Add clang tidy

.clang-tidy

@@ -1,26 +1,25 @@
----
-# This was copied over from the moveit_studio repository.
-#
-# TODO(henningkayser): Re-enable performance-unnecessary-value-param once #214 is resolved
-Checks:          '-*,
-                  performance-*,
-                  -performance-unnecessary-value-param,
-                  llvm-namespace-comment,
-                  modernize-redundant-void-arg,
-                  modernize-use-nullptr,
-                  modernize-use-default,
-                  modernize-use-override,
-                  modernize-loop-convert,
-                  readability-braces-around-statements,
-                  readability-named-parameter,
-                  readability-redundant-smartptr-get,
-                  readability-redundant-string-cstr,
-                  readability-simplify-boolean-expr,
-                  readability-container-size-empty,
-                  readability-identifier-naming,
-                  '
+Checks: -*,
+  bugprone-*,
+  clang-analyzer-*,
+  concurrency-*,
+  cppcoreguidelines-*,
+  google-*,
+  misc-*,
+  modernize-*,
+  performance-*,
+  portability-*,
+  readability-*,
+  -bugprone-easily-swappable-parameters,
+  -bugprone-exception-escape,
+  -cppcoreguidelines-avoid-magic-numbers,
+  -google-readability-casting,
+  -modernize-use-trailing-return-type,
+  -readability-identifier-length,
+  -readability-function-cognitive-complexity,
+  -readability-magic-numbers,
+  -readability-uppercase-literal-suffix,
+  -cppcoreguidelines-pro-type-vararg,
 HeaderFilterRegex: ''
-AnalyzeTemporaryDtors: false
 CheckOptions:
   - key:             llvm-namespace-comment.ShortNamespaceLines
     value:           '10'

.github/workflows/ci.yaml

@@ -70,3 +70,28 @@ jobs:
         if: always()
         run: colcon test-result --verbose
         working-directory: /colcon_ws
+
+  clang_tidy:
+    needs:
+      # Ensure the test job runs after the build job finishes instead of attempting to run in parallel
+      - build-ws
+    name: clang-tidy
+    runs-on: ubuntu-24.04
+    container:
+      # Run on the Docker image we tagged and pushed to a private repo in the job above
+      image: ghcr.io/picknikrobotics/fuse:${{ github.run_id }}
+    steps:
+      - name: Changed Files
+        id: changed-cpp-files
+        uses: tj-actions/[email protected]
+        with:
+          # Avoid using single or double quotes for multiline patterns
+          files: |
+            **.cpp
+            **.hpp
+      - run: run-clang-tidy -j $(nproc --all) -p build/ -export-fixes clang-tidy-fixes.yaml -config-file src/fuse/.clang-tidy ${{ steps.changed-cpp-files.outputs.all_changed_files }}
+        working-directory: /colcon_ws
+      - uses: asarium/[email protected]
+        with:
+          fixesFile: /colcon_ws/clang-tidy-fixes.yaml
+          noFailOnIssue: false

.gitignore

@@ -33,3 +33,6 @@
 
 # Python compiled bytecode files
 *.pyc
+
+# clang tidy fixes
+clang-tidy-fixes.yaml

fuse_core/test/launch_tests/test_parameters.cpp

@@ -33,12 +33,18 @@
  */
 #include <gtest/gtest.h>
 
-#include <numeric>
+#include <exception>
+#include <memory>
+#include <rclcpp/exceptions/exceptions.hpp>
+#include <rclcpp/executors/single_threaded_executor.hpp>
+#include <rclcpp/node.hpp>
+#include <rclcpp/utilities.hpp>
+#include <stdexcept>
 #include <string>
 #include <thread>
 
 #include <fuse_core/parameter.hpp>
-#include <rclcpp/rclcpp.hpp>
+#include "fuse_core/eigen.hpp"
 
 class TestParameters : public ::testing::Test
 {
@@ -59,6 +65,7 @@ class TestParameters : public ::testing::Test
     executor_.reset();
   }
 
+private:
   std::thread spinner_;  //!< Internal thread for spinning the executor
   rclcpp::executors::SingleThreadedExecutor::SharedPtr executor_;
 };
@@ -102,15 +109,15 @@ TEST_F(TestParameters, getPositiveParam)
 TEST_F(TestParameters, GetCovarianceDiagonalParam)
 {
   // Build expected covariance matrix:
-  constexpr int Size = 3;
+  constexpr int size = 3;
   constexpr double variance = 1.0e-3;
-  constexpr double default_variance = 0.0;
+  constexpr double defaultVariance = 0.0;
 
   fuse_core::Matrix3d expected_covariance = fuse_core::Matrix3d::Identity();
   expected_covariance *= variance;
 
   fuse_core::Matrix3d default_covariance = fuse_core::Matrix3d::Identity();
-  default_covariance *= default_variance;
+  default_covariance *= defaultVariance;
 
   auto node = rclcpp::Node::make_shared("test_parameters_node");
 
@@ -123,10 +130,10 @@ TEST_F(TestParameters, GetCovarianceDiagonalParam)
 
     try
     {
-      const auto covariance = fuse_core::getCovarianceDiagonalParam<Size>(*node, parameter_name, default_variance);
+      const auto covariance = fuse_core::getCovarianceDiagonalParam<size>(*node, parameter_name, defaultVariance);
 
-      EXPECT_EQ(Size, covariance.rows());
-      EXPECT_EQ(Size, covariance.cols());
+      EXPECT_EQ(size, covariance.rows());
+      EXPECT_EQ(size, covariance.cols());
 
       EXPECT_EQ(expected_covariance.rows() * expected_covariance.cols(),
                 expected_covariance.cwiseEqual(covariance).count())
@@ -148,10 +155,10 @@ TEST_F(TestParameters, GetCovarianceDiagonalParam)
 
     try
     {
-      const auto covariance = fuse_core::getCovarianceDiagonalParam<Size>(*node, parameter_name, default_variance);
+      const auto covariance = fuse_core::getCovarianceDiagonalParam<size>(*node, parameter_name, defaultVariance);
 
-      EXPECT_EQ(Size, covariance.rows());
-      EXPECT_EQ(Size, covariance.cols());
+      EXPECT_EQ(size, covariance.rows());
+      EXPECT_EQ(size, covariance.cols());
 
       EXPECT_EQ(default_covariance.rows() * default_covariance.cols(), default_covariance.cwiseEqual(covariance).count())
           << "Expected\n"
@@ -170,7 +177,7 @@ TEST_F(TestParameters, GetCovarianceDiagonalParam)
 
     ASSERT_FALSE(node->has_parameter(parameter_name));
 
-    EXPECT_THROW(fuse_core::getCovarianceDiagonalParam<Size>(*node, parameter_name, default_variance),
+    EXPECT_THROW(fuse_core::getCovarianceDiagonalParam<size>(*node, parameter_name, defaultVariance),
                  std::invalid_argument);
   }
 
@@ -180,7 +187,7 @@ TEST_F(TestParameters, GetCovarianceDiagonalParam)
 
     ASSERT_FALSE(node->has_parameter(parameter_name));
 
-    EXPECT_THROW(fuse_core::getCovarianceDiagonalParam<Size>(*node, parameter_name, default_variance),
+    EXPECT_THROW(fuse_core::getCovarianceDiagonalParam<size>(*node, parameter_name, defaultVariance),
                  std::invalid_argument);
   }
 
@@ -190,7 +197,7 @@ TEST_F(TestParameters, GetCovarianceDiagonalParam)
 
     ASSERT_FALSE(node->has_parameter(parameter_name));
 
-    EXPECT_THROW(fuse_core::getCovarianceDiagonalParam<Size>(*node, parameter_name, default_variance),
+    EXPECT_THROW(fuse_core::getCovarianceDiagonalParam<size>(*node, parameter_name, defaultVariance),
                  std::invalid_argument);
   }
 
@@ -200,7 +207,7 @@ TEST_F(TestParameters, GetCovarianceDiagonalParam)
     const std::string parameter_name{ "covariance_diagonal_with_strings" };
 
     ASSERT_FALSE(node->has_parameter(parameter_name));
-    EXPECT_THROW(fuse_core::getCovarianceDiagonalParam<Size>(*node, parameter_name, default_variance),
+    EXPECT_THROW(fuse_core::getCovarianceDiagonalParam<size>(*node, parameter_name, defaultVariance),
                  rclcpp::exceptions::InvalidParameterTypeException);
 
     // NOTE(CH3): A covariance diagonal with invalid element type used to not throw, and used to
@@ -217,7 +224,7 @@ TEST_F(TestParameters, GetCovarianceDiagonalParam)
     const std::string parameter_name{ "covariance_diagonal_with_string" };
 
     ASSERT_FALSE(node->has_parameter(parameter_name));
-    EXPECT_THROW(fuse_core::getCovarianceDiagonalParam<Size>(*node, parameter_name, default_variance),
+    EXPECT_THROW(fuse_core::getCovarianceDiagonalParam<size>(*node, parameter_name, defaultVariance),
                  rclcpp::exceptions::InvalidParameterTypeException);
 
     // NOTE(CH3): A covariance diagonal with invalid element type used to not throw, and used to
@@ -234,7 +241,7 @@ int main(int argc, char** argv)
 {
   rclcpp::init(argc, argv);
   testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
+  int const ret = RUN_ALL_TESTS();
   rclcpp::shutdown();
   return ret;
 }

run_clang_tidy.bash

@@ -0,0 +1,4 @@
+#!/bin/bash
+
+# -j $(nproc --all) runs with all cores, but the prepended nice runs with a low priority so it won't make your computer unusable while clang tidy is going. The "$@" at the end passes all the filenames from pre-commit so it should only look for clang tidy fixes in the files you directly changed in the commit that is being checked.
+nice run-clang-tidy -p ../../build_dbg -j $(nproc --all) -quiet -fix "$@"