as a header guard. - - Args: - filename: The name of a C++ header file. - - Returns: - The CPP variable that should be used as a header guard in the - named file. - - """ - - # Restores original filename in case that cpplint is invoked from Emacs's - # flymake. - filename = re.sub(r'_flymake\.h$', '.h', filename) - filename = re.sub(r'/\.flymake/([^/]*)$', r'/\1', filename) - # Replace 'c++' with 'cpp'. - filename = filename.replace('C++', 'cpp').replace('c++', 'cpp') - - fileinfo = FileInfo(filename) - file_path_from_root = fileinfo.RepositoryName() - - def FixupPathFromRoot(): - if _root_debug: - sys.stderr.write("\n_root fixup, _root = '%s', repository name = '%s'\n" - %(_root, fileinfo.RepositoryName())) - - # Process the file path with the --root flag if it was set. - if not _root: - if _root_debug: - sys.stderr.write("_root unspecified\n") - return file_path_from_root - - def StripListPrefix(lst, prefix): - # f(['x', 'y'], ['w, z']) -> None (not a valid prefix) - if lst[:len(prefix)] != prefix: - return None - # f(['a, 'b', 'c', 'd'], ['a', 'b']) -> ['c', 'd'] - return lst[(len(prefix)):] - - # root behavior: - # --root=subdir , lstrips subdir from the header guard - maybe_path = StripListPrefix(PathSplitToList(file_path_from_root), - PathSplitToList(_root)) - - if _root_debug: - sys.stderr.write("_root lstrip (maybe_path=%s, file_path_from_root=%s," + - " _root=%s)\n" %(maybe_path, file_path_from_root, _root)) - - if maybe_path: - return os.path.join(*maybe_path) - - # --root=.. , will prepend the outer directory to the header guard - full_path = fileinfo.FullName() - root_abspath = os.path.abspath(_root) - - maybe_path = StripListPrefix(PathSplitToList(full_path), - PathSplitToList(root_abspath)) - - if _root_debug: - sys.stderr.write("_root prepend (maybe_path=%s, full_path=%s, " + - "root_abspath=%s)\n" %(maybe_path, full_path, root_abspath)) - - if maybe_path: - return os.path.join(*maybe_path) - - if _root_debug: - sys.stderr.write("_root ignore, returning %s\n" %(file_path_from_root)) - - # --root=FAKE_DIR is ignored - return file_path_from_root - - file_path_from_root = FixupPathFromRoot() - return re.sub(r'[^a-zA-Z0-9]', '_', file_path_from_root).upper() + '_' - - -def CheckForHeaderGuard(filename, clean_lines, error): - """Checks that the file contains a header guard. - - Logs an error if no #ifndef header guard is present. For other - headers, checks that the full pathname is used. - - Args: - filename: The name of the C++ header file. - clean_lines: A CleansedLines instance containing the file. - error: The function to call with any errors found. - """ - - # Don't check for header guards if there are error suppression - # comments somewhere in this file. - # - # Because this is silencing a warning for a nonexistent line, we - # only support the very specific NOLINT(build/header_guard) syntax, - # and not the general NOLINT or NOLINT(*) syntax. - raw_lines = clean_lines.lines_without_raw_strings - for i in raw_lines: - if Search(r'//\s*NOLINT\(build/header_guard\)', i): - return - - cppvar = GetHeaderGuardCPPVariable(filename) - - ifndef = '' - ifndef_linenum = 0 - define = '' - endif = '' - endif_linenum = 0 - for linenum, line in enumerate(raw_lines): - linesplit = line.split() - if len(linesplit) >= 2: - # find the first occurrence of #ifndef and #define, save arg - if not ifndef and linesplit[0] == '#ifndef': - # set ifndef to the header guard presented on the #ifndef line. - ifndef = linesplit[1] - ifndef_linenum = linenum - if not define and linesplit[0] == '#define': - define = linesplit[1] - # find the last occurrence of #endif, save entire line - if line.startswith('#endif'): - endif = line - endif_linenum = linenum - - if not ifndef or not define or ifndef != define: - error(filename, 0, 'build/header_guard', 5, - 'No #ifndef header guard found, suggested CPP variable is: %s' % - cppvar) - return - - # The guard should be PATH_FILE_H_, but we also allow PATH_FILE_H__ - # for backward compatibility. - if ifndef != cppvar: - error_level = 0 - if ifndef != cppvar + '_': - error_level = 5 - - ParseNolintSuppressions(filename, raw_lines[ifndef_linenum], ifndef_linenum, - error) - error(filename, ifndef_linenum, 'build/header_guard', error_level, - '#ifndef header guard has wrong style, please use: %s' % cppvar) - - # Check for "//" comments on endif line. - # ParseNolintSuppressions(filename, raw_lines[endif_linenum], endif_linenum, - # error) - # match = Match(r'#endif\s*//\s*' + cppvar + r'(_)?\b', endif) - # if match: - # if match.group(1) == '_': - # # Issue low severity warning for deprecated double trailing underscore - # error(filename, endif_linenum, 'build/header_guard', 0, - # '#endif line should be "#endif // %s"' % cppvar) - # return - - # Didn't find the corresponding "//" comment. If this file does not - # contain any "//" comments at all, it could be that the compiler - # only wants "/**/" comments, look for those instead. - # no_single_line_comments = True - # for i in xrange(1, len(raw_lines) - 1): - # line = raw_lines[i] - # if Match(r'^(?:(?:\'(?:\.|[^\'])*\')|(?:"(?:\.|[^"])*")|[^\'"])*//', line): - # no_single_line_comments = False - # break - - # if no_single_line_comments: - # match = Match(r'#endif\s*/\*\s*' + cppvar + r'(_)?\s*\*/', endif) - # if match: - # if match.group(1) == '_': - # # Low severity warning for double trailing underscore - # error(filename, endif_linenum, 'build/header_guard', 0, - # '#endif line should be "#endif /* %s */"' % cppvar) - # return - - # # Didn't find anything - # error(filename, endif_linenum, 'build/header_guard', 5, - # '#endif line should be "#endif // %s"' % cppvar) - - -def CheckHeaderFileIncluded(filename, include_state, error): - """Logs an error if a .cc file does not include its header.""" - - # Do not check test files - fileinfo = FileInfo(filename) - if Search(_TEST_FILE_SUFFIX, fileinfo.BaseName()): - return - - headerfile = filename[0:len(filename) - len(fileinfo.Extension())] + '.h' - if not os.path.exists(headerfile): - return - headername = FileInfo(headerfile).RepositoryName() - first_include = 0 - for section_list in include_state.include_list: - for f in section_list: - if headername in f[0] or f[0] in headername: - return - if not first_include: - first_include = f[1] - - error(filename, first_include, 'build/include', 5, - '%s should include its header file %s' % (fileinfo.RepositoryName(), - headername)) - - -def CheckForBadCharacters(filename, lines, error): - """Logs an error for each line containing bad characters. - - Two kinds of bad characters: - - 1. Unicode replacement characters: These indicate that either the file - contained invalid UTF-8 (likely) or Unicode replacement characters (which - it shouldn't). Note that it's possible for this to throw off line - numbering if the invalid UTF-8 occurred adjacent to a newline. - - 2. NUL bytes. These are problematic for some tools. - - Args: - filename: The name of the current file. - lines: An array of strings, each representing a line of the file. - error: The function to call with any errors found. - """ - for linenum, line in enumerate(lines): - if u'\ufffd' in line: - error(filename, linenum, 'readability/utf8', 5, - 'Line contains invalid UTF-8 (or Unicode replacement character).') - if '\0' in line: - error(filename, linenum, 'readability/nul', 5, 'Line contains NUL byte.') - - -def CheckForNewlineAtEOF(filename, lines, error): - """Logs an error if there is no newline char at the end of the file. - - Args: - filename: The name of the current file. - lines: An array of strings, each representing a line of the file. - error: The function to call with any errors found. - """ - - # The array lines() was created by adding two newlines to the - # original file (go figure), then splitting on \n. - # To verify that the file ends in \n, we just have to make sure the - # last-but-two element of lines() exists and is empty. - if len(lines) < 3 or lines[-2]: - error(filename, len(lines) - 2, 'whitespace/ending_newline', 5, - 'Could not find a newline character at the end of the file.') - - -def CheckForMultilineCommentsAndStrings(filename, clean_lines, linenum, error): - """Logs an error if we see /* ... */ or "..." that extend past one line. - - /* ... */ comments are legit inside macros, for one line. - Otherwise, we prefer // comments, so it's ok to warn about the - other. Likewise, it's ok for strings to extend across multiple - lines, as long as a line continuation character (backslash) - terminates each line. Although not currently prohibited by the C++ - style guide, it's ugly and unnecessary. We don't do well with either - in this lint program, so we warn about both. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - # Remove all \\ (escaped backslashes) from the line. They are OK, and the - # second (escaped) slash may trigger later \" detection erroneously. - line = line.replace('\\\\', '') - - if line.count('/*') > line.count('*/'): - error(filename, linenum, 'readability/multiline_comment', 5, - 'Complex multi-line /*...*/-style comment found. ' - 'Lint may give bogus warnings. ' - 'Consider replacing these with //-style comments, ' - 'with #if 0...#endif, ' - 'or with more clearly structured multi-line comments.') - - if (line.count('"') - line.count('\\"')) % 2: - error(filename, linenum, 'readability/multiline_string', 5, - 'Multi-line string ("...") found. This lint script doesn\'t ' - 'do well with such strings, and may give bogus warnings. ' - 'Use C++11 raw strings or concatenation instead.') - - -# (non-threadsafe name, thread-safe alternative, validation pattern) -# -# The validation pattern is used to eliminate false positives such as: -# _rand(); // false positive due to substring match. -# ->rand(); // some member function rand(). -# ACMRandom rand(seed); // some variable named rand. -# ISAACRandom rand(); // another variable named rand. -# -# Basically we require the return value of these functions to be used -# in some expression context on the same line by matching on some -# operator before the function name. This eliminates constructors and -# member function calls. -_UNSAFE_FUNC_PREFIX = r'(?:[-+*/=%^&|(<]\s*|>\s+)' -_THREADING_LIST = ( - ('asctime(', 'asctime_r(', _UNSAFE_FUNC_PREFIX + r'asctime\([^)]+\)'), - ('ctime(', 'ctime_r(', _UNSAFE_FUNC_PREFIX + r'ctime\([^)]+\)'), - ('getgrgid(', 'getgrgid_r(', _UNSAFE_FUNC_PREFIX + r'getgrgid\([^)]+\)'), - ('getgrnam(', 'getgrnam_r(', _UNSAFE_FUNC_PREFIX + r'getgrnam\([^)]+\)'), - ('getlogin(', 'getlogin_r(', _UNSAFE_FUNC_PREFIX + r'getlogin\(\)'), - ('getpwnam(', 'getpwnam_r(', _UNSAFE_FUNC_PREFIX + r'getpwnam\([^)]+\)'), - ('getpwuid(', 'getpwuid_r(', _UNSAFE_FUNC_PREFIX + r'getpwuid\([^)]+\)'), - ('gmtime(', 'gmtime_r(', _UNSAFE_FUNC_PREFIX + r'gmtime\([^)]+\)'), - ('localtime(', 'localtime_r(', _UNSAFE_FUNC_PREFIX + r'localtime\([^)]+\)'), - ('rand(', 'rand_r(', _UNSAFE_FUNC_PREFIX + r'rand\(\)'), - ('strtok(', 'strtok_r(', - _UNSAFE_FUNC_PREFIX + r'strtok\([^)]+\)'), - ('ttyname(', 'ttyname_r(', _UNSAFE_FUNC_PREFIX + r'ttyname\([^)]+\)'), - ) - - -def CheckPosixThreading(filename, clean_lines, linenum, error): - """Checks for calls to thread-unsafe functions. - - Much code has been originally written without consideration of - multi-threading. Also, engineers are relying on their old experience; - they have learned posix before threading extensions were added. These - tests guide the engineers to use thread-safe functions (when using - posix directly). - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - for single_thread_func, multithread_safe_func, pattern in _THREADING_LIST: - # Additional pattern matching check to confirm that this is the - # function we are looking for - if Search(pattern, line): - error(filename, linenum, 'runtime/threadsafe_fn', 2, - 'Consider using ' + multithread_safe_func + - '...) instead of ' + single_thread_func + - '...) for improved thread safety.') - - -def CheckVlogArguments(filename, clean_lines, linenum, error): - """Checks that VLOG() is only used for defining a logging level. - - For example, VLOG(2) is correct. VLOG(INFO), VLOG(WARNING), VLOG(ERROR), and - VLOG(FATAL) are not. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - if Search(r'\bVLOG\((INFO|ERROR|WARNING|DFATAL|FATAL)\)', line): - error(filename, linenum, 'runtime/vlog', 5, - 'VLOG() should be used with numeric verbosity level. ' - 'Use LOG() if you want symbolic severity levels.') - -# Matches invalid increment: *count++, which moves pointer instead of -# incrementing a value. -_RE_PATTERN_INVALID_INCREMENT = re.compile( - r'^\s*\*\w+(\+\+|--);') - - -def CheckInvalidIncrement(filename, clean_lines, linenum, error): - """Checks for invalid increment *count++. - - For example following function: - void increment_counter(int* count) { - *count++; - } - is invalid, because it effectively does count++, moving pointer, and should - be replaced with ++*count, (*count)++ or *count += 1. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - if _RE_PATTERN_INVALID_INCREMENT.match(line): - error(filename, linenum, 'runtime/invalid_increment', 5, - 'Changing pointer instead of value (or unused value of operator*).') - - -def IsMacroDefinition(clean_lines, linenum): - if Search(r'^#define', clean_lines[linenum]): - return True - - if linenum > 0 and Search(r'\\$', clean_lines[linenum - 1]): - return True - - return False - - -def IsForwardClassDeclaration(clean_lines, linenum): - return Match(r'^\s*(\btemplate\b)*.*class\s+\w+;\s*$', clean_lines[linenum]) - - -class _BlockInfo(object): - """Stores information about a generic block of code.""" - - def __init__(self, linenum, seen_open_brace): - self.starting_linenum = linenum - self.seen_open_brace = seen_open_brace - self.open_parentheses = 0 - self.inline_asm = _NO_ASM - self.check_namespace_indentation = False - - def CheckBegin(self, filename, clean_lines, linenum, error): - """Run checks that applies to text up to the opening brace. - - This is mostly for checking the text after the class identifier - and the "{", usually where the base class is specified. For other - blocks, there isn't much to check, so we always pass. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - pass - - def CheckEnd(self, filename, clean_lines, linenum, error): - """Run checks that applies to text after the closing brace. - - This is mostly used for checking end of namespace comments. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - pass - - def IsBlockInfo(self): - """Returns true if this block is a _BlockInfo. - - This is convenient for verifying that an object is an instance of - a _BlockInfo, but not an instance of any of the derived classes. - - Returns: - True for this class, False for derived classes. - """ - return self.__class__ == _BlockInfo - - -class _ExternCInfo(_BlockInfo): - """Stores information about an 'extern "C"' block.""" - - def __init__(self, linenum): - _BlockInfo.__init__(self, linenum, True) - - -class _ClassInfo(_BlockInfo): - """Stores information about a class.""" - - def __init__(self, name, class_or_struct, clean_lines, linenum): - _BlockInfo.__init__(self, linenum, False) - self.name = name - self.is_derived = False - self.check_namespace_indentation = True - if class_or_struct == 'struct': - self.access = 'public' - self.is_struct = True - else: - self.access = 'private' - self.is_struct = False - - # Remember initial indentation level for this class. Using raw_lines here - # instead of elided to account for leading comments. - self.class_indent = GetIndentLevel(clean_lines.raw_lines[linenum]) - - # Try to find the end of the class. This will be confused by things like: - # class A { - # } *x = { ... - # - # But it's still good enough for CheckSectionSpacing. - self.last_line = 0 - depth = 0 - for i in range(linenum, clean_lines.NumLines()): - line = clean_lines.elided[i] - depth += line.count('{') - line.count('}') - if not depth: - self.last_line = i - break - - def CheckBegin(self, filename, clean_lines, linenum, error): - # Look for a bare ':' - if Search('(^|[^:]):($|[^:])', clean_lines.elided[linenum]): - self.is_derived = True - - def CheckEnd(self, filename, clean_lines, linenum, error): - # If there is a DISALLOW macro, it should appear near the end of - # the class. - seen_last_thing_in_class = False - for i in xrange(linenum - 1, self.starting_linenum, -1): - match = Search( - r'\b(DISALLOW_COPY_AND_ASSIGN|DISALLOW_IMPLICIT_CONSTRUCTORS)\(' + - self.name + r'\)', - clean_lines.elided[i]) - if match: - if seen_last_thing_in_class: - error(filename, i, 'readability/constructors', 3, - match.group(1) + ' should be the last thing in the class') - break - - if not Match(r'^\s*$', clean_lines.elided[i]): - seen_last_thing_in_class = True - - # Check that closing brace is aligned with beginning of the class. - # Only do this if the closing brace is indented by only whitespaces. - # This means we will not check single-line class definitions. - indent = Match(r'^( *)\}', clean_lines.elided[linenum]) - if indent and len(indent.group(1)) != self.class_indent: - if self.is_struct: - parent = 'struct ' + self.name - else: - parent = 'class ' + self.name - error(filename, linenum, 'whitespace/indent', 3, - 'Closing brace should be aligned with beginning of %s' % parent) - - -class _NamespaceInfo(_BlockInfo): - """Stores information about a namespace.""" - - def __init__(self, name, linenum): - _BlockInfo.__init__(self, linenum, False) - self.name = name or '' - self.check_namespace_indentation = True - - def CheckEnd(self, filename, clean_lines, linenum, error): - """Check end of namespace comments.""" - line = clean_lines.raw_lines[linenum] - - # Check how many lines is enclosed in this namespace. Don't issue - # warning for missing namespace comments if there aren't enough - # lines. However, do apply checks if there is already an end of - # namespace comment and it's incorrect. - # - # TODO(unknown): We always want to check end of namespace comments - # if a namespace is large, but sometimes we also want to apply the - # check if a short namespace contained nontrivial things (something - # other than forward declarations). There is currently no logic on - # deciding what these nontrivial things are, so this check is - # triggered by namespace size only, which works most of the time. - if (linenum - self.starting_linenum < 10 - and not Match(r'^\s*};*\s*(//|/\*).*\bnamespace\b', line)): - return - - # Look for matching comment at end of namespace. - # - # Note that we accept C style "/* */" comments for terminating - # namespaces, so that code that terminate namespaces inside - # preprocessor macros can be cpplint clean. - # - # We also accept stuff like "// end of namespace ." with the - # period at the end. - # - # Besides these, we don't accept anything else, otherwise we might - # get false negatives when existing comment is a substring of the - # expected namespace. - if self.name: - return - else: - # Anonymous namespace - if not Match(r'^\s*};*\s*(//|/\*).*\bnamespace[\*/\.\\\s]*$', line): - # If "// namespace anonymous" or "// anonymous namespace (more text)", - # mention "// anonymous namespace" as an acceptable form - if Match(r'^\s*}.*\b(namespace anonymous|anonymous namespace)\b', line): - error(filename, linenum, 'readability/namespace', 5, - 'Anonymous namespace should be terminated with "// namespace"' - ' or "// anonymous namespace"') - else: - error(filename, linenum, 'readability/namespace', 5, - 'Anonymous namespace should be terminated with "// namespace"') - - -class _PreprocessorInfo(object): - """Stores checkpoints of nesting stacks when #if/#else is seen.""" - - def __init__(self, stack_before_if): - # The entire nesting stack before #if - self.stack_before_if = stack_before_if - - # The entire nesting stack up to #else - self.stack_before_else = [] - - # Whether we have already seen #else or #elif - self.seen_else = False - - -class NestingState(object): - """Holds states related to parsing braces.""" - - def __init__(self): - # Stack for tracking all braces. An object is pushed whenever we - # see a "{", and popped when we see a "}". Only 3 types of - # objects are possible: - # - _ClassInfo: a class or struct. - # - _NamespaceInfo: a namespace. - # - _BlockInfo: some other type of block. - self.stack = [] - - # Top of the previous stack before each Update(). - # - # Because the nesting_stack is updated at the end of each line, we - # had to do some convoluted checks to find out what is the current - # scope at the beginning of the line. This check is simplified by - # saving the previous top of nesting stack. - # - # We could save the full stack, but we only need the top. Copying - # the full nesting stack would slow down cpplint by ~10%. - self.previous_stack_top = [] - - # Stack of _PreprocessorInfo objects. - self.pp_stack = [] - - def SeenOpenBrace(self): - """Check if we have seen the opening brace for the innermost block. - - Returns: - True if we have seen the opening brace, False if the innermost - block is still expecting an opening brace. - """ - return (not self.stack) or self.stack[-1].seen_open_brace - - def InNamespaceBody(self): - """Check if we are currently one level inside a namespace body. - - Returns: - True if top of the stack is a namespace block, False otherwise. - """ - return self.stack and isinstance(self.stack[-1], _NamespaceInfo) - - def InExternC(self): - """Check if we are currently one level inside an 'extern "C"' block. - - Returns: - True if top of the stack is an extern block, False otherwise. - """ - return self.stack and isinstance(self.stack[-1], _ExternCInfo) - - def InClassDeclaration(self): - """Check if we are currently one level inside a class or struct declaration. - - Returns: - True if top of the stack is a class/struct, False otherwise. - """ - return self.stack and isinstance(self.stack[-1], _ClassInfo) - - def InAsmBlock(self): - """Check if we are currently one level inside an inline ASM block. - - Returns: - True if the top of the stack is a block containing inline ASM. - """ - return self.stack and self.stack[-1].inline_asm != _NO_ASM - - def InTemplateArgumentList(self, clean_lines, linenum, pos): - """Check if current position is inside template argument list. - - Args: - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - pos: position just after the suspected template argument. - Returns: - True if (linenum, pos) is inside template arguments. - """ - while linenum < clean_lines.NumLines(): - # Find the earliest character that might indicate a template argument - line = clean_lines.elided[linenum] - match = Match(r'^[^{};=\[\]\.<>]*(.)', line[pos:]) - if not match: - linenum += 1 - pos = 0 - continue - token = match.group(1) - pos += len(match.group(0)) - - # These things do not look like template argument list: - # class Suspect { - # class Suspect x; } - if token in ('{', '}', ';'): return False - - # These things look like template argument list: - # template - # template - # template - # template - if token in ('>', '=', '[', ']', '.'): return True - - # Check if token is an unmatched '<'. - # If not, move on to the next character. - if token != '<': - pos += 1 - if pos >= len(line): - linenum += 1 - pos = 0 - continue - - # We can't be sure if we just find a single '<', and need to - # find the matching '>'. - (_, end_line, end_pos) = CloseExpression(clean_lines, linenum, pos - 1) - if end_pos < 0: - # Not sure if template argument list or syntax error in file - return False - linenum = end_line - pos = end_pos - return False - - def UpdatePreprocessor(self, line): - """Update preprocessor stack. - - We need to handle preprocessors due to classes like this: - #ifdef SWIG - struct ResultDetailsPageElementExtensionPoint { - #else - struct ResultDetailsPageElementExtensionPoint : public Extension { - #endif - - We make the following assumptions (good enough for most files): - - Preprocessor condition evaluates to true from #if up to first - #else/#elif/#endif. - - - Preprocessor condition evaluates to false from #else/#elif up - to #endif. We still perform lint checks on these lines, but - these do not affect nesting stack. - - Args: - line: current line to check. - """ - if Match(r'^\s*#\s*(if|ifdef|ifndef)\b', line): - # Beginning of #if block, save the nesting stack here. The saved - # stack will allow us to restore the parsing state in the #else case. - self.pp_stack.append(_PreprocessorInfo(copy.deepcopy(self.stack))) - elif Match(r'^\s*#\s*(else|elif)\b', line): - # Beginning of #else block - if self.pp_stack: - if not self.pp_stack[-1].seen_else: - # This is the first #else or #elif block. Remember the - # whole nesting stack up to this point. This is what we - # keep after the #endif. - self.pp_stack[-1].seen_else = True - self.pp_stack[-1].stack_before_else = copy.deepcopy(self.stack) - - # Restore the stack to how it was before the #if - self.stack = copy.deepcopy(self.pp_stack[-1].stack_before_if) - else: - # TODO(unknown): unexpected #else, issue warning? - pass - elif Match(r'^\s*#\s*endif\b', line): - # End of #if or #else blocks. - if self.pp_stack: - # If we saw an #else, we will need to restore the nesting - # stack to its former state before the #else, otherwise we - # will just continue from where we left off. - if self.pp_stack[-1].seen_else: - # Here we can just use a shallow copy since we are the last - # reference to it. - self.stack = self.pp_stack[-1].stack_before_else - # Drop the corresponding #if - self.pp_stack.pop() - else: - # TODO(unknown): unexpected #endif, issue warning? - pass - - # TODO(unknown): Update() is too long, but we will refactor later. - def Update(self, filename, clean_lines, linenum, error): - """Update nesting state with current line. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - # Remember top of the previous nesting stack. - # - # The stack is always pushed/popped and not modified in place, so - # we can just do a shallow copy instead of copy.deepcopy. Using - # deepcopy would slow down cpplint by ~28%. - if self.stack: - self.previous_stack_top = self.stack[-1] - else: - self.previous_stack_top = None - - # Update pp_stack - self.UpdatePreprocessor(line) - - # Count parentheses. This is to avoid adding struct arguments to - # the nesting stack. - if self.stack: - inner_block = self.stack[-1] - depth_change = line.count('(') - line.count(')') - inner_block.open_parentheses += depth_change - - # Also check if we are starting or ending an inline assembly block. - if inner_block.inline_asm in (_NO_ASM, _END_ASM): - if (depth_change != 0 and - inner_block.open_parentheses == 1 and - _MATCH_ASM.match(line)): - # Enter assembly block - inner_block.inline_asm = _INSIDE_ASM - else: - # Not entering assembly block. If previous line was _END_ASM, - # we will now shift to _NO_ASM state. - inner_block.inline_asm = _NO_ASM - elif (inner_block.inline_asm == _INSIDE_ASM and - inner_block.open_parentheses == 0): - # Exit assembly block - inner_block.inline_asm = _END_ASM - - # Consume namespace declaration at the beginning of the line. Do - # this in a loop so that we catch same line declarations like this: - # namespace proto2 { namespace bridge { class MessageSet; } } - while True: - # Match start of namespace. The "\b\s*" below catches namespace - # declarations even if it weren't followed by a whitespace, this - # is so that we don't confuse our namespace checker. The - # missing spaces will be flagged by CheckSpacing. - namespace_decl_match = Match(r'^\s*namespace\b\s*([:\w]+)?(.*)$', line) - if not namespace_decl_match: - break - - new_namespace = _NamespaceInfo(namespace_decl_match.group(1), linenum) - self.stack.append(new_namespace) - - line = namespace_decl_match.group(2) - if line.find('{') != -1: - new_namespace.seen_open_brace = True - line = line[line.find('{') + 1:] - - # Look for a class declaration in whatever is left of the line - # after parsing namespaces. The regexp accounts for decorated classes - # such as in: - # class LOCKABLE API Object { - # }; - class_decl_match = Match( - r'^(\s*(?:template\s*<[\w\s<>,:]*>\s*)?' - r'(class|struct)\s+(?:[A-Z_]+\s+)*(\w+(?:::\w+)*))' - r'(.*)$', line) - if (class_decl_match and - (not self.stack or self.stack[-1].open_parentheses == 0)): - # We do not want to accept classes that are actually template arguments: - # template , - # template class Ignore3> - # void Function() {}; - # - # To avoid template argument cases, we scan forward and look for - # an unmatched '>'. If we see one, assume we are inside a - # template argument list. - end_declaration = len(class_decl_match.group(1)) - if not self.InTemplateArgumentList(clean_lines, linenum, end_declaration): - self.stack.append(_ClassInfo( - class_decl_match.group(3), class_decl_match.group(2), - clean_lines, linenum)) - line = class_decl_match.group(4) - - # If we have not yet seen the opening brace for the innermost block, - # run checks here. - if not self.SeenOpenBrace(): - self.stack[-1].CheckBegin(filename, clean_lines, linenum, error) - - # Update access control if we are inside a class/struct - if self.stack and isinstance(self.stack[-1], _ClassInfo): - classinfo = self.stack[-1] - access_match = Match( - r'^(.*)\b(public|private|protected|signals)(\s+(?:slots\s*)?)?' - r':(?:[^:]|$)', - line) - if access_match: - classinfo.access = access_match.group(2) - - # Check that access keywords are indented +2 space. Skip this - # check if the keywords are not preceded by whitespaces. - indent = access_match.group(1) - if (len(indent) != classinfo.class_indent + 2 and - Match(r'^\s*$', indent)): - if classinfo.is_struct: - parent = 'struct ' + classinfo.name - else: - parent = 'class ' + classinfo.name - slots = '' - if access_match.group(3): - slots = access_match.group(3) - error(filename, linenum, 'whitespace/indent', 3, - '%s%s: should be indented +1 space inside %s' % ( - access_match.group(2), slots, parent)) - - # Consume braces or semicolons from what's left of the line - while True: - # Match first brace, semicolon, or closed parenthesis. - matched = Match(r'^[^{;)}]*([{;)}])(.*)$', line) - if not matched: - break - - token = matched.group(1) - if token == '{': - # If namespace or class hasn't seen a opening brace yet, mark - # namespace/class head as complete. Push a new block onto the - # stack otherwise. - if not self.SeenOpenBrace(): - self.stack[-1].seen_open_brace = True - elif Match(r'^extern\s*"[^"]*"\s*\{', line): - self.stack.append(_ExternCInfo(linenum)) - else: - self.stack.append(_BlockInfo(linenum, True)) - if _MATCH_ASM.match(line): - self.stack[-1].inline_asm = _BLOCK_ASM - - elif token == ';' or token == ')': - # If we haven't seen an opening brace yet, but we already saw - # a semicolon, this is probably a forward declaration. Pop - # the stack for these. - # - # Similarly, if we haven't seen an opening brace yet, but we - # already saw a closing parenthesis, then these are probably - # function arguments with extra "class" or "struct" keywords. - # Also pop these stack for these. - if not self.SeenOpenBrace(): - self.stack.pop() - else: # token == '}' - # Perform end of block checks and pop the stack. - if self.stack: - self.stack[-1].CheckEnd(filename, clean_lines, linenum, error) - self.stack.pop() - line = matched.group(2) - - def InnermostClass(self): - """Get class info on the top of the stack. - - Returns: - A _ClassInfo object if we are inside a class, or None otherwise. - """ - for i in range(len(self.stack), 0, -1): - classinfo = self.stack[i - 1] - if isinstance(classinfo, _ClassInfo): - return classinfo - return None - - def CheckCompletedBlocks(self, filename, error): - """Checks that all classes and namespaces have been completely parsed. - - Call this when all lines in a file have been processed. - Args: - filename: The name of the current file. - error: The function to call with any errors found. - """ - # Note: This test can result in false positives if #ifdef constructs - # get in the way of brace matching. See the testBuildClass test in - # cpplint_unittest.py for an example of this. - for obj in self.stack: - if isinstance(obj, _ClassInfo): - error(filename, obj.starting_linenum, 'build/class', 5, - 'Failed to find complete declaration of class %s' % - obj.name) - elif isinstance(obj, _NamespaceInfo): - error(filename, obj.starting_linenum, 'build/namespaces', 5, - 'Failed to find complete declaration of namespace %s' % - obj.name) - - -def CheckForNonStandardConstructs(filename, clean_lines, linenum, - nesting_state, error): - r"""Logs an error if we see certain non-ANSI constructs ignored by gcc-2. - - Complain about several constructs which gcc-2 accepts, but which are - not standard C++. Warning about these in lint is one way to ease the - transition to new compilers. - - put storage class first (e.g. "static const" instead of "const static"). - - "%lld" instead of %qd" in printf-type functions. - - "%1$d" is non-standard in printf-type functions. - - "\%" is an undefined character escape sequence. - - text after #endif is not allowed. - - invalid inner-style forward declaration. - - >? and ?= and )\?=?\s*(\w+|[+-]?\d+)(\.\d*)?', - line): - error(filename, linenum, 'build/deprecated', 3, - '>? and ))?' - # r'\s*const\s*' + type_name + '\s*&\s*\w+\s*;' - error(filename, linenum, 'runtime/member_string_references', 2, - 'const string& members are dangerous. It is much better to use ' - 'alternatives, such as pointers or simple constants.') - - # Everything else in this function operates on class declarations. - # Return early if the top of the nesting stack is not a class, or if - # the class head is not completed yet. - classinfo = nesting_state.InnermostClass() - if not classinfo or not classinfo.seen_open_brace: - return - - # The class may have been declared with namespace or classname qualifiers. - # The constructor and destructor will not have those qualifiers. - base_classname = classinfo.name.split('::')[-1] - - # Look for single-argument constructors that aren't marked explicit. - # Technically a valid construct, but against style. - explicit_constructor_match = Match( - r'\s+(?:(?:inline|constexpr)\s+)*(explicit\s+)?' - r'(?:(?:inline|constexpr)\s+)*%s\s*' - r'\(((?:[^()]|\([^()]*\))*)\)' - % re.escape(base_classname), - line) - - if explicit_constructor_match: - is_marked_explicit = explicit_constructor_match.group(1) - - if not explicit_constructor_match.group(2): - constructor_args = [] - else: - constructor_args = explicit_constructor_match.group(2).split(',') - - # collapse arguments so that commas in template parameter lists and function - # argument parameter lists don't split arguments in two - i = 0 - while i < len(constructor_args): - constructor_arg = constructor_args[i] - while (constructor_arg.count('<') > constructor_arg.count('>') or - constructor_arg.count('(') > constructor_arg.count(')')): - constructor_arg += ',' + constructor_args[i + 1] - del constructor_args[i + 1] - constructor_args[i] = constructor_arg - i += 1 - - defaulted_args = [arg for arg in constructor_args if '=' in arg] - noarg_constructor = (not constructor_args or # empty arg list - # 'void' arg specifier - (len(constructor_args) == 1 and - constructor_args[0].strip() == 'void')) - onearg_constructor = ((len(constructor_args) == 1 and # exactly one arg - not noarg_constructor) or - # all but at most one arg defaulted - (len(constructor_args) >= 1 and - not noarg_constructor and - len(defaulted_args) >= len(constructor_args) - 1)) - initializer_list_constructor = bool( - onearg_constructor and - Search(r'\bstd\s*::\s*initializer_list\b', constructor_args[0])) - copy_constructor = bool( - onearg_constructor and - Match(r'(const\s+)?%s(\s*<[^>]*>)?(\s+const)?\s*(?:<\w+>\s*)?&' - % re.escape(base_classname), constructor_args[0].strip())) - - if (not is_marked_explicit and - onearg_constructor and - not initializer_list_constructor and - not copy_constructor): - if defaulted_args: - error(filename, linenum, 'runtime/explicit', 5, - 'Constructors callable with one argument ' - 'should be marked explicit.') - else: - error(filename, linenum, 'runtime/explicit', 5, - 'Single-parameter constructors should be marked explicit.') - elif is_marked_explicit and not onearg_constructor: - if noarg_constructor: - error(filename, linenum, 'runtime/explicit', 5, - 'Zero-parameter constructors should not be marked explicit.') - - -def CheckSpacingForFunctionCall(filename, clean_lines, linenum, error): - """Checks for the correctness of various spacing around function calls. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - # Since function calls often occur inside if/for/while/switch - # expressions - which have their own, more liberal conventions - we - # first see if we should be looking inside such an expression for a - # function call, to which we can apply more strict standards. - fncall = line # if there's no control flow construct, look at whole line - for pattern in (r'\bif\s*\((.*)\)\s*{', - r'\bfor\s*\((.*)\)\s*{', - r'\bwhile\s*\((.*)\)\s*[{;]', - r'\bswitch\s*\((.*)\)\s*{'): - match = Search(pattern, line) - if match: - fncall = match.group(1) # look inside the parens for function calls - break - - # Except in if/for/while/switch, there should never be space - # immediately inside parens (eg "f( 3, 4 )"). We make an exception - # for nested parens ( (a+b) + c ). Likewise, there should never be - # a space before a ( when it's a function argument. I assume it's a - # function argument when the char before the whitespace is legal in - # a function name (alnum + _) and we're not starting a macro. Also ignore - # pointers and references to arrays and functions coz they're too tricky: - # we use a very simple way to recognize these: - # " (something)(maybe-something)" or - # " (something)(maybe-something," or - # " (something)[something]" - # Note that we assume the contents of [] to be short enough that - # they'll never need to wrap. - if ( # Ignore control structures. - not Search(r'\b(if|for|while|switch|return|new|delete|catch|sizeof)\b', - fncall) and - # Ignore pointers/references to functions. - not Search(r' \([^)]+\)\([^)]*(\)|,$)', fncall) and - # Ignore pointers/references to arrays. - not Search(r' \([^)]+\)\[[^\]]+\]', fncall)): - if Search(r'\w\s*\(\s(?!\s*\\$)', fncall): # a ( used for a fn call - error(filename, linenum, 'whitespace/parens', 4, - 'Extra space after ( in function call') - elif Search(r'\(\s+(?!(\s*\\)|\()', fncall): - error(filename, linenum, 'whitespace/parens', 2, - 'Extra space after (') - if (Search(r'\w\s+\(', fncall) and - not Search(r'_{0,2}asm_{0,2}\s+_{0,2}volatile_{0,2}\s+\(', fncall) and - not Search(r'#\s*define|typedef|using\s+\w+\s*=', fncall) and - not Search(r'\w\s+\((\w+::)*\*\w+\)\(', fncall) and - not Search(r'\bcase\s+\(', fncall)): - # TODO(unknown): Space after an operator function seem to be a common - # error, silence those for now by restricting them to highest verbosity. - if Search(r'\boperator_*\b', line): - error(filename, linenum, 'whitespace/parens', 0, - 'Extra space before ( in function call') - else: - error(filename, linenum, 'whitespace/parens', 4, - 'Extra space before ( in function call') - # If the ) is followed only by a newline or a { + newline, assume it's - # part of a control statement (if/while/etc), and don't complain - if Search(r'[^)]\s+\)\s*[^{\s]', fncall): - # If the closing parenthesis is preceded by only whitespaces, - # try to give a more descriptive error message. - if Search(r'^\s+\)', fncall): - error(filename, linenum, 'whitespace/parens', 2, - 'Closing ) should be moved to the previous line') - else: - error(filename, linenum, 'whitespace/parens', 2, - 'Extra space before )') - - -def IsBlankLine(line): - """Returns true if the given line is blank. - - We consider a line to be blank if the line is empty or consists of - only white spaces. - - Args: - line: A line of a string. - - Returns: - True, if the given line is blank. - """ - return not line or line.isspace() - - -def CheckForNamespaceIndentation(filename, nesting_state, clean_lines, line, - error): - is_namespace_indent_item = ( - len(nesting_state.stack) > 1 and - nesting_state.stack[-1].check_namespace_indentation and - isinstance(nesting_state.previous_stack_top, _NamespaceInfo) and - nesting_state.previous_stack_top == nesting_state.stack[-2]) - - if ShouldCheckNamespaceIndentation(nesting_state, is_namespace_indent_item, - clean_lines.elided, line): - CheckItemIndentationInNamespace(filename, clean_lines.elided, - line, error) - - -def CheckForFunctionLengths(filename, clean_lines, linenum, - function_state, error): - """Reports for long function bodies. - - For an overview why this is done, see: - https://google-styleguide.googlecode.com/svn/trunk/cppguide.xml#Write_Short_Functions - - Uses a simplistic algorithm assuming other style guidelines - (especially spacing) are followed. - Only checks unindented functions, so class members are unchecked. - Trivial bodies are unchecked, so constructors with huge initializer lists - may be missed. - Blank/comment lines are not counted so as to avoid encouraging the removal - of vertical space and comments just to get through a lint check. - NOLINT *on the last line of a function* disables this check. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - function_state: Current function name and lines in body so far. - error: The function to call with any errors found. - """ - lines = clean_lines.lines - line = lines[linenum] - joined_line = '' - - starting_func = False - regexp = r'(\w(\w|::|\*|\&|\s)*)\(' # decls * & space::name( ... - match_result = Match(regexp, line) - if match_result: - # If the name is all caps and underscores, figure it's a macro and - # ignore it, unless it's TEST or TEST_F. - function_name = match_result.group(1).split()[-1] - if function_name == 'TEST' or function_name == 'TEST_F' or ( - not Match(r'[A-Z_]+$', function_name)): - starting_func = True - - if starting_func: - body_found = False - for start_linenum in xrange(linenum, clean_lines.NumLines()): - start_line = lines[start_linenum] - joined_line += ' ' + start_line.lstrip() - if Search(r'(;|})', start_line): # Declarations and trivial functions - body_found = True - break # ... ignore - elif Search(r'{', start_line): - body_found = True - function = Search(r'((\w|:)*)\(', line).group(1) - if Match(r'TEST', function): # Handle TEST... macros - parameter_regexp = Search(r'(\(.*\))', joined_line) - if parameter_regexp: # Ignore bad syntax - function += parameter_regexp.group(1) - else: - function += '()' - function_state.Begin(function) - break - if not body_found: - # No body for the function (or evidence of a non-function) was found. - error(filename, linenum, 'readability/fn_size', 5, - 'Lint failed to find start of function body.') - elif Match(r'^\}\s*$', line): # function end - function_state.Check(error, filename, linenum) - function_state.End() - elif not Match(r'^\s*$', line): - function_state.Count() # Count non-blank/non-comment lines. - - -_RE_PATTERN_TODO = re.compile(r'^//(\s*)TODO(\(.+?\))?:?(\s|$)?') - - -def CheckComment(line, filename, linenum, next_line_start, error): - """Checks for common mistakes in comments. - - Args: - line: The line in question. - filename: The name of the current file. - linenum: The number of the line to check. - next_line_start: The first non-whitespace column of the next line. - error: The function to call with any errors found. - """ - commentpos = line.find('//') - if commentpos != -1: - # Check if the // may be in quotes. If so, ignore it - if re.sub(r'\\.', '', line[0:commentpos]).count('"') % 2 == 0: - # Allow one space for new scopes, two spaces otherwise: - if (not (Match(r'^.*{ *//', line) and next_line_start == commentpos) and - ((commentpos >= 1 and - line[commentpos-1] not in string.whitespace) or - (commentpos >= 2 and - line[commentpos-2] not in string.whitespace))): - error(filename, linenum, 'whitespace/comments', 2, - 'At least two spaces is best between code and comments') - - # Checks for common mistakes in TODO comments. - comment = line[commentpos:] - match = _RE_PATTERN_TODO.match(comment) - if match: - # One whitespace is correct; zero whitespace is handled elsewhere. - leading_whitespace = match.group(1) - if len(leading_whitespace) > 1: - error(filename, linenum, 'whitespace/todo', 2, - 'Too many spaces before TODO') - - username = match.group(2) - if not username: - error(filename, linenum, 'readability/todo', 2, - 'Missing username in TODO; it should look like ' - '"// TODO(my_username): Stuff."') - - middle_whitespace = match.group(3) - # Comparisons made explicit for correctness -- pylint: disable=g-explicit-bool-comparison - if middle_whitespace != ' ' and middle_whitespace != '': - error(filename, linenum, 'whitespace/todo', 2, - 'TODO(my_username) should be followed by a space') - - # If the comment contains an alphanumeric character, there - # should be a space somewhere between it and the // unless - # it's a /// or //! Doxygen comment. - if (Match(r'//[^ ]*\w', comment) and - not Match(r'(///|//\!)(\s+|$)', comment)): - error(filename, linenum, 'whitespace/comments', 4, - 'Should have a space between // and comment') - - -def CheckSpacing(filename, clean_lines, linenum, nesting_state, error): - """Checks for the correctness of various spacing issues in the code. - - Things we check for: spaces around operators, spaces after - if/for/while/switch, no spaces around parens in function calls, two - spaces between code and comment, don't start a block with a blank - line, don't end a function with a blank line, don't add a blank line - after public/protected/private, don't have too many blank lines in a row. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - nesting_state: A NestingState instance which maintains information about - the current stack of nested blocks being parsed. - error: The function to call with any errors found. - """ - - # Don't use "elided" lines here, otherwise we can't check commented lines. - # Don't want to use "raw" either, because we don't want to check inside C++11 - # raw strings, - raw = clean_lines.lines_without_raw_strings - line = raw[linenum] - - # Before nixing comments, check if the line is blank for no good - # reason. This includes the first line after a block is opened, and - # blank lines at the end of a function (ie, right before a line like '}' - # - # Skip all the blank line checks if we are immediately inside a - # namespace body. In other words, don't issue blank line warnings - # for this block: - # namespace { - # - # } - # - # A warning about missing end of namespace comments will be issued instead. - # - # Also skip blank line checks for 'extern "C"' blocks, which are formatted - # like namespaces. - if (IsBlankLine(line) and - not nesting_state.InNamespaceBody() and - not nesting_state.InExternC()): - elided = clean_lines.elided - prev_line = elided[linenum - 1] - prevbrace = prev_line.rfind('{') - # TODO(unknown): Don't complain if line before blank line, and line after, - # both start with alnums and are indented the same amount. - # This ignores whitespace at the start of a namespace block - # because those are not usually indented. - if prevbrace != -1 and prev_line[prevbrace:].find('}') == -1: - # OK, we have a blank line at the start of a code block. Before we - # complain, we check if it is an exception to the rule: The previous - # non-empty line has the parameters of a function header that are indented - # 4 spaces (because they did not fit in a 80 column line when placed on - # the same line as the function name). We also check for the case where - # the previous line is indented 6 spaces, which may happen when the - # initializers of a constructor do not fit into a 80 column line. - exception = False - if Match(r' {6}\w', prev_line): # Initializer list? - # We are looking for the opening column of initializer list, which - # should be indented 4 spaces to cause 6 space indentation afterwards. - search_position = linenum-2 - while (search_position >= 0 - and Match(r' {6}\w', elided[search_position])): - search_position -= 1 - exception = (search_position >= 0 - and elided[search_position][:5] == ' :') - else: - # Search for the function arguments or an initializer list. We use a - # simple heuristic here: If the line is indented 4 spaces; and we have a - # closing paren, without the opening paren, followed by an opening brace - # or colon (for initializer lists) we assume that it is the last line of - # a function header. If we have a colon indented 4 spaces, it is an - # initializer list. - exception = (Match(r' {4}\w[^\(]*\)\s*(const\s*)?(\{\s*$|:)', - prev_line) - or Match(r' {4}:', prev_line)) - - if not exception: - error(filename, linenum, 'whitespace/blank_line', 2, - 'Redundant blank line at the start of a code block ' - 'should be deleted.') - # Ignore blank lines at the end of a block in a long if-else - # chain, like this: - # if (condition1) { - # // Something followed by a blank line - # - # } else if (condition2) { - # // Something else - # } - if linenum + 1 < clean_lines.NumLines(): - next_line = raw[linenum + 1] - if (next_line - and Match(r'\s*}', next_line) - and next_line.find('} else ') == -1): - error(filename, linenum, 'whitespace/blank_line', 3, - 'Redundant blank line at the end of a code block ' - 'should be deleted.') - - matched = Match(r'\s*(public|protected|private):', prev_line) - # if matched: - # error(filename, linenum, 'whitespace/blank_line', 3, - # 'Do not leave a blank line after "%s:"' % matched.group(1)) - - # Next, check comments - next_line_start = 0 - if linenum + 1 < clean_lines.NumLines(): - next_line = raw[linenum + 1] - next_line_start = len(next_line) - len(next_line.lstrip()) - CheckComment(line, filename, linenum, next_line_start, error) - - # get rid of comments and strings - line = clean_lines.elided[linenum] - - # You shouldn't have spaces before your brackets, except maybe after - # 'delete []' or 'return []() {};' - if Search(r'\w\s+\[', line) and not Search(r'(?:delete|return)\s+\[', line): - error(filename, linenum, 'whitespace/braces', 5, - 'Extra space before [') - - # In range-based for, we wanted spaces before and after the colon, but - # not around "::" tokens that might appear. - if (Search(r'for *\(.*[^:]:[^: ]', line) or - Search(r'for *\(.*[^: ]:[^:]', line)): - error(filename, linenum, 'whitespace/forcolon', 2, - 'Missing space around colon in range-based for loop') - - -def CheckOperatorSpacing(filename, clean_lines, linenum, error): - """Checks for horizontal spacing around operators. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - # Don't try to do spacing checks for operator methods. Do this by - # replacing the troublesome characters with something else, - # preserving column position for all other characters. - # - # The replacement is done repeatedly to avoid false positives from - # operators that call operators. - while True: - match = Match(r'^(.*\boperator\b)(\S+)(\s*\(.*)$', line) - if match: - line = match.group(1) + ('_' * len(match.group(2))) + match.group(3) - else: - break - - # We allow no-spaces around = within an if: "if ( (a=Foo()) == 0 )". - # Otherwise not. Note we only check for non-spaces on *both* sides; - # sometimes people put non-spaces on one side when aligning ='s among - # many lines (not that this is behavior that I approve of...) - if ((Search(r'[\w.]=', line) or - Search(r'=[\w.]', line)) - and not Search(r'\b(if|while|for) ', line) - # Operators taken from [lex.operators] in C++11 standard. - and not Search(r'(>=|<=|==|!=|&=|\^=|\|=|\+=|\*=|\/=|\%=)', line) - and not Search(r'operator=', line)): - error(filename, linenum, 'whitespace/operators', 4, - 'Missing spaces around =') - - # It's ok not to have spaces around binary operators like + - * /, but if - # there's too little whitespace, we get concerned. It's hard to tell, - # though, so we punt on this one for now. TODO. - - # You should always have whitespace around binary operators. - # - # Check <= and >= first to avoid false positives with < and >, then - # check non-include lines for spacing around < and >. - # - # If the operator is followed by a comma, assume it's be used in a - # macro context and don't do any checks. This avoids false - # positives. - # - # Note that && is not included here. This is because there are too - # many false positives due to RValue references. - match = Search(r'[^<>=!\s](==|!=|<=|>=|\|\|)[^<>=!\s,;\)]', line) - if match: - error(filename, linenum, 'whitespace/operators', 3, - 'Missing spaces around %s' % match.group(1)) - elif not Match(r'#.*include', line): - # Look for < that is not surrounded by spaces. This is only - # triggered if both sides are missing spaces, even though - # technically should should flag if at least one side is missing a - # space. This is done to avoid some false positives with shifts. - match = Match(r'^(.*[^\s<])<[^\s=<,]', line) - if match: - (_, _, end_pos) = CloseExpression( - clean_lines, linenum, len(match.group(1))) - if end_pos <= -1: - error(filename, linenum, 'whitespace/operators', 3, - 'Missing spaces around <') - - # Look for > that is not surrounded by spaces. Similar to the - # above, we only trigger if both sides are missing spaces to avoid - # false positives with shifts. - match = Match(r'^(.*[^-\s>])>[^\s=>,]', line) - if match: - (_, _, start_pos) = ReverseCloseExpression( - clean_lines, linenum, len(match.group(1))) - if start_pos <= -1: - error(filename, linenum, 'whitespace/operators', 3, - 'Missing spaces around >') - - # We allow no-spaces around << when used like this: 10<<20, but - # not otherwise (particularly, not when used as streams) - # - # We also allow operators following an opening parenthesis, since - # those tend to be macros that deal with operators. - match = Search(r'(operator|[^\s(<])(?:L|UL|LL|ULL|l|ul|ll|ull)?<<([^\s,=<])', line) - if (match and not (match.group(1).isdigit() and match.group(2).isdigit()) and - not (match.group(1) == 'operator' and match.group(2) == ';')): - error(filename, linenum, 'whitespace/operators', 3, - 'Missing spaces around <<') - - # We allow no-spaces around >> for almost anything. This is because - # C++11 allows ">>" to close nested templates, which accounts for - # most cases when ">>" is not followed by a space. - # - # We still warn on ">>" followed by alpha character, because that is - # likely due to ">>" being used for right shifts, e.g.: - # value >> alpha - # - # When ">>" is used to close templates, the alphanumeric letter that - # follows would be part of an identifier, and there should still be - # a space separating the template type and the identifier. - # type> alpha - match = Search(r'>>[a-zA-Z_]', line) - if match: - error(filename, linenum, 'whitespace/operators', 3, - 'Missing spaces around >>') - - # There shouldn't be space around unary operators - match = Search(r'(!\s|~\s|[\s]--[\s;]|[\s]\+\+[\s;])', line) - if match: - error(filename, linenum, 'whitespace/operators', 4, - 'Extra space for operator %s' % match.group(1)) - - -def CheckParenthesisSpacing(filename, clean_lines, linenum, error): - """Checks for horizontal spacing around parentheses. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - # No spaces after an if, while, switch, or for - match = Search(r' (if\(|for\(|while\(|switch\()', line) - if match: - error(filename, linenum, 'whitespace/parens', 5, - 'Missing space before ( in %s' % match.group(1)) - - # For if/for/while/switch, the left and right parens should be - # consistent about how many spaces are inside the parens, and - # there should either be zero or one spaces inside the parens. - # We don't want: "if ( foo)" or "if ( foo )". - # Exception: "for ( ; foo; bar)" and "for (foo; bar; )" are allowed. - match = Search(r'\b(if|for|while|switch)\s*' - r'\(([ ]*)(.).*[^ ]+([ ]*)\)\s*{\s*$', - line) - if match: - if len(match.group(2)) != len(match.group(4)): - if not (match.group(3) == ';' and - len(match.group(2)) == 1 + len(match.group(4)) or - not match.group(2) and Search(r'\bfor\s*\(.*; \)', line)): - error(filename, linenum, 'whitespace/parens', 5, - 'Mismatching spaces inside () in %s' % match.group(1)) - if len(match.group(2)) not in [0, 1]: - error(filename, linenum, 'whitespace/parens', 5, - 'Should have zero or one spaces inside ( and ) in %s' % - match.group(1)) - - -def CheckCommaSpacing(filename, clean_lines, linenum, error): - """Checks for horizontal spacing near commas and semicolons. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - raw = clean_lines.lines_without_raw_strings - line = clean_lines.elided[linenum] - - # You should always have a space after a comma (either as fn arg or operator) - # - # This does not apply when the non-space character following the - # comma is another comma, since the only time when that happens is - # for empty macro arguments. - # - # We run this check in two passes: first pass on elided lines to - # verify that lines contain missing whitespaces, second pass on raw - # lines to confirm that those missing whitespaces are not due to - # elided comments. - if (Search(r',[^,\s]', ReplaceAll(r'\boperator\s*,\s*\(', 'F(', line)) and - Search(r',[^,\s]', raw[linenum])): - error(filename, linenum, 'whitespace/comma', 3, - 'Missing space after ,') - - # You should always have a space after a semicolon - # except for few corner cases - # TODO(unknown): clarify if 'if (1) { return 1;}' is requires one more - # space after ; - if Search(r';[^\s};\\)/]', line): - error(filename, linenum, 'whitespace/semicolon', 3, - 'Missing space after ;') - - -def _IsType(clean_lines, nesting_state, expr): - """Check if expression looks like a type name, returns true if so. - - Args: - clean_lines: A CleansedLines instance containing the file. - nesting_state: A NestingState instance which maintains information about - the current stack of nested blocks being parsed. - expr: The expression to check. - Returns: - True, if token looks like a type. - """ - # Keep only the last token in the expression - last_word = Match(r'^.*(\b\S+)$', expr) - if last_word: - token = last_word.group(1) - else: - token = expr - - # Match native types and stdint types - if _TYPES.match(token): - return True - - # Try a bit harder to match templated types. Walk up the nesting - # stack until we find something that resembles a typename - # declaration for what we are looking for. - typename_pattern = (r'\b(?:typename|class|struct)\s+' + re.escape(token) + - r'\b') - block_index = len(nesting_state.stack) - 1 - while block_index >= 0: - if isinstance(nesting_state.stack[block_index], _NamespaceInfo): - return False - - # Found where the opening brace is. We want to scan from this - # line up to the beginning of the function, minus a few lines. - # template - # class C - # : public ... { // start scanning here - last_line = nesting_state.stack[block_index].starting_linenum - - next_block_start = 0 - if block_index > 0: - next_block_start = nesting_state.stack[block_index - 1].starting_linenum - first_line = last_line - while first_line >= next_block_start: - if clean_lines.elided[first_line].find('template') >= 0: - break - first_line -= 1 - if first_line < next_block_start: - # Didn't find any "template" keyword before reaching the next block, - # there are probably no template things to check for this block - block_index -= 1 - continue - - # Look for typename in the specified range - for i in xrange(first_line, last_line + 1, 1): - if Search(typename_pattern, clean_lines.elided[i]): - return True - block_index -= 1 - - return False - - -def CheckBracesSpacing(filename, clean_lines, linenum, nesting_state, error): - """Checks for horizontal spacing near commas. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - nesting_state: A NestingState instance which maintains information about - the current stack of nested blocks being parsed. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - # Except after an opening paren, or after another opening brace (in case of - # an initializer list, for instance), you should have spaces before your - # braces when they are delimiting blocks, classes, namespaces etc. - # And since you should never have braces at the beginning of a line, - # this is an easy test. Except that braces used for initialization don't - # follow the same rule; we often don't want spaces before those. - match = Match(r'^(.*[^ ({>]){', line) - - if match: - # Try a bit harder to check for brace initialization. This - # happens in one of the following forms: - # Constructor() : initializer_list_{} { ... } - # Constructor{}.MemberFunction() - # Type variable{}; - # FunctionCall(type{}, ...); - # LastArgument(..., type{}); - # LOG(INFO) << type{} << " ..."; - # map_of_type[{...}] = ...; - # ternary = expr ? new type{} : nullptr; - # OuterTemplate{}> - # - # We check for the character following the closing brace, and - # silence the warning if it's one of those listed above, i.e. - # "{.;,)<>]:". - # - # To account for nested initializer list, we allow any number of - # closing braces up to "{;,)<". We can't simply silence the - # warning on first sight of closing brace, because that would - # cause false negatives for things that are not initializer lists. - # Silence this: But not this: - # Outer{ if (...) { - # Inner{...} if (...){ // Missing space before { - # }; } - # - # There is a false negative with this approach if people inserted - # spurious semicolons, e.g. "if (cond){};", but we will catch the - # spurious semicolon with a separate check. - leading_text = match.group(1) - (endline, endlinenum, endpos) = CloseExpression( - clean_lines, linenum, len(match.group(1))) - trailing_text = '' - if endpos > -1: - trailing_text = endline[endpos:] - for offset in xrange(endlinenum + 1, - min(endlinenum + 3, clean_lines.NumLines() - 1)): - trailing_text += clean_lines.elided[offset] - # We also suppress warnings for `uint64_t{expression}` etc., as the style - # guide recommends brace initialization for integral types to avoid - # overflow/truncation. - if (not Match(r'^[\s}]*[{.;,)<>\]:]', trailing_text) - and not _IsType(clean_lines, nesting_state, leading_text)): - error(filename, linenum, 'whitespace/braces', 5, - 'Missing space before {') - - # Make sure '} else {' has spaces. - if Search(r'}else', line): - error(filename, linenum, 'whitespace/braces', 5, - 'Missing space before else') - - # You shouldn't have a space before a semicolon at the end of the line. - # There's a special case for "for" since the style guide allows space before - # the semicolon there. - if Search(r':\s*;\s*$', line): - error(filename, linenum, 'whitespace/semicolon', 5, - 'Semicolon defining empty statement. Use {} instead.') - elif Search(r'^\s*;\s*$', line): - error(filename, linenum, 'whitespace/semicolon', 5, - 'Line contains only semicolon. If this should be an empty statement, ' - 'use {} instead.') - elif (Search(r'\s+;\s*$', line) and - not Search(r'\bfor\b', line)): - error(filename, linenum, 'whitespace/semicolon', 5, - 'Extra space before last semicolon. If this should be an empty ' - 'statement, use {} instead.') - - -def IsDecltype(clean_lines, linenum, column): - """Check if the token ending on (linenum, column) is decltype(). - - Args: - clean_lines: A CleansedLines instance containing the file. - linenum: the number of the line to check. - column: end column of the token to check. - Returns: - True if this token is decltype() expression, False otherwise. - """ - (text, _, start_col) = ReverseCloseExpression(clean_lines, linenum, column) - if start_col < 0: - return False - if Search(r'\bdecltype\s*$', text[0:start_col]): - return True - return False - - -def CheckSectionSpacing(filename, clean_lines, class_info, linenum, error): - """Checks for additional blank line issues related to sections. - - Currently the only thing checked here is blank line before protected/private. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - class_info: A _ClassInfo objects. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - # Skip checks if the class is small, where small means 25 lines or less. - # 25 lines seems like a good cutoff since that's the usual height of - # terminals, and any class that can't fit in one screen can't really - # be considered "small". - # - # Also skip checks if we are on the first line. This accounts for - # classes that look like - # class Foo { public: ... }; - # - # If we didn't find the end of the class, last_line would be zero, - # and the check will be skipped by the first condition. - if (class_info.last_line - class_info.starting_linenum <= 24 or - linenum <= class_info.starting_linenum): - return - - matched = Match(r'\s*(public|protected|private):', clean_lines.lines[linenum]) - if matched: - # Issue warning if the line before public/protected/private was - # not a blank line, but don't do this if the previous line contains - # "class" or "struct". This can happen two ways: - # - We are at the beginning of the class. - # - We are forward-declaring an inner class that is semantically - # private, but needed to be public for implementation reasons. - # Also ignores cases where the previous line ends with a backslash as can be - # common when defining classes in C macros. - prev_line = clean_lines.lines[linenum - 1] - if (not IsBlankLine(prev_line) and - not Search(r'\b(class|struct)\b', prev_line) and - not Search(r'\\$', prev_line)): - # Try a bit harder to find the beginning of the class. This is to - # account for multi-line base-specifier lists, e.g.: - # class Derived - # : public Base { - end_class_head = class_info.starting_linenum - for i in range(class_info.starting_linenum, linenum): - if Search(r'\{\s*$', clean_lines.lines[i]): - end_class_head = i - break - if end_class_head < linenum - 1: - error(filename, linenum, 'whitespace/blank_line', 3, - '"%s:" should be preceded by a blank line' % matched.group(1)) - - -def GetPreviousNonBlankLine(clean_lines, linenum): - """Return the most recent non-blank line and its line number. - - Args: - clean_lines: A CleansedLines instance containing the file contents. - linenum: The number of the line to check. - - Returns: - A tuple with two elements. The first element is the contents of the last - non-blank line before the current line, or the empty string if this is the - first non-blank line. The second is the line number of that line, or -1 - if this is the first non-blank line. - """ - - prevlinenum = linenum - 1 - while prevlinenum >= 0: - prevline = clean_lines.elided[prevlinenum] - if not IsBlankLine(prevline): # if not a blank line... - return (prevline, prevlinenum) - prevlinenum -= 1 - return ('', -1) - - -def CheckBraces(filename, clean_lines, linenum, error): - """Looks for misplaced braces (e.g. at the end of line). - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - - line = clean_lines.elided[linenum] # get rid of comments and strings - - if Match(r'\s*{\s*$', line): - # We allow an open brace to start a line in the case where someone is using - # braces in a block to explicitly create a new scope, which is commonly used - # to control the lifetime of stack-allocated variables. Braces are also - # used for brace initializers inside function calls. We don't detect this - # perfectly: we just don't complain if the last non-whitespace character on - # the previous non-blank line is ',', ';', ':', '(', '{', or '}', or if the - # previous line starts a preprocessor block. We also allow a brace on the - # following line if it is part of an array initialization and would not fit - # within the 80 character limit of the preceding line. - prevline = GetPreviousNonBlankLine(clean_lines, linenum)[0] - # if (not Search(r'[,;:}{(]\s*$', prevline) and - # not Match(r'\s*#', prevline) and - # not (GetLineWidth(prevline) > _line_length - 2 and '[]' in prevline)): - # error(filename, linenum, 'whitespace/braces', 4, - # '{ should almost always be at the end of the previous line') - - # An else clause should be on the same line as the preceding closing brace. - if Match(r'\s*}\s*else\b\s*(?:if\b|\{|$)', line): - error(filename, linenum, 'whitespace/newline', 4, - 'An else should appear on a new line after }') - - # If braces come on one side of an else, they should be on both. - # However, we have to worry about "else if" that spans multiple lines! - if Search(r'else if\s*\(', line): # could be multi-line if - brace_on_left = bool(Search(r'}\s*else if\s*\(', line)) - # find the ( after the if - pos = line.find('else if') - pos = line.find('(', pos) - if pos > 0: - (endline, _, endpos) = CloseExpression(clean_lines, linenum, pos) - brace_on_right = endline[endpos:].find('{') != -1 - if brace_on_left != brace_on_right: # must be brace after if - error(filename, linenum, 'readability/braces', 5, - 'If an else has a brace on one side, it should have it on both') - elif Search(r'}\s*else[^{]*$', line) or Match(r'[^}]*else\s*{', line): - error(filename, linenum, 'readability/braces', 5, - 'If an else has a brace on one side, it should have it on both') - - # Likewise, an else should never have the else clause on the same line - if Search(r'\belse [^\s{]', line) and not Search(r'\belse if\b', line): - error(filename, linenum, 'whitespace/newline', 4, - 'Else clause should never be on same line as else (use 2 lines)') - - # In the same way, a do/while should never be on one line - if Match(r'\s*do [^\s{]', line): - error(filename, linenum, 'whitespace/newline', 4, - 'do/while clauses should not be on a single line') - - # Check single-line if/else bodies. The style guide says 'curly braces are not - # required for single-line statements'. We additionally allow multi-line, - # single statements, but we reject anything with more than one semicolon in - # it. This means that the first semicolon after the if should be at the end of - # its line, and the line after that should have an indent level equal to or - # lower than the if. We also check for ambiguous if/else nesting without - # braces. - if_else_match = Search(r'\b(if\s*\(|else\b)', line) - if if_else_match and not Match(r'\s*#', line): - if_indent = GetIndentLevel(line) - endline, endlinenum, endpos = line, linenum, if_else_match.end() - if_match = Search(r'\bif\s*\(', line) - if if_match: - # This could be a multiline if condition, so find the end first. - pos = if_match.end() - 1 - (endline, endlinenum, endpos) = CloseExpression(clean_lines, linenum, pos) - # Check for an opening brace, either directly after the if or on the next - # line. If found, this isn't a single-statement conditional. - if (not Match(r'\s*{', endline[endpos:]) - and not (Match(r'\s*$', endline[endpos:]) - and endlinenum < (len(clean_lines.elided) - 1) - and Match(r'\s*{', clean_lines.elided[endlinenum + 1]))): - while (endlinenum < len(clean_lines.elided) - and ';' not in clean_lines.elided[endlinenum][endpos:]): - endlinenum += 1 - endpos = 0 - if endlinenum < len(clean_lines.elided): - endline = clean_lines.elided[endlinenum] - # We allow a mix of whitespace and closing braces (e.g. for one-liner - # methods) and a single \ after the semicolon (for macros) - endpos = endline.find(';') - if not Match(r';[\s}]*(\\?)$', endline[endpos:]): - # Semicolon isn't the last character, there's something trailing. - # Output a warning if the semicolon is not contained inside - # a lambda expression. - if not Match(r'^[^{};]*\[[^\[\]]*\][^{}]*\{[^{}]*\}\s*\)*[;,]\s*$', - endline): - error(filename, linenum, 'readability/braces', 4, - 'If/else bodies with multiple statements require braces') - elif endlinenum < len(clean_lines.elided) - 1: - # Make sure the next line is dedented - next_line = clean_lines.elided[endlinenum + 1] - next_indent = GetIndentLevel(next_line) - # With ambiguous nested if statements, this will error out on the - # if that *doesn't* match the else, regardless of whether it's the - # inner one or outer one. - if (if_match and Match(r'\s*else\b', next_line) - and next_indent != if_indent): - error(filename, linenum, 'readability/braces', 4, - 'Else clause should be indented at the same level as if. ' - 'Ambiguous nested if/else chains require braces.') - elif next_indent > if_indent: - error(filename, linenum, 'readability/braces', 4, - 'If/else bodies with multiple statements require braces') - - -def CheckTrailingSemicolon(filename, clean_lines, linenum, error): - """Looks for redundant trailing semicolon. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - - line = clean_lines.elided[linenum] - - # Block bodies should not be followed by a semicolon. Due to C++11 - # brace initialization, there are more places where semicolons are - # required than not, so we use a whitelist approach to check these - # rather than a blacklist. These are the places where "};" should - # be replaced by just "}": - # 1. Some flavor of block following closing parenthesis: - # for (;;) {}; - # while (...) {}; - # switch (...) {}; - # Function(...) {}; - # if (...) {}; - # if (...) else if (...) {}; - # - # 2. else block: - # if (...) else {}; - # - # 3. const member function: - # Function(...) const {}; - # - # 4. Block following some statement: - # x = 42; - # {}; - # - # 5. Block at the beginning of a function: - # Function(...) { - # {}; - # } - # - # Note that naively checking for the preceding "{" will also match - # braces inside multi-dimensional arrays, but this is fine since - # that expression will not contain semicolons. - # - # 6. Block following another block: - # while (true) {} - # {}; - # - # 7. End of namespaces: - # namespace {}; - # - # These semicolons seems far more common than other kinds of - # redundant semicolons, possibly due to people converting classes - # to namespaces. For now we do not warn for this case. - # - # Try matching case 1 first. - match = Match(r'^(.*\)\s*)\{', line) - if match: - # Matched closing parenthesis (case 1). Check the token before the - # matching opening parenthesis, and don't warn if it looks like a - # macro. This avoids these false positives: - # - macro that defines a base class - # - multi-line macro that defines a base class - # - macro that defines the whole class-head - # - # But we still issue warnings for macros that we know are safe to - # warn, specifically: - # - TEST, TEST_F, TEST_P, MATCHER, MATCHER_P - # - TYPED_TEST - # - INTERFACE_DEF - # - EXCLUSIVE_LOCKS_REQUIRED, SHARED_LOCKS_REQUIRED, LOCKS_EXCLUDED: - # - # We implement a whitelist of safe macros instead of a blacklist of - # unsafe macros, even though the latter appears less frequently in - # google code and would have been easier to implement. This is because - # the downside for getting the whitelist wrong means some extra - # semicolons, while the downside for getting the blacklist wrong - # would result in compile errors. - # - # In addition to macros, we also don't want to warn on - # - Compound literals - # - Lambdas - # - alignas specifier with anonymous structs - # - decltype - closing_brace_pos = match.group(1).rfind(')') - opening_parenthesis = ReverseCloseExpression( - clean_lines, linenum, closing_brace_pos) - if opening_parenthesis[2] > -1: - line_prefix = opening_parenthesis[0][0:opening_parenthesis[2]] - macro = Search(r'\b([A-Z_][A-Z0-9_]*)\s*$', line_prefix) - func = Match(r'^(.*\])\s*$', line_prefix) - if ((macro and - macro.group(1) not in ( - 'TEST', 'TEST_F', 'MATCHER', 'MATCHER_P', 'TYPED_TEST', - 'EXCLUSIVE_LOCKS_REQUIRED', 'SHARED_LOCKS_REQUIRED', - 'LOCKS_EXCLUDED', 'INTERFACE_DEF')) or - (func and not Search(r'\boperator\s*\[\s*\]', func.group(1))) or - Search(r'\b(?:struct|union)\s+alignas\s*$', line_prefix) or - Search(r'\bdecltype$', line_prefix) or - Search(r'\s+=\s*$', line_prefix)): - match = None - if (match and - opening_parenthesis[1] > 1 and - Search(r'\]\s*$', clean_lines.elided[opening_parenthesis[1] - 1])): - # Multi-line lambda-expression - match = None - - else: - # Try matching cases 2-3. - match = Match(r'^(.*(?:else|\)\s*const)\s*)\{', line) - if not match: - # Try matching cases 4-6. These are always matched on separate lines. - # - # Note that we can't simply concatenate the previous line to the - # current line and do a single match, otherwise we may output - # duplicate warnings for the blank line case: - # if (cond) { - # // blank line - # } - prevline = GetPreviousNonBlankLine(clean_lines, linenum)[0] - if prevline and Search(r'[;{}]\s*$', prevline): - match = Match(r'^(\s*)\{', line) - - # Check matching closing brace - if match: - (endline, endlinenum, endpos) = CloseExpression( - clean_lines, linenum, len(match.group(1))) - if endpos > -1 and Match(r'^\s*;', endline[endpos:]): - # Current {} pair is eligible for semicolon check, and we have found - # the redundant semicolon, output warning here. - # - # Note: because we are scanning forward for opening braces, and - # outputting warnings for the matching closing brace, if there are - # nested blocks with trailing semicolons, we will get the error - # messages in reversed order. - - # We need to check the line forward for NOLINT - raw_lines = clean_lines.raw_lines - ParseNolintSuppressions(filename, raw_lines[endlinenum-1], endlinenum-1, - error) - ParseNolintSuppressions(filename, raw_lines[endlinenum], endlinenum, - error) - - error(filename, endlinenum, 'readability/braces', 4, - "You don't need a ; after a }") - - -def CheckEmptyBlockBody(filename, clean_lines, linenum, error): - """Look for empty loop/conditional body with only a single semicolon. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - - # Search for loop keywords at the beginning of the line. Because only - # whitespaces are allowed before the keywords, this will also ignore most - # do-while-loops, since those lines should start with closing brace. - # - # We also check "if" blocks here, since an empty conditional block - # is likely an error. - line = clean_lines.elided[linenum] - matched = Match(r'\s*(for|while|if)\s*\(', line) - if matched: - # Find the end of the conditional expression. - (end_line, end_linenum, end_pos) = CloseExpression( - clean_lines, linenum, line.find('(')) - - # Output warning if what follows the condition expression is a semicolon. - # No warning for all other cases, including whitespace or newline, since we - # have a separate check for semicolons preceded by whitespace. - if end_pos >= 0 and Match(r';', end_line[end_pos:]): - if matched.group(1) == 'if': - error(filename, end_linenum, 'whitespace/empty_conditional_body', 5, - 'Empty conditional bodies should use {}') - else: - error(filename, end_linenum, 'whitespace/empty_loop_body', 5, - 'Empty loop bodies should use {} or continue') - - # Check for if statements that have completely empty bodies (no comments) - # and no else clauses. - if end_pos >= 0 and matched.group(1) == 'if': - # Find the position of the opening { for the if statement. - # Return without logging an error if it has no brackets. - opening_linenum = end_linenum - opening_line_fragment = end_line[end_pos:] - # Loop until EOF or find anything that's not whitespace or opening {. - while not Search(r'^\s*\{', opening_line_fragment): - if Search(r'^(?!\s*$)', opening_line_fragment): - # Conditional has no brackets. - return - opening_linenum += 1 - if opening_linenum == len(clean_lines.elided): - # Couldn't find conditional's opening { or any code before EOF. - return - opening_line_fragment = clean_lines.elided[opening_linenum] - # Set opening_line (opening_line_fragment may not be entire opening line). - opening_line = clean_lines.elided[opening_linenum] - - # Find the position of the closing }. - opening_pos = opening_line_fragment.find('{') - if opening_linenum == end_linenum: - # We need to make opening_pos relative to the start of the entire line. - opening_pos += end_pos - (closing_line, closing_linenum, closing_pos) = CloseExpression( - clean_lines, opening_linenum, opening_pos) - if closing_pos < 0: - return - - # Now construct the body of the conditional. This consists of the portion - # of the opening line after the {, all lines until the closing line, - # and the portion of the closing line before the }. - if (clean_lines.raw_lines[opening_linenum] != - CleanseComments(clean_lines.raw_lines[opening_linenum])): - # Opening line ends with a comment, so conditional isn't empty. - return - if closing_linenum > opening_linenum: - # Opening line after the {. Ignore comments here since we checked above. - body = list(opening_line[opening_pos+1:]) - # All lines until closing line, excluding closing line, with comments. - body.extend(clean_lines.raw_lines[opening_linenum+1:closing_linenum]) - # Closing line before the }. Won't (and can't) have comments. - body.append(clean_lines.elided[closing_linenum][:closing_pos-1]) - body = '\n'.join(body) - else: - # If statement has brackets and fits on a single line. - body = opening_line[opening_pos+1:closing_pos-1] - - # Check if the body is empty - if not _EMPTY_CONDITIONAL_BODY_PATTERN.search(body): - return - # The body is empty. Now make sure there's not an else clause. - current_linenum = closing_linenum - current_line_fragment = closing_line[closing_pos:] - # Loop until EOF or find anything that's not whitespace or else clause. - while Search(r'^\s*$|^(?=\s*else)', current_line_fragment): - if Search(r'^(?=\s*else)', current_line_fragment): - # Found an else clause, so don't log an error. - return - current_linenum += 1 - if current_linenum == len(clean_lines.elided): - break - current_line_fragment = clean_lines.elided[current_linenum] - - # The body is empty and there's no else clause until EOF or other code. - error(filename, end_linenum, 'whitespace/empty_if_body', 4, - ('If statement had no body and no else clause')) - - -def FindCheckMacro(line): - """Find a replaceable CHECK-like macro. - - Args: - line: line to search on. - Returns: - (macro name, start position), or (None, -1) if no replaceable - macro is found. - """ - for macro in _CHECK_MACROS: - i = line.find(macro) - if i >= 0: - # Find opening parenthesis. Do a regular expression match here - # to make sure that we are matching the expected CHECK macro, as - # opposed to some other macro that happens to contain the CHECK - # substring. - matched = Match(r'^(.*\b' + macro + r'\s*)\(', line) - if not matched: - continue - return (macro, len(matched.group(1))) - return (None, -1) - - -def CheckCheck(filename, clean_lines, linenum, error): - """Checks the use of CHECK and EXPECT macros. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - - # Decide the set of replacement macros that should be suggested - lines = clean_lines.elided - (check_macro, start_pos) = FindCheckMacro(lines[linenum]) - if not check_macro: - return - - # Find end of the boolean expression by matching parentheses - (last_line, end_line, end_pos) = CloseExpression( - clean_lines, linenum, start_pos) - if end_pos < 0: - return - - # If the check macro is followed by something other than a - # semicolon, assume users will log their own custom error messages - # and don't suggest any replacements. - if not Match(r'\s*;', last_line[end_pos:]): - return - - if linenum == end_line: - expression = lines[linenum][start_pos + 1:end_pos - 1] - else: - expression = lines[linenum][start_pos + 1:] - for i in xrange(linenum + 1, end_line): - expression += lines[i] - expression += last_line[0:end_pos - 1] - - # Parse expression so that we can take parentheses into account. - # This avoids false positives for inputs like "CHECK((a < 4) == b)", - # which is not replaceable by CHECK_LE. - lhs = '' - rhs = '' - operator = None - while expression: - matched = Match(r'^\s*(<<|<<=|>>|>>=|->\*|->|&&|\|\||' - r'==|!=|>=|>|<=|<|\()(.*)$', expression) - if matched: - token = matched.group(1) - if token == '(': - # Parenthesized operand - expression = matched.group(2) - (end, _) = FindEndOfExpressionInLine(expression, 0, ['(']) - if end < 0: - return # Unmatched parenthesis - lhs += '(' + expression[0:end] - expression = expression[end:] - elif token in ('&&', '||'): - # Logical and/or operators. This means the expression - # contains more than one term, for example: - # CHECK(42 < a && a < b); - # - # These are not replaceable with CHECK_LE, so bail out early. - return - elif token in ('<<', '<<=', '>>', '>>=', '->*', '->'): - # Non-relational operator - lhs += token - expression = matched.group(2) - else: - # Relational operator - operator = token - rhs = matched.group(2) - break - else: - # Unparenthesized operand. Instead of appending to lhs one character - # at a time, we do another regular expression match to consume several - # characters at once if possible. Trivial benchmark shows that this - # is more efficient when the operands are longer than a single - # character, which is generally the case. - matched = Match(r'^([^-=!<>()&|]+)(.*)$', expression) - if not matched: - matched = Match(r'^(\s*\S)(.*)$', expression) - if not matched: - break - lhs += matched.group(1) - expression = matched.group(2) - - # Only apply checks if we got all parts of the boolean expression - if not (lhs and operator and rhs): - return - - # Check that rhs do not contain logical operators. We already know - # that lhs is fine since the loop above parses out && and ||. - if rhs.find('&&') > -1 or rhs.find('||') > -1: - return - - # At least one of the operands must be a constant literal. This is - # to avoid suggesting replacements for unprintable things like - # CHECK(variable != iterator) - # - # The following pattern matches decimal, hex integers, strings, and - # characters (in that order). - lhs = lhs.strip() - rhs = rhs.strip() - match_constant = r'^([-+]?(\d+|0[xX][0-9a-fA-F]+)[lLuU]{0,3}|".*"|\'.*\')$' - if Match(match_constant, lhs) or Match(match_constant, rhs): - # Note: since we know both lhs and rhs, we can provide a more - # descriptive error message like: - # Consider using CHECK_EQ(x, 42) instead of CHECK(x == 42) - # Instead of: - # Consider using CHECK_EQ instead of CHECK(a == b) - # - # We are still keeping the less descriptive message because if lhs - # or rhs gets long, the error message might become unreadable. - error(filename, linenum, 'readability/check', 2, - 'Consider using %s instead of %s(a %s b)' % ( - _CHECK_REPLACEMENT[check_macro][operator], - check_macro, operator)) - - -def CheckAltTokens(filename, clean_lines, linenum, error): - """Check alternative keywords being used in boolean expressions. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - # Avoid preprocessor lines - if Match(r'^\s*#', line): - return - - # Last ditch effort to avoid multi-line comments. This will not help - # if the comment started before the current line or ended after the - # current line, but it catches most of the false positives. At least, - # it provides a way to workaround this warning for people who use - # multi-line comments in preprocessor macros. - # - # TODO(unknown): remove this once cpplint has better support for - # multi-line comments. - if line.find('/*') >= 0 or line.find('*/') >= 0: - return - - for match in _ALT_TOKEN_REPLACEMENT_PATTERN.finditer(line): - error(filename, linenum, 'readability/alt_tokens', 2, - 'Use operator %s instead of %s' % ( - _ALT_TOKEN_REPLACEMENT[match.group(1)], match.group(1))) - - -def GetLineWidth(line): - """Determines the width of the line in column positions. - - Args: - line: A string, which may be a Unicode string. - - Returns: - The width of the line in column positions, accounting for Unicode - combining characters and wide characters. - """ - if isinstance(line, unicode): - width = 0 - for uc in unicodedata.normalize('NFC', line): - if unicodedata.east_asian_width(uc) in ('W', 'F'): - width += 2 - elif not unicodedata.combining(uc): - width += 1 - return width - else: - return len(line) - - -def CheckStyle(filename, clean_lines, linenum, file_extension, nesting_state, - error): - """Checks rules from the 'C++ style rules' section of cppguide.html. - - Most of these rules are hard to test (naming, comment style), but we - do what we can. In particular we check for 2-space indents, line lengths, - tab usage, spaces inside code, etc. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - file_extension: The extension (without the dot) of the filename. - nesting_state: A NestingState instance which maintains information about - the current stack of nested blocks being parsed. - error: The function to call with any errors found. - """ - - # Don't use "elided" lines here, otherwise we can't check commented lines. - # Don't want to use "raw" either, because we don't want to check inside C++11 - # raw strings, - raw_lines = clean_lines.lines_without_raw_strings - line = raw_lines[linenum] - prev = raw_lines[linenum - 1] if linenum > 0 else '' - - if line.find('\t') != -1: - error(filename, linenum, 'whitespace/tab', 1, - 'Tab found; better to use spaces') - - # One or three blank spaces at the beginning of the line is weird; it's - # hard to reconcile that with 2-space indents. - # NOTE: here are the conditions rob pike used for his tests. Mine aren't - # as sophisticated, but it may be worth becoming so: RLENGTH==initial_spaces - # if(RLENGTH > 20) complain = 0; - # if(match($0, " +(error|private|public|protected):")) complain = 0; - # if(match(prev, "&& *$")) complain = 0; - # if(match(prev, "\\|\\| *$")) complain = 0; - # if(match(prev, "[\",=><] *$")) complain = 0; - # if(match($0, " <<")) complain = 0; - # if(match(prev, " +for \\(")) complain = 0; - # if(prevodd && match(prevprev, " +for \\(")) complain = 0; - scope_or_label_pattern = r'\s*\w+\s*:\s*\\?$' - classinfo = nesting_state.InnermostClass() - initial_spaces = 0 - cleansed_line = clean_lines.elided[linenum] - while initial_spaces < len(line) and line[initial_spaces] == ' ': - initial_spaces += 1 - # There are certain situations we allow one space, notably for - # section labels, and also lines containing multi-line raw strings. - # We also don't check for lines that look like continuation lines - # (of lines ending in double quotes, commas, equals, or angle brackets) - # because the rules for how to indent those are non-trivial. - if (not Search(r'[",=><] *$', prev) and - (initial_spaces == 1 or initial_spaces == 3) and - not Match(scope_or_label_pattern, cleansed_line) and - not (clean_lines.raw_lines[linenum] != line and - Match(r'^\s*""', line))): - error(filename, linenum, 'whitespace/indent', 3, - 'Weird number of spaces at line-start. ' - 'Are you using a 2-space indent?') - - if line and line[-1].isspace(): - error(filename, linenum, 'whitespace/end_of_line', 4, - 'Line ends in whitespace. Consider deleting these extra spaces.') - - # Check if the line is a header guard. - is_header_guard = False - if IsHeaderExtension(file_extension): - cppvar = GetHeaderGuardCPPVariable(filename) - if (line.startswith('#ifndef %s' % cppvar) or - line.startswith('#define %s' % cppvar) or - line.startswith('#endif // %s' % cppvar)): - is_header_guard = True - # #include lines and header guards can be long, since there's no clean way to - # split them. - # - # URLs can be long too. It's possible to split these, but it makes them - # harder to cut&paste. - # - # The "$Id:...$" comment may also get very long without it being the - # developers fault. - if (not line.startswith('#include') and not is_header_guard and - not Match(r'^\s*//.*http(s?)://\S*$', line) and - not Match(r'^\s*//\s*[^\s]*$', line) and - not Match(r'^// \$Id:.*#[0-9]+ \$$', line)): - line_width = GetLineWidth(line) - if line_width > _line_length: - error(filename, linenum, 'whitespace/line_length', 2, - 'Lines should be <= %i characters long' % _line_length) - - if (cleansed_line.count(';') > 1 and - # for loops are allowed two ;'s (and may run over two lines). - cleansed_line.find('for') == -1 and - (GetPreviousNonBlankLine(clean_lines, linenum)[0].find('for') == -1 or - GetPreviousNonBlankLine(clean_lines, linenum)[0].find(';') != -1) and - # It's ok to have many commands in a switch case that fits in 1 line - not ((cleansed_line.find('case ') != -1 or - cleansed_line.find('default:') != -1) and - cleansed_line.find('break;') != -1)): - error(filename, linenum, 'whitespace/newline', 0, - 'More than one command on the same line') - - # Some more style checks - CheckBraces(filename, clean_lines, linenum, error) - CheckTrailingSemicolon(filename, clean_lines, linenum, error) - CheckEmptyBlockBody(filename, clean_lines, linenum, error) - CheckSpacing(filename, clean_lines, linenum, nesting_state, error) - CheckOperatorSpacing(filename, clean_lines, linenum, error) - CheckParenthesisSpacing(filename, clean_lines, linenum, error) - CheckCommaSpacing(filename, clean_lines, linenum, error) - CheckBracesSpacing(filename, clean_lines, linenum, nesting_state, error) - CheckSpacingForFunctionCall(filename, clean_lines, linenum, error) - CheckCheck(filename, clean_lines, linenum, error) - CheckAltTokens(filename, clean_lines, linenum, error) - classinfo = nesting_state.InnermostClass() - if classinfo: - CheckSectionSpacing(filename, clean_lines, classinfo, linenum, error) - - -_RE_PATTERN_INCLUDE = re.compile(r'^\s*#\s*include\s*([<"])([^>"]*)[>"].*$') -# Matches the first component of a filename delimited by -s and _s. That is: -# _RE_FIRST_COMPONENT.match('foo').group(0) == 'foo' -# _RE_FIRST_COMPONENT.match('foo.cc').group(0) == 'foo' -# _RE_FIRST_COMPONENT.match('foo-bar_baz.cc').group(0) == 'foo' -# _RE_FIRST_COMPONENT.match('foo_bar-baz.cc').group(0) == 'foo' -_RE_FIRST_COMPONENT = re.compile(r'^[^-_.]+') - - -def _DropCommonSuffixes(filename): - """Drops common suffixes like _test.cc or -inl.h from filename. - - For example: - >>> _DropCommonSuffixes('foo/foo-inl.h') - 'foo/foo' - >>> _DropCommonSuffixes('foo/bar/foo.cc') - 'foo/bar/foo' - >>> _DropCommonSuffixes('foo/foo_internal.h') - 'foo/foo' - >>> _DropCommonSuffixes('foo/foo_unusualinternal.h') - 'foo/foo_unusualinternal' - - Args: - filename: The input filename. - - Returns: - The filename with the common suffix removed. - """ - for suffix in ('test.cc', 'regtest.cc', 'unittest.cc', - 'inl.h', 'impl.h', 'internal.h'): - if (filename.endswith(suffix) and len(filename) > len(suffix) and - filename[-len(suffix) - 1] in ('-', '_')): - return filename[:-len(suffix) - 1] - return os.path.splitext(filename)[0] - - -def _ClassifyInclude(fileinfo, include, is_system): - """Figures out what kind of header 'include' is. - - Args: - fileinfo: The current file cpplint is running over. A FileInfo instance. - include: The path to a #included file. - is_system: True if the #include used <> rather than "". - - Returns: - One of the _XXX_HEADER constants. - - For example: - >>> _ClassifyInclude(FileInfo('foo/foo.cc'), 'stdio.h', True) - _C_SYS_HEADER - >>> _ClassifyInclude(FileInfo('foo/foo.cc'), 'string', True) - _CPP_SYS_HEADER - >>> _ClassifyInclude(FileInfo('foo/foo.cc'), 'foo/foo.h', False) - _LIKELY_MY_HEADER - >>> _ClassifyInclude(FileInfo('foo/foo_unknown_extension.cc'), - ... 'bar/foo_other_ext.h', False) - _POSSIBLE_MY_HEADER - >>> _ClassifyInclude(FileInfo('foo/foo.cc'), 'foo/bar.h', False) - _OTHER_HEADER - """ - # This is a list of all standard c++ header files, except - # those already checked for above. - is_cpp_h = include in _CPP_HEADERS - - if is_system: - if is_cpp_h or include.endswith(".hh"): - return _CPP_SYS_HEADER - else: - return _C_SYS_HEADER - - # If the target file and the include we're checking share a - # basename when we drop common extensions, and the include - # lives in . , then it's likely to be owned by the target file. - target_dir, target_base = ( - os.path.split(_DropCommonSuffixes(fileinfo.RepositoryName()))) - include_dir, include_base = os.path.split(_DropCommonSuffixes(include)) - if target_base == include_base and ( - include_dir == target_dir or - include_dir == os.path.normpath(target_dir + '/../public')): - return _LIKELY_MY_HEADER - - # If the target and include share some initial basename - # component, it's possible the target is implementing the - # include, so it's allowed to be first, but we'll never - # complain if it's not there. - target_first_component = _RE_FIRST_COMPONENT.match(target_base) - include_first_component = _RE_FIRST_COMPONENT.match(include_base) - if (target_first_component and include_first_component and - target_first_component.group(0) == - include_first_component.group(0)): - return _POSSIBLE_MY_HEADER - - return _OTHER_HEADER - - - -def CheckIncludeLine(filename, clean_lines, linenum, include_state, error): - """Check rules that are applicable to #include lines. - - Strings on #include lines are NOT removed from elided line, to make - certain tasks easier. However, to prevent false positives, checks - applicable to #include lines in CheckLanguage must be put here. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - include_state: An _IncludeState instance in which the headers are inserted. - error: The function to call with any errors found. - """ - fileinfo = FileInfo(filename) - line = clean_lines.lines[linenum] - - # "include" should use the new style "foo/bar.h" instead of just "bar.h" - # Only do this check if the included header follows google naming - # conventions. If not, assume that it's a 3rd party API that - # requires special include conventions. - # - # We also make an exception for Lua headers, which follow google - # naming convention but not the include convention. - match = Match(r'#include\s*"([^/]+\.h)"', line) - if match and not _THIRD_PARTY_HEADERS_PATTERN.match(match.group(1)): - error(filename, linenum, 'build/include', 4, - 'Include the directory when naming .h files') - - # we shouldn't include a file more than once. actually, there are a - # handful of instances where doing so is okay, but in general it's - # not. - match = _RE_PATTERN_INCLUDE.search(line) - if match: - include = match.group(2) - is_system = (match.group(1) == '<') - duplicate_line = include_state.FindHeader(include) - if duplicate_line >= 0: - error(filename, linenum, 'build/include', 4, - '"%s" already included at %s:%s' % - (include, filename, duplicate_line)) - elif (include.endswith('.cc') and - os.path.dirname(fileinfo.RepositoryName()) != os.path.dirname(include)): - error(filename, linenum, 'build/include', 4, - 'Do not include .cc files from other packages') - elif not _THIRD_PARTY_HEADERS_PATTERN.match(include): - include_state.include_list[-1].append((include, linenum)) - - # We want to ensure that headers appear in the right order: - # 1) for foo.cc, foo.h (preferred location) - # 2) c system files - # 3) cpp system files - # 4) for foo.cc, foo.h (deprecated location) - # 5) other google headers - # - # We classify each include statement as one of those 5 types - # using a number of techniques. The include_state object keeps - # track of the highest type seen, and complains if we see a - # lower type after that. - error_message = include_state.CheckNextIncludeOrder( - _ClassifyInclude(fileinfo, include, is_system)) - if error_message: - error(filename, linenum, 'build/include_order', 4, - '%s. Should be: %s.h, c system, c++ system, other.' % - (error_message, fileinfo.BaseName())) - canonical_include = include_state.CanonicalizeAlphabeticalOrder(include) - if not include_state.IsInAlphabeticalOrder( - clean_lines, linenum, canonical_include): - error(filename, linenum, 'build/include_alpha', 4, - 'Include "%s" not in alphabetical order' % include) - include_state.SetLastHeader(canonical_include) - - - -def _GetTextInside(text, start_pattern): - r"""Retrieves all the text between matching open and close parentheses. - - Given a string of lines and a regular expression string, retrieve all the text - following the expression and between opening punctuation symbols like - (, [, or {, and the matching close-punctuation symbol. This properly nested - occurrences of the punctuations, so for the text like - printf(a(), b(c())); - a call to _GetTextInside(text, r'printf\(') will return 'a(), b(c())'. - start_pattern must match string having an open punctuation symbol at the end. - - Args: - text: The lines to extract text. Its comments and strings must be elided. - It can be single line and can span multiple lines. - start_pattern: The regexp string indicating where to start extracting - the text. - Returns: - The extracted text. - None if either the opening string or ending punctuation could not be found. - """ - # TODO(unknown): Audit cpplint.py to see what places could be profitably - # rewritten to use _GetTextInside (and use inferior regexp matching today). - - # Give opening punctuations to get the matching close-punctuations. - matching_punctuation = {'(': ')', '{': '}', '[': ']'} - closing_punctuation = set(matching_punctuation.itervalues()) - - # Find the position to start extracting text. - match = re.search(start_pattern, text, re.M) - if not match: # start_pattern not found in text. - return None - start_position = match.end(0) - - assert start_position > 0, ( - 'start_pattern must ends with an opening punctuation.') - assert text[start_position - 1] in matching_punctuation, ( - 'start_pattern must ends with an opening punctuation.') - # Stack of closing punctuations we expect to have in text after position. - punctuation_stack = [matching_punctuation[text[start_position - 1]]] - position = start_position - while punctuation_stack and position < len(text): - if text[position] == punctuation_stack[-1]: - punctuation_stack.pop() - elif text[position] in closing_punctuation: - # A closing punctuation without matching opening punctuations. - return None - elif text[position] in matching_punctuation: - punctuation_stack.append(matching_punctuation[text[position]]) - position += 1 - if punctuation_stack: - # Opening punctuations left without matching close-punctuations. - return None - # punctuations match. - return text[start_position:position - 1] - - -# Patterns for matching call-by-reference parameters. -# -# Supports nested templates up to 2 levels deep using this messy pattern: -# < (?: < (?: < [^<>]* -# > -# | [^<>] )* -# > -# | [^<>] )* -# > -_RE_PATTERN_IDENT = r'[_a-zA-Z]\w*' # =~ [[:alpha:]][[:alnum:]]* -_RE_PATTERN_TYPE = ( - r'(?:const\s+)?(?:typename\s+|class\s+|struct\s+|union\s+|enum\s+)?' - r'(?:\w|' - r'\s*<(?:<(?:<[^<>]*>|[^<>])*>|[^<>])*>|' - r'::)+') -# A call-by-reference parameter ends with '& identifier'. -_RE_PATTERN_REF_PARAM = re.compile( - r'(' + _RE_PATTERN_TYPE + r'(?:\s*(?:\bconst\b|[*]))*\s*' - r'&\s*' + _RE_PATTERN_IDENT + r')\s*(?:=[^,()]+)?[,)]') -# A call-by-const-reference parameter either ends with 'const& identifier' -# or looks like 'const type& identifier' when 'type' is atomic. -_RE_PATTERN_CONST_REF_PARAM = ( - r'(?:.*\s*\bconst\s*&\s*' + _RE_PATTERN_IDENT + - r'|const\s+' + _RE_PATTERN_TYPE + r'\s*&\s*' + _RE_PATTERN_IDENT + r')') -# Stream types. -_RE_PATTERN_REF_STREAM_PARAM = ( - r'(?:.*stream\s*&\s*' + _RE_PATTERN_IDENT + r')') - - -def CheckLanguage(filename, clean_lines, linenum, file_extension, - include_state, nesting_state, error): - """Checks rules from the 'C++ language rules' section of cppguide.html. - - Some of these rules are hard to test (function overloading, using - uint32 inappropriately), but we do the best we can. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - file_extension: The extension (without the dot) of the filename. - include_state: An _IncludeState instance in which the headers are inserted. - nesting_state: A NestingState instance which maintains information about - the current stack of nested blocks being parsed. - error: The function to call with any errors found. - """ - # If the line is empty or consists of entirely a comment, no need to - # check it. - line = clean_lines.elided[linenum] - if not line: - return - - match = _RE_PATTERN_INCLUDE.search(line) - if match: - CheckIncludeLine(filename, clean_lines, linenum, include_state, error) - return - - # Reset include state across preprocessor directives. This is meant - # to silence warnings for conditional includes. - match = Match(r'^\s*#\s*(if|ifdef|ifndef|elif|else|endif)\b', line) - if match: - include_state.ResetSection(match.group(1)) - - # Make Windows paths like Unix. - fullname = os.path.abspath(filename).replace('\\', '/') - - # Perform other checks now that we are sure that this is not an include line - CheckCasts(filename, clean_lines, linenum, error) - CheckGlobalStatic(filename, clean_lines, linenum, error) - CheckPrintf(filename, clean_lines, linenum, error) - - if IsHeaderExtension(file_extension): - # TODO(unknown): check that 1-arg constructors are explicit. - # How to tell it's a constructor? - # (handled in CheckForNonStandardConstructs for now) - # TODO(unknown): check that classes declare or disable copy/assign - # (level 1 error) - pass - - # Check if people are using the verboten C basic types. The only exception - # we regularly allow is "unsigned short port" for port. - if Search(r'\bshort port\b', line): - if not Search(r'\bunsigned short port\b', line): - error(filename, linenum, 'runtime/int', 4, - 'Use "unsigned short" for ports, not "short"') - else: - match = Search(r'\b(short|long(?! +double)|long long)\b', line) - if match: - error(filename, linenum, 'runtime/int', 4, - 'Use int16/int64/etc, rather than the C type %s' % match.group(1)) - - # Check if some verboten operator overloading is going on - # TODO(unknown): catch out-of-line unary operator&: - # class X {}; - # int operator&(const X& x) { return 42; } // unary operator& - # The trick is it's hard to tell apart from binary operator&: - # class Y { int operator&(const Y& x) { return 23; } }; // binary operator& - if Search(r'\boperator\s*&\s*\(\s*\)', line): - error(filename, linenum, 'runtime/operator', 4, - 'Unary operator& is dangerous. Do not use it.') - - # Check for suspicious usage of "if" like - # } if (a == b) { - if Search(r'\}\s*if\s*\(', line): - error(filename, linenum, 'readability/braces', 4, - 'Did you mean "else if"? If not, start a new line for "if".') - - # Check for potential format string bugs like printf(foo). - # We constrain the pattern not to pick things like DocidForPrintf(foo). - # Not perfect but it can catch printf(foo.c_str()) and printf(foo->c_str()) - # TODO(unknown): Catch the following case. Need to change the calling - # convention of the whole function to process multiple line to handle it. - # printf( - # boy_this_is_a_really_long_variable_that_cannot_fit_on_the_prev_line); - printf_args = _GetTextInside(line, r'(?i)\b(string)?printf\s*\(') - if printf_args: - match = Match(r'([\w.\->()]+)$', printf_args) - if match and match.group(1) != '__VA_ARGS__': - function_name = re.search(r'\b((?:string)?printf)\s*\(', - line, re.I).group(1) - error(filename, linenum, 'runtime/printf', 4, - 'Potential format string bug. Do %s("%%s", %s) instead.' - % (function_name, match.group(1))) - - # Check for potential memset bugs like memset(buf, sizeof(buf), 0). - match = Search(r'memset\s*\(([^,]*),\s*([^,]*),\s*0\s*\)', line) - if match and not Match(r"^''|-?[0-9]+|0x[0-9A-Fa-f]$", match.group(2)): - error(filename, linenum, 'runtime/memset', 4, - 'Did you mean "memset(%s, 0, %s)"?' - % (match.group(1), match.group(2))) - - # if Search(r'\busing namespace\b', line): - # error(filename, linenum, 'build/namespaces', 5, - # 'Do not use namespace using-directives. ' - # 'Use using-declarations instead.') - - # Detect variable-length arrays. - match = Match(r'\s*(.+::)?(\w+) [a-z]\w*\[(.+)];', line) - if (match and match.group(2) != 'return' and match.group(2) != 'delete' and - match.group(3).find(']') == -1): - # Split the size using space and arithmetic operators as delimiters. - # If any of the resulting tokens are not compile time constants then - # report the error. - tokens = re.split(r'\s|\+|\-|\*|\/|<<|>>]', match.group(3)) - is_const = True - skip_next = False - for tok in tokens: - if skip_next: - skip_next = False - continue - - if Search(r'sizeof\(.+\)', tok): continue - if Search(r'arraysize\(\w+\)', tok): continue - - tok = tok.lstrip('(') - tok = tok.rstrip(')') - if not tok: continue - if Match(r'\d+', tok): continue - if Match(r'0[xX][0-9a-fA-F]+', tok): continue - if Match(r'k[A-Z0-9]\w*', tok): continue - if Match(r'(.+::)?k[A-Z0-9]\w*', tok): continue - if Match(r'(.+::)?[A-Z][A-Z0-9_]*', tok): continue - # A catch all for tricky sizeof cases, including 'sizeof expression', - # 'sizeof(*type)', 'sizeof(const type)', 'sizeof(struct StructName)' - # requires skipping the next token because we split on ' ' and '*'. - if tok.startswith('sizeof'): - skip_next = True - continue - is_const = False - break - if not is_const: - error(filename, linenum, 'runtime/arrays', 1, - 'Do not use variable-length arrays. Use an appropriately named ' - "('k' followed by CamelCase) compile-time constant for the size.") - - # Check for use of unnamed namespaces in header files. Registration - # macros are typically OK, so we allow use of "namespace {" on lines - # that end with backslashes. - if (IsHeaderExtension(file_extension) - and Search(r'\bnamespace\s*{', line) - and line[-1] != '\\'): - error(filename, linenum, 'build/namespaces', 4, - 'Do not use unnamed namespaces in header files. See ' - 'https://google-styleguide.googlecode.com/svn/trunk/cppguide.xml#Namespaces' - ' for more information.') - - -def CheckGlobalStatic(filename, clean_lines, linenum, error): - """Check for unsafe global or static objects. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - # Match two lines at a time to support multiline declarations - if linenum + 1 < clean_lines.NumLines() and not Search(r'[;({]', line): - line += clean_lines.elided[linenum + 1].strip() - - # Check for people declaring static/global STL strings at the top level. - # This is dangerous because the C++ language does not guarantee that - # globals with constructors are initialized before the first access, and - # also because globals can be destroyed when some threads are still running. - # TODO(unknown): Generalize this to also find static unique_ptr instances. - # TODO(unknown): File bugs for clang-tidy to find these. - match = Match( - r'((?:|static +)(?:|const +))(?::*std::)?string( +const)? +' - r'([a-zA-Z0-9_:]+)\b(.*)', - line) - - # Remove false positives: - # - String pointers (as opposed to values). - # string *pointer - # const string *pointer - # string const *pointer - # string *const pointer - # - # - Functions and template specializations. - # string Function(... - # string Class::Method(... - # - # - Operators. These are matched separately because operator names - # cross non-word boundaries, and trying to match both operators - # and functions at the same time would decrease accuracy of - # matching identifiers. - # string Class::operator*() - if (match and - not Search(r'\bstring\b(\s+const)?\s*[\*\&]\s*(const\s+)?\w', line) and - not Search(r'\boperator\W', line) and - not Match(r'\s*(<.*>)?(::[a-zA-Z0-9_]+)*\s*\(([^"]|$)', match.group(4))): - if Search(r'\bconst\b', line): - error(filename, linenum, 'runtime/string', 4, - 'For a static/global string constant, use a C style string ' - 'instead: "%schar%s %s[]".' % - (match.group(1), match.group(2) or '', match.group(3))) - else: - error(filename, linenum, 'runtime/string', 4, - 'Static/global string variables are not permitted.') - - if (Search(r'\b([A-Za-z0-9_]*_)\(\1\)', line) or - Search(r'\b([A-Za-z0-9_]*_)\(CHECK_NOTNULL\(\1\)\)', line)): - error(filename, linenum, 'runtime/init', 4, - 'You seem to be initializing a member variable with itself.') - - -def CheckPrintf(filename, clean_lines, linenum, error): - """Check for printf related issues. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - # When snprintf is used, the second argument shouldn't be a literal. - match = Search(r'snprintf\s*\(([^,]*),\s*([0-9]*)\s*,', line) - if match and match.group(2) != '0': - # If 2nd arg is zero, snprintf is used to calculate size. - error(filename, linenum, 'runtime/printf', 3, - 'If you can, use sizeof(%s) instead of %s as the 2nd arg ' - 'to snprintf.' % (match.group(1), match.group(2))) - - # Check if some verboten C functions are being used. - if Search(r'\bsprintf\s*\(', line): - error(filename, linenum, 'runtime/printf', 5, - 'Never use sprintf. Use snprintf instead.') - match = Search(r'\b(strcpy|strcat)\s*\(', line) - if match: - error(filename, linenum, 'runtime/printf', 4, - 'Almost always, snprintf is better than %s' % match.group(1)) - - -def IsDerivedFunction(clean_lines, linenum): - """Check if current line contains an inherited function. - - Args: - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - Returns: - True if current line contains a function with "override" - virt-specifier. - """ - # Scan back a few lines for start of current function - for i in xrange(linenum, max(-1, linenum - 10), -1): - match = Match(r'^([^()]*\w+)\(', clean_lines.elided[i]) - if match: - # Look for "override" after the matching closing parenthesis - line, _, closing_paren = CloseExpression( - clean_lines, i, len(match.group(1))) - return (closing_paren >= 0 and - Search(r'\boverride\b', line[closing_paren:])) - return False - - -def IsOutOfLineMethodDefinition(clean_lines, linenum): - """Check if current line contains an out-of-line method definition. - - Args: - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - Returns: - True if current line contains an out-of-line method definition. - """ - # Scan back a few lines for start of current function - for i in xrange(linenum, max(-1, linenum - 10), -1): - if Match(r'^([^()]*\w+)\(', clean_lines.elided[i]): - return Match(r'^[^()]*\w+::\w+\(', clean_lines.elided[i]) is not None - return False - - -def IsInitializerList(clean_lines, linenum): - """Check if current line is inside constructor initializer list. - - Args: - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - Returns: - True if current line appears to be inside constructor initializer - list, False otherwise. - """ - for i in xrange(linenum, 1, -1): - line = clean_lines.elided[i] - if i == linenum: - remove_function_body = Match(r'^(.*)\{\s*$', line) - if remove_function_body: - line = remove_function_body.group(1) - - if Search(r'\s:\s*\w+[({]', line): - # A lone colon tend to indicate the start of a constructor - # initializer list. It could also be a ternary operator, which - # also tend to appear in constructor initializer lists as - # opposed to parameter lists. - return True - if Search(r'\}\s*,\s*$', line): - # A closing brace followed by a comma is probably the end of a - # brace-initialized member in constructor initializer list. - return True - if Search(r'[{};]\s*$', line): - # Found one of the following: - # - A closing brace or semicolon, probably the end of the previous - # function. - # - An opening brace, probably the start of current class or namespace. - # - # Current line is probably not inside an initializer list since - # we saw one of those things without seeing the starting colon. - return False - - # Got to the beginning of the file without seeing the start of - # constructor initializer list. - return False - - -def CheckForNonConstReference(filename, clean_lines, linenum, - nesting_state, error): - """Check for non-const references. - - Separate from CheckLanguage since it scans backwards from current - line, instead of scanning forward. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - nesting_state: A NestingState instance which maintains information about - the current stack of nested blocks being parsed. - error: The function to call with any errors found. - """ - # Do nothing if there is no '&' on current line. - line = clean_lines.elided[linenum] - if '&' not in line: - return - - # If a function is inherited, current function doesn't have much of - # a choice, so any non-const references should not be blamed on - # derived function. - if IsDerivedFunction(clean_lines, linenum): - return - - # Don't warn on out-of-line method definitions, as we would warn on the - # in-line declaration, if it isn't marked with 'override'. - if IsOutOfLineMethodDefinition(clean_lines, linenum): - return - - # Long type names may be broken across multiple lines, usually in one - # of these forms: - # LongType - # ::LongTypeContinued &identifier - # LongType:: - # LongTypeContinued &identifier - # LongType< - # ...>::LongTypeContinued &identifier - # - # If we detected a type split across two lines, join the previous - # line to current line so that we can match const references - # accordingly. - # - # Note that this only scans back one line, since scanning back - # arbitrary number of lines would be expensive. If you have a type - # that spans more than 2 lines, please use a typedef. - if linenum > 1: - previous = None - if Match(r'\s*::(?:[\w<>]|::)+\s*&\s*\S', line): - # previous_line\n + ::current_line - previous = Search(r'\b((?:const\s*)?(?:[\w<>]|::)+[\w<>])\s*$', - clean_lines.elided[linenum - 1]) - elif Match(r'\s*[a-zA-Z_]([\w<>]|::)+\s*&\s*\S', line): - # previous_line::\n + current_line - previous = Search(r'\b((?:const\s*)?(?:[\w<>]|::)+::)\s*$', - clean_lines.elided[linenum - 1]) - if previous: - line = previous.group(1) + line.lstrip() - else: - # Check for templated parameter that is split across multiple lines - endpos = line.rfind('>') - if endpos > -1: - (_, startline, startpos) = ReverseCloseExpression( - clean_lines, linenum, endpos) - if startpos > -1 and startline < linenum: - # Found the matching < on an earlier line, collect all - # pieces up to current line. - line = '' - for i in xrange(startline, linenum + 1): - line += clean_lines.elided[i].strip() - - # Check for non-const references in function parameters. A single '&' may - # found in the following places: - # inside expression: binary & for bitwise AND - # inside expression: unary & for taking the address of something - # inside declarators: reference parameter - # We will exclude the first two cases by checking that we are not inside a - # function body, including one that was just introduced by a trailing '{'. - # TODO(unknown): Doesn't account for 'catch(Exception& e)' [rare]. - if (nesting_state.previous_stack_top and - not (isinstance(nesting_state.previous_stack_top, _ClassInfo) or - isinstance(nesting_state.previous_stack_top, _NamespaceInfo))): - # Not at toplevel, not within a class, and not within a namespace - return - - # Avoid initializer lists. We only need to scan back from the - # current line for something that starts with ':'. - # - # We don't need to check the current line, since the '&' would - # appear inside the second set of parentheses on the current line as - # opposed to the first set. - if linenum > 0: - for i in xrange(linenum - 1, max(0, linenum - 10), -1): - previous_line = clean_lines.elided[i] - if not Search(r'[),]\s*$', previous_line): - break - if Match(r'^\s*:\s+\S', previous_line): - return - - # Avoid preprocessors - if Search(r'\\\s*$', line): - return - - # Avoid constructor initializer lists - if IsInitializerList(clean_lines, linenum): - return - - # We allow non-const references in a few standard places, like functions - # called "swap()" or iostream operators like "<<" or ">>". Do not check - # those function parameters. - # - # We also accept & in static_assert, which looks like a function but - # it's actually a declaration expression. - whitelisted_functions = (r'(?:[sS]wap(?:<\w:+>)?|' - r'operator\s*[<>][<>]|' - r'static_assert|COMPILE_ASSERT' - r')\s*\(') - if Search(whitelisted_functions, line): - return - elif not Search(r'\S+\([^)]*$', line): - # Don't see a whitelisted function on this line. Actually we - # didn't see any function name on this line, so this is likely a - # multi-line parameter list. Try a bit harder to catch this case. - for i in xrange(2): - if (linenum > i and - Search(whitelisted_functions, clean_lines.elided[linenum - i - 1])): - return - - decls = ReplaceAll(r'{[^}]*}', ' ', line) # exclude function body - # for parameter in re.findall(_RE_PATTERN_REF_PARAM, decls): - # if (not Match(_RE_PATTERN_CONST_REF_PARAM, parameter) and - # not Match(_RE_PATTERN_REF_STREAM_PARAM, parameter)): - # error(filename, linenum, 'runtime/references', 2, - # 'Is this a non-const reference? ' - # 'If so, make const or use a pointer: ' + - # ReplaceAll(' *<', '<', parameter)) - - -def CheckCasts(filename, clean_lines, linenum, error): - """Various cast related checks. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - # Check to see if they're using an conversion function cast. - # I just try to capture the most common basic types, though there are more. - # Parameterless conversion functions, such as bool(), are allowed as they are - # probably a member operator declaration or default constructor. - match = Search( - r'(\bnew\s+(?:const\s+)?|\S<\s*(?:const\s+)?)?\b' - r'(int|float|double|bool|char|int32|uint32|int64|uint64)' - r'(\([^)].*)', line) - expecting_function = ExpectingFunctionArgs(clean_lines, linenum) - if match and not expecting_function: - matched_type = match.group(2) - - # matched_new_or_template is used to silence two false positives: - # - New operators - # - Template arguments with function types - # - # For template arguments, we match on types immediately following - # an opening bracket without any spaces. This is a fast way to - # silence the common case where the function type is the first - # template argument. False negative with less-than comparison is - # avoided because those operators are usually followed by a space. - # - # function // bracket + no space = false positive - # value < double(42) // bracket + space = true positive - matched_new_or_template = match.group(1) - - # Avoid arrays by looking for brackets that come after the closing - # parenthesis. - if Match(r'\([^()]+\)\s*\[', match.group(3)): - return - - # Other things to ignore: - # - Function pointers - # - Casts to pointer types - # - Placement new - # - Alias declarations - matched_funcptr = match.group(3) - if (matched_new_or_template is None and - not (matched_funcptr and - (Match(r'\((?:[^() ]+::\s*\*\s*)?[^() ]+\)\s*\(', - matched_funcptr) or - matched_funcptr.startswith('(*)'))) and - not Match(r'\s*using\s+\S+\s*=\s*' + matched_type, line) and - not Search(r'new\(\S+\)\s*' + matched_type, line)): - error(filename, linenum, 'readability/casting', 4, - 'Using deprecated casting style. ' - 'Use static_cast<%s>(...) instead' % - matched_type) - - if not expecting_function: - CheckCStyleCast(filename, clean_lines, linenum, 'static_cast', - r'\((int|float|double|bool|char|u?int(16|32|64))\)', error) - - # This doesn't catch all cases. Consider (const char * const)"hello". - # - # (char *) "foo" should always be a const_cast (reinterpret_cast won't - # compile). - if CheckCStyleCast(filename, clean_lines, linenum, 'const_cast', - r'\((char\s?\*+\s?)\)\s*"', error): - pass - else: - # Check pointer casts for other than string constants - CheckCStyleCast(filename, clean_lines, linenum, 'reinterpret_cast', - r'\((\w+\s?\*+\s?)\)', error) - - # In addition, we look for people taking the address of a cast. This - # is dangerous -- casts can assign to temporaries, so the pointer doesn't - # point where you think. - # - # Some non-identifier character is required before the '&' for the - # expression to be recognized as a cast. These are casts: - # expression = &static_cast(temporary()); - # function(&(int*)(temporary())); - # - # This is not a cast: - # reference_type&(int* function_param); - match = Search( - r'(?:[^\w]&\(([^)*][^)]*)\)[\w(])|' - r'(?:[^\w]&(static|dynamic|down|reinterpret)_cast\b)', line) - if match: - # Try a better error message when the & is bound to something - # dereferenced by the casted pointer, as opposed to the casted - # pointer itself. - parenthesis_error = False - match = Match(r'^(.*&(?:static|dynamic|down|reinterpret)_cast\b)<', line) - if match: - _, y1, x1 = CloseExpression(clean_lines, linenum, len(match.group(1))) - if x1 >= 0 and clean_lines.elided[y1][x1] == '(': - _, y2, x2 = CloseExpression(clean_lines, y1, x1) - if x2 >= 0: - extended_line = clean_lines.elided[y2][x2:] - if y2 < clean_lines.NumLines() - 1: - extended_line += clean_lines.elided[y2 + 1] - if Match(r'\s*(?:->|\[)', extended_line): - parenthesis_error = True - - if parenthesis_error: - error(filename, linenum, 'readability/casting', 4, - ('Are you taking an address of something dereferenced ' - 'from a cast? Wrapping the dereferenced expression in ' - 'parentheses will make the binding more obvious')) - else: - error(filename, linenum, 'runtime/casting', 4, - ('Are you taking an address of a cast? ' - 'This is dangerous: could be a temp var. ' - 'Take the address before doing the cast, rather than after')) - - -def CheckCStyleCast(filename, clean_lines, linenum, cast_type, pattern, error): - """Checks for a C-style cast by looking for the pattern. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - cast_type: The string for the C++ cast to recommend. This is either - reinterpret_cast, static_cast, or const_cast, depending. - pattern: The regular expression used to find C-style casts. - error: The function to call with any errors found. - - Returns: - True if an error was emitted. - False otherwise. - """ - line = clean_lines.elided[linenum] - match = Search(pattern, line) - if not match: - return False - - # Exclude lines with keywords that tend to look like casts - context = line[0:match.start(1) - 1] - if Match(r'^\s*(private|public):.*$', context): - return False - if Match(r'.*\b(?:sizeof|alignof|alignas|[_A-Z][_A-Z0-9]*)\s*$', context): - return False - - # Try expanding current context to see if we one level of - # parentheses inside a macro. - if linenum > 0: - for i in xrange(linenum - 1, max(0, linenum - 5), -1): - context = clean_lines.elided[i] + context - if Match(r'.*\b[_A-Z][_A-Z0-9]*\s*\((?:\([^()]*\)|[^()])*$', context): - return False - - # operator++(int) and operator--(int) - if context.endswith(' operator++') or context.endswith(' operator--'): - return False - - # A single unnamed argument for a function tends to look like old style cast. - # If we see those, don't issue warnings for deprecated casts. - remainder = line[match.end(0):] - if Match(r'^\s*(?:;|const\b|throw\b|final\b|override\b|[=>{),]|->)', - remainder): - return False - - # At this point, all that should be left is actual casts. - error(filename, linenum, 'readability/casting', 4, - 'Using C-style cast. Use %s<%s>(...) instead' % - (cast_type, match.group(1))) - - return True - - -def ExpectingFunctionArgs(clean_lines, linenum): - """Checks whether where function type arguments are expected. - - Args: - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - - Returns: - True if the line at 'linenum' is inside something that expects arguments - of function types. - """ - line = clean_lines.elided[linenum] - return (Match(r'^\s*MOCK_(CONST_)?METHOD\d+(_T)?\(', line) or - (linenum >= 2 and - (Match(r'^\s*MOCK_(?:CONST_)?METHOD\d+(?:_T)?\((?:\S+,)?\s*$', - clean_lines.elided[linenum - 1]) or - Match(r'^\s*MOCK_(?:CONST_)?METHOD\d+(?:_T)?\(\s*$', - clean_lines.elided[linenum - 2]) or - Search(r'\bstd::m?function\s*\<\s*$', - clean_lines.elided[linenum - 1])))) - - -_HEADERS_CONTAINING_TEMPLATES = ( - ('', ('deque',)), - ('', ('unary_function', 'binary_function', - 'plus', 'minus', 'multiplies', 'divides', 'modulus', - 'negate', - 'equal_to', 'not_equal_to', 'greater', 'less', - 'greater_equal', 'less_equal', - 'logical_and', 'logical_or', 'logical_not', - 'unary_negate', 'not1', 'binary_negate', 'not2', - 'bind1st', 'bind2nd', - 'pointer_to_unary_function', - 'pointer_to_binary_function', - 'ptr_fun', - 'mem_fun_t', 'mem_fun', 'mem_fun1_t', 'mem_fun1_ref_t', - 'mem_fun_ref_t', - 'const_mem_fun_t', 'const_mem_fun1_t', - 'const_mem_fun_ref_t', 'const_mem_fun1_ref_t', - 'mem_fun_ref', - )), - ('', ('numeric_limits',)), - ('', ('list',)), - ('', ('map', 'multimap',)), - ('', ('allocator', 'make_shared', 'make_unique', 'shared_ptr', - 'unique_ptr', 'weak_ptr')), - ('', ('queue', 'priority_queue',)), - ('', ('set', 'multiset',)), - ('', ('stack',)), - ('', ('char_traits', 'basic_string',)), - ('', ('tuple',)), - ('', ('unordered_map', 'unordered_multimap')), - ('', ('unordered_set', 'unordered_multiset')), - ('', ('pair',)), - ('', ('vector',)), - - # gcc extensions. - # Note: std::hash is their hash, ::hash is our hash - ('', ('hash_map', 'hash_multimap',)), - ('', ('hash_set', 'hash_multiset',)), - ('', ('slist',)), - ) - -_HEADERS_MAYBE_TEMPLATES = ( - ('', ('copy', 'max', 'min', 'min_element', 'sort', - 'transform', - )), - ('', ('forward', 'make_pair', 'move', 'swap')), - ) - -_RE_PATTERN_STRING = re.compile(r'\bstring\b') - -_re_pattern_headers_maybe_templates = [] -for _header, _templates in _HEADERS_MAYBE_TEMPLATES: - for _template in _templates: - # Match max(..., ...), max(..., ...), but not foo->max, foo.max or - # type::max(). - _re_pattern_headers_maybe_templates.append( - (re.compile(r'[^>.]\b' + _template + r'(<.*?>)?\([^\)]'), - _template, - _header)) - -# Other scripts may reach in and modify this pattern. -_re_pattern_templates = [] -for _header, _templates in _HEADERS_CONTAINING_TEMPLATES: - for _template in _templates: - _re_pattern_templates.append( - (re.compile(r'(\<|\b)' + _template + r'\s*\<'), - _template + '<>', - _header)) - - -def FilesBelongToSameModule(filename_cc, filename_h): - """Check if these two filenames belong to the same module. - - The concept of a 'module' here is a as follows: - foo.h, foo-inl.h, foo.cc, foo_test.cc and foo_unittest.cc belong to the - same 'module' if they are in the same directory. - some/path/public/xyzzy and some/path/internal/xyzzy are also considered - to belong to the same module here. - - If the filename_cc contains a longer path than the filename_h, for example, - '/absolute/path/to/base/sysinfo.cc', and this file would include - 'base/sysinfo.h', this function also produces the prefix needed to open the - header. This is used by the caller of this function to more robustly open the - header file. We don't have access to the real include paths in this context, - so we need this guesswork here. - - Known bugs: tools/base/bar.cc and base/bar.h belong to the same module - according to this implementation. Because of this, this function gives - some false positives. This should be sufficiently rare in practice. - - Args: - filename_cc: is the path for the .cc file - filename_h: is the path for the header path - - Returns: - Tuple with a bool and a string: - bool: True if filename_cc and filename_h belong to the same module. - string: the additional prefix needed to open the header file. - """ - - fileinfo = FileInfo(filename_cc) - if not fileinfo.IsSource(): - return (False, '') - filename_cc = filename_cc[:-len(fileinfo.Extension())] - matched_test_suffix = Search(_TEST_FILE_SUFFIX, fileinfo.BaseName()) - if matched_test_suffix: - filename_cc = filename_cc[:-len(matched_test_suffix.group(1))] - filename_cc = filename_cc.replace('/public/', '/') - filename_cc = filename_cc.replace('/internal/', '/') - - if not filename_h.endswith('.h'): - return (False, '') - filename_h = filename_h[:-len('.h')] - if filename_h.endswith('-inl'): - filename_h = filename_h[:-len('-inl')] - filename_h = filename_h.replace('/public/', '/') - filename_h = filename_h.replace('/internal/', '/') - - files_belong_to_same_module = filename_cc.endswith(filename_h) - common_path = '' - if files_belong_to_same_module: - common_path = filename_cc[:-len(filename_h)] - return files_belong_to_same_module, common_path - - -def UpdateIncludeState(filename, include_dict, io=codecs): - """Fill up the include_dict with new includes found from the file. - - Args: - filename: the name of the header to read. - include_dict: a dictionary in which the headers are inserted. - io: The io factory to use to read the file. Provided for testability. - - Returns: - True if a header was successfully added. False otherwise. - """ - headerfile = None - try: - headerfile = io.open(filename, 'r', 'utf8', 'replace') - except IOError: - return False - linenum = 0 - for line in headerfile: - linenum += 1 - clean_line = CleanseComments(line) - match = _RE_PATTERN_INCLUDE.search(clean_line) - if match: - include = match.group(2) - include_dict.setdefault(include, linenum) - return True - - -def CheckForIncludeWhatYouUse(filename, clean_lines, include_state, error, - io=codecs): - """Reports for missing stl includes. - - This function will output warnings to make sure you are including the headers - necessary for the stl containers and functions that you use. We only give one - reason to include a header. For example, if you use both equal_to<> and - less<> in a .h file, only one (the latter in the file) of these will be - reported as a reason to include the . - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - include_state: An _IncludeState instance. - error: The function to call with any errors found. - io: The IO factory to use to read the header file. Provided for unittest - injection. - """ - required = {} # A map of header name to linenumber and the template entity. - # Example of required: { '': (1219, 'less<>') } - - for linenum in xrange(clean_lines.NumLines()): - line = clean_lines.elided[linenum] - if not line or line[0] == '#': - continue - - # String is special -- it is a non-templatized type in STL. - matched = _RE_PATTERN_STRING.search(line) - if matched: - # Don't warn about strings in non-STL namespaces: - # (We check only the first match per line; good enough.) - prefix = line[:matched.start()] - if prefix.endswith('std::') or not prefix.endswith('::'): - required[''] = (linenum, 'string') - - for pattern, template, header in _re_pattern_headers_maybe_templates: - if pattern.search(line): - required[header] = (linenum, template) - - # The following function is just a speed up, no semantics are changed. - if not '<' in line: # Reduces the cpu time usage by skipping lines. - continue - - for pattern, template, header in _re_pattern_templates: - matched = pattern.search(line) - if matched: - # Don't warn about IWYU in non-STL namespaces: - # (We check only the first match per line; good enough.) - prefix = line[:matched.start()] - if prefix.endswith('std::') or not prefix.endswith('::'): - required[header] = (linenum, template) - - # The policy is that if you #include something in foo.h you don't need to - # include it again in foo.cc. Here, we will look at possible includes. - # Let's flatten the include_state include_list and copy it into a dictionary. - include_dict = dict([item for sublist in include_state.include_list - for item in sublist]) - - # Did we find the header for this file (if any) and successfully load it? - header_found = False - - # Use the absolute path so that matching works properly. - abs_filename = FileInfo(filename).FullName() - - # For Emacs's flymake. - # If cpplint is invoked from Emacs's flymake, a temporary file is generated - # by flymake and that file name might end with '_flymake.cc'. In that case, - # restore original file name here so that the corresponding header file can be - # found. - # e.g. If the file name is 'foo_flymake.cc', we should search for 'foo.h' - # instead of 'foo_flymake.h' - abs_filename = re.sub(r'_flymake\.cc$', '.cc', abs_filename) - - # include_dict is modified during iteration, so we iterate over a copy of - # the keys. - header_keys = include_dict.keys() - for header in header_keys: - (same_module, common_path) = FilesBelongToSameModule(abs_filename, header) - fullpath = common_path + header - if same_module and UpdateIncludeState(fullpath, include_dict, io): - header_found = True - - # If we can't find the header file for a .cc, assume it's because we don't - # know where to look. In that case we'll give up as we're not sure they - # didn't include it in the .h file. - # TODO(unknown): Do a better job of finding .h files so we are confident that - # not having the .h file means there isn't one. - if filename.endswith('.cc') and not header_found: - return - - # All the lines have been processed, report the errors found. - for required_header_unstripped in required: - template = required[required_header_unstripped][1] - if required_header_unstripped.strip('<>"') not in include_dict: - error(filename, required[required_header_unstripped][0], - 'build/include_what_you_use', 4, - 'Add #include ' + required_header_unstripped + ' for ' + template) - - -_RE_PATTERN_EXPLICIT_MAKEPAIR = re.compile(r'\bmake_pair\s*<') - - -def CheckMakePairUsesDeduction(filename, clean_lines, linenum, error): - """Check that make_pair's template arguments are deduced. - - G++ 4.6 in C++11 mode fails badly if make_pair's template arguments are - specified explicitly, and such use isn't intended in any case. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - match = _RE_PATTERN_EXPLICIT_MAKEPAIR.search(line) - if match: - error(filename, linenum, 'build/explicit_make_pair', - 4, # 4 = high confidence - 'For C++11-compatibility, omit template arguments from make_pair' - ' OR use pair directly OR if appropriate, construct a pair directly') - - -def CheckRedundantVirtual(filename, clean_lines, linenum, error): - """Check if line contains a redundant "virtual" function-specifier. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - # Look for "virtual" on current line. - line = clean_lines.elided[linenum] - virtual = Match(r'^(.*)(\bvirtual\b)(.*)$', line) - if not virtual: return - - # Ignore "virtual" keywords that are near access-specifiers. These - # are only used in class base-specifier and do not apply to member - # functions. - if (Search(r'\b(public|protected|private)\s+$', virtual.group(1)) or - Match(r'^\s+(public|protected|private)\b', virtual.group(3))): - return - - # Ignore the "virtual" keyword from virtual base classes. Usually - # there is a column on the same line in these cases (virtual base - # classes are rare in google3 because multiple inheritance is rare). - if Match(r'^.*[^:]:[^:].*$', line): return - - # Look for the next opening parenthesis. This is the start of the - # parameter list (possibly on the next line shortly after virtual). - # TODO(unknown): doesn't work if there are virtual functions with - # decltype() or other things that use parentheses, but csearch suggests - # that this is rare. - end_col = -1 - end_line = -1 - start_col = len(virtual.group(2)) - for start_line in xrange(linenum, min(linenum + 3, clean_lines.NumLines())): - line = clean_lines.elided[start_line][start_col:] - parameter_list = Match(r'^([^(]*)\(', line) - if parameter_list: - # Match parentheses to find the end of the parameter list - (_, end_line, end_col) = CloseExpression( - clean_lines, start_line, start_col + len(parameter_list.group(1))) - break - start_col = 0 - - if end_col < 0: - return # Couldn't find end of parameter list, give up - - # Look for "override" or "final" after the parameter list - # (possibly on the next few lines). - for i in xrange(end_line, min(end_line + 3, clean_lines.NumLines())): - line = clean_lines.elided[i][end_col:] - match = Search(r'\b(override|final)\b', line) - if match: - error(filename, linenum, 'readability/inheritance', 4, - ('"virtual" is redundant since function is ' - 'already declared as "%s"' % match.group(1))) - - # Set end_col to check whole lines after we are done with the - # first line. - end_col = 0 - if Search(r'[^\w]\s*$', line): - break - - -def CheckRedundantOverrideOrFinal(filename, clean_lines, linenum, error): - """Check if line contains a redundant "override" or "final" virt-specifier. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - # Look for closing parenthesis nearby. We need one to confirm where - # the declarator ends and where the virt-specifier starts to avoid - # false positives. - line = clean_lines.elided[linenum] - declarator_end = line.rfind(')') - if declarator_end >= 0: - fragment = line[declarator_end:] - else: - if linenum > 1 and clean_lines.elided[linenum - 1].rfind(')') >= 0: - fragment = line - else: - return - - - - -# Returns true if we are at a new block, and it is directly -# inside of a namespace. -def IsBlockInNameSpace(nesting_state, is_forward_declaration): - """Checks that the new block is directly in a namespace. - - Args: - nesting_state: The _NestingState object that contains info about our state. - is_forward_declaration: If the class is a forward declared class. - Returns: - Whether or not the new block is directly in a namespace. - """ - if is_forward_declaration: - if len(nesting_state.stack) >= 1 and ( - isinstance(nesting_state.stack[-1], _NamespaceInfo)): - return True - else: - return False - - return (len(nesting_state.stack) > 1 and - nesting_state.stack[-1].check_namespace_indentation and - isinstance(nesting_state.stack[-2], _NamespaceInfo)) - - -def ShouldCheckNamespaceIndentation(nesting_state, is_namespace_indent_item, - raw_lines_no_comments, linenum): - """This method determines if we should apply our namespace indentation check. - - Args: - nesting_state: The current nesting state. - is_namespace_indent_item: If we just put a new class on the stack, True. - If the top of the stack is not a class, or we did not recently - add the class, False. - raw_lines_no_comments: The lines without the comments. - linenum: The current line number we are processing. - - Returns: - True if we should apply our namespace indentation check. Currently, it - only works for classes and namespaces inside of a namespace. - """ - - is_forward_declaration = IsForwardClassDeclaration(raw_lines_no_comments, - linenum) - - if not (is_namespace_indent_item or is_forward_declaration): - return False - - # If we are in a macro, we do not want to check the namespace indentation. - if IsMacroDefinition(raw_lines_no_comments, linenum): - return False - - return IsBlockInNameSpace(nesting_state, is_forward_declaration) - - -# Call this method if the line is directly inside of a namespace. -# If the line above is blank (excluding comments) or the start of -# an inner namespace, it cannot be indented. -def CheckItemIndentationInNamespace(filename, raw_lines_no_comments, linenum, - error): - line = raw_lines_no_comments[linenum] - # if Match(r'^\s+', line): - # error(filename, linenum, 'runtime/indentation_namespace', 4, - # 'Do not indent within a namespace') - - -def ProcessLine(filename, file_extension, clean_lines, line, - include_state, function_state, nesting_state, error, - extra_check_functions=[]): - """Processes a single line in the file. - - Args: - filename: Filename of the file that is being processed. - file_extension: The extension (dot not included) of the file. - clean_lines: An array of strings, each representing a line of the file, - with comments stripped. - line: Number of line being processed. - include_state: An _IncludeState instance in which the headers are inserted. - function_state: A _FunctionState instance which counts function lines, etc. - nesting_state: A NestingState instance which maintains information about - the current stack of nested blocks being parsed. - error: A callable to which errors are reported, which takes 4 arguments: - filename, line number, error level, and message - extra_check_functions: An array of additional check functions that will be - run on each source line. Each function takes 4 - arguments: filename, clean_lines, line, error - """ - raw_lines = clean_lines.raw_lines - ParseNolintSuppressions(filename, raw_lines[line], line, error) - nesting_state.Update(filename, clean_lines, line, error) - CheckForNamespaceIndentation(filename, nesting_state, clean_lines, line, - error) - if nesting_state.InAsmBlock(): return - CheckForFunctionLengths(filename, clean_lines, line, function_state, error) - CheckForMultilineCommentsAndStrings(filename, clean_lines, line, error) - CheckStyle(filename, clean_lines, line, file_extension, nesting_state, error) - CheckLanguage(filename, clean_lines, line, file_extension, include_state, - nesting_state, error) - CheckForNonConstReference(filename, clean_lines, line, nesting_state, error) - CheckForNonStandardConstructs(filename, clean_lines, line, - nesting_state, error) - CheckVlogArguments(filename, clean_lines, line, error) - CheckPosixThreading(filename, clean_lines, line, error) - CheckInvalidIncrement(filename, clean_lines, line, error) - CheckMakePairUsesDeduction(filename, clean_lines, line, error) - CheckRedundantVirtual(filename, clean_lines, line, error) - CheckRedundantOverrideOrFinal(filename, clean_lines, line, error) - for check_fn in extra_check_functions: - check_fn(filename, clean_lines, line, error) - -def FlagCxx11Features(filename, clean_lines, linenum, error): - """Flag those c++11 features that we only allow in certain places. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - include = Match(r'\s*#\s*include\s+[<"]([^<"]+)[">]', line) - - # Flag unapproved C++ TR1 headers. - if include and include.group(1).startswith('tr1/'): - error(filename, linenum, 'build/c++tr1', 5, - ('C++ TR1 headers such as <%s> are unapproved.') % include.group(1)) - - # Flag unapproved C++11 headers. - if include and include.group(1) in ('cfenv', - 'fenv.h', - 'system_error', - ): - error(filename, linenum, 'build/c++11', 5, - ('<%s> is an unapproved C++11 header.') % include.group(1)) - - # The only place where we need to worry about C++11 keywords and library - # features in preprocessor directives is in macro definitions. - if Match(r'\s*#', line) and not Match(r'\s*#\s*define\b', line): return - - # These are classes and free functions. The classes are always - # mentioned as std::*, but we only catch the free functions if - # they're not found by ADL. They're alphabetical by header. - for top_name in ( - # type_traits - 'alignment_of', - 'aligned_union', - ): - if Search(r'\bstd::%s\b' % top_name, line): - error(filename, linenum, 'build/c++11', 5, - ('std::%s is an unapproved C++11 class or function. Send c-style ' - 'an example of where it would make your code more readable, and ' - 'they may let you use it.') % top_name) - - -def FlagCxx14Features(filename, clean_lines, linenum, error): - """Flag those C++14 features that we restrict. - - Args: - filename: The name of the current file. - clean_lines: A CleansedLines instance containing the file. - linenum: The number of the line to check. - error: The function to call with any errors found. - """ - line = clean_lines.elided[linenum] - - include = Match(r'\s*#\s*include\s+[<"]([^<"]+)[">]', line) - - # Flag unapproved C++14 headers. - if include and include.group(1) in ('scoped_allocator', 'shared_mutex'): - error(filename, linenum, 'build/c++14', 5, - ('<%s> is an unapproved C++14 header.') % include.group(1)) - - -def ProcessFileData(filename, file_extension, lines, error, - extra_check_functions=[]): - """Performs lint checks and reports any errors to the given error function. - - Args: - filename: Filename of the file that is being processed. - file_extension: The extension (dot not included) of the file. - lines: An array of strings, each representing a line of the file, with the - last element being empty if the file is terminated with a newline. - error: A callable to which errors are reported, which takes 4 arguments: - filename, line number, error level, and message - extra_check_functions: An array of additional check functions that will be - run on each source line. Each function takes 4 - arguments: filename, clean_lines, line, error - """ - lines = (['// marker so line numbers and indices both start at 1'] + lines + - ['// marker so line numbers end in a known way']) - - include_state = _IncludeState() - function_state = _FunctionState() - nesting_state = NestingState() - - ResetNolintSuppressions() - - CheckForCopyright(filename, lines, error) - ProcessGlobalSuppresions(lines) - RemoveMultiLineComments(filename, lines, error) - clean_lines = CleansedLines(lines) - - if IsHeaderExtension(file_extension): - CheckForHeaderGuard(filename, clean_lines, error) - - for line in xrange(clean_lines.NumLines()): - ProcessLine(filename, file_extension, clean_lines, line, - include_state, function_state, nesting_state, error, - extra_check_functions) - FlagCxx11Features(filename, clean_lines, line, error) - nesting_state.CheckCompletedBlocks(filename, error) - - CheckForIncludeWhatYouUse(filename, clean_lines, include_state, error) - - # Check that the .cc file has included its header if it exists. - if _IsSourceExtension(file_extension): - CheckHeaderFileIncluded(filename, include_state, error) - - # We check here rather than inside ProcessLine so that we see raw - # lines rather than "cleaned" lines. - CheckForBadCharacters(filename, lines, error) - - CheckForNewlineAtEOF(filename, lines, error) - -def ProcessConfigOverrides(filename): - """ Loads the configuration files and processes the config overrides. - - Args: - filename: The name of the file being processed by the linter. - - Returns: - False if the current |filename| should not be processed further. - """ - - abs_filename = os.path.abspath(filename) - cfg_filters = [] - keep_looking = True - while keep_looking: - abs_path, base_name = os.path.split(abs_filename) - if not base_name: - break # Reached the root directory. - - cfg_file = os.path.join(abs_path, "CPPLINT.cfg") - abs_filename = abs_path - if not os.path.isfile(cfg_file): - continue - - try: - with open(cfg_file) as file_handle: - for line in file_handle: - line, _, _ = line.partition('#') # Remove comments. - if not line.strip(): - continue - - name, _, val = line.partition('=') - name = name.strip() - val = val.strip() - if name == 'set noparent': - keep_looking = False - elif name == 'filter': - cfg_filters.append(val) - elif name == 'exclude_files': - # When matching exclude_files pattern, use the base_name of - # the current file name or the directory name we are processing. - # For example, if we are checking for lint errors in /foo/bar/baz.cc - # and we found the .cfg file at /foo/CPPLINT.cfg, then the config - # file's "exclude_files" filter is meant to be checked against "bar" - # and not "baz" nor "bar/baz.cc". - if base_name: - pattern = re.compile(val) - if pattern.match(base_name): - if _cpplint_state.quiet: - # Suppress "Ignoring file" warning when using --quiet. - return False - sys.stderr.write('Ignoring "%s": file excluded by "%s". ' - 'File path component "%s" matches ' - 'pattern "%s"\n' % - (filename, cfg_file, base_name, val)) - return False - elif name == 'linelength': - global _line_length - try: - _line_length = int(val) - except ValueError: - sys.stderr.write('Line length must be numeric.') - elif name == 'root': - global _root - # root directories are specified relative to CPPLINT.cfg dir. - _root = os.path.join(os.path.dirname(cfg_file), val) - elif name == 'headers': - ProcessHppHeadersOption(val) - else: - sys.stderr.write( - 'Invalid configuration option (%s) in file %s\n' % - (name, cfg_file)) - - except IOError: - sys.stderr.write( - "Skipping config file '%s': Can't open for reading\n" % cfg_file) - keep_looking = False - - # Apply all the accumulated filters in reverse order (top-level directory - # config options having the least priority). - for filter in reversed(cfg_filters): - _AddFilters(filter) - - return True - - -def ProcessFile(filename, vlevel, extra_check_functions=[]): - """Does google-lint on a single file. - - Args: - filename: The name of the file to parse. - - vlevel: The level of errors to report. Every error of confidence - >= verbose_level will be reported. 0 is a good default. - - extra_check_functions: An array of additional check functions that will be - run on each source line. Each function takes 4 - arguments: filename, clean_lines, line, error - """ - - _SetVerboseLevel(vlevel) - _BackupFilters() - old_errors = _cpplint_state.error_count - - if not ProcessConfigOverrides(filename): - _RestoreFilters() - return - - lf_lines = [] - crlf_lines = [] - try: - # Support the UNIX convention of using "-" for stdin. Note that - # we are not opening the file with universal newline support - # (which codecs doesn't support anyway), so the resulting lines do - # contain trailing '\r' characters if we are reading a file that - # has CRLF endings. - # If after the split a trailing '\r' is present, it is removed - # below. - if filename == '-': - lines = codecs.StreamReaderWriter(sys.stdin, - codecs.getreader('utf8'), - codecs.getwriter('utf8'), - 'replace').read().split('\n') - else: - lines = codecs.open(filename, 'r', 'utf8', 'replace').read().split('\n') - - # Remove trailing '\r'. - # The -1 accounts for the extra trailing blank line we get from split() - for linenum in range(len(lines) - 1): - if lines[linenum].endswith('\r'): - lines[linenum] = lines[linenum].rstrip('\r') - crlf_lines.append(linenum + 1) - else: - lf_lines.append(linenum + 1) - - except IOError: - sys.stderr.write( - "Skipping input '%s': Can't open for reading\n" % filename) - _RestoreFilters() - return - - # Note, if no dot is found, this will give the entire filename as the ext. - file_extension = filename[filename.rfind('.') + 1:] - - # When reading from stdin, the extension is unknown, so no cpplint tests - # should rely on the extension. - if filename != '-' and file_extension not in _valid_extensions: - sys.stderr.write('Ignoring %s; not a valid file name ' - '(%s)\n' % (filename, ', '.join(_valid_extensions))) - else: - ProcessFileData(filename, file_extension, lines, Error, - extra_check_functions) - - # If end-of-line sequences are a mix of LF and CR-LF, issue - # warnings on the lines with CR. - # - # Don't issue any warnings if all lines are uniformly LF or CR-LF, - # since critique can handle these just fine, and the style guide - # doesn't dictate a particular end of line sequence. - # - # We can't depend on os.linesep to determine what the desired - # end-of-line sequence should be, since that will return the - # server-side end-of-line sequence. - if lf_lines and crlf_lines: - # Warn on every line with CR. An alternative approach might be to - # check whether the file is mostly CRLF or just LF, and warn on the - # minority, we bias toward LF here since most tools prefer LF. - for linenum in crlf_lines: - Error(filename, linenum, 'whitespace/newline', 1, - 'Unexpected \\r (^M) found; better to use only \\n') - - # Suppress printing anything if --quiet was passed unless the error - # count has increased after processing this file. - if not _cpplint_state.quiet or old_errors != _cpplint_state.error_count: - sys.stdout.write('Done processing %s\n' % filename) - _RestoreFilters() - - -def PrintUsage(message): - """Prints a brief usage string and exits, optionally with an error message. - - Args: - message: The optional error message. - """ - sys.stderr.write(_USAGE) - if message: - sys.exit('\nFATAL ERROR: ' + message) - else: - sys.exit(1) - - -def PrintCategories(): - """Prints a list of all the error-categories used by error messages. - - These are the categories used to filter messages via --filter. - """ - sys.stderr.write(''.join(' %s\n' % cat for cat in _ERROR_CATEGORIES)) - sys.exit(0) - - -def ParseArguments(args): - """Parses the command line arguments. - - This may set the output format and verbosity level as side-effects. - - Args: - args: The command line arguments: - - Returns: - The list of filenames to lint. - """ - try: - (opts, filenames) = getopt.getopt(args, '', ['help', 'output=', 'verbose=', - 'counting=', - 'filter=', - 'root=', - 'linelength=', - 'extensions=', - 'headers=', - 'quiet']) - except getopt.GetoptError: - PrintUsage('Invalid arguments.') - - verbosity = _VerboseLevel() - output_format = _OutputFormat() - filters = '' - quiet = _Quiet() - counting_style = '' - - for (opt, val) in opts: - if opt == '--help': - PrintUsage(None) - elif opt == '--output': - if val not in ('emacs', 'vs7', 'eclipse'): - PrintUsage('The only allowed output formats are emacs, vs7 and eclipse.') - output_format = val - elif opt == '--quiet': - quiet = True - elif opt == '--verbose': - verbosity = int(val) - elif opt == '--filter': - filters = val - if not filters: - PrintCategories() - elif opt == '--counting': - if val not in ('total', 'toplevel', 'detailed'): - PrintUsage('Valid counting options are total, toplevel, and detailed') - counting_style = val - elif opt == '--root': - global _root - _root = val - elif opt == '--linelength': - global _line_length - try: - _line_length = int(val) - except ValueError: - PrintUsage('Line length must be digits.') - elif opt == '--extensions': - global _valid_extensions - try: - _valid_extensions = set(val.split(',')) - except ValueError: - PrintUsage('Extensions must be comma seperated list.') - elif opt == '--headers': - ProcessHppHeadersOption(val) - - if not filenames: - PrintUsage('No files were specified.') - - _SetOutputFormat(output_format) - _SetQuiet(quiet) - _SetVerboseLevel(verbosity) - _SetFilters(filters) - _SetCountingStyle(counting_style) - - return filenames - - -def main(): - filenames = ParseArguments(sys.argv[1:]) - - # Change stderr to write with replacement characters so we don't die - # if we try to print something containing non-ASCII characters. - sys.stderr = codecs.StreamReaderWriter(sys.stderr, - codecs.getreader('utf8'), - codecs.getwriter('utf8'), - 'replace') - - _cpplint_state.ResetErrorCounts() - for filename in filenames: - ProcessFile(filename, _cpplint_state.verbose_level) - # If --quiet is passed, suppress printing error count unless there are errors. - if not _cpplint_state.quiet or _cpplint_state.error_count > 0: - _cpplint_state.PrintErrorCounts() - - sys.exit(_cpplint_state.error_count > 0) - - -if __name__ == '__main__': - main() diff --git a/tutorials.md.in b/tutorials.md.in index 6be5cf63b..3201b354b 100644 --- a/tutorials.md.in +++ b/tutorials.md.in @@ -9,11 +9,11 @@ Ignition @IGN_DESIGNATION_CAP@ library and how to use the library effectively. 1. \subpage introduction "Introduction" 2. \subpage installation "Installation" -3. \subpage physicsplugin "Understanding the Physics Plugin" -4. \subpage switchphysicsengines "Switching physics engines" -5. \subpage pluginloading "Loading a Physics Plugin" +3. \subpage physicsplugin "Understanding the physics plugin" +4. \subpage physicsengine "Use different physics engines" +5. \subpage pluginloading "Loading physics plugins" 6. \subpage physicsconcepts "Ignition Physics simulation concepts" -7. \subpage createphysicsplugin "Implement a physics plugin" +7. \subpage createphysicsplugin "Implement a physics feature" 8. \subpage createcustomfeature "Implement a custom feature" 9. \subpage setupphysicsenginetpe "Use custom engine with Ignition Physics" diff --git a/tutorials/01_intro.md b/tutorials/01_intro.md index d4ddeaecf..1a4075dce 100644 --- a/tutorials/01_intro.md +++ b/tutorials/01_intro.md @@ -20,7 +20,7 @@ Ignition Physics extensibility and modularity. For a big picture of the Ignition Physics operation in Ignition ecosystem, see the abstract diagram below: - +@image html img/ign-libraries.png In general, `ign-gazebo` is the main simulation library, in which its functionalities are powered by many component libraries. @@ -28,9 +28,7 @@ For example, its graphical drawing is supported by `ign-rendering` or simulated sensors that are defined and implemented in `ign-sensors`. In particular, this library `ign-physics` provides an abstract interface to physics engines, which simulates dynamic transformations and interactions of -objects in `ign-gazebo`. -The communication between these libraries at runtime is provided by -`ign-transport` and `ign-msgs`. +objects in `ign-gazebo`. The libraries are connected by C++ code. Ignition Physics uses a plugin architecture where each physics engine is implemented as a plugin that can be loaded at runtime. @@ -64,6 +62,7 @@ to \ref physicsplugin ### Features logs **Ignition Physics 1.x** + - Initial release - Define base concepts: Entity, FeaturePolicy, Feature and FeatureList. - Add features for `dartsim` physics engines (more detail in \ref physicsplugin). @@ -71,8 +70,9 @@ to \ref physicsplugin - Enforce joint effort limit in `dartsim-plugin`. **Ignition Physics 2.x** -- Support sdformat 1.7 frame semantics. -- Support compiling against dart 6.9. + +- Support SDFormat 1.7 frame semantics. +- Support compiling against DART 6.9. - Trivial Physics Engine (TPE)- partial implementation - Add features for TPE physics engines (more detail in \ref physicsplugin). - Extend contact data with force, normal, and penetration depth. diff --git a/tutorials/02_installation.md b/tutorials/02_installation.md index b400c79ef..6e02a7f00 100644 --- a/tutorials/02_installation.md +++ b/tutorials/02_installation.md @@ -1,17 +1,17 @@ \page installation Installation These instructions are for installing only Ignition Physics. -If you're interested in using all the Ignition libraries, check out this [Ignition installation](https://ignitionrobotics.org/docs/latest/install). +If you're interested in using all the Ignition libraries, check out this [Ignition installation](https://ignitionrobotics.org/docs/dome/install). We recommend following the Binary Installation instructions to get up and running as quickly and painlessly as possible. -The Source Installation instructions should be used if you need the very latest software improvements, you need to modify the code, or you plan to make a contribution. +The Source Installation instructions are generally recommended for developers who want access to the latest features, develop your own feature or make a contribution to our [codebase](https://github.com/ignitionrobotics/ign-physics/). # Ubuntu ## Prerequisites -Ignition Physics uses several c++17 features which are not available in the +Ignition Physics uses several C++17 features which are not available in the version of gcc supplied with Ubuntu Xenial, so Ubuntu Bionic or later is required. @@ -39,7 +39,6 @@ On Ubuntu systems, `apt-get` can be used to install `ignition-plugin`: sudo apt-get update sudo apt-get install libignition-physics<#>-dev ``` - Be sure to replace `<#>` with a number value, such as `1` or `2`, depending on which version you need. ## Source Installation @@ -88,7 +87,7 @@ Be sure to replace `<#>` with a number value, such as `1` or `2`, depending on w Ignition Physics and several of its dependencies can be installed on macOS with [Homebrew](http://brew.sh/) using the [osrf/simulation tap](https://github.com/osrf/homebrew-simulation). Ignition Physics uses -several c++17 features which are not available in macOS High Sierra (10.13) +several C++17 features which are not available in macOS High Sierra (10.13) and earlier, so macOS Mojave (10.14) with XCode 10.1 are the minimum system requirements. @@ -103,21 +102,23 @@ command-line tools: 2. Run the following commands ``` brew tap osrf/simulation - brew install ignition-physics5 + brew install ignition-physics<#> ``` +Be sure to replace `<#>` with a number value, such as `1` or `2`, depending on which version you need. ## Source Installation 1. Install dependencies ``` brew tap osrf/simulation - brew install ignition-physics5 --only-dependencies + brew install ignition-physics<#> --only-dependencies ``` 2. Clone the repository ``` git clone https://github.com/ignitionrobotics/ign-physics -b ign-physics<#> ``` +Be sure to replace `<#>` with a number value, such as `1` or `2`, depending on which version you need. 3. Configure and build ``` @@ -208,7 +209,7 @@ You can also generate the documentation from a clone of this repository by follo 2. Clone the repository ``` - git clone https://github.com/ignitionrobotics/ign-physics -b ign-physics4 + git clone https://github.com/ignitionrobotics/ign-physics -b ign-physics<#> ``` 3. Configure and build the documentation. diff --git a/tutorials/03_physics_plugins.md b/tutorials/03_physics_plugins.md index 6187080ac..34615e8f1 100644 --- a/tutorials/03_physics_plugins.md +++ b/tutorials/03_physics_plugins.md @@ -4,7 +4,7 @@ This is an introduction to different physics engines and how they are integrated ## Ignition Physics -The \ref ignition::physics "Ignition Physics" library integrates external physics engines into the Ignition eco-system. +The \ref ignition::physics "Ignition Physics" library integrates external physics engines into the Ignition Simulation eco-system. It allows users to select from multiple supported physics engines based on their simulation needs. Its plugin interface loads physics engines with requested features at runtime. It is also possible to integrate your own selected physics engine by writing a compatible plugin interface. diff --git a/tutorials/04_physics_engines.md b/tutorials/04_physics_engines.md new file mode 100644 index 000000000..de5e77236 --- /dev/null +++ b/tutorials/04_physics_engines.md @@ -0,0 +1,3 @@ +\page physicsengine Use different physics engines + +See [Physics engines tutorial](https://ignitionrobotics.org/api/gazebo/3.8/physics.html) in Ignition Gazebo. diff --git a/tutorials/05_plugin_loading.md b/tutorials/05_plugin_loading.md index 1f5bcf7d1..9069ea07a 100644 --- a/tutorials/05_plugin_loading.md +++ b/tutorials/05_plugin_loading.md @@ -12,22 +12,25 @@ plugin using \ref ignition::physics "Ignition Physics" API. ## Prerequisites -In the previous tutorial \ref installation "Installation", you have installed the -Ignition Physics corresponding to the desired Ignition release. +- \ref installation "Installation" +- \ref physicsplugin "Understand physics plugin" + ## Write a simple loader -Please create a folder for the loader first: +We will use a simplified physics plugin example for this tutorial. Source code can be found at [ign-physics2/examples](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics3/examples/hello_world_loader) folder. + +First, create a workspace for the example plugin loader. ```bash cd ~ -mkdir -p ~/simple_loader/build -cd simple_loader +mkdir -p ~/hello_world_loader/build +cd hello_world_loader ``` Then download the example loader into your current directory by: ```bash -wget https://raw.githubusercontent.com/ignitionrobotics/ign-physics/main/examples/hello_world_loader/hello_world_loader.cc +wget https://raw.githubusercontent.com/ignitionrobotics/ign-physics/ign-physics4/examples/hello_world_loader/hello_world_loader.cc ``` ### Examine the code @@ -38,41 +41,15 @@ be used in our code. After the `std` C++ libraries are the `Loader.hh` and and plugin pointers. Next includes from \ref ignition::physics are the tools for retrieving \ref ignition::physics::Feature "Feature" and \ref ignition::physics::Entity "Entity" from physics plugins (please refer to -\ref physicsplugin "Understanding the Physics Plugin" tutorial for their +\ref physicsplugin "Understand Physics Plugin" tutorial for their design concepts). -```cpp -#include - -#include -#include - -#include -#include -#include - -using Features = ignition::physics::FeatureList< - ignition::physics::GetEngineInfo ->; -``` +\snippet examples/hello_world_loader/hello_world_loader.cc include statements Next, in the main function, the loader requires users to provide a path for desired plugins to be loaded. The plugin names are retrieved by @ref ignition::plugin::Loader::LoadLib member function. -```cpp -if (argc <= 1) -{ - std::cerr << "Please provide the path to an engine plugin." << std::endl; - return 1; -} - -std::string pluginPath = argv[1]; - -ignition::plugin::Loader pl; -auto plugins = pl.LoadLib(pluginPath); -``` - Assuming the correct path, our loader will instantiate all plugins that are available in the path using @ref ignition::plugin::Loader::Instantiate member function. Then for each instantiated plugin, using @@ -81,53 +58,27 @@ engine implementing a \ref ignition::physics::FeaturePolicy "FeaturePolicy" (3D in this case). . -```cpp -for (const std::string &name : pluginNames) -{ - std::cout << "Testing plugin: " << name << std::endl; - ignition::plugin::PluginPtr plugin = pl.Instantiate(name); +\snippet examples/hello_world_loader/hello_world_loader.cc main - auto engine = ignition::physics::RequestEngine3d::From(plugin); - - std::cout << " engine name: " << engine->GetName() << std::endl; -} -``` - -### Setup CMakeLists.txt for building (Version: ign-physics5) +### Setup CMakeLists.txt for CMake build Now create a file named `CMakeLists.txt` with your favorite editor and add these -lines for finding `ign-plugin` and `ign-physics` dependencies in Edifice release: - -```cmake -cmake_minimum_required(VERSION 3.5 FATAL_ERROR) - -set(IGN_PLUGIN_VER 1) -find_package(ignition-plugin${IGN_PLUGIN_VER} 1.1 REQUIRED COMPONENTS all) - -set(IGN_PHYSICS_VER 5) -find_package(ignition-physics${IGN_PHYSICS_VER} REQUIRED) -``` - +lines for finding `ign-plugin` and `ign-physics` dependencies in Citadel release. After that, add the executable pointing to our file and add linking library so -that `cmake` can compile it: +that `cmake` can compile it. -```cmake -add_executable(hello_world_loader hello_world_loader.cc) -target_link_libraries(hello_world_loader - ignition-plugin${IGN_PLUGIN_VER}::loader - ignition-physics${IGN_PHYSICS_VER}::ignition-physics${IGN_PHYSICS_VER}) -``` +\include examples/hello_world_loader/CMakeLists.txt -For a comprehensive CMake tutorial, please take a look -[here](https://cmake.org/cmake/help/latest/guide/tutorial/index.html). +If you find CMake syntax difficult to understand, take a look at the official tutorial [here](https://cmake.org/cmake/help/latest/guide/tutorial/index.html). ## Build and run ### Compile the loader -Your current loader folder should look like this: +Your current loader folder should look like this + ```bash -$ ls ~/simple_loader +$ ls ~/hello_world_loader CMakeLists.txt hello_world_loader.cc build ``` diff --git a/tutorials/06-physics-simulation-concepts.md b/tutorials/06-physics-simulation-concepts.md index f0bbc2f9d..d9ce6720c 100644 --- a/tutorials/06-physics-simulation-concepts.md +++ b/tutorials/06-physics-simulation-concepts.md @@ -1,128 +1,123 @@ -\page physicsconcepts Ignition Physics simulation concepts +\page physicsconcepts Physics simulation concepts This tutorial introduces simulation concepts that are used in Ignition Physics. ## Prerequisites -In the previous tutorial \ref installation "Installation", you have installed -the Ignition Physics corresponding to the desired Ignition release. - -## Physics simulation versus animation - -Dynamics simulators for robotics is more challenging than the ones used for -animating virtual characters due to these aspects: -- The forces, torques, frictions, etc. are not crucial in animation since the -law of physics can be violated. -- Real-time requirements and physical reality can be less constraining for -purely visual display. -- Several challenges for simulating complex physical structures, such as -humanoid robot: - - Numerical instability in computing inverse kinematics, fluid flows, etc. - prevents correct physics simulation. - - Contact forces between bodies are hard to model due to their discontinuity - characteristics, especially in the soft body case, may result in unrealistic - contacts or physically unfeasible contact forces. - -Ignition adopts SDFormat structure to describe not only the visual element but -also the dynamic physics aspects. To get more in-depth of what you can define -the environment in the SDFormat file, please refer to this -[SDFormat specification](http://sdformat.org/spec?ver=1.7&elem=sdf). -For a comprehensive tutorial for constructing your robot model as SDFormat, -please refer to [this tutorial](https://ignitionrobotics.org/docs/dome/building_robot). +- \ref installation "Installation" +- \ref physicsengine "Use different physics engines" +- [Understand the GUI tutorial](https://ignitionrobotics.org/docs/citadel/gui) + +## Physics simulation features + +Here is a snapshot of simulation features supported by ign-physics: +- Collision detection: ODE, Bullet, various collision shapes and mesh +- Kinematics; joint, arbitrary body shapes, various kinematic states like transmoration, velocity, acceleration etc., inverse kinematics +- Dynamics: joint constraints, mass matrix, gravity, forces and frictions, closed-loop structures + +Ignition adopts SDFormat structure to describe visual elements and +also the dynamic physics aspects. To get started on SDFormat 1.7, refer to this +[SDFormat specification](http://sdformat.org/spec?ver=1.7&elem=sdf). +For a comprehensive tutorial for constructing your robot model from SDFormat, refer to this [Building robot](https://ignitionrobotics.org/docs/citadel/building_robot) tutorial. ## Physics concepts in Ignition Gazebo simulation -First, please see [Understand the GUI tutorial](https://ignitionrobotics.org/docs/dome/gui) -for an overview of Ignition Gazebo GUI. In this tutorial, we will show how to -manipulate and visualize some physics aspects using interesting -models powered by Ignition Physics on Ignition Gazebo. +In this tutorial, we will show how to +manipulate and visualize some physics aspects using demos on Ignition Gazebo. -### Differential Drive +All demos can be found in [ign-gazebo3/examples/worlds](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo3/examples/worlds/) folder. + +### Differential drive This demo world demonstrates how we can control simulated differential drive on -cars depending on physics engines and visualize the collision concept. Please -download the Differential Drive simulation world demo to your home folder by: +cars depending on physics engines and visualize the collision concept. +To run the demo world, download the SDFormat file by: ```bash wget https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/examples/worlds/diff_drive.sdf -P ~ +wget https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/examples/worlds/velocity_control.sdf -P ~ ``` -We can now start our differential drive simulation on Ignition Gazebo by: +Then run the simulation: ```bash -ign gazebo ~/diff_drive.sdf +# [Optional] first source the directory if installed by source +source ~/workspace/install/setup.bash + +# then run diff_drive demo with Dartsim +ign gazebo diff_drive.sdf # default Dartsim + +# or run demo with TPE +ign gazebo velocity_control.sdf --physics-engine ignition-physics-tpe-plugin # specify TPE as physics engine ``` -To see the pose changing when the simulation running, we publish a -\ref ignition::msgs::Twist "Twist" message to command the `vehicle_blue` car to -move in a circle with 2 meters radius as follow: +To control the car movement, in a separate terminal window, we publish a +\ref ignition::msgs::Twist "Twist" message using Ignition Transport library: ```bash ign topic -t "/model/vehicle_blue/cmd_vel" -m ignition.msgs.Twist -p "linear: {x: 1.0}, angular: {z: 0.5}" ``` -Then please press the Play button to start the simulation. +Then press the Play button to start the simulation. This command tells the car to move in its coordinate frame with velocity 1.0 meter per second in the X-axis and angular velocity of 0.5 radians per second in Z-axis. Note that the mechanism to move the car is different depending on the used physics -engine. Using [dartsim](https://github.com/ignitionrobotics/ign-physics/tree/main/dartsim), -the car is moved by applying force on the joints, please see [DiffDrive.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/main/src/systems/diff_drive/DiffDrive.cc#L333) code. -Using [TPE](https://github.com/ignitionrobotics/ign-physics/tree/main/tpe), -TPE directly sets model velocity in [VelocityControl.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/main/src/systems/velocity_control/VelocityControl.cc#L117) code. +engine, see \ref physicsengine "Use different physics engine" for details on how to change physics engine used by simulation. + +Dartsim moves the car by applying force on the joints, whereas TPE directly set velocity on the model. -#### Monitoring the model and its links pose +#### Monitor the model and link pose We can monitor the model pose by selecting the moving car and then select the drop-down list `Pose`. Moreover, we could also read the model links' poses relative to their parent link by selecting the corresponding link on the model tree: - +@image html img/diff_drive_link.gif Note that using the model tree as shown in the above gif, we can view the parameters and properties such as `visual` or `collision` of each link or joint in the model. For more detail about the kinematics of the model tree, see this [tutorial](http://sdformat.org/tutorials?tut=spec_model_kinematics&cat=specification&). -#### Visualizing collision +#### Collision effect -One of the most wonderful features of physics simulation is the capability to -simulate collision. We can do a fun experiment like this: while the `vehicle_blue` -car is moving in a circle, we move the `vehicle_green` to be on `vehicle_blue`'s -upcoming path. We will see the blue car will push the green car! +Ignition Gazebo also simulates realistic collision effect. While the `vehicle_blue` +car is moving in a circle, we can move the `vehicle_green` to be on `vehicle_blue`'s +upcoming path. The blue car will then push the green car in the following demo. - +@image html img/diff_drive_collision.gif To see where these collision parameters are set in SDFormat and how it works, -please see this [tutorial](http://sdformat.org/tutorials?tut=spec_shapes&cat=specification&). +please see this [SDFormat tutorial](http://sdformat.org/tutorials?tut=spec_shapes&cat=specification&). ### Lift Drag -This demo world shows how joint force, torque, and pressure are supported in -Ignition Physics. Please download the Lift Drag demo to your home folder by: +The Lift Drag demo world shows how joint force, torque, and pressure are supported in +Ignition Physics. To run the demo, download by: ```bash wget https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/examples/worlds/lift_drag.sdf -P ~ ``` -Like above, please start the Lift Drag demo world on Ignition Gazebo by: +Run demo in Ignition Gazebo by: ```bash -ign gazebo ~/lift_drag.sdf +ign gazebo lift_drag.sdf ``` -To see how the rotor lifts the cube due to wind force pressure, we publish a +To see how the rotor lifts the cube due to wind force pressure, in a separate terminal window, we can publish a \ref ignition::msgs::Double "Double" message represeting the torque (Nm) applying to -the rotor rod axis as follow: +the rotor rod axis: ```bash ign topic -t "/model/lift_drag_demo_model/joint/rod_1_joint/cmd_force" -m ignition.msgs.Double -p "data: 0.7" ``` -Then please press Play button to start the simulation. We stops exerting torque by: +Then please press Play button to start the simulation. ```bash ign topic -t "/model/lift_drag_demo_model/joint/rod_1_joint/cmd_force" -m ignition.msgs.Double -p "data: 0.0" @@ -131,13 +126,9 @@ ign topic -t "/model/lift_drag_demo_model/joint/rod_1_joint/cmd_force" -m igniti You will see the cube drops due to no lift force from support torque on the rod, and the blades will stop after some time due to friction. - +@image html img/lift_drag_torque.gif -The command applies a constant torque to the rotor rod, together with -the mechanism to compute the upward/downward lift and drag force due to the -wind pressure simulation supported by Ignition Physics, the cube is lifted. -For more detail, please see the [LiftDrag.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/main/src/systems/lift_drag/LiftDrag.cc) -code. +Several simulation features come into effect in this demo. The lift and drag force is computed by taking the wind pressure, mass of the cude, and gravity into account, and the resulting force is exerted on multiple joints. Dartsim is used to power this demo. ### Buoyancy @@ -148,35 +139,31 @@ contains the following three models: 2. submarine_sinking: A simple submarine model that is not buoyant and sinks. 3. submarine_buoyant: A simple submarine model that is buoyant and floats. -Please download the Buoyancy demo to your home folder by: +To run the demo, download the Buoyancy demo to your home folder by: ```bash wget https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/examples/worlds/buoyancy.sdf -P ~ ``` -Like above, please start the Buoyancy demo on Ignition Gazebo by: +Run demo on Ignition Gazebo by: ```bash -ign gazebo ~/buoyancy.sdf +ign gazebo buoyancy.sdf ``` -After pressing the Play button, you will see the behaviors of the submarine as -the above description. +After pressing the Play button, demo will run as below: - +@image html img/buoyancy.gif -As an overview, the buoyancy concept is realized by +The buoyancy concept is implemented by simulating fluid density and applying the force on the object in the fluid proportional to its volume. Hence, you can change the model buoyancy by modifying its -inertia, please see [link specification](http://sdformat.org/spec?ver=1.7&elem=link). -For more detail on simulating buoyancy, please see the -[Buoyancy.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/main/src/systems/buoyancy/Buoyancy.cc) -code. +inertia, see [SDFormat link specification](http://sdformat.org/spec?ver=1.7&elem=link) on how to do that. ### Pendulum This demo world demonstrates how simulated inertia and gravity affect the object -movement by showing free swing of the pendulum. Please download the +movement by showing free swing of the pendulum. Download the Pendulum demo to your home folder by: ```bash @@ -186,18 +173,18 @@ wget https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/examples and start the Pendulum demo on Ignition Gazebo by: ```bash -ign gazebo ~/video_record_dbl_pendulum.sdf +ign gazebo video_record_dbl_pendulum.sdf ``` After pressing the Play button, you will see that the pendulum will oscillate around its main revolute joint forever due to lack of friction (it is undeclared in the SDFormat file). - +@image html img/pendulum.gif The oscillation period or the max angular speed of the joint will change if we modify the inertia of the rods. According to the demo below, -you will see that gravity is defined as -9.8 m/s^2 on the Z-axis. Please refer to +you will see that gravity is defined as -9.8 m/s^2 on the Z-axis. Refer to [link specification](http://sdformat.org/spec?ver=1.7&elem=link) for modifying the inertia and mass of the links. @@ -205,7 +192,7 @@ the inertia and mass of the links. This demo world shows how Ignition Physics supports gravity, actuators and inertia to control object velocity. -Please download the Multicopter demo to your home folder by: +Download the Multicopter demo to your home folder by: ```bash wget https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/examples/worlds/multicopter_velocity_control.sdf -P ~ @@ -214,10 +201,10 @@ wget https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/examples and start the Multicopter demo on Ignition Gazebo by: ```bash -ign gazebo ~/multicopter_velocity_control.sdf +ign gazebo multicopter_velocity_control.sdf ``` -To control the multicopter to ascend and hover, we send a +To control the multicopter to ascend and hover, in a separate terminal window, send a \ref ignition::msgs::Twist "Twist" message to command the `X3` multicopter ascending 0.1 m.s as follow: @@ -231,10 +218,10 @@ then hovering: ign topic -t "/X3/gazebo/command/twist" -m ignition.msgs.Twist -p " " ``` - +@image html img/hover.gif Do the same for the `X4` multicopter. After pressing the Play button, you will see both of the multicopters will ascend, this demonstrates how the physics engine utilizes model kinematics and dynamics to support simulating complex model and -its controller. For more detail about the multicopter controller, please see +its controller. For more details about the multicopter controller, please see [MulticopterVelocityControl.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/main/src/systems/multicopter_control/MulticopterVelocityControl.cc). diff --git a/tutorials/07-implementing-a-physics-plugin.md b/tutorials/07-implementing-a-physics-plugin.md index 852ad8f48..4e6aa4467 100644 --- a/tutorials/07-implementing-a-physics-plugin.md +++ b/tutorials/07-implementing-a-physics-plugin.md @@ -1,33 +1,28 @@ -\page createphysicsplugin "Implement a physics plugin" +\page createphysicsplugin Implement physics feature -This tutorial guides how to develop a simple plugin that implements a +This tutorial shows how to develop a simple plugin that implements a \ref ignition::physics::Implements3d "3D policy" and includes a sample list of \ref ignition::physics::Feature "Feature" Features. ## Prerequisites -In the previous tutorial \ref installation "Installation", you have installed -the Ignition Physics corresponding to the desired Ignition release. +- \ref installation "Installation" +- \ref physicsplugin "Understand physics plugin" +- \ref loadplugin "Load physics plugin" ## Write a simple physics plugin -Please create a folder for the plugin first: +First we need to create a workspace ```bash cd ~ -mkdir -p ~/simple_plugin/build -cd simple_plugin -``` - -Then download the example loader into your current directory by: - -```bash -wget https://raw.githubusercontent.com/ignitionrobotics/ign-physics/main/examples/hello_world_plugin/HelloWorldPlugin.cc +mkdir -p ~/hello_world_plugin/build +cd hello_world_plugin ``` ### Examine the code -We first include these: +To set up all libraries needed to implement physics feature, we need to include the following: - \ref ignition::physics::FeatureList "FeatureList" header: to define a list of \ref ignition::physics::Feature "Feature" that will be implemented for the plugin, e.g. \ref ignition::physics::GetEngineInfo "GetEngineInfo". @@ -35,83 +30,40 @@ plugin, e.g. \ref ignition::physics::GetEngineInfo "GetEngineInfo". metadata about the coordinate system (e.g. 2 or 3 dimensions) and numeric system (e.g. float, int) that the `Features` will be implemented accordingly. - `GetEntities.hh` header: to retrieve the pre-defined list of features in -Ignition Physics. Please refer to this [API Reference](https://ignitionrobotics.org/api/physics/3.0/GetEntities_8hh.html) +Ignition Physics. Please refer to this [API Reference](https://ignitionrobotics.org/api/physics/2.0/GetEntities_8hh.html) for a list of features defined in `GetEntities.hh` and \ref physicsplugin "Understanding the Physics Plugin" tutorial for an example list of common features implemented with a plugin. - `Register.hh` header: to register a plugin to Ignition Physics. -```cpp -#include -#include -#include -#include -``` +\snippet examples/hello_world_plugin/HelloWorldPlugin.cc include statements -Next, let us define a namespace `mock` and implement our plugin in it. -We will add a pre-defined feature \ref ignition::physics::GetEngineInfo "GetEngineInfo" -to our plugin's `HelloWorldFeatureList` as follow: +Next, we use a dummy namespace `mock` and list all the features we would like to implement. -```cpp -struct HelloWorldFeatureList : ignition::physics::FeatureList< - ignition::physics::GetEngineInfo -> { }; -``` +\snippet examples/hello_world_plugin/HelloWorldPlugin.cc feature list The plugin will be able to return its physics engine metadata. We will now implement our plugin class named `HelloWorldPlugin` using the defined \ref ignition::physics::FeatureList `FeatureList` above. The class is inherited from \ref ignition::physics::Implements3d "Implements3d" -to declare that our plugin's `HelloWorldFeatureList` will be in the 3D +to declare that the plugin's `HelloWorldFeatureList` will be in the 3D coordinate system. -```cpp -class HelloWorldPlugin - : public ignition::physics::Implements3d -{ - using Identity = ignition::physics::Identity; - - public: Identity InitiateEngine(std::size_t /*_engineID*/) override - { - this->engineName = "HelloWorld"; - - return this->GenerateIdentity(0); - } - - public: std::size_t GetEngineIndex(const Identity &/*_id*/) const override - { - return 0; - } +\snippet examples/hello_world_plugin/HelloWorldPlugin.cc implementation - public: const std::string &GetEngineName(const Identity &/*_id*/) const override - { - return this->engineName; - } - - std::string engineName; -}; -``` - -For now, because we do not have any real physics engines, we will define a dummy -physics engines inside member function `InitiateEngine` by simply setting -```cpp -this->engineName = "HelloWorld" -``` +Because we are not using a real physics engines, a dummy +physics engines is defined inside member function `InitiateEngine` by simply setting the `engineName` to `HelloWorld`, and returning the engine object using \ref ignition::physics::Identity. Then, we define the metadata getters `GetEngineIndex` and `GetEngineName` for the feature \ref ignition::physics::GetEngineInfo "GetEngineInfo" (please look into -corresponding public member functions defined in the subclasses). A list of common -pre-defined features are stated [here](https://ignitionrobotics.org/api/physics/3.0/GetEntities_8hh.html). +corresponding public member functions defined in the subclasses). A list of other +pre-defined features are can be found in the [`GetEntities` FeatureList](https://ignitionrobotics.org/api/physics/2.0/GetEntities_8hh.html). Finally, we only have to register our plugin in Ignition Physics as a physics engine by: -```cpp -IGN_PHYSICS_ADD_PLUGIN( - HelloWorldPlugin, - ignition::physics::FeaturePolicy3d, - HelloWorldFeatureList) -``` +\snippet examples/hello_world_plugin/HelloWorldPlugin.cc register + Note that: - The first argument is the name of the class that wraps the physics engine into a plugin. @@ -122,25 +74,9 @@ plugin provides, i.e. `HelloWorldFeatureList` ### Setup CMakeLists.txt for building (Version: ign-physics5) Now create a file named `CMakeLists.txt` with your favorite editor and add these -lines for finding `ign-plugin` and `ign-physics` dependencies for Edifice release: - -```cmake -cmake_minimum_required(VERSION 3.5 FATAL_ERROR) -set(IGN_PLUGIN_VER 1) -find_package(ignition-plugin${IGN_PLUGIN_VER} 1.1 REQUIRED COMPONENTS all) -set(IGN_PHYSICS_VER 5) -find_package(ignition-physics${IGN_PHYSICS_VER} REQUIRED) -``` +lines for finding `ign-plugin` and `ign-physics` dependencies for the Fortress release: -After that, add the executable pointing to our plugin file and add linking -library so that `cmake` can compile it: - -```cmake -add_library(HelloWorldPlugin SHARED HelloWorldPlugin.cc) -target_link_libraries(HelloWorldPlugin - PRIVATE - ignition-physics${IGN_PHYSICS_VER}::ignition-physics${IGN_PHYSICS_VER}) -``` +\snippet examples/hello_world_plugin/CMakeLists.txt ## Build and run @@ -149,14 +85,14 @@ target_link_libraries(HelloWorldPlugin Your current plugin folder should look like this: ```bash -$ ls ~/simple_plugin +$ ls ~/hello_world_plugin CMakeLists.txt HelloWorldPlugin.cc build ``` Now you can build the plugin by: ```bash -cd ~/simple_plugin/build +cd ~/hello_world_plugin/build cmake .. make ``` @@ -168,12 +104,12 @@ and `HelloWorldPlugin.dll` on Windows. ### Test loading the plugin on Linux -Please first follow the \ref pluginloading "Loading a Physics Plugin" tutorial +Please first follow the \ref loadplugin "Load physics plugin" tutorial to create a simple loader. Then we test our plugin using the loader as follow: ```bash cd ~ -./simple_loader/build/hello_world_loader simple_plugin/build/libHelloWorldPlugin.so +./hello_world_loader/build/hello_world_loader simple_plugin/build/libHelloWorldPlugin.so ``` And you will see the engine info of our plugin: diff --git a/tutorials/08-implementing-a-custom-feature.md b/tutorials/08-implementing-a-custom-feature.md index ef55f0f30..d2f2294c9 100644 --- a/tutorials/08-implementing-a-custom-feature.md +++ b/tutorials/08-implementing-a-custom-feature.md @@ -1,13 +1,15 @@ -\page createcustomfeature "Implement a custom feature" +\page createcustomfeature Implement a custom feature ## Prerequisites -In the previous tutorial \ref installation "Installation", you have installed -the Ignition Physics corresponding to the desired Ignition release. +- \ref installation "Installation" +- \ref physicsplugin "Understand physics plugin" +- \ref loadplugin "Load physics plugin" +- \ref implementfeature "Implement physics feature" ## Implement a custom feature in DART plugin -In the last \ref createphysicsplugin "Implement a physics plugin" tutorial, we +In the last \ref implementfeature "Implement physics feature" tutorial, we know how to implement a dummy physics engine as a plugin and load it using \ref ignition::physics "Ignition Physics API". In this tutorial, we will look deeper into the structure of a physics engine plugin, for example, the available @@ -59,7 +61,7 @@ be added in a \ref ignition::physics::FeatureList "FeatureList" and implemented its functionalities in `src` folder. The `dartsim` plugin's \ref ignition::physics::FeatureList "FeatureList" could be -found in \ref physicsplugin "Understanding the Physics Plugin" tutorial. +found in \ref physicsplugin "Understand physics plugin" tutorial. ### Plugin and feature requirements @@ -131,72 +133,17 @@ be inherited from and provided a list of the conflicting `Features`. The conflicting `Features` will not run at the same time when requested. -### Define the custom feature - -With the requirements and restrictions above, we will implement an example -custom `Feature` that retrieves a simulation world from `dartsim` physics engine. -For example, we name it as [World.hh](https://github.com/ignitionrobotics/ign-physics/blob/ign-physics4/dartsim/include/ignition/physics/dartsim/World.hh) -and the its content is as follow: - -```cpp -#include -#include - -namespace ignition { -namespace physics { -namespace dartsim { - -///////////////////////////////////////////////// -class RetrieveWorld : public virtual Feature -{ - public: template - class World : public virtual Feature::World - { - /// \brief Get the underlying dartsim world for this World object. - public: dart::simulation::WorldPtr GetDartsimWorld(); - }; - - public: template - class Implementation : public virtual Feature::Implementation - { - public: virtual dart::simulation::WorldPtr GetDartsimWorld( - const Identity &_worldID) = 0; - }; -}; - -///////////////////////////////////////////////// -template -dart::simulation::WorldPtr RetrieveWorld::World -::GetDartsimWorld() -{ - return this->template Interface() - ->GetDartsimWorld(this->identity); -} - -} -} -} -``` +### Define custom feature template -The new defined feature file is placed in `dartsim/include/ignition/physics/dartsim`: -``` -dartsim -├── worlds -├── src -├── include/ignition/physics/dartsim -│ ├── World.hh -└── CMakeLists.txt -``` +With the requirements and restrictions above, we first need to define a feature template for the custom feature. In this case, this feature will be responsible for retrieving world pointer from the physics engine. The template is placed in [World.hh](https://github.com/ignitionrobotics/ign-physics/blob/ign-physics2/dartsim/include/ignition/physics/dartsim/World.hh): -As seen above, after including the necessary library of `dartsim` and `ign-physics`, -we define the `RetrieveWorld` custom feature inherited from the base -\ref ignition::physics::Feature "Feature". +\snippet dartsim/include/ignition/physcis/dartsim/World.hh -As defined, the `RetrieveWorld` feature retrieves -world pointer from physics engine, so it is natural to define `World` entity inherited +The `RetrieveWorld` feature retrieves +world pointer from physics engine, so we will use the `World` entity inherited from \ref ignition::physics::Feature::World "Feature::World" and declare the -necessary member function `GetDartsimWorld`. Then we define the `Implementation` -class having virtual member function for overriding in the actual implementation of +member function `GetDartsimWorld`. Then we substantiate the virtual `Implementation` +member function by overriding in the actual implementation of the custom feature `RetrieveWorld` later. Finally, we implement the `World` @@ -205,97 +152,63 @@ class's member function `GetDartsimWorld` via \ref ignition::physics::Feature::Entity::Interface "Entity::Interface" convenience function for querying the feature `Implementation` object. -### Implement the custom feature +The newly defined feature template is placed in an `/include` folder shown in the following structure: -After defining the custom feature, please look into where it is added to a -\ref ignition::physics::FeatureList "FeatureList" in -[CustomFeatures.hh](https://github.com/ignitionrobotics/ign-physics/blob/ign-physics4/dartsim/src/CustomFeatures.hh) -and implemented in [CustomFeatures.cc](https://github.com/ignitionrobotics/ign-physics/blob/ign-physics4/dartsim/src/CustomFeatures.cc). -These files are place as follows: ``` dartsim ├── worlds ├── src │ ├── CustomFeatures.hh │ ├── CustomFeatures.cc -│ ├── ... +│ └── ... ├── include/ignition/physics/dartsim +│ └── World.hh └── CMakeLists.txt ``` -We display them here for convenience: - -- `CustomFeatures.hh`: - -```cpp -#include -#include -#include "Base.hh" - -namespace ignition { -namespace physics { -namespace dartsim { +We put this custom feature template in `dartsim`, and the next step is to +implement the `RetrieveWorld` feature function using Dartsim API. -using CustomFeatureList = FeatureList< - RetrieveWorld ->; - -class CustomFeatures : - public virtual Base, - public virtual Implements3d -{ - public: dart::simulation::WorldPtr GetDartsimWorld( - const Identity &_worldID) override; -}; +### Implement the custom feature -} -} -} +After defining the feature template, we can add it to a custom +\ref ignition::physics::FeatureList "FeatureList": -``` +\snippet dartsim/src/CustomFeatures.hh The custom feature `RetrieveWorld` is added to `CustomFeatureList`, other custom features could also be added here. -The `CustomFeatures` "FeatureList" here inherits from: -- [Base](https://github.com/ignitionrobotics/ign-physics/blob/ign-physics4/dartsim/src/Base.hh) -class for foundation definitions of Models, Joints, Links, and Shapes objects -of `dartsim` interfacing to Ignition Physics API. +The `CustomFeatures` "FeatureList" here uses data structures and classes from: +- [Base.hh](https://github.com/ignitionrobotics/ign-physics/blob/ign-physics2/dartsim/src/Base.hh), which defines structures that contain information to create `Model`, `Joint`, `Link`, and `Shape` objects in Dartsim API. +They act as an interface between Ignition Physics Library and the actual physics engine. - \ref ignition::physics::Implements3d "Implements3d" for implementing the custom feature with \ref ignition::physics::FeaturePolicy3d "FeaturePolicy3d" ("FeaturePolicy" of 3 dimensions and scalar type `double`). -Based on the `CustomFeatureList`, we will override the corresponding member functions -declared in each of the custom features. In this case, we have only the custom -feature `RetrieveWorld` and its corresponding `Implementation::GetDartsimWorld` -member function. - -- `CustomFeatures.cc`: +We will then implement the actual function with Dartsim API in [CustomFeatures.cc](https://github.com/ignitionrobotics/ign-physics/blob/ign-physics2/dartsim/src/CustomFeatures.cc) to override the member function +declared in the custom feature header file: -```cpp -#include "CustomFeatures.hh" +\snippet dartsim/src/CustomFeatures.cc -namespace ignition { -namespace physics { -namespace dartsim { - -///////////////////////////////////////////////// -dart::simulation::WorldPtr CustomFeatures::GetDartsimWorld( - const Identity &_worldID) -{ - return this->worlds.at(_worldID); -} - -} -} -} -``` - -Here we simply implement the actual behavior of `GetDartsimWorld` to return the +Here, we implement the behavior of `GetDartsimWorld` with Dartsim API to return the world pointer from `EntityStorage` object storing world pointers of `dartsim` in -[Base](https://github.com/ignitionrobotics/ign-physics/blob/ign-physics4/dartsim/src/Base.hh) class. +[Base](https://github.com/ignitionrobotics/ign-physics/blob/ign-physics2/dartsim/src/Base.hh) class. -Finally, we add the implemented `CustomFeatures` "FeatureList" together with +In the end, we add the implemented `CustomFeatures` "FeatureList" together with other \ref ignition::physics::FeatureList "FeatureList" to final `DartsimFeatures` -"FeatureList" as in [dartsim/src/plugin.cc](https://github.com/ignitionrobotics/ign-physics/blob/ign-physics4/dartsim/src/plugin.cc) -(please see \ref createphysicsplugin "Implement a physics plugin" for +"FeatureList" as in [dartsim/src/plugin.cc](https://github.com/ignitionrobotics/ign-physics/blob/ign-physics2/dartsim/src/plugin.cc) +(please see \ref implementfeature "Implement physics feature" for registering the plugin to Ignition Physics). + +The folder structure is shown below: + +``` +dartsim +├── worlds +├── src +│ ├── CustomFeatures.hh +│ ├── CustomFeatures.cc +│ ├── ... +├── include/ignition/physics/dartsim +└── CMakeLists.txt +``` diff --git a/tutorials/09_use_custom_engine.md b/tutorials/09_use_custom_engine.md new file mode 100644 index 000000000..3528d73f0 --- /dev/null +++ b/tutorials/09_use_custom_engine.md @@ -0,0 +1,168 @@ +\page setupphysicsenginetpe Use a custom engine with Ignition Physics + +## Prerequisites + +- \ref installation "Installation" +- \ref physicsplugin "Understand physics plugin" +- \ref physicsengine "Use different physics engines" +- \ref loadplugin "Load physics plugin" +- \ref implementcustomfeature "Implement custom feature" + +## How to interface with physics engine + +In the previous +\ref implementcustomfeature "Implement custom feature" tutorial, we walked through how to +define and implement a custom feature using an already supported physics +engine. This tutorial will explain step-by-step how to interface with any physics engine +using Ignition Physics. We will use [TPE](https://github.com/ignitionrobotics/ign-physics/tree/main/tpe) as an example in this tutorial. + +### Structure of a physics plugin + +Depending on what physics engine you would like to use, +the folder structure could be slightly different from what's shown below. +Here's the plugin folder structure of TPE, within the Ignition Physics library. + +``` +ign-physics +├── tpe +│ ├── plugin Implementation of the plugin features interfacing the physics engines API +│ │ ├── src +│ │ | ├── plugin.cc Main file for the plugin declaration and plugin registering. +│ │ | ├── .hh The FeatureList header file. +│ │ | ├── .cc Implementation of the FeatureList using physics engine API +│ │ | └── .cc Tests +│ │ └── CMakeLists.txt CMake build script for the plugin features. +│ └── CMakeLists.txt CMake build script for the plugin. +└── CMakeList.txt CMake build script for Ignition Physics library. +``` + +We link the external physics engine library +in `CMakeLists.txt` of the plugin, assuming the physics engine library is +already installed. In our case, [TPE](https://github.com/ignitionrobotics/ign-physics/tree/main/tpe) +is placed inside Ignition Physics and hence there is a `lib` folder under `tpe`. + +We declare and implement the \ref ignition::physics::FeatureList "FeatureList" +interfacing with the physics engine API inside `plugin/src` folder +(please see \ref implementcustomfeature "Implement custom feature" +for the plugin feature requirements). Depending on design target, a \ref ignition::physics::FeatureList "FeatureList" +is generally a packing of related \ref ignition::physics::Feature "Features". +For example in TPE's [EntityManagementFeatures](https://github.com/ignitionrobotics/ign-physics/blob/main/tpe/plugin/src/EntityManagementFeatures.hh) +, there are \ref ignition::physics::GetEngineInfo "GetEngineInfo", +\ref ignition::physics::GetWorldFromEngine "GetWorldFromEngine", etc. features +defined in the "FeatureList" structure for entity management purpose. + +Conventionally, a \ref ignition::physics::FeatureList "FeatureList" can be +implemented as: +- `.hh` for the "FeatureList" declaration. +- `.cc` for the "FeatureList" implementation corresponding to each of +the \ref ignition::physics::Feature "Features" member functions, using the +physics engine API to realize the feature behavior. For a list of common +pre-defined features in Ignition Physics, please refer to +\ref physicsplugin "Understand physics plugin" tutorial. +- `.cc` for unit tests of the "FeatureList". + +Next, we will use a simplified TPE plugin example to explain important components needed to interface with any physics engine. All code examples used below can be downloaded from [examples](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics2/examples) under the `simple_plugin` folder: + +``` +simple_plugin +├── CMakeLists.txt +├── plugin.cc +├── EntityManagementFeatures.hh +├── EntityManagementFeatures.cc +└── EntityManagementFeatures_TEST.cc +``` + +### `plugin.cc` + +In this tutorial, we will show how to construct a simple simulation world using +[TPE](https://github.com/ignitionrobotics/ign-physics/tree/main/tpe) physics +engine. For this purpose, we will implement the pre-defined +\ref ignition::physics::ConstructEmptyWorldFeature "ConstructEmptyWorldFeature" +and include this feature into an empty \ref ignition::physics::FeatureList "FeatureList" +named `EntityManagementFeatureList` defined in `EntityManagementFeatures.hh`. +We first include the `EntityManagementFeatureList` in `plugin.cc` main file +and register the example TPE physics plugin as follow: + +\snippet examples/simple_plugin/plugin.cc + +Those are 3 things needed to be specified in `plugin.cc`: +- Define the conclusive \ref ignition::physics::FeatureList "FeatureList" including +all required "FeatureLists" and `Base` class. In TPE case, it is `TpePluginFeatures`. +- Define the dimension of the simulation, ex. \ref ignition::physics::Implements "Implements" class implementing +\ref ignition::physics::FeaturePolicy "FeaturePolicy" 2D or 3D and different +scalar type. +- Register the physics plugin using `IGN_PHYSICS_ADD_PLUGIN` macro (See \ref implementphysicsplugin "Implement physics plugin" for more detail). + +### Implement features with physics engine's API + +Now we would like to implement the `EntityManagementFeatures`. +In the `simple_plugin` folder, we will create two files `EntityManagementFeatures.hh` and +`EntityManagementFeatures.cc` to implement a single feature \ref ignition::physics::ConstructEmptyWorldFeature "ConstructEmptyWorldFeature" +in `EntityManagementFeatures` "FeatureList" using TPE API from `tpe/lib` in Ignition Physics library. + +Before we dive into the feature implementation, we need to understand how the features are defined. + +The \ref ignition::physics::ConstructEmptyWorldFeature "ConstructEmptyWorldFeature" +is declared in a function template file `ign-physics/include/ignition/physics/ConstructEmpty.hh`. + +Ignition Physics library uses function templates to specify features that accept generic types. +The use of templates makes it easier to implement features using different physics engine APIs, +without having to repeat the entire code for a function. + +The \ref ignition::physics::ConstructEmptyWorldFeature "ConstructEmptyWorldFeature" example here +is implemented with TPE API, but a similar feature can also be implemented using DART API. + +In this case, we are implementing a feature that is already defined by Ignition Physics, +thus we do not need to write our own template function, and can just include the template in our header file. + +But first, let's include the basics: + +\snippet examples/simple_plugin/EntityManagementFeatures.hh basic include + +Then, we include the specific feature template file and add it to the feature list: + +\snippet examples/simple_plugin/EntityManagementFeatures.hh include feature + +We also need to declare the feature function in the header file, but since the function is already declared +in the template file we just included, we need to override the generic declaration instead: + +\snippet examples/simple_plugin/EntityManagementFeatures.hh override feature + +The `EntityManagementFeatures` "FeatureList" here inherits from: +- (optionally) \ref ignition::physics::tpelib::Base "Base" +class for foundation metadata definitions of Models, Joints, Links, and Shapes objects +of TPE to provide easy access to [tpelib](https://github.com/ignitionrobotics/ign-physics/tree/main/tpe/lib) +structures in the TPE library. +- \ref ignition::physics::Implements3d "Implements3d" for implementing the +custom feature with \ref ignition::physics::FeaturePolicy3d "FeaturePolicy3d" +("FeaturePolicy" of 3 dimensions and scalar type `double`). + +Then we can go ahead with the implementation of `ConstructEmptyWorldFeature`: + +\snippet examples/simple_plugin/EntityManagementFeatures.cc + +Here we show the overriding of `ConstructEmptyWorld` member function of +\ref ignition::physics::ConstructEmptyWorldFeature "ConstructEmptyWorldFeature", +this is where we use the physics engine API to implement this member function. +We simply instantiate \ref ignition::physics::tpelib::World "World" object, set +the world name and call \ref ignition::physics::tpelib::Base::AddWorld "AddWorld" +function which was defined in [Base.hh](https://github.com/ignitionrobotics/ign-physics/blob/main/tpe/plugin/src/Base.hh). + +Simple unit tests are good practice for sanity checks. +While we won't go into detail, here is an example to test our new +\ref ignition::physics::ConstructEmptyWorldFeature "ConstructEmptyWorldFeature": + +\snippet examples/simple_plugin/EntityManagementFeatures_TEST.cc + +To get a more comprehensive view of how `EntityManagementFeatures` are constructed in TPE and Dartsim, +feel free to take a look here: +- Dartsim: [EntityManagementFeatures.hh](https://github.com/ignitionrobotics/ign-physics/blob/ign-physics2/dartsim/src/EntityManagementFeatures.hh) and [EntityManagementFeatures.cc](https://github.com/ignitionrobotics/ign-physics/blob/ign-physics2/dartsim/src/EntityManagementFeatures.cc) +- TPE: [EntityManagementFeatures.hh](https://github.com/ignitionrobotics/ign-physics/blob/ign-physics2/tpe/plugin/src/EntityManagementFeatures.hh) and [EntityManagementFeatures.cc](https://github.com/ignitionrobotics/ign-physics/blob/ign-physics2/tpe/plugin/src/EntityManagementFeatures.cc) + +## Load and test + +Please follow the previous tutorial \ref installation "Installation" to build +`ign-physics` from source again for our new feature to be compiled. + +Now we can load the new physics plugin named `ignition-physics-tpe-plugin` +to test it on Ignition Gazebo by following this \ref physicsengine "Use 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