leggedrobotics · firesurfer · Jun 6, 2025 · Jun 6, 2025 · Jun 6, 2025
diff --git a/.clang-format b/.clang-format
@@ -0,0 +1,65 @@
+---
+BasedOnStyle:  Google
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+BinPackParameters: true
+ColumnLimit:    120
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+ExperimentalAutoDetectBinPacking: false
+IndentCaseLabels: true
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakString: 1
+PenaltyBreakFirstLessLess: 1000
+PenaltyExcessCharacter: 1000
+PenaltyReturnTypeOnItsOwnLine: 90
+SpacesBeforeTrailingComments: 2
+Cpp11BracedListStyle: false
+Standard:        Auto
+IndentWidth:     2
+TabWidth:        2
+UseTab:          Never
+IndentFunctionDeclarationAfterType: false
+SpacesInParentheses: false
+SpacesInAngles:  false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+ContinuationIndentWidth: 4
+SortIncludes: false
+SpaceAfterCStyleCast: false
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping:
+    AfterCaseLabel: 'true'
+    AfterClass: 'true'
+    AfterControlStatement: Never
+    AfterEnum : 'true'
+    AfterFunction : 'true'
+    AfterNamespace : 'true'
+    AfterStruct : 'true'
+    AfterUnion : 'true'
+    BeforeCatch : 'false'
+    BeforeElse : 'false'
+    IndentBraces : 'false'
+...
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -0,0 +1,128 @@
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+      - id: check-byte-order-marker  # Forbid UTF-8 byte-order markers
+
+  # Python hooks
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v3.17.0
+    hooks:
+    -   id: pyupgrade
+        args: [--py36-plus]
+
+  - repo: https://github.com/psf/black
+    rev: 24.8.0
+    hooks:
+      - id: black
+        args: ["--line-length=100"]
+
+  - repo: https://github.com/pycqa/pydocstyle
+    rev: 6.3.0
+    hooks:
+    - id: pydocstyle
+      args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D401,D404"]
+
+  - repo: https://github.com/pycqa/flake8
+    rev: 7.1.1
+    hooks:
+    - id: flake8
+      args: ["--ignore=E501,W503"]
+
+  # CPP hooks
+  - repo: local
+    hooks:
+      - id: ament_cppcheck
+        name: ament_cppcheck
+        description: Static code analysis of C/C++ files.
+        stages: [pre-commit]
+        entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1 ament_cppcheck
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+
+
+  - repo: local
+    hooks:
+      - id: clang-format
+        name: clang-format
+        description: Format files with ClangFormat.
+        entry: clang-format-14
+        language: system
+        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
+        args: ['-fallback-style=none', '-i']
+  - repo: local
+    hooks:
+      - id: ament_cpplint
+        name: ament_cpplint
+        description: Static code analysis of C/C++ files.
+        stages: [pre-commit]
+        entry: ament_cpplint
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+        args: ["--linelength=120"]
+
+  # Cmake hooks
+  - repo: local
+    hooks:
+      - id: ament_lint_cmake
+        name: ament_lint_cmake
+        description: Check format of CMakeLists.txt files.
+        stages: [pre-commit]
+        entry: ament_lint_cmake
+        language: system
+        files: CMakeLists.txt$
+
+  # Copyright - ament_copyright is somewhat broken for some licenses. We therefore disable it
+  #- repo: local
+  #  hooks:
+  #    - id: ament_copyright
+  #      name: ament_copyright
+  #      description: Check if copyright notice is available in all files.
+  #      stages: [pre-commit]
+  #      entry: ament_copyright
+  #      language: system
+
+
+  # Docs - RestructuredText hooks
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.2
+    hooks:
+      - id: doc8
+        args: ['--max-line-length=100', '--ignore=D001']
+
+
+  # Spellcheck in comments and docs
+  # skipping of *.svg files is not working...
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.3.0
+    hooks:
+      - id: codespell
+        args: ['--write-changes', '-L bootup,assertIn']
+        exclude: \.(svg|pyc|drawio)$
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -29,11 +29,11 @@ target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
 
 ament_target_dependencies(${PROJECT_NAME}
   ethercat_sdk_master
-  
+
 )
 
 target_link_libraries(${PROJECT_NAME}
-  yaml-cpp 
+  yaml-cpp
 )
 
 

diff --git a/README.md b/README.md
@@ -1,4 +1,4 @@
-# rsl_drive_sdk 
+# rsl_drive_sdk
 
 Software Development Kit for all RSL drives.\
 The source code is released under  [BSD 3](LICENSE).
@@ -9,7 +9,7 @@ The source code is released under  [BSD 3](LICENSE).
 | ---|  --- |
 | Dynadrive | Fully supported, including calibration |
 | Halodi drives | Fully supported, including calibration |
-| Other | There are additional, but not officially supported drives | 
+| Other | There are additional, but not officially supported drives |
 
 
 ## Dependencies
@@ -18,15 +18,15 @@ The source code is released under  [BSD 3](LICENSE).
 
 | Repository | URL | License | Content |
 | --- | - | --- | --- |
-| ethercat_sdk_master | https://github.com/leggedrobotics/ethercat_sdk_master/tree/master/ethercat_sdk_master | BSD 3-Clause | Ethercat master implementation | 
-| soem_interface | https://github.com/leggedrobotics/soem_interface | GPLv3 | Wrapper around [SOEM](https://github.com/OpenEtherCATsociety/soem) | 
+| ethercat_sdk_master | https://github.com/leggedrobotics/ethercat_sdk_master/tree/master/ethercat_sdk_master | BSD 3-Clause | Ethercat master implementation |
+| soem_interface | https://github.com/leggedrobotics/soem_interface | GPLv3 | Wrapper around [SOME](https://github.com/OpenEtherCATsociety/some) |
 | message_logger | https://github.com/leggedrobotics/message_logger.git | BSD 3-Clause | Simple logger |
 
 #### Installable via rosdep:
 
 | Repository | URL | License | Content |
 | --- | - | --- | --- |
-| yaml_cpp_vendor |https://github.com/ros2/yaml_cpp_vendor | Apache 2.0 / MIT | yaml library | 
+| yaml_cpp_vendor |https://github.com/ros2/yaml_cpp_vendor | Apache 2.0 / MIT | yaml library |
 
 ## Usage
 

diff --git a/include/rsl_drive_sdk/Command.hpp b/include/rsl_drive_sdk/Command.hpp
@@ -2,41 +2,41 @@
  ** Copyright 2024 Robotic Systems Lab - ETH Zurich:
  ** Remo Diethelm, Christian Gehring, Samuel Bachmann, Philipp Leeman, Lennart Nachtigall, Jonas Junger, Jan Preisig,
  ** Fabian Tischhauser, Johannes Pankert
- ** Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions
- *are met:
+ ** Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
+ *following conditions are met:
  **
- ** 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ ** 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following
+ *disclaimer.
  **
- ** 2. 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.
+ ** 2. 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.
  **
- ** 3. 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.
+ ** 3. 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.
+ ** 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.
  */
 #pragma once
 
-
 // std
 #include <ostream>
+#include <string>
 
 // any measurements
 #include <chrono>
 // rsl_drive_sdk
 #include "rsl_drive_sdk/mode/ModeEnum.hpp"
 #include "rsl_drive_sdk/mode/PidGains.hpp"
 
-
 namespace rsl_drive_sdk
 {
 
-
 //! Drive command.
 class Command
 {
@@ -68,8 +68,8 @@ class Command
   Command();
   virtual ~Command();
 
-  const std::chrono::high_resolution_clock::time_point & getStamp() const;
-  void setStamp(const std::chrono::high_resolution_clock::time_point & stamp);
+  const std::chrono::high_resolution_clock::time_point& getStamp() const;
+  void setStamp(const std::chrono::high_resolution_clock::time_point& stamp);
 
   mode::ModeEnum getModeEnum() const;
   void setModeEnum(const mode::ModeEnum modeEnum);
@@ -98,9 +98,9 @@ class Command
   double getJointTorque() const;
   void setJointTorque(const double jointTorque);
 
-  mode::PidGainsF & getPidGains();
-  const mode::PidGainsF & getPidGains() const;
-  void setPidGains(const mode::PidGainsF & pidGains);
+  mode::PidGainsF& getPidGains();
+  const mode::PidGainsF& getPidGains() const;
+  void setPidGains(const mode::PidGainsF& pidGains);
 
   /*!
    * Check if the command is valid:
@@ -111,10 +111,9 @@ class Command
    */
   bool isValid() const;
 
-  virtual std::string asString(const std::string & prefix = "") const;
+  virtual std::string asString(const std::string& prefix = "") const;
 };
 
-std::ostream & operator<<(std::ostream & out, const Command & command);
-
+std::ostream& operator<<(std::ostream& out, const Command& command);
 
-} // rsl_drive_sdk
+}  // namespace rsl_drive_sdk