Add pre-commit (#6)

* Add pre-commit-config.yaml

* Add pre-commit-config.yaml

* code format

* Add pre-commit action

.github/dependabot.yml

@@ -1,15 +1,15 @@
-# Set update schedule for GitHub Actions
-
-version: 2
-updates:
-
-- package-ecosystem: "github-actions"
-  directory: "/"
-  schedule:
-      # Check for updates to GitHub Actions every week
-    interval: "weekly"
-- package-ecosystem: "nuget"
-  directory: "/"
-  schedule:
-      # Check for updates to NuGet packages every week
-    interval: "weekly"
+# Set update schedule for GitHub Actions
+
+version: 2
+updates:
+
+- package-ecosystem: "github-actions"
+  directory: "/"
+  schedule:
+      # Check for updates to GitHub Actions every week
+    interval: "weekly"
+- package-ecosystem: "nuget"
+  directory: "/"
+  schedule:
+      # Check for updates to NuGet packages every week
+    interval: "weekly"

.github/workflows/docker.yml

@@ -1,23 +1,23 @@
-name: Docker
-
-on:
-  push:
-  release:
-    types: [created]
-  workflow_dispatch:
-  pull_request:
-  
-jobs:
-  docker:
-    runs-on: ubuntu-latest
-    steps:
-    - name: Checkout
-      uses: actions/checkout@v4
-    - name: Set up Docker Buildx
-      uses: docker/setup-buildx-action@v3
-    - name: Build
-      uses: docker/build-push-action@v6
-      with:
-        context: .
-        push: false
-        tags: wasontech/abb-robotraconteur-driver:latest
+name: Docker
+
+on:
+  push:
+  release:
+    types: [created]
+  workflow_dispatch:
+  pull_request:
+
+jobs:
+  docker:
+    runs-on: ubuntu-latest
+    steps:
+    - name: Checkout
+      uses: actions/checkout@v4
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v3
+    - name: Build
+      uses: docker/build-push-action@v6
+      with:
+        context: .
+        push: false
+        tags: wasontech/abb-robotraconteur-driver:latest

.github/workflows/main.yml

@@ -1,32 +1,48 @@
-name: CI
-
-on:
-  push:
-  release:
-    types: [created]
-  workflow_dispatch:
-  pull_request:
-
-jobs:
-  build:
-    runs-on: windows-latest
-    steps:
-    - name: Checkout
-      uses: actions/checkout@v4
-    - name: set up dotnet core 6.0
-      uses: actions/setup-dotnet@v1
-      with:
-        dotnet-version: 6.0.x
-    - name: publish
-      run: dotnet publish -c Release /p:Platform="Any CPU" --framework=net6.0 -o abb_robotraconteur_driver
-    - name: copy license and readme
-      run: |
-         Copy-Item -Path LICENSE.txt -Destination abb_robotraconteur_driver
-         Copy-Item -Path README.md -Destination abb_robotraconteur_driver
-    - name: zip
-      run: Compress-Archive -Path abb_robotraconteur_driver -DestinationPath abb_robotraconteur_driver.zip
-    - name: upload
-      uses: actions/upload-artifact@v4
-      with:
-        name: abb_robotraconteur_driver
-        path: abb_robotraconteur_driver.zip
+name: CI
+
+on:
+  push:
+  release:
+    types: [created]
+  workflow_dispatch:
+  pull_request:
+
+jobs:
+  build:
+    runs-on: windows-latest
+    steps:
+    - name: Checkout
+      uses: actions/checkout@v4
+    - name: set up dotnet core 6.0
+      uses: actions/setup-dotnet@v1
+      with:
+        dotnet-version: 6.0.x
+    - name: publish
+      run: dotnet publish -c Release /p:Platform="Any CPU" --framework=net6.0 -o abb_robotraconteur_driver
+    - name: copy license and readme
+      run: |
+        Copy-Item -Path LICENSE.txt -Destination abb_robotraconteur_driver
+        Copy-Item -Path README.md -Destination abb_robotraconteur_driver
+    - name: zip
+      run: Compress-Archive -Path abb_robotraconteur_driver -DestinationPath abb_robotraconteur_driver.zip
+    - name: upload
+      uses: actions/upload-artifact@v4
+      with:
+        name: abb_robotraconteur_driver
+        path: abb_robotraconteur_driver.zip
+  pre-commit:
+    runs-on: ubuntu-22.04
+    env:
+      SKIP: no-commit-to-branch
+    steps:
+    - uses: actions/checkout@v3
+    - uses: actions/setup-python@v3
+    - name: apt
+      run: |
+        sudo apt update
+        sudo apt install -y dos2unix
+    - name: Setup dotnet 6.x
+      uses: actions/setup-dotnet@v3
+      with:
+        dotnet-version: 6.x
+    - uses: pre-commit/[email protected]

.pre-commit-config.yaml

@@ -0,0 +1,62 @@
+exclude: ^(bin|obj|\.vs|\.vscode|TestResults|Generated_Code|generated_src)/.*$
+repos:
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: "v4.5.0"
+  hooks:
+  - id: check-added-large-files
+  - id: check-case-conflict
+  - id: check-merge-conflict
+  - id: check-symlinks
+  - id: check-yaml
+    exclude: .clang-format
+    args: ['--unsafe']
+  - id: check-ast
+  - id: check-docstring-first
+  - id: debug-statements
+  - id: end-of-file-fixer
+    exclude: (^.*\.cs$|^.*\.csproj$|^.*\.sln$)
+  - id: mixed-line-ending
+    exclude: (^.*\.cs$|^.*\.csproj$|^.*\.sln$)
+  - id: trailing-whitespace
+  - id: fix-byte-order-marker
+  - id: check-executables-have-shebangs
+  - id: check-shebang-scripts-are-executable
+  - id: check-json
+  - id: check-toml
+  - id: check-xml
+  - id: detect-private-key
+  - id: no-commit-to-branch
+    args: ['--branch', 'master']
+  - id: forbid-submodules
+- repo: https://github.com/hhatto/autopep8
+  rev: v2.0.4
+  hooks:
+  - id: autopep8
+    args: ["--ignore=E402", "-i", "--max-line-length=120"]
+- repo: https://github.com/macisamuele/language-formatters-pre-commit-hooks
+  rev: v2.12.0
+  hooks:
+  - id: pretty-format-yaml
+    args: [--autofix, --indent, '2', '--preserve-quotes']
+    exclude: ^\.clang.*$
+# - repo: https://github.com/efrecon/pre-commit-hook-lxml
+#   rev: v0.1.1
+#   hooks:
+#   - id: format-xml
+#     exclude: ^.*\.svg$
+- repo: local
+  hooks:
+  - id: dos2unix
+    name: dos2unix
+    entry: dos2unix
+    args: ["-n", "-o"]
+    files: '\.(c|cpp|h|hpp|java|i|m|cmake|txt|css|js|ts|html|md|txt|py|yaml|yml|rst|py\.in|)$'
+    language: system
+- repo: local
+  hooks:
+    #Use dotnet format already installed on your machine
+  - id: dotnet-format
+    name: dotnet-format
+    language: system
+    entry: dotnet format --include
+    types_or: ["c#", "vb"]

ABBRobotRaconteurDriver.sln

@@ -1,4 +1,4 @@
-
+
 Microsoft Visual Studio Solution File, Format Version 12.00
 # Visual Studio Version 16
 VisualStudioVersion = 16.0.29806.167

Dockerfile

@@ -21,4 +21,4 @@ RUN sudo add-apt-repository ppa:robotraconteur/ppa -y \
     && sudo apt-get update \
     && sudo apt-get install librobotraconteur-net-native -y
 
-CMD exec /opt/abb_robotraconteur_driver/ABBRobotRaconteurDriver --robot-info-file=$ROBOT_INFO_FILE
+CMD exec /opt/abb_robotraconteur_driver/ABBRobotRaconteurDriver --robot-info-file=$ROBOT_INFO_FILE

LICENSE.txt

@@ -199,4 +199,4 @@
    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.
+   limitations under the License.

README.md

@@ -43,8 +43,8 @@ The [common Robot Raconteur node options](https://github.com/robotraconteur/robo
 
 ## Running the driver
 
-Zip files containing the driver are available on the 
-[Releases](https://github.com/robotraconteur-contrib/ABBRobotRaconteurDriver/releases) page. 
+Zip files containing the driver are available on the
+[Releases](https://github.com/robotraconteur-contrib/ABBRobotRaconteurDriver/releases) page.
 Download the zip file and extract it to a directory.
 The .NET 6.0 runtime is required to run the driver. This driver will run on Windows and Linux.
 
@@ -71,7 +71,7 @@ On Linux it is possible to run the driver using docker. The following command wi
 sudo docker run --rm --net=host --privileged -v /var/run/robotraconteur:/var/run/robotraconteur -v /var/lib/robotraconteur:/var/lib/robotraconteur wasontech/abb-robotraconteur-driver /opt/abb_robotraconteur_driver/ABBRobotRaconteurDriver --robot-info-file=/config/abb_1200_5_90_robot_default_config.yml
 ```
 
- It may be necessary to mount a docker "volume" to access configuration yml files that are not included in the docker image. 
+ It may be necessary to mount a docker "volume" to access configuration yml files that are not included in the docker image.
  See the docker documentation for instructions on mounting a local directory as a volume so it can be accessed inside the docker.
 
 ## Robot Setup Instructions

config/abb_1200_5_90_robot_default_config.yml

@@ -10,14 +10,14 @@ device_info:
   user_description: ABB Robot
   serial_number: 123456789
   device_classes:
-    - class_identifier:
-        name: robot
-        uuid: 39b513e7-21b9-4b49-8654-7537473030eb
-      subclasses: 
-        - serial
-        - serial_six_axis        
+  - class_identifier:
+      name: robot
+      uuid: 39b513e7-21b9-4b49-8654-7537473030eb
+    subclasses:
+    - serial
+    - serial_six_axis
   implemented_types:
-    - com.robotraconteur.robotics.robot.Robot
+  - com.robotraconteur.robotics.robot.Robot
 robot_type: serial
 robot_capabilities:
 - jog_command
@@ -83,7 +83,7 @@ chains:
   - 2
   - 3
   - 4
-  - 5  
+  - 5
 joint_info:
 - default_effort_units: newton_meter
   default_units: radian

examples/abb_jog_example_client.py

@@ -1,35 +1,35 @@
-from RobotRaconteur.Client import *
-import time
-import numpy as np
-
-c = RRN.ConnectService('rr+tcp://localhost:58651?service=robot')
-
-robot_info = c.robot_info
-print(robot_info)
-
-print(c.robot_state.PeekInValue()[0].command_mode)
-
-robot_const = RRN.GetConstants("com.robotraconteur.robotics.robot", c)
-
-halt_mode = robot_const["RobotCommandMode"]["halt"]
-jog_mode = robot_const["RobotCommandMode"]["jog"]
-
-c.command_mode = halt_mode
-time.sleep(0.1)
-c.command_mode = jog_mode
-
-joint_diff = np.array([-5,0,0,0,0,5,0])*np.deg2rad(1)
-joint_vel = np.array([5.0,1,1,1,1,1])
-
-for i in range(5):
-    t = time.time()
-    print("Begin move")
-    c.jog_freespace(np.deg2rad([15,0,0,0,0,0]), joint_vel, True)
-    print("done")
-    time.sleep(0.5)
-    print(hex(c.robot_state.PeekInValue()[0].robot_state_flags))
-    print("Begin move")
-    c.jog_freespace(np.deg2rad([-15,0,0,0,0,0]), joint_vel, True)
-    print("Done")
-    print(hex(c.robot_state.PeekInValue()[0].robot_state_flags))
-    time.sleep(0.5)
+from RobotRaconteur.Client import *
+import time
+import numpy as np
+
+c = RRN.ConnectService('rr+tcp://localhost:58651?service=robot')
+
+robot_info = c.robot_info
+print(robot_info)
+
+print(c.robot_state.PeekInValue()[0].command_mode)
+
+robot_const = RRN.GetConstants("com.robotraconteur.robotics.robot", c)
+
+halt_mode = robot_const["RobotCommandMode"]["halt"]
+jog_mode = robot_const["RobotCommandMode"]["jog"]
+
+c.command_mode = halt_mode
+time.sleep(0.1)
+c.command_mode = jog_mode
+
+joint_diff = np.array([-5, 0, 0, 0, 0, 5, 0]) * np.deg2rad(1)
+joint_vel = np.array([5.0, 1, 1, 1, 1, 1])
+
+for i in range(5):
+    t = time.time()
+    print("Begin move")
+    c.jog_freespace(np.deg2rad([15, 0, 0, 0, 0, 0]), joint_vel, True)
+    print("done")
+    time.sleep(0.5)
+    print(hex(c.robot_state.PeekInValue()[0].robot_state_flags))
+    print("Begin move")
+    c.jog_freespace(np.deg2rad([-15, 0, 0, 0, 0, 0]), joint_vel, True)
+    print("Done")
+    print(hex(c.robot_state.PeekInValue()[0].robot_state_flags))
+    time.sleep(0.5)