fix according to master branch

Signed-off-by: yamahatayukiya <[email protected]>

Author: yamahatayukiya

.github/workflows/arduino_ci.yaml

@@ -0,0 +1,52 @@
+---
+name: Arduino_CI
+
+on:
+  push:
+    branches: [ master, ros2 ]
+
+jobs:
+  arduino_ci:
+    needs: [ cpplint, uncrustify ]
+    runs-on: ubuntu-20.04
+    steps:
+      - uses: actions/checkout@v3
+      - uses: arduino/compile-sketches@v1
+        with:
+          sketch-paths: |
+            - .
+          fqbn: "esp32:esp32:esp32"
+          platforms: |
+            - source-url: https://dl.espressif.com/dl/package_esp32_index.json
+              name: esp32:esp32
+          libraries: |
+            - name: Rosserial Arduino Library
+              version: 0.9.1
+            - name: Adafruit BNO055
+            - name: Adafruit BME280 Library
+            - name: Adafruit MPR121
+            - name: arduino-timer
+            - name: ESP32 AnalogWrite
+
+  cpplint:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Setup cpplint
+        run: |
+          sudo apt install python3-pip
+          pip install cpplint
+      - uses: actions/checkout@v3
+      - name: Run cpplint
+        run: |
+          cpplint --recursive .
+
+  uncrustify:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Setup uncrustify
+        run: |
+          sudo apt-get install -y uncrustify
+      - uses: actions/checkout@v3
+      - name: Run uncrustify
+        run: |
+          ls *.ino *.h *.cpp | uncrustify -c code_style.cfg --check -F -

BarometerReader.cpp

@@ -20,7 +20,7 @@
  * THE SOFTWARE.
  *******************************************************************************/
 
-#include "BarometerReader.hpp"
+#include "BarometerReader.hpp"  // NOLINT
 
 BarometerReader::BarometerReader(cabot::Handle & ch)
 : SensorReader(ch) {}

ButtonsReader.cpp

@@ -20,7 +20,7 @@
  * THE SOFTWARE.
  *******************************************************************************/
 
-#include "ButtonsReader.hpp"
+#include "ButtonsReader.hpp"  // NOLINT
 
 ButtonsReader::ButtonsReader(cabot::Handle & ch, uart_com & cm)
 : SensorReader(ch), cm(cm) {}

CPPLINT.cfg

@@ -0,0 +1,9 @@
+set noparent
+extensions=c,cpp,h,hpp,ino
+linelength=120
+filter=-build/c++11
+filter=-runtime/references
+filter=-whitespace/braces
+filter=-whitespace/indent
+filter=-whitespace/parens
+filter=-whitespace/semicolon

CaBotHandle.cpp

@@ -20,7 +20,7 @@
  * THE SOFTWARE.
  *******************************************************************************/
 
-#include "CaBotHandle.hpp"
+#include "CaBotHandle.hpp"  // NOLINT
 
 // #define DEBUG 1
 
@@ -103,15 +103,15 @@ void Handle::spinOnce()
       need_to_update = true;
     } else {
       snprintf(
-        buff, sizeof(buff), "large time jump %lu.%09lu -> %lu.%09lu",
+        buff, sizeof(buff), "large time jump %u.%09u -> %u.%09u",
         prev.sec, prev.nsec, current.sec, current.nsec);
       logwarn(buff);
     }
 
     // #ifdef DEBUG
     snprintf(
       buff, sizeof(buff),
-      "sync,%lu,%lu.%03lu,%lu.%03lu,%lu.%03lu,%ld,%ld,%ld,%ld", ms,
+      "sync,%u,%u.%03u,%u.%03u,%u.%03u,%d,%d,%d,%d", ms,
       newTime.sec, newTime.nsec / 1000000, prev.sec, prev.nsec / 1000000,
       current.sec, current.nsec / 1000000, jump, turn_around_time,
       back_time, temp);
@@ -145,11 +145,11 @@ void Handle::subscribe(uint8_t cmd, void (* callback)(const uint8_t))
 
 void Handle::logdebug(char * text) {sendCommand(0x02, text, strlen(text));}
 
-void Handle::loginfo(char * text) {sendCommand(0x03, text, strlen(text));}
+void Handle::loginfo(const char * text) {sendCommand(0x03, text, strlen(text));}
 
-void Handle::logwarn(char * text) {sendCommand(0x04, text, strlen(text));}
+void Handle::logwarn(const char * text) {sendCommand(0x04, text, strlen(text));}
 
-bool Handle::getParam(char * name, int * out, size_t num, int timeout_ms)
+bool Handle::getParam(const char * name, int * out, size_t num, int timeout_ms)
 {
   sendCommand(0x08, name, strlen(name));
   uint8_t cmd = 0x08;
@@ -341,7 +341,7 @@ size_t Handle::readCommand(uint8_t * expect, uint8_t ** ptr)
     size = (received & 0xFF) << size_count * 8;
     size_count += 1;
     if (size_count == DATA_MAX_SIZE_BYTE) {
-      if (size < 0 || sizeof(buffer) < size) {
+      if (sizeof(buffer) < size) {
         state = 0;
         return 0;
       } else if (size == 0) {
@@ -375,7 +375,7 @@ size_t Handle::readCommand(uint8_t * expect, uint8_t ** ptr)
 bool Handle::sendCommand(uint8_t type, uint8_t * data, size_t num)
 {
   static uint8_t buffer[256 + 6];
-  if (num < 0 || 256 < num) {
+  if (256 < num) {
     return false;
   }
 
@@ -399,9 +399,9 @@ bool Handle::sendCommand(uint8_t type, uint8_t * data, size_t num)
   return true;
 }
 
-bool Handle::sendCommand(uint8_t type, char * data, size_t num)
+bool cabot::Handle::sendCommand(uint8_t type, const char * data, size_t num)
 {
-  return sendCommand(type, reinterpret_cast<uint8_t *>(data), num);
+  return sendCommand(type, reinterpret_cast<uint8_t *>(const_cast<char *>(data)), num);
 }
 
 uint8_t Handle::checksum(uint8_t * data, size_t num)

CaBotHandle.hpp

@@ -48,9 +48,9 @@ class Handle {
     void spinOnce();
     void subscribe(uint8_t, void (*)(const uint8_t));
     void logdebug(char *);
-    void loginfo(char *);
-    void logwarn(char *);
-    bool getParam(char *, int *, size_t, int);
+    void loginfo(const char *);
+    void logwarn(const char *);
+    bool getParam(const char *, int *, size_t, int);
     void publish(uint8_t, uint8_t *, size_t);
     void publish(uint8_t, int8_t *, size_t);
     void publish(uint8_t, char *, size_t);
@@ -66,7 +66,7 @@ class Handle {
     Time _now(Time, uint32_t, uint32_t);
     int32_t timeDiff(Time, Time);
     bool sendCommand(uint8_t, uint8_t *, size_t);
-    bool sendCommand(uint8_t, char *, size_t);
+    bool sendCommand(uint8_t, const char *, size_t);
     size_t readCommand(uint8_t *, uint8_t **);
     uint8_t checksum(uint8_t *, size_t);
     uint32_t parseUInt32(uint8_t * ptr);

Dockerfile

@@ -1,9 +1,10 @@
-FROM ghcr.io/jpconstantineau/docker_arduino_cli:latest
+FROM jpconstantineau/arduino-cli:0.33.0
 
 RUN arduino-cli config init
 COPY arduino-cli.yaml arduino-cli.yaml
 RUN arduino-cli core update-index --config-file arduino-cli.yaml
 RUN arduino-cli core install esp32:esp32 --additional-urls https://dl.espressif.com/dl/package_esp32_index.json
+RUN arduino-cli lib install "Rosserial Arduino Library"@0.9.1
 RUN arduino-cli lib install "Adafruit BNO055"
 RUN arduino-cli lib install "Adafruit BME280 Library"
 RUN arduino-cli lib install "Adafruit MPR121"

Heartbeat.h

@@ -30,14 +30,16 @@
 #include <analogWrite.h>
 #endif
 
-class Heartbeat {
+class Heartbeat
+{
   int led_pin_;
   int delay_;
   int status_;
 
 public:
   Heartbeat(int led_pin, int delay)
-    : led_pin_(led_pin), delay_(delay), status_(0) {
+  : led_pin_(led_pin), delay_(delay), status_(0)
+  {
   }
 
   void init()
@@ -49,7 +51,7 @@ class Heartbeat {
   void update()
   {
     status_ = status_ + 1;
-    analogWrite(led_pin_, (int)(sin(6.28 * status_ * delay_ / 1000.0) * 127 + 127));
+    analogWrite(led_pin_, static_cast<int>(sin(6.28 * status_ * delay_ / 1000.0) * 127 + 127));
   }
 };
 

IMUReader.cpp

@@ -20,7 +20,7 @@
  * THE SOFTWARE.
  *******************************************************************************/
 
-#include "IMUReader.hpp"
+#include "IMUReader.hpp"  // NOLINT
 
 #define D2R 0.0174532925
 

SensorReader.h

@@ -26,19 +26,22 @@
 #include <Arduino.h>
 #ifdef ESP32
 #undef ESP32
-#include "CaBotHandle.hpp"
+#include "CaBotHandle.hpp"  // NOLINT
 #define ESP32
 #else
-#include "CaBotHandle.hpp"
+#include "CaBotHandle.hpp"  // NOLINT
 #endif
 
-class SensorReader {
+class SensorReader
+{
 protected:
   cabot::Handle & ch_;
   bool initialized_;
 
 public:
-  explicit SensorReader(cabot::Handle & ch) : ch_(ch), initialized_(false) {
+  explicit SensorReader(cabot::Handle & ch)
+  : ch_(ch), initialized_(false)
+  {
   }
   virtual void init() = 0;
   virtual void update() = 0;

TouchReader.cpp

@@ -20,7 +20,7 @@
  * THE SOFTWARE.
  *******************************************************************************/
 
-#include "TouchReader.hpp"
+#include "TouchReader.hpp"  // NOLINT
 
 TouchReader::TouchReader(cabot::Handle & ch, uart_com & cm)
 : SensorReader(ch), cm(cm) {}

VibratorController.cpp

@@ -46,7 +46,7 @@ VibratorController::VibratorController(cabot::Handle & ch, uart_com & cm)
       buf += ",";
       buf += String(inst->cm.motor_l);
 
-      inst->ch_.loginfo(const_cast<char*>(buf.c_str()));
+      inst->ch_.loginfo(const_cast<char *>(buf.c_str()));
       inst->cm.set_mot_c(ff2percent(msg));
     });
   ch.subscribe(0x21, [](const uint8_t msg) { /* nop: not supported */});

WiFiReader.cpp

@@ -20,7 +20,7 @@
  * THE SOFTWARE.
  *******************************************************************************/
 
-#include "WiFiReader.hpp"
+#include "WiFiReader.hpp"  // NOLINT
 #include <algorithm>
 
 extern void restart();
@@ -67,11 +67,11 @@ void WiFiReader::init()
 
 void WiFiReader::showScanStatus()
 {
-  snprintf(buf, buf[256], "%c", "WiFi: ");
+  snprintf(buf, sizeof(buf), "%s", "WiFi: ");
   for (int i = 0; i < n_channel; i++) {
-    snprintf(buf + strlen(buf), buf[256], "%2d|", aps[i]);
+    snprintf(buf + strlen(buf), sizeof(buf + strlen(buf)), "%2d|", aps[i]);
   }
-  snprintf(buf + strlen(buf), buf[256], "%2d|", all_zero_count);
+  snprintf(buf + strlen(buf), sizeof(buf + strlen(buf)), "%2d|", all_zero_count);
 
   callback_(buf);
 }
@@ -108,7 +108,7 @@ void WiFiReader::handleScan()
       // start scan for the current channcel
       //
       // definition
-      int n = WiFi.scanNetworks(true, false, false, scan_duration, channel + 1);
+      WiFi.scanNetworks(true, false, false, scan_duration, channel + 1);
       scanningStart = millis();
       count[channel] = 0;
       isScanning = true;
@@ -126,7 +126,7 @@ void WiFiReader::handleScan()
       showScanStatus();
       if (verbose) {
         snprintf(
-          buf, buf[256], "[ch:%2d][%3dAPs][skip:%2d/%2d]%3dms,%5dms",
+          buf, sizeof(buf), "[ch:%2d][%3dAPs][skip:%2d/%2d]%3lums,%5lums",
           channel + 1, n, skip[channel], max_skip,
           millis() - scanningStart, millis() - lastseen[channel]);
         // ch_.loginfo(buf);
@@ -144,7 +144,7 @@ void WiFiReader::handleScan()
           String name = WiFi.SSID(i);
           name.replace(",", " ");
           snprintf(
-            msg_buf[waiting], msg_buf[MAX_WAITING][100], "%s,%s,%d,%d,%d,%d",
+            msg_buf[waiting], sizeof(msg_buf[waiting]), "%s,%s,%d,%d,%d,%d",
             WiFi.BSSIDstr(i).c_str(), name.c_str(), WiFi.channel(i),
             WiFi.RSSI(i), ch_.now().sec, ch_.now().nsec);
           waiting++;

build.sh

@@ -41,7 +41,7 @@ fi
 
 function build() {
     echo "building for $board..."
-    arduino-cli compile -b $board .
+    arduino-cli compile -b $board --warnings all .
 }
 
 function upload() {