Merge branch 'feature/workflow' into devel/ros2-foxy

.github/ISSUE_TEMPLATE.md

@@ -1,28 +1,30 @@
-## Issue Description
+## Description
+### Problem:
+Provide a clear description of the issue
 
-Please provide a clear and concise description of the issue.
+### Goal:
+The purpose of this issue is to enhance the codebase by including comprehensive exception tests. These tests will ensure that the system properly handles cases where an invalid or missing IP address is provided, and they will verify that all potential problems during the connection establishment are appropriately handled.
 
-### Steps to Reproduce (if applicable)
+### Proposed Changes:
 
-If the issue is a bug, include steps to reproduce the problem:
+1. Add test cases to check for invalid or missing IP addresses before starting the UDP connection.
+2. Verify that exceptions are raised when attempting to establish a connection without a valid IP address.
+3. Test the system's response to various connection-related problems, such as network unavailability or port conflicts, to ensure graceful handling of such scenarios.
 
-1. Step 1
-2. Step 2
-3. ...
+### Expected Benefits:
+By adding these exceptions tests, we can achieve the following benefits:
 
-### Expected Behavior
+Improve the robustness and reliability of the system by catching potential issues during connection establishment.
+Reduce the likelihood of unexpected failures and errors, which will facilitate easier debugging and maintenance.
+Enhance the overall stability of the system, providing a more seamless experience for end-users.
 
-A clear and concise description of what you expected to happen.
 
-### Screenshots (if applicable)
+## Steps to Reproduce
+Set up the testing environment to isolate the code related to IP address validation and UDP connection establishment.
+Design test cases to cover scenarios where an invalid or missing IP address is provided.
+Implement the tests and ensure they raise appropriate exceptions when necessary.
+Create test cases to simulate various connection-related problems and validate the system's response.
+Run the test suite and observe the results, ensuring that all tests pass successfully.
 
-If the issue is related to the UI, consider including screenshots to help explain the problem.
-
-### Environment (if applicable)
-
-- OS: [e.g., Windows 10, macOS Big Sur]
-- Browser: [e.g., Chrome, Firefox]
-
-### Additional Context
-
-Add any other context about the issue here.
+## Additional Notes
+Any additional information or context relevant to the issue can be added here.

.github/workflows/github-actions-demo.yml

@@ -0,0 +1,28 @@
+# This workflow will install Python dependencies, run tests and lint with a single version of Python
+# For more information see: https://help.github.com/actions/language-and-framework-guides/using-python-with-github-actions
+
+name: Code Quality
+run-name: Run Lint Checks
+on: [push, pull_request]
+jobs:
+  cpplint:
+    runs-on: ubuntu-20.04
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Set up Python 3.7
+        uses: actions/setup-python@v3
+        with:
+          python-version: 3.7
+
+      - name: Update pip
+        run: python -m pip install --upgrade pip
+
+      - name: Install dependencies
+        run: pip install cpplint flake8
+
+      - name: Lint with flake8
+        run: flake8
+
+      - name: Lint with cpplint
+        run: cpplint --recursive .

littlebot_base/include/littlebot_base/littlebot_hardware.hpp

@@ -1,7 +1,8 @@
-#ifndef LITTLEBOT_BASE__LITTLEBOT_HARDWARE_HPP_
-#define LITTLEBOT_BASE__LITTLEBOT_HARDWARE_HPP_
+//  @ Copyright 2023 Nestor Neto
+
+#ifndef LITTLEBOT_BASE_INCLUDE_LITTLEBOT_BASE_LITTLEBOT_HARDWARE_HPP_
+#define LITTLEBOT_BASE_INCLUDE_LITTLEBOT_BASE_LITTLEBOT_HARDWARE_HPP_
 
-#include <chrono>
 #include <memory>
 #include <sstream>
 #include <string>
@@ -26,25 +27,23 @@
 #include "rclcpp/time.hpp"
 
 
-using namespace std::chrono_literals;
-
-namespace littlebot_base
-{
-class LittlebotHardware 
-: public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
-{
-
-public:
+namespace littlebot_base {
+class LittlebotHardware : public
+  hardware_interface::BaseInterface<hardware_interface::SystemInterface> {
+ public:
   RCLCPP_SHARED_PTR_DEFINITIONS(LittlebotHardware)
 
   HARDWARE_INTERFACE_PUBLIC
-  hardware_interface::return_type configure(const hardware_interface::HardwareInfo & info) override;
+  hardware_interface::return_type
+  configure(const hardware_interface::HardwareInfo & info) override;
 
   HARDWARE_INTERFACE_PUBLIC
-  std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
+  std::vector<hardware_interface::StateInterface>
+    export_state_interfaces() override;
 
   HARDWARE_INTERFACE_PUBLIC
-  std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
+  std::vector<hardware_interface::CommandInterface>
+    export_command_interfaces() override;
 
   HARDWARE_INTERFACE_PUBLIC
   hardware_interface::return_type start() override;
@@ -58,7 +57,7 @@ class LittlebotHardware
   HARDWARE_INTERFACE_PUBLIC
   hardware_interface::return_type write() override;
 
-private:
+ private:
   // Store the command for the simulated robot
   double left_command_velocity_ = 0;
   double right_command_velocity_ = 0;
@@ -76,9 +75,8 @@ class LittlebotHardware
   // Serial device
   serial::Serial serial_device_;
   std::string message_protocol_;
-
 };
 
 }  // namespace littlebot_base
 
-#endif  // LITTLEBOT_BASE__LITTLEBOT_HARDWARE_HPP_
+#endif  // LITTLEBOT_BASE_INCLUDE_LITTLEBOT_BASE_LITTLEBOT_HARDWARE_HPP_

littlebot_base/include/littlebot_base/protocol.hpp

@@ -7,8 +7,8 @@
  * 
  * 
  */
-#ifndef _BASE__COMMUNICATION_PROTOCOL_HPP_
-#define _BASE__COMMUNICATION_PROTOCOL_HPP_
+#ifndef LITTLEBOT_BASE_INCLUDE_LITTLEBOT_BASE_PROTOCOL_HPP_
+#define LITTLEBOT_BASE_INCLUDE_LITTLEBOT_BASE_PROTOCOL_HPP_
 
 #include <errno.h>
 #include <fcntl.h>
@@ -25,7 +25,7 @@
 #include <libserial/serial.hpp>
 
 
-namespace littlebot{
+namespace littlebot {
 
 class Protocol {
  public:
@@ -34,7 +34,7 @@ class Protocol {
    * @brief Constructor of the serial class
    * 
    */
-  Protocol(std::string port);
+  explicit Protocol(std::string port);
 
   /**
    * @brief Destroyer of the serial class
@@ -72,16 +72,15 @@ class Protocol {
   const int kLengthBuffer_ = 200;
 
   /** Port */
-  serial::Serial port_ ;
+  serial::Serial port_;
 
   /** Buffer */
   std::string msg_protocol_;
 
   /**  */
   float velocity_read_[2];
   float velocity_write_[2];
-
 };
-}  // namespace serial
+}  // namespace littlebot
 
-#endif  // _BASE__COMMUNICATION_PROTOCOL_HPP_
+#endif  // LITTLEBOT_BASE_INCLUDE_LITTLEBOT_BASE_PROTOCOL_HPP_

littlebot_base/include/littlebot_base/reader.hpp

@@ -1,10 +1,9 @@
 // Copyright 2022 Nestor
 
-#ifndef LITTLEBOT_BASE_READER_HPP_
-#define LITTLEBOT_BASE_READER_HPP_
+#ifndef LITTLEBOT_BASE_INCLUDE_LITTLEBOT_BASE_READER_HPP_
+#define LITTLEBOT_BASE_INCLUDE_LITTLEBOT_BASE_READER_HPP_
 
 #include <string>
-#include <chrono>
 #include <iostream>
 #include <memory>
 #include <utility>
@@ -21,29 +20,29 @@
 #define LITTLEBOT_BASE_READER_PUBLIC __attribute__((visibility("default")))
 
 namespace littlebot_base {
-  class Reader : public rclcpp::Node
-  {
-  public:
-    LITTLEBOT_BASE_READER_PUBLIC
-    explicit Reader(const rclcpp::NodeOptions &options);
-
-    LITTLEBOT_BASE_READER_PUBLIC
-    explicit Reader(const rclcpp::NodeOptions & options, serial::Serial *serial);
-
-  protected:
-    void on_timer();
-
-  private:
-    size_t count_;
-    rclcpp::Publisher<example_interfaces::msg::Float32>::SharedPtr pub1_;
-    rclcpp::Publisher<example_interfaces::msg::Float32>::SharedPtr pub2_;
-    rclcpp::Publisher<example_interfaces::msg::Float32>::SharedPtr pub3_;
-    rclcpp::Publisher<example_interfaces::msg::Float32>::SharedPtr pub4_;
-    rclcpp::TimerBase::SharedPtr timer_;
-    std::string message_;
-    serial::Serial *serial_;
-  };
-
-} // namespace littlebot_base
-
-#endif // LITTLEBOT_BASE_READER_HPP_
+
+class Reader : public rclcpp::Node {
+ public:
+  LITTLEBOT_BASE_READER_PUBLIC
+  explicit Reader(const rclcpp::NodeOptions &options);
+
+  LITTLEBOT_BASE_READER_PUBLIC
+  explicit Reader(const rclcpp::NodeOptions & options, serial::Serial *serial);
+
+ protected:
+  void on_timer();
+
+ private:
+  size_t count_;
+  rclcpp::Publisher<example_interfaces::msg::Float32>::SharedPtr pub1_;
+  rclcpp::Publisher<example_interfaces::msg::Float32>::SharedPtr pub2_;
+  rclcpp::Publisher<example_interfaces::msg::Float32>::SharedPtr pub3_;
+  rclcpp::Publisher<example_interfaces::msg::Float32>::SharedPtr pub4_;
+  rclcpp::TimerBase::SharedPtr timer_;
+  std::string message_;
+  serial::Serial *serial_;
+};
+
+}  // namespace littlebot_base
+
+#endif  // LITTLEBOT_BASE_INCLUDE_LITTLEBOT_BASE_READER_HPP_

littlebot_base/include/littlebot_base/writer.hpp

@@ -1,12 +1,10 @@
-
 // Copyright Nestor 2022
 
-#ifndef LITTLEBOT_BASE_WRITER_HPP_
-#define LITTLEBOT_BASE_WRITER_HPP_
+#ifndef LITTLEBOT_BASE_INCLUDE_LITTLEBOT_BASE_WRITER_HPP_
+#define LITTLEBOT_BASE_INCLUDE_LITTLEBOT_BASE_WRITER_HPP_
 
 #include <string>
 #include <sstream>
-#include <chrono>
 #include <iostream>
 #include <memory>
 #include <utility>
@@ -22,40 +20,42 @@
 #define LITTLEBOT_BASE_WRITER_CPP_LOCAL __attribute__ ((visibility("hidden")))
 
 namespace littlebot_base {
-  class Writer : public rclcpp::Node {
-   public:
-    LITTLEBOT_BASE_WRITER_CPP_PUBLIC
-    explicit Writer(const rclcpp::NodeOptions & options);
-
-    LITTLEBOT_BASE_WRITER_CPP_PUBLIC
-    explicit Writer(const rclcpp::NodeOptions & options, serial::Serial *serial);
-
-   protected:
-    void writerTimer();
-
-   private:
-    /* Command right velocity subscriber*/
-    rclcpp::Subscription<example_interfaces::msg::Float32>::SharedPtr cmd_right_vel_sub_;
-    /* Command right velocity subscriber*/
-    rclcpp::Subscription<example_interfaces::msg::Float32>::SharedPtr cmd_left_vel_sub_;
-
-    rclcpp::Publisher<example_interfaces::msg::Float32>::SharedPtr pub1_;
-    rclcpp::Publisher<example_interfaces::msg::Float32>::SharedPtr pub2_;
-    rclcpp::Publisher<example_interfaces::msg::Float32>::SharedPtr pub3_;
-    rclcpp::Publisher<example_interfaces::msg::Float32>::SharedPtr pub4_;
-
-    std::stringstream msg_protocol_;
-    std::string send_msg_;
-
-    /*Right velocite variable*/
-    float right_vel_;
-    /*Left velocite variable*/
-    float left_vel_;
-    /*Serial port object*/
-    serial::Serial *serial_;
-    /* */
-    rclcpp::TimerBase::SharedPtr timer_writer_;
-  };
+class Writer : public rclcpp::Node {
+ public:
+  LITTLEBOT_BASE_WRITER_CPP_PUBLIC
+  explicit Writer(const rclcpp::NodeOptions & options);
+
+  LITTLEBOT_BASE_WRITER_CPP_PUBLIC
+  explicit Writer(const rclcpp::NodeOptions & options, serial::Serial *serial);
+
+ protected:
+  void writerTimer();
+
+ private:
+  /* Command right velocity subscriber*/
+  rclcpp::Subscription<example_interfaces::msg::Float32>::SharedPtr
+    cmd_right_vel_sub_;
+  /* Command right velocity subscriber*/
+  rclcpp::Subscription<example_interfaces::msg::Float32>::SharedPtr
+    cmd_left_vel_sub_;
+
+  rclcpp::Publisher<example_interfaces::msg::Float32>::SharedPtr pub1_;
+  rclcpp::Publisher<example_interfaces::msg::Float32>::SharedPtr pub2_;
+  rclcpp::Publisher<example_interfaces::msg::Float32>::SharedPtr pub3_;
+  rclcpp::Publisher<example_interfaces::msg::Float32>::SharedPtr pub4_;
+
+  std::stringstream msg_protocol_;
+  std::string send_msg_;
+
+  /*Right velocite variable*/
+  float right_vel_;
+  /*Left velocite variable*/
+  float left_vel_;
+  /*Serial port object*/
+  serial::Serial *serial_;
+  /* */
+  rclcpp::TimerBase::SharedPtr timer_writer_;
+};
 }  // namespace littlebot_base
 
-#endif  // LITTLEBOT_BASE_WRITER_HPP_
+#endif  // LITTLEBOT_BASE_INCLUDE_LITTLEBOT_BASE_WRITER_HPP_

littlebot_base/src/littlebot_base_composition.cpp

@@ -1,16 +1,4 @@
-// Copyright 2016 Open Source Robotics Foundation, 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.
+//  @ Copyright 2023 Nestor Neto
 
 #include <memory>
 
@@ -22,8 +10,7 @@
 
 #include <libserial/serial.hpp>
 
-int main(int argc, char * argv[])
-{
+int main(int argc, char * argv[]) {
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
 
   rclcpp::init(argc, argv);
@@ -40,7 +27,7 @@ int main(int argc, char * argv[])
 
   // exec.add_node(reader);
   exec.add_node(writer);
- 
+
   exec.spin();
   rclcpp::shutdown();