Merge pull request #1200 from mavlink/pr-clang10

tools: update to clang-format-10
mavlink · Oct 2, 2020 · 6e2607d · 6e2607d
2 parents 5c80b44 + 518099c
commit 6e2607d
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Showing 11 changed files with 129 additions and 119 deletions.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -76,15 +76,15 @@ jobs:
       - name: test (mavsdk_server)
         run: ./build/release/src/backend/test/unit_tests_backend
 
-  ubuntu18-proto-check:
-    name: ubuntu-18.04 (proto check)
-    runs-on: ubuntu-18.04
+  ubuntu20-proto-check:
+    name: ubuntu-20.04 (proto check)
+    runs-on: ubuntu-20.04
     steps:
       - uses: actions/checkout@v2
         with:
           submodules: recursive
       - name: install clang-format
-        run: sudo apt-get install -y clang-format-9
+        run: sudo apt-get install -y clang-format-10
       - name: install dcsdkgen
         run: |
              cd proto/pb_plugins
@@ -99,14 +99,15 @@ jobs:
       - name: check for diff
         run: git diff --exit-code
 
-  ubuntu18-check-style:
-    name: ubuntu-18.04 (check style and docs)
-    runs-on: ubuntu-18.04
-    container: mavsdk/mavsdk-ubuntu-18.04
+  ubuntu20-check-style:
+    name: ubuntu-20.04 (check style and docs)
+    runs-on: ubuntu-20.04
     steps:
       - uses: actions/checkout@v2
         with:
           submodules: recursive
+      - name: install dependencies
+        run: sudo apt-get install -y doxygen clang-format-10
       - name: check style
         run: ./tools/fix_style.sh .
       - name: check docs

diff --git a/docker/Dockerfile-Ubuntu-18.04 b/docker/Dockerfile-Ubuntu-18.04
@@ -18,7 +18,7 @@ RUN apt-get update \
         build-essential \
         ca-certificates \
         ccache \
-        clang-format-9 \
+        clang-format-10 \
         cmake \
         colordiff \
         doxygen \

diff --git a/docker/Dockerfile-Ubuntu-20.04 b/docker/Dockerfile-Ubuntu-20.04
@@ -18,7 +18,7 @@ RUN apt-get update \
         build-essential \
         ca-certificates \
         ccache \
-        clang-format-9 \
+        clang-format-10 \
         cmake \
         colordiff \
         doxygen \

diff --git a/examples/battery/battery.cpp b/examples/battery/battery.cpp
@@ -70,16 +70,17 @@ void subscribe_armed(std::shared_ptr<Telemetry> telemetry)
 
 void send_battery_status(std::shared_ptr<MavlinkPassthrough> mavlink_passthrough)
 {
-    const uint16_t voltages[10]{3700,
-                                3600,
-                                UINT16_MAX,
-                                UINT16_MAX,
-                                UINT16_MAX,
-                                UINT16_MAX,
-                                UINT16_MAX,
-                                UINT16_MAX,
-                                UINT16_MAX,
-                                UINT16_MAX}; // mV
+    const uint16_t voltages[10]{
+        3700,
+        3600,
+        UINT16_MAX,
+        UINT16_MAX,
+        UINT16_MAX,
+        UINT16_MAX,
+        UINT16_MAX,
+        UINT16_MAX,
+        UINT16_MAX,
+        UINT16_MAX}; // mV
 
     mavlink_message_t message;
     mavlink_msg_battery_status_pack(

diff --git a/src/backend/src/core/core_service_impl.h b/src/backend/src/core/core_service_impl.h
@@ -49,18 +49,19 @@ class CoreServiceImpl final : public mavsdk::rpc::core::CoreService::Service {
         const rpc::core::ListRunningPluginsRequest* /* request */,
         mavsdk::rpc::core::ListRunningPluginsResponse* response) override
     {
-        std::string plugin_names[12] = {"action",
-                                        "calibration",
-                                        "camera",
-                                        "core",
-                                        "gimbal",
-                                        "info",
-                                        "mission",
-                                        "mocap",
-                                        "offboard",
-                                        "param",
-                                        "shell",
-                                        "telemetry"};
+        std::string plugin_names[12] = {
+            "action",
+            "calibration",
+            "camera",
+            "core",
+            "gimbal",
+            "info",
+            "mission",
+            "mocap",
+            "offboard",
+            "param",
+            "shell",
+            "telemetry"};
 
         for (const auto plugin_name : plugin_names) {
             auto plugin_info = response->add_plugin_info();

diff --git a/src/core/geometry.cpp b/src/core/geometry.cpp
@@ -30,9 +30,9 @@ CoordinateTransformation::local_from_global(GlobalCoordinate global_coordinate)
 
     const double k = (fabs(c) > 0) ? (c / sin(c)) : 1.0;
 
-    return LocalCoordinate{k * (ref_cos_lat * sin_lat - ref_sin_lat * cos_lat * cos_d_lon) *
-                               world_radius_m,
-                           k * cos_lat * sin(lon_rad - _ref_lon_rad) * world_radius_m};
+    return LocalCoordinate{
+        k * (ref_cos_lat * sin_lat - ref_sin_lat * cos_lat * cos_d_lon) * world_radius_m,
+        k * cos_lat * sin(lon_rad - _ref_lon_rad) * world_radius_m};
 }
 
 CoordinateTransformation::GlobalCoordinate

diff --git a/src/core/mavlink_mission_transfer.cpp b/src/core/mavlink_mission_transfer.cpp
@@ -580,19 +580,20 @@ void MAVLinkMissionTransfer::DownloadWorkItem::process_mission_item_int(
     mavlink_mission_item_int_t item_int;
     mavlink_msg_mission_item_int_decode(&message, &item_int);
 
-    _items.push_back(ItemInt{item_int.seq,
-                             item_int.frame,
-                             item_int.command,
-                             item_int.current,
-                             item_int.autocontinue,
-                             item_int.param1,
-                             item_int.param2,
-                             item_int.param3,
-                             item_int.param4,
-                             item_int.x,
-                             item_int.y,
-                             item_int.z,
-                             item_int.mission_type});
+    _items.push_back(ItemInt{
+        item_int.seq,
+        item_int.frame,
+        item_int.command,
+        item_int.current,
+        item_int.autocontinue,
+        item_int.param1,
+        item_int.param2,
+        item_int.param3,
+        item_int.param4,
+        item_int.x,
+        item_int.y,
+        item_int.z,
+        item_int.mission_type});
 
     if (_next_sequence + 1 == _expected_count) {
         _timeout_handler.remove(_cookie);

diff --git a/src/plugins/geofence/geofence_impl.cpp b/src/plugins/geofence/geofence_impl.cpp
@@ -73,20 +73,20 @@ GeofenceImpl::assemble_items(const std::vector<Geofence::Polygon>& polygons)
             const uint8_t autocontinue = 0;
             const float param1 = float(polygon.points.size());
 
-            items.push_back(
-                MAVLinkMissionTransfer::ItemInt{sequence,
-                                                MAV_FRAME_GLOBAL_INT,
-                                                command,
-                                                current,
-                                                autocontinue,
-                                                param1,
-                                                0.0f,
-                                                0.0f,
-                                                0.0f,
-                                                int32_t(std::round(point.latitude_deg * 1e7)),
-                                                int32_t(std::round(point.longitude_deg * 1e7)),
-                                                0.0f,
-                                                MAV_MISSION_TYPE_FENCE});
+            items.push_back(MAVLinkMissionTransfer::ItemInt{
+                sequence,
+                MAV_FRAME_GLOBAL_INT,
+                command,
+                current,
+                autocontinue,
+                param1,
+                0.0f,
+                0.0f,
+                0.0f,
+                int32_t(std::round(point.latitude_deg * 1e7)),
+                int32_t(std::round(point.longitude_deg * 1e7)),
+                0.0f,
+                MAV_MISSION_TYPE_FENCE});
             ++sequence;
         }
     }

diff --git a/src/plugins/mission/mission_impl.cpp b/src/plugins/mission/mission_impl.cpp
@@ -278,19 +278,20 @@ MissionImpl::convert_to_int_items(const std::vector<MissionItem>& mission_items)
 
             uint8_t autocontinue = 1;
 
-            MAVLinkMissionTransfer::ItemInt next_item{static_cast<uint16_t>(int_items.size()),
-                                                      MAV_FRAME_MISSION,
-                                                      MAV_CMD_DO_CHANGE_SPEED,
-                                                      current,
-                                                      autocontinue,
-                                                      1.0f, // ground speed
-                                                      item.speed_m_s,
-                                                      -1.0f, // no throttle change
-                                                      0.0f, // absolute
-                                                      0,
-                                                      0,
-                                                      NAN,
-                                                      MAV_MISSION_TYPE_MISSION};
+            MAVLinkMissionTransfer::ItemInt next_item{
+                static_cast<uint16_t>(int_items.size()),
+                MAV_FRAME_MISSION,
+                MAV_CMD_DO_CHANGE_SPEED,
+                current,
+                autocontinue,
+                1.0f, // ground speed
+                item.speed_m_s,
+                -1.0f, // no throttle change
+                0.0f, // absolute
+                0,
+                0,
+                NAN,
+                MAV_MISSION_TYPE_MISSION};
 
             _mission_data.mavlink_mission_item_to_mission_item_indices.push_back(item_i);
             int_items.push_back(next_item);
@@ -332,19 +333,20 @@ MissionImpl::convert_to_int_items(const std::vector<MissionItem>& mission_items)
 
             uint8_t autocontinue = 1;
 
-            MAVLinkMissionTransfer::ItemInt next_item{static_cast<uint16_t>(int_items.size()),
-                                                      MAV_FRAME_MISSION,
-                                                      MAV_CMD_DO_MOUNT_CONTROL,
-                                                      current,
-                                                      autocontinue,
-                                                      item.gimbal_pitch_deg, // pitch
-                                                      0.0f, // roll (yes it is a weird order)
-                                                      item.gimbal_yaw_deg, // yaw
-                                                      NAN,
-                                                      0,
-                                                      0,
-                                                      MAV_MOUNT_MODE_MAVLINK_TARGETING,
-                                                      MAV_MISSION_TYPE_MISSION};
+            MAVLinkMissionTransfer::ItemInt next_item{
+                static_cast<uint16_t>(int_items.size()),
+                MAV_FRAME_MISSION,
+                MAV_CMD_DO_MOUNT_CONTROL,
+                current,
+                autocontinue,
+                item.gimbal_pitch_deg, // pitch
+                0.0f, // roll (yes it is a weird order)
+                item.gimbal_yaw_deg, // yaw
+                NAN,
+                0,
+                0,
+                MAV_MOUNT_MODE_MAVLINK_TARGETING,
+                MAV_MISSION_TYPE_MISSION};
 
             _mission_data.mavlink_mission_item_to_mission_item_indices.push_back(item_i);
             int_items.push_back(next_item);
@@ -433,19 +435,20 @@ MissionImpl::convert_to_int_items(const std::vector<MissionItem>& mission_items)
                     break;
             }
 
-            MAVLinkMissionTransfer::ItemInt next_item{static_cast<uint16_t>(int_items.size()),
-                                                      MAV_FRAME_MISSION,
-                                                      command,
-                                                      current,
-                                                      autocontinue,
-                                                      param1,
-                                                      param2,
-                                                      param3,
-                                                      NAN,
-                                                      0,
-                                                      0,
-                                                      NAN,
-                                                      MAV_MISSION_TYPE_MISSION};
+            MAVLinkMissionTransfer::ItemInt next_item{
+                static_cast<uint16_t>(int_items.size()),
+                MAV_FRAME_MISSION,
+                command,
+                current,
+                autocontinue,
+                param1,
+                param2,
+                param3,
+                NAN,
+                0,
+                0,
+                NAN,
+                MAV_MISSION_TYPE_MISSION};
 
             _mission_data.mavlink_mission_item_to_mission_item_indices.push_back(item_i);
             int_items.push_back(next_item);
@@ -459,19 +462,20 @@ MissionImpl::convert_to_int_items(const std::vector<MissionItem>& mission_items)
     --item_i;
 
     if (_enable_return_to_launch_after_mission) {
-        MAVLinkMissionTransfer::ItemInt next_item{static_cast<uint16_t>(int_items.size()),
-                                                  MAV_FRAME_MISSION,
-                                                  MAV_CMD_NAV_RETURN_TO_LAUNCH,
-                                                  0, // current
-                                                  1, // autocontinue
-                                                  NAN, // loiter time in seconds
-                                                  NAN, // empty
-                                                  NAN, // radius around waypoint in meters ?
-                                                  NAN, // loiter at center of waypoint
-                                                  0,
-                                                  0,
-                                                  0,
-                                                  MAV_MISSION_TYPE_MISSION};
+        MAVLinkMissionTransfer::ItemInt next_item{
+            static_cast<uint16_t>(int_items.size()),
+            MAV_FRAME_MISSION,
+            MAV_CMD_NAV_RETURN_TO_LAUNCH,
+            0, // current
+            1, // autocontinue
+            NAN, // loiter time in seconds
+            NAN, // empty
+            NAN, // radius around waypoint in meters ?
+            NAN, // loiter at center of waypoint
+            0,
+            0,
+            0,
+            MAV_MISSION_TYPE_MISSION};
 
         _mission_data.mavlink_mission_item_to_mission_item_indices.push_back(item_i);
         int_items.push_back(next_item);

diff --git a/tools/fix_style.sh b/tools/fix_style.sh
@@ -3,10 +3,12 @@
 # This script runs clang-format over all files ending in .h, .c, .cpp listed
 # by git in the given directory.
 
-version_required_major="9"
+version_required_major="10"
 
 # Try to find the latest version of clang
-if command -v clang-format-9 >/dev/null; then
+if command -v clang-format-10 >/dev/null; then
+    clang_format=clang-format-10
+elif command -v clang-format-9 >/dev/null; then
     clang_format=clang-format-9
 elif command -v clang-format-8 >/dev/null; then
     clang_format=clang-format-8
@@ -27,14 +29,14 @@ if [[ $version =~ $semver_regex ]]; then
 version_major=${BASH_REMATCH[1]}
 if [ "$version_required_major" -gt "$version_major" ]; then
     echo "Clang version $version_major too old (required: $version_required_major)"
-    echo "You can use clang-format-9 from docker:"
+    echo "You can use clang-format-10 from docker:"
     echo ""
     echo "    'tools/run-docker.sh tools/fix_style.sh .'"
     exit 1
 
 elif [ "$version_required_major" -lt "$version_major" ]; then
     echo "Clang version $version_major too new (required: $version_required_major)"
-    echo "You can use clang-format-9 from docker:"
+    echo "You can use clang-format-10 from docker:"
     echo ""
     echo "    'tools/run-docker.sh tools/fix_style.sh .'"
     exit 1

diff --git a/tools/run-docker.sh b/tools/run-docker.sh
@@ -1,3 +1,3 @@
 #!/usr/bin/env sh
 
-docker run -it --rm -v $(pwd):/home/user/MAVSDK:z -e LOCAL_USER_ID=`id -u` mavsdk/mavsdk-ubuntu-18.04-px4-sitl-v1.10 "$@"
+docker run -it --rm -v $(pwd):/home/user/MAVSDK:z -e LOCAL_USER_ID=`id -u` mavsdk/mavsdk-ubuntu-20.04-px4-sitl-v1.11 "$@"