Merge dev to main for release 0.4.0

.editorconfig

@@ -0,0 +1,75 @@
+; see http://editorconfig.org/ for docs on this file
+; See https://github.com/dotnet/format for dotnet format
+
+root = true
+
+[*]
+ignore_if_in_header = This code was generated by a tool|<auto-generated>
+indent_style = space
+indent_size = 4
+; uncomment to help with sharing files across os's (i.e. network share or through local vm)
+#end_of_line = lf
+; avoid a bom, which causes endless problems with naive text tooling
+charset = utf-8
+trim_trailing_whitespace = true
+insert_final_newline = true
+; keeping auto-format enabled helps avoid merge hell for projects without CI-based format validation
+#disable_auto_format = true
+
+[*.cs]
+; uncomment to enable full formatting of c# files
+formatters = generic, uncrustify
+
+[*.asmdef]
+scrape_api = true
+
+[**/Tests/**.asmdef]
+scrape_api = false
+
+[*.Tests.asmdef]
+scrape_api = false
+
+[*.md]
+indent_size = 2
+; trailing whitespace is unfortunately significant in markdown
+trim_trailing_whitespace = false
+; uncomment to enable basic formatting of markdown files
+#formatters = generic
+
+[{Makefile,makefile}]
+; tab characters are part of the Makefile format
+indent_style = tab
+
+[*.asmdef]
+indent_size = 4
+
+[*.json]
+indent_size = 2
+
+[*.{vcproj,bat,cmd,xaml,tt,t4,ttinclude}]
+end_of_line = crlf
+
+; this VS-specific stuff is based on experiments to see how VS will modify a file after it has been manually edited.
+; the settings are meant to closely match what VS does to minimize unnecessary diffs.
+[*.{vcxproj,vcxproj.filters}]
+indent_style = space
+indent_size = 2
+end_of_line = crlf
+charset = utf-8-bom
+trim_trailing_whitespace = true
+insert_final_newline = false
+; must be broken out because of 51-char bug (https://github.com/editorconfig/editorconfig-visualstudio/issues/21)
+[*.{csproj,pyproj,props,targets}]
+indent_style = space
+indent_size = 2
+end_of_line = crlf
+charset = utf-8-bom
+trim_trailing_whitespace = true
+insert_final_newline = false
+[*.{sln,sln.template}]
+indent_style = tab
+indent_size = 4
+end_of_line = crlf
+charset = utf-8
+trim_trailing_whitespace = true
+insert_final_newline = false

.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,5 @@
+blank_issues_enabled: false
+contact_links:
+  - name: Unity Robotics Forum
+    url: https://forum.unity.com/forums/robotics.623/
+    about: Discussions and questions about Unity Robotics tools, demos, or integrations.

.github/PULL_REQUEST_TEMPLATE.md

@@ -16,7 +16,7 @@ Provide any relevant links here.
 
 ## Testing and Verification
 
-Please describe the tests that you ran to verify your changes. Please also provide instructions, ROS packages, and Unity project files as appropriate so we can reproduce the test environment. 
+Please describe the tests that you ran to verify your changes. Please also provide instructions, ROS packages, and Unity project files as appropriate so we can reproduce the test environment.
 
 ### Test Configuration:
 - Unity Version: [e.g. Unity 2020.2.0f1]
@@ -27,8 +27,9 @@ Please describe the tests that you ran to verify your changes. Please also provi
 ## Checklist
 - [ ] Ensured this PR is up-to-date with the `dev` branch
 - [ ] Created this PR to target the `dev` branch
-- [ ] Followed the style guidelines as described in the [Contribution Guidelines](../CONTRIBUTING.md)
+- [ ] Followed the style guidelines as described in the [Contribution Guidelines](https://github.com/Unity-Technologies/ROS-TCP-Connector/blob/main/CONTRIBUTING.md)
 - [ ] Added tests that prove my fix is effective or that my feature works
+- [ ] Updated the [Changelog](https://github.com/Unity-Technologies/ROS-TCP-Connector/blob/dev/com.unity.robotics.ros-tcp-connector/CHANGELOG.md) and described changes in the [Unreleased section](https://github.com/Unity-Technologies/ROS-TCP-Connector/blob/dev/com.unity.robotics.ros-tcp-connector/CHANGELOG.md#unreleased)
 - [ ] Updated the documentation as appropriate
 
 ## Other comments

.github/workflows/pre-commit.yml

@@ -0,0 +1,17 @@
+name: pre-commit
+
+on:
+    pull_request:
+
+jobs:
+    pre-commit:
+        runs-on: ubuntu-latest
+        steps:
+            - uses: actions/checkout@v2
+            - uses: actions/setup-python@v2
+              with:
+                  python-version: 3.7.x
+            - uses: actions/setup-dotnet@v1
+              with:
+                  dotnet-version: '3.1.x'
+            - uses: pre-commit/action@v2.0.0

.gitignore

@@ -1,3 +1,4 @@
 .idea
 .DS_Store
 *.swp
+*.vscode/

.pre-commit-config.yaml

@@ -0,0 +1,31 @@
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.0.1
+    hooks:
+        -   id: mixed-line-ending
+            exclude: >
+                (?x)^(
+                    .*cs.meta|
+                    .*.css|
+                    .*.meta|
+                    .*.mat|
+                    .*.preset|
+                    .*.lighting
+                )$
+            args: [--fix=lf]
+
+        -   id: trailing-whitespace
+            name: trailing-whitespace-markdown
+            types: [markdown]
+        -   id: check-merge-conflict
+            args: [--assume-in-merge]
+        -   id: check-yaml
+            # Won't handle the templating in yamato
+            exclude: \.yamato/.*
+
+
+- repo: https://github.com/dotnet/format
+  rev: "7e343070a0355c86f72bdee226b5e19ffcbac931"
+  hooks:
+      - id: dotnet-format
+        args: [--folder, --include]

.yamato/yamato-config.yml

@@ -9,14 +9,19 @@ commands:
     - python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
     - unity-downloader-cli -u 2020.2.0b9 -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published
     - git clone git@github.cds.internal.unity3d.com:unity/utr.git utr
-    - utr/utr --testproject=./TestRosTcpConnector --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor
+    - utr/utr --testproject=./TestRosTcpConnector --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor --enable-code-coverage --coverage-results-path=../test-results --coverage-options="assemblyFilters:+Unity.Robotics.ROSTCPConnector,+Unity.Robotics.ROSTCPConnector.Editor;generateHtmlReport;generateBadgeReport;generateAdditionalMetrics"
+    # check test coverage
+    - command: |
+        linecoverage=$(cat test-results/Report/Summary.xml | grep Linecoverage | grep -Eo '[+-]?[0-9]+([.][0-9]+)?')
+        echo "Line coverage: $linecoverage%"
+        if (( $(echo "$linecoverage < 0" | bc -l) )); then exit 1; fi
 triggers:
     cancel_old_ci: true
     expression: |
         (pull_request.target eq "main"  AND
         NOT pull_request.push.changes.all match "**/*.md") OR
-        (push.branch eq "dev" AND
-        NOT push.changes.all match "**/*.md")
+        (pull_request.target eq "dev" AND
+        NOT pull_request.push.changes.all match "**/*.md")
 artifacts:
     logs:
         paths:

CONTRIBUTING.md

@@ -1,7 +1,7 @@
 # Contribution Guidelines
 
-Thank you for your interest in contributing to Unity Robotics! To facilitate your 
-contributions, we've outlined a brief set of guidelines to ensure that your extensions 
+Thank you for your interest in contributing to Unity Robotics! To facilitate your
+contributions, we've outlined a brief set of guidelines to ensure that your extensions
 can be easily integrated.
 
 ## Communication
@@ -40,10 +40,10 @@ We run continuous integration on all PRs; all tests must be passing before the P
 
 All Python code should follow the [PEP 8 style guidelines](https://pep8.org/).
 
-All C# code should follow the [Microsoft C# Coding Conventions](https://docs.microsoft.com/en-us/dotnet/csharp/programming-guide/inside-a-program/coding-conventions). 
-Additionally, the [Unity Coding package](https://docs.unity3d.com/Packages/com.unity.coding@0.1/manual/index.html) 
-can be used to format, encode, and lint your code according to the standard Unity 
-development conventions. Be aware that these Unity conventions will supersede the 
+All C# code should follow the [Microsoft C# Coding Conventions](https://docs.microsoft.com/en-us/dotnet/csharp/programming-guide/inside-a-program/coding-conventions).
+Additionally, the [Unity Coding package](https://docs.unity3d.com/Packages/com.unity.coding@0.1/manual/index.html)
+can be used to format, encode, and lint your code according to the standard Unity
+development conventions. Be aware that these Unity conventions will supersede the
 Microsoft C# Coding Conventions where applicable.
 
 Please note that even if the code you are changing does not adhere to these guidelines,
@@ -60,5 +60,5 @@ email us at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com).
 
 ## Contribution review
 
-Once you have a change ready following the above ground rules, simply make a 
+Once you have a change ready following the above ground rules, simply make a
 pull request in GitHub.

MessageGeneration.md

@@ -1,13 +1,13 @@
-# Message Generation
-
-To work with a ROS message in Unity, you first need to generate the corresponding C# message class. Select the menu option "RosMessageGeneration->Browse..." to open the message browser.
-
-![](images~/MessageBrowser.png)
-
-Select your ROS message folder at the top, then you can navigate through the folder structure to find the .msg files. Click the "Build msg" button to build the messages you want.
-
-# Message importers
-
-For a more automated workflow, you may find it useful to simply drag an entire ROS module folder into your Unity project. Unity will automatically find any .msg and .srv files in the folder structure, and convert them into C# message classes for you. And the classes will be updated if the .msg or .srv files change on disk.
-
-NB: The message generation system looks for a ROS package.xml to determine what code to generate, so if you're working this way it's recommended to import an entire ROS module, rather than individual .msg files, into your Unity project.
+# Message Generation
+
+To work with a ROS message in Unity, you first need to generate the corresponding C# message class. Select the menu option "RosMessageGeneration->Browse..." to open the message browser.
+
+![](images~/MessageBrowser.png)
+
+Select your ROS message folder at the top, then you can navigate through the folder structure to find the .msg files. Click the "Build msg" button to build the messages you want.
+
+# Message importers
+
+For a more automated workflow, you may find it useful to simply drag an entire ROS module folder into your Unity project. Unity will automatically find any .msg and .srv files in the folder structure, and convert them into C# message classes for you. And the classes will be updated if the .msg or .srv files change on disk.
+
+NB: The message generation system looks for a ROS package.xml to determine what code to generate, so if you're working this way it's recommended to import an entire ROS module, rather than individual .msg files, into your Unity project.

README.md

@@ -3,19 +3,19 @@
 [![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 
 ## Installation
-1. Using Unity 2020.2 or later, open the package manager from `Window` -> `Package Manager` and select "Add package from git URL..."  
+1. Using Unity 2020.2 or later, open the package manager from `Window` -> `Package Manager` and select "Add package from git URL..."
 ![image](https://user-images.githubusercontent.com/29758400/110989310-8ea36180-8326-11eb-8318-f67ee200a23d.png)
-2. Enter the following URL. If you don't want to use the latest version, substitute your desired version tag where we've put `v0.3.0` in this example:
-`https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#v0.3.0`
+2. Enter the following URL. If you don't want to use the latest version, substitute your desired version tag where we've put `v0.4.0` in this example:
+`https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#v0.4.0`
 3. Click `Add`.
 
 
-## Tutorials 
+## Tutorials
 Scripts used to send [ROS](https://www.ros.org/) messages to an [TCP endpoint](https://github.com/Unity-Technologies/ROS_TCP_Endpoint) running as a ROS node.
 
 This Unity package provides three main features:
 
-- ROSConnection: See the [Unity Robotics Hub](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/master/tutorials/ros_unity_integration/README.md) repository for information and tutorials on how to use this component.
+- ROSConnection: See the [Unity Robotics Hub](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/ros_unity_integration/README.md) repository for information and tutorials on how to use this component.
 
 - [Message Generation](MessageGeneration.md)
 
@@ -27,16 +27,17 @@ Special thanks to the Siemens [ROS# Project Team]( https://github.com/siemens/ro
 
 ## Community and Feedback
 
-The Unity Robotics projects are open-source and we encourage and welcome contributions. 
-If you wish to contribute, be sure to review our [contribution guidelines](CONTRIBUTING.md) 
+The Unity Robotics projects are open-source and we encourage and welcome contributions.
+If you wish to contribute, be sure to review our [contribution guidelines](CONTRIBUTING.md)
 and [code of conduct](CODE_OF_CONDUCT.md).
 
 ## Support
-For general questions, feedback, or feature requests, connect directly with the 
-Robotics team at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com).
+For questions or discussions about Unity Robotics package installations or how to best set up and integrate your robotics projects, please create a new thread on the [Unity Robotics forum](https://forum.unity.com/forums/robotics.623/) and make sure to include as much detail as possible.
+
+For feature requests, bugs, or other issues, please file a [GitHub issue](https://github.com/Unity-Technologies/ROS-TCP-Connector/issues) using the provided templates and the Robotics team will investigate as soon as possible.
 
-For bugs or other issues, please file a GitHub issue and the Robotics team will 
-investigate the issue as soon as possible.
+For any other questions or feedback, connect directly with the
+Robotics team at [unity-robotics@unity3d.com](mailto:unity-robotics@unity3d.com).
 
 ## License
 [Apache License 2.0](LICENSE)