Ekumen-OS · nahueespinosa · Jul 10, 2023 · Jul 6, 2023 · Jul 7, 2023 · Jul 10, 2023
diff --git a/.cmake-format b/.cmake-format
@@ -0,0 +1,15 @@
+# -----------------------------
+# Options affecting formatting.
+# -----------------------------
+with section("format"):
+    # Force vertical layout if an argument group contains more than this many sub-groups.
+    max_subgroups_hwrap = 2
+    # Force vertical layout if a positional argument group contains more than this many arguments.
+    max_pargs_hwrap = 3
+
+# ------------------------------------------------
+# Options affecting comment reflow and formatting.
+# ------------------------------------------------
+with section("markup"):
+    # Disable comment markup parsing and reflow.
+    enable_markup = False
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -19,7 +19,7 @@ repos:
         name: fix copyright
         description: Check that files have a copyright notice.
         entry: tools/check_copyright.py --fix
-        types_or: [c++, python]
+        types_or: [c++, python, cmake]
         language: python
         language_version: python3
 
@@ -44,3 +44,9 @@ repos:
       - id: black
         name: "fix python format"
         entry: black --skip-string-normalization
+
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+    - id: cmake-lint
+    - id: cmake-format
diff --git a/beluga/CMakeLists.txt b/beluga/CMakeLists.txt
@@ -1,3 +1,17 @@
+# Copyright 2023 Ekumen, Inc.
+#
+# 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.
+
 cmake_minimum_required(VERSION 3.16)
 
 project(beluga VERSION 1.0)
@@ -6,12 +20,21 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 if(NOT CMAKE_BUILD_TYPE)
   message(STATUS "Setting build type to 'Release' as none was specified.")
-  set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Build type" FORCE)
+  set(CMAKE_BUILD_TYPE
+      "Release"
+      CACHE STRING "Build type" FORCE)
 endif()
 
 add_library(beluga_compile_options INTERFACE)
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  target_compile_options(beluga_compile_options INTERFACE -Wall -Wconversion -Werror -Wextra -Wpedantic -Wno-gnu-zero-variadic-macro-arguments)
+  target_compile_options(
+    beluga_compile_options
+    INTERFACE -Wall
+              -Wconversion
+              -Werror
+              -Wextra
+              -Wpedantic
+              -Wno-gnu-zero-variadic-macro-arguments)
 endif()
 
 find_package(Eigen3 REQUIRED NO_MODULE)
@@ -20,17 +43,24 @@ find_package(Sophus REQUIRED)
 find_package(TBB REQUIRED)
 
 add_library(${PROJECT_NAME} INTERFACE)
-target_include_directories(${PROJECT_NAME} INTERFACE
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
-target_link_libraries(${PROJECT_NAME}
-  INTERFACE Eigen3::Eigen Sophus::Sophus TBB::tbb range-v3::range-v3)
+target_include_directories(
+  ${PROJECT_NAME}
+  INTERFACE "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+            "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+target_link_libraries(
+  ${PROJECT_NAME}
+  INTERFACE Eigen3::Eigen
+            Sophus::Sophus
+            TBB::tbb
+            range-v3::range-v3)
 target_compile_features(${PROJECT_NAME} INTERFACE cxx_std_17)
-target_compile_definitions(${PROJECT_NAME} INTERFACE EIGEN_NO_DEBUG SOPHUS_USE_BASIC_LOGGING)
+target_compile_definitions(${PROJECT_NAME} INTERFACE EIGEN_NO_DEBUG
+                                                     SOPHUS_USE_BASIC_LOGGING)
 
 add_executable(clang_tidy_findable)
 target_sources(clang_tidy_findable PRIVATE src/clang_tidy_findable.cpp)
-target_link_libraries(clang_tidy_findable PRIVATE ${PROJECT_NAME} beluga_compile_options)
+target_link_libraries(clang_tidy_findable PRIVATE ${PROJECT_NAME}
+                                                  beluga_compile_options)
 
 option(BUILD_TESTING "Build the testing tree." ON)
 if(BUILD_TESTING)
@@ -47,39 +77,30 @@ endif()
 
 set(INSTALL_CMAKEDIR ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/cmake)
 
-install(
-  DIRECTORY include/
-  DESTINATION include/${PROJECT_NAME}
-)
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
 install(
   TARGETS ${PROJECT_NAME}
   EXPORT ${PROJECT_NAME}Targets
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
-)
+  RUNTIME DESTINATION bin)
 
 install(
   EXPORT ${PROJECT_NAME}Targets
   FILE ${PROJECT_NAME}Targets.cmake
   NAMESPACE ${PROJECT_NAME}::
-  DESTINATION ${INSTALL_CMAKEDIR}
-)
+  DESTINATION ${INSTALL_CMAKEDIR})
 
 include(CMakePackageConfigHelpers)
 configure_package_config_file(
   ${CMAKE_CURRENT_SOURCE_DIR}/cmake/Config.cmake.in
   "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
-  INSTALL_DESTINATION ${INSTALL_CMAKEDIR}
-)
+  INSTALL_DESTINATION ${INSTALL_CMAKEDIR})
 write_basic_package_version_file(
   ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake
-  COMPATIBILITY SameMajorVersion )
+  COMPATIBILITY SameMajorVersion)
 
-install(
-  FILES
-    "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
-    "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
-  DESTINATION ${INSTALL_CMAKEDIR}
-)
+install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+              "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
+        DESTINATION ${INSTALL_CMAKEDIR})
diff --git a/beluga/docs/CMakeLists.txt b/beluga/docs/CMakeLists.txt
@@ -1,3 +1,17 @@
+# Copyright 2023 Ekumen, Inc.
+#
+# 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.
+
 find_package(Doxygen)
 
 if(DOXYGEN_FOUND)
@@ -6,14 +20,15 @@ if(DOXYGEN_FOUND)
   FetchContent_Declare(
     doxygen-awesome-css
     GIT_REPOSITORY https://github.com/jothepro/doxygen-awesome-css
-    GIT_TAG        v2.2.0
-    SOURCE_DIR     ${CMAKE_CURRENT_BINARY_DIR}/doxygen-awesome
-  )
+    GIT_TAG v2.2.0
+    SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/doxygen-awesome)
 
   FetchContent_MakeAvailable(doxygen-awesome-css)
 
-  add_custom_target(beluga_docs
-    ALL
+  # cmake-lint: disable=C0301
+  # Line too long
+  add_custom_target(
+    beluga_docs ALL
     COMMAND
       DOXYGEN_OUTPUT_DIRECTORY=${CMAKE_CURRENT_BINARY_DIR}
       DOXYGEN_HTML_STYLESHEET=${CMAKE_CURRENT_BINARY_DIR}/doxygen-awesome/doxygen-awesome.css

diff --git a/beluga/test/CMakeLists.txt b/beluga/test/CMakeLists.txt
@@ -1,25 +1,48 @@
+# Copyright 2023 Ekumen, Inc.
+#
+# 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.
+
 find_package(GTest MODULE)
 if(NOT TARGET GTest::gmock_main)
   include(FetchContent)
   FetchContent_Declare(
     googletest
-    URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
-  )
-  # For Windows: Prevent overriding the parent project's compiler/linker settings
-  set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+    GIT_REPOSITORY https://github.com/google/googletest.git
+    GIT_TAG 03597a01ee50ed33e9dfd640b249b4be3799d395)
+  # For Windows: Prevent overriding the parent project's compiler/linker
+  # settings
+  set(GTEST_FORCE_SHARED_CRT
+      ON
+      CACHE BOOL "" FORCE)
   FetchContent_MakeAvailable(googletest)
 endif()
 
 find_package(benchmark REQUIRED)
 if(NOT TARGET benchmark::benchmark_main)
   include(FetchContent)
-  set(BENCHMARK_ENABLE_GTEST_TESTS OFF CACHE INTERNAL "")
+  # cmake-lint: disable=C0103
+  # Invalid INTERNAL variable name doesn't match `_[A-Z][0-9A-Z_]+`
+  set(BENCHMARK_ENABLE_GTEST_TESTS
+      OFF
+      CACHE INTERNAL "")
   FetchContent_Declare(
     benchmark
-    URL https://github.com/google/benchmark/archive/refs/tags/v1.7.1.zip
-  )
-  # For Windows: Prevent overriding the parent project's compiler/linker settings
-  set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+    URL https://github.com/google/benchmark/archive/refs/tags/v1.7.1.zip)
+  # For Windows: Prevent overriding the parent project's compiler/linker
+  # settings
+  set(GTEST_FORCE_SHARED_CRT
+      ON
+      CACHE BOOL "" FORCE)
   FetchContent_MakeAvailable(benchmark)
 endif()
 

diff --git a/beluga/test/beluga/CMakeLists.txt b/beluga/test/beluga/CMakeLists.txt
@@ -1,4 +1,19 @@
-add_executable(test_beluga
+# Copyright 2023 Ekumen, Inc.
+#
+# 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.
+
+add_executable(
+  test_beluga
   algorithm/raycasting/test_bresenham.cpp
   algorithm/test_distance_map.cpp
   algorithm/test_estimation.cpp
@@ -23,7 +38,8 @@ add_executable(test_beluga
   test_storage.cpp
   type_traits/test_strongly_typed_numeric.cpp)
 
-target_link_libraries(test_beluga PRIVATE ${PROJECT_NAME} beluga_compile_options GTest::gmock_main)
+target_link_libraries(
+  test_beluga PRIVATE ${PROJECT_NAME} beluga_compile_options GTest::gmock_main)
 target_include_directories(test_beluga PRIVATE include)
 target_compile_options(test_beluga PRIVATE -Wno-sign-compare)
 

diff --git a/beluga/test/benchmark/CMakeLists.txt b/beluga/test/benchmark/CMakeLists.txt
@@ -1,23 +1,39 @@
+# Copyright 2023 Ekumen, Inc.
+#
+# 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.
+
 option(BELUGA_RUN_PERFORMANCE_TESTS
-  "Enable performance tests instead of unconditionally skipping them" OFF)
+       "Enable performance tests instead of unconditionally skipping them" OFF)
 
-add_executable(benchmark_beluga
+add_executable(
+  benchmark_beluga
   benchmark_likelihood_field_model.cpp
   benchmark_raycasting.cpp
   benchmark_sampling.cpp
   benchmark_spatial_hash.cpp
   benchmark_tuple_vector.cpp
   benchmark_main.cpp)
 target_include_directories(benchmark_beluga PRIVATE ../beluga/include)
-target_link_libraries(benchmark_beluga
+target_link_libraries(
+  benchmark_beluga
   PUBLIC benchmark::benchmark
   PRIVATE ${PROJECT_NAME} beluga_compile_options)
 set(TEST_RESULTS_DIR "${CMAKE_BINARY_DIR}/test_results/${PROJECT_NAME}")
 file(MAKE_DIRECTORY ${TEST_RESULTS_DIR})
 
-set(benchmark_out "${TEST_RESULTS_DIR}/benchmark_beluga.google_benchmark.json")
+set(BENCHMARK_OUT "${TEST_RESULTS_DIR}/benchmark_beluga.google_benchmark.json")
 if(BELUGA_RUN_PERFORMANCE_TESTS)
-  add_test(
-    NAME benchmark_beluga
-    COMMAND benchmark_beluga "--benchmark_out_format=json" "--benchmark_out=${benchmark_out}")
+  add_test(NAME benchmark_beluga
+           COMMAND benchmark_beluga "--benchmark_out_format=json"
+                   "--benchmark_out=${BENCHMARK_OUT}")
 endif()
diff --git a/beluga_amcl/CMakeLists.txt b/beluga_amcl/CMakeLists.txt
@@ -1,3 +1,17 @@
+# Copyright 2023 Ekumen, Inc.
+#
+# 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.
+
 cmake_minimum_required(VERSION 3.16)
 
 project(beluga_amcl)
@@ -6,11 +20,18 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 if(NOT CMAKE_BUILD_TYPE)
   message(STATUS "Setting build type to 'Release' as none was specified.")
-  set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Build type" FORCE)
+  set(CMAKE_BUILD_TYPE
+      "Release"
+      CACHE STRING "Build type" FORCE)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wconversion -Wextra -Werror -Wpedantic)
+  add_compile_options(
+    -Wall
+    -Wconversion
+    -Wextra
+    -Werror
+    -Wpedantic)
 endif()
 
 set(ROS_VERSION $ENV{ROS_VERSION})