Initial project skeleton. (#2)

* Initial project skeleton.

Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>

* Adds new lines at the end of the files.

Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>

.clang-format

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+# This file determines clang-format's style settings; for details, refer to
+# http://clang.llvm.org/docs/ClangFormatStyleOptions.html
+
+BasedOnStyle:  Google
+ColumnLimit: 120
+
+DerivePointerAlignment: false
+PointerAlignment: Left
+
+# Specify the #include statement order.  This implements the order mandated by
+# the Google C++ Style Guide: related header, C headers, C++ headers, library
+# headers, and finally the project headers.
+#
+# To obtain updated lists of system headers used in the below expressions, see:
+# http://stackoverflow.com/questions/2027991/list-of-standard-header-files-in-c-and-c/2029106#2029106.
+IncludeCategories:
+  - Regex:    '^<clang-format-priority-15>$'
+    Priority: 15
+  - Regex:    '^<clang-format-priority-25>$'
+    Priority: 25
+  - Regex:    '^<clang-format-priority-35>$'
+    Priority: 35
+  - Regex:    '^<clang-format-priority-45>$'
+    Priority: 45
+  # C system headers.
+  - Regex:    '^[<"](aio|arpa/inet|assert|complex|cpio|ctype|curses|dirent|dlfcn|errno|fcntl|fenv|float|fmtmsg|fnmatch|ftw|glob|grp|iconv|inttypes|iso646|langinfo|libgen|limits|locale|math|monetary|mqueue|ndbm|netdb|net/if|netinet/in|netinet/tcp|nl_types|poll|pthread|pwd|regex|sched|search|semaphore|setjmp|signal|spawn|stdalign|stdarg|stdatomic|stdbool|stddef|stdint|stdio|stdlib|stdnoreturn|string|strings|stropts|sys/ipc|syslog|sys/mman|sys/msg|sys/resource|sys/select|sys/sem|sys/shm|sys/socket|sys/stat|sys/statvfs|sys/time|sys/times|sys/types|sys/uio|sys/un|sys/utsname|sys/wait|tar|term|termios|tgmath|threads|time|trace|uchar|ulimit|uncntrl|unistd|utime|utmpx|wchar|wctype|wordexp)\.h[">]$'
+    Priority: 20
+  # C++ system headers (as of C++17).
+  - Regex:    '^[<"](algorithm|array|atomic|bitset|cassert|ccomplex|cctype|cerrno|cfenv|cfloat|chrono|cinttypes|ciso646|climits|clocale|cmath|codecvt|complex|condition_variable|csetjmp|csignal|cstdalign|cstdarg|cstdbool|cstddef|cstdint|cstdio|cstdlib|cstring|ctgmath|ctime|cuchar|cwchar|cwctype|deque|exception|forward_list|fstream|functional|future|initializer_list|iomanip|ios|iosfwd|iostream|istream|iterator|limits|list|locale|map|memory|mutex|new|numeric|optional|ostream|queue|random|ratio|regex|scoped_allocator|set|shared_mutex|sstream|stack|stdexcept|streambuf|string|strstream|system_error|thread|tuple|type_traits|typeindex|typeinfo|unordered_map|unordered_set|utility|valarray|variant|vector)[">]$'
+    Priority: 30
+  # Other libraries' h files (with angles).
+  - Regex:    '^<'
+    Priority: 40
+  # Other libraries' h files (with quotes).
+  - Regex:    '^"'
+    Priority: 41

.clang-tidy

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+# Copyright 2022 Toyota Research Institute.  All rights reserved.
+#
+# clang-tidy lists all rules in a single YAML string, which makes it
+# hard to have inline comments.  Thus we'll add comments out-of-line
+# up here.
+#
+# Disabled checks have rationale documented here.
+
+# * cert-err58-cpp - This verifies that exceptions are not thrown
+#   during static initialization or destruction.  However, boost::test
+#   violates this, so we leave it off for now.
+
+# * cert-err60-cpp - This requires that exception types have noexcept
+#   copy constructors.  SystemError could do so, except that it
+#   contains a std::string, which can throw std::bad_alloc.  Hopefully
+#   soon C++ will delete std::bad_alloc entirely, but in the meantime,
+#   we disable this check.
+
+# * cppcoreguidelines-pro-type-vararg,hicpp-vararg - boost::test uses
+#   varargs, so for now we leave this disabled globally
+
+# * cppcoreguidelines-pro-bounds-array-to-pointer-decay,
+#   hicpp-no-array-decay - every call to BOOST_ASSERT_MSG triggers
+#   this along with things like using std::cout
+
+# * cppcoreguidelines-pro-type-reinterpret-cast - we currently have a
+#   lot of reinterpret_casts that are required in order to perform low
+#   level bit manipulation.  It probably isn't worth annotating all of
+#   them yet.
+
+# * cppcoreguidelines-pro-bounds-pointer-arithmetic - until we get
+#   C++20's span or some similar construct, this will be difficult to
+#   satisfy.
+
+# * fuchsia-default-arguments - we currently permit C++ default
+#   arguments
+
+# * fuchsia-multiple-inheritance - we currently permit inheriting
+#   implementation and multiple inheritance
+
+# * fuchsia-overloaded-operator - we (and GSG) consider operator
+#   overloading fine
+
+# * fuchsia-statically-constructed-objects - boost::test uses
+#   statically constructed objects, so we leave this around.
+
+# * google-runtime-references - boost::asio widely uses the convention
+#   of passing io_service by mutable reference, as does the C++
+#   iostreams library
+
+# * hicpp-exception-baseclass - either boost::system::system_error
+#   doesn't inherit from std::exception or clang can't discover that
+#   it does.  In either case, this isn't important enough to figure
+#   out.
+
+# * readability-named-parameter - This requires that all parameters be
+#   named.  This rule seems to be of dubious value, since often the
+#   type alone of an argument is sufficient documentation.
+
+# * readability-redundant-declaration - C++14 requires static
+#   constexpr class members to have a separate definition.  Until we
+#   drop C++14 support, it is easiest to just ignore this warning.
+
+# * performance-unnecessary-copy-initialization,
+#   performance-unnecessary-value-param - These checks seem to be of
+#   dubious value, as the conditions they warn about would all likely
+#   be optimized away by a sane compiler and they require moderate
+#   contortions to satisfy.
+
+Checks: >
+    *,
+    -cert-err58-cpp,
+    -cert-err60-cpp,
+    -cppcoreguidelines-pro-type-vararg,
+    -hicpp-vararg,
+    -cppcoreguidelines-pro-bounds-array-to-pointer-decay,
+    -hicpp-no-array-decay,
+    -cppcoreguidelines-pro-type-reinterpret-cast,
+    -cppcoreguidelines-pro-bounds-pointer-arithmetic,
+    -fuchsia-default-arguments,
+    -fuchsia-multiple-inheritance,
+    -fuchsia-overloaded-operator,
+    -fuchsia-statically-constructed-objects,
+    -google-runtime-references,
+    -hicpp-exception-baseclass,
+    -readability-named-parameter,
+    -readability-redundant-declaration,
+    -performance-unnecessary-copy-initialization,
+    -performance-unnecessary-value-param,

.github/clang_suite_installation.sh

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+#! /bin/bash
+
+#######################################
+# Installs clang suite packages.
+# Arguments:
+#   Version of the clang suite package.
+# Returns:
+#   0 if no error was detected, non-zero otherwise.
+#######################################
+function install_clang_suite() {
+  local version=$1
+
+  apt install -y \
+      clang-${version} \
+      lldb-${version} \
+      lld-${version} \
+      clang-format-${version} \
+      clang-tidy-${version} \
+      libc++-${version}-dev \
+      libc++abi-${version}-dev
+}
+
+#######################################
+# Modify clang suite version as required.
+#######################################
+CLANG_SUITE_VERSION=8
+
+install_clang_suite ${CLANG_SUITE_VERSION}

.github/dependencies.repos

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+repositories:
+  ament_cmake_doxygen:
+    type: git
+    url: https://github.com/ToyotaResearchInstitute/ament_cmake_doxygen
+    version: main
+  maliput:
+    type: git
+    url: https://github.com/maliput/maliput
+    version: main

.github/run_scan_build

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+#!/usr/bin/python3
+
+# BSD 3-Clause License
+#
+# Copyright (c) 2022, Woven Planet. All rights reserved.
+# Copyright (c) 2020-2022, Toyota Research Institute. 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 the copyright holder 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 HOLDER 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.
+
+import os
+import sys
+
+EXTRA_EXCLUDE_ARGS = " --exclude src/pybind11 --exclude /usr/include/eigen3 "
+
+def get_package_dependencies_names(packages_up_to = None):
+  '''
+  Returns a set of dependencies by name of all the `packages-up-to` argument.
+  When None is provided, all the packages are returned.
+  '''
+  stream = os.popen('colcon graph') if not packages_up_to else os.popen('colcon graph --packages-up-to ' + packages_up_to)
+
+  colcon_graph = stream.read().splitlines()
+  result = set()
+  for line in colcon_graph:
+    result.add(line[:line.find(' ')])
+  return result
+
+def get_exclusion_paths_from_file(filepath, store):
+  '''
+  Get the paths located in the `filepath` and save them in the `store` set.
+  '''
+  if(os.path.exists(filepath)):
+    with open(filepath) as fp:
+      for line in fp.readlines():
+          store.add(line.replace('\n', ' '))
+
+def convert_in_exclude_argument(paths):
+  '''
+  Convert a set of paths in a `--exclude`s arguments of scan-build command.
+  '''
+  final_string = ''
+  for path in paths:
+    final_string = final_string + " --exclude " + str(path)
+  return final_string
+
+def get_effective_key(args):
+  class Key:
+    def __init__(self, name):
+      self.name = name
+      self.counter = 0
+      self.index = 0
+
+  keys = [Key("--packages-select"), Key("--packages-up-to")]
+  for i, potential_key in enumerate(keys):
+    keys[i].counter = args.count(potential_key.name)
+    if (keys[i].counter > 0):
+      keys[i].index = args.index(potential_key.name)
+
+  if (keys[0].counter == 0 and keys[1].counter == 0):
+    return ''
+  elif (keys[0].counter == keys[1].counter):
+    #  When there are two keys present, it just cares about the first one as colcon does.
+    return keys[0].name if keys[0].index < keys[1].index else keys[1].name
+  else:
+    return keys[0].name if keys[0].counter else keys[1].name
+
+def is_colcon_option(arg):
+  return True if (arg[0:2] == '--') else False
+
+def get_packages_from_args(args):
+  key = get_effective_key(args)
+  if not key:
+    return set()
+  index_of_key = args.index(key)
+
+  packages = set()
+  indexer = 1
+  while (len(args) > (index_of_key + indexer)) and (not is_colcon_option(args[index_of_key + indexer])):
+    packages.add(args[index_of_key + indexer])
+    indexer += 1
+  return packages
+
+def get_packages_to_get_excludes_file_of(packages):
+  packages_to_get_exclude_file_of = set()
+  if not packages:
+    packages_to_get_exclude_file_of = packages_to_get_exclude_file_of.union(get_package_dependencies_names())
+  else:
+    for package_from_arg in packages:
+      packages_to_get_exclude_file_of = packages_to_get_exclude_file_of.union(get_package_dependencies_names(package_from_arg))
+  return packages_to_get_exclude_file_of
+
+
+def generate_exclude_args(argv):
+  packages_from_arg = get_packages_from_args(argv)
+  packages_to_get_exclude_file_of = get_packages_to_get_excludes_file_of(packages_from_arg)
+
+  exclusion_paths = set()
+  for package in packages_to_get_exclude_file_of:
+    package_path = os.popen('colcon list --packages-select ' + package + ' --paths-only')
+    command = 'find ' + package_path.read().splitlines()[0] + ' -name scan_build.supp'
+    find = os.popen(command)
+    supp_filepaths = find.read().splitlines()
+    for filepath in supp_filepaths:
+      get_exclusion_paths_from_file(filepath, exclusion_paths)
+  return convert_in_exclude_argument(exclusion_paths)
+
+def main(argv):
+  excludes_args = generate_exclude_args(argv)
+  excludes_args += EXTRA_EXCLUDE_ARGS
+
+  colcon_extra_build_args = " ".join(argv[1:]) if(len(argv) > 1) else ""
+  cmd = "scan-build-8 --status-bugs --use-cc=clang-8 --use-c++=clang++-8 {} colcon build {} ".format(excludes_args, colcon_extra_build_args)
+  print("scan-build command...\n--> " + cmd)
+  return_code = os.system(cmd)
+  if return_code > 255 :
+    sys.exit(1)
+  else:
+    sys.exit(0)
+
+if __name__ == "__main__":
+  main(sys.argv)

.github/workflows/build.yml

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+name: gcc
+
+on:
+  push:
+  pull_request:
+    branches:
+      - main
+  workflow_dispatch:
+
+env:
+  PACKAGE_NAME: maliput_sparse
+  ROS_DISTRO: foxy
+
+jobs:
+  compile_and_test:
+    name: Compile and test
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:20.04
+    steps:
+    - uses: actions/checkout@v3
+    - uses: ros-tooling/setup-ros@v0.3
+    - uses: ros-tooling/action-ros-ci@v0.2
+      id: action_ros_ci_step
+      with:
+        package-name: ${{ env.PACKAGE_NAME }}
+        target-ros2-distro: ${{ env.ROS_DISTRO }}
+        vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/dependencies.repos