227 workflow add checks on cpp documentation

.clang-format

@@ -0,0 +1,14 @@
+# SPDX-FileCopyrightText: Alliander N. V.
+# 
+# SPDX-License-Identifier: Apache-2.0
+Language: Cpp
+BasedOnStyle: Google 
+
+InsertNewlineAtEOF: true
+SeparateDefinitionBlocks: Always
+SortIncludes: true
+IncludeBlocks: Regroup
+KeepEmptyLines:
+  AtEndOfFile: false
+  AtStartOfBlock: false
+  AtStartOfFile: false

.clangd

@@ -0,0 +1,5 @@
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+Documentation:
+  CommentFormat: Doxygen

.devcontainer/docker-compose.yml

@@ -1,5 +1,5 @@
 # SPDX-FileCopyrightText: Alliander N. V.
-# 
+#
 # SPDX-License-Identifier: Apache-2.0
 
 services:
@@ -17,13 +17,16 @@ services:
       - "/tmp/.X11-unix:/tmp/.X11-unix"
       - "${HOME}/.vscode-server:/home/rcdt/.vscode-server"
       - "../:/home/rcdt/rcdt_robotics/"
-      - ../.cache/zed/resources:/usr/local/zed/resources
-      - ../.cache/zed/settings:/usr/local/zed/settings
       - "../.personal.bashrc:/home/rcdt/.personal.bashrc"
       - "../.env:/home/rcdt/.env"
       - "../pyproject.toml:/home/rcdt/pyproject.toml"
       - "../.config:/home/rcdt/.config"
+      - "../clangd:/home/rcdt/clangd" # Allows to mount a newer clangd version, can be used in VSCode.
       - "/dev:/dev"
+      - "${HOME}/.nix-profile/bin/nvim:/usr/bin/nvim"
+      - "/nix/store:/nix/store"
+      - "../.cache/zed/resources:/usr/local/zed/resources"
+      - "../.cache/zed/settings:/usr/local/zed/settings"
     environment:
       - "DISPLAY"
       - "RCUTILS_COLORIZED_OUTPUT=1"

.github/workflows/linting.yml

@@ -37,12 +37,19 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
-      - run: sudo apt install -y clang-format
-      - run: find ros2_ws/src -iname '*.h' -o -iname '*.hpp' -o -iname '*.cpp' | xargs clang-format --dry-run --Werror
+      - run: python3 -m pip install clang-format
+      - run: find ros2_ws/src -iname '*.h' -o -iname '*.hpp' -o -iname '*.cpp' | xargs clang-format --dry-run --Werror --style=file
+
+  doxygen:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - run: sudo apt update && sudo apt install -y doxygen
+      - run: ./doxygen-lint.sh 
 
   reuse:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
       - name: REUSE Compliance Check
-        uses: fsfe/reuse-action@v4
+        uses: fsfe/reuse-action@v4

.gitignore

@@ -20,8 +20,13 @@ ignore/
 .vscode-server
 
 build/
+clangd/
 
 .env
 !.devcontainer/.env
 .cache
 .venv
+
+# for LSP in neovim
+.clangd-build/
+**/compile_commands.json

.pre-commit-config.yaml

@@ -51,6 +51,13 @@ repos:
     hooks:
       - id: clang-format
         types_or: [c++, c, cuda]
+  - repo: local
+    hooks:
+      - id: doxygen
+        name: doxygen linting 
+        entry: ./doxygen-lint.sh
+        language: system
+        pass_filenames: false
   - repo: https://github.com/fsfe/reuse-tool
     rev: v5.0.2
     hooks:

dockerfiles/install_scripts/dev_packages.sh

@@ -9,4 +9,6 @@ source /home/$UNAME/.bashrc
 apt update
 
 apt install -y \
-    ros-$ROS_DISTRO-nmea-navsat-driver
+    clang \
+    doxygen \
+    ros-$ROS_DISTRO-nmea-navsat-driver

docs/content/workflows.md

@@ -27,6 +27,9 @@ Checks all files in this repository on usage of copyright terms.
 - **Ty**:\
 Runs static type checks on our Python code using [Ty](https://github.com/astral-sh/ty).  
 
+- **doxygen**:\
+Runs code documentation checks for .cpp, .hpp, and .h files, using the rules specified in *doxyfile.lint*. In the future, other filetypes may be added as well.
+
 ### Local Development
 
 You can run these checks locally before committing by using the [`pre-commit`](https://pre-commit.com/) framework:

doxyfile.lint

@@ -0,0 +1,28 @@
+# SPDX-FileCopyrightText: Alliander N. V.
+# 
+# SPDX-License-Identifier: Apache-2.0
+PROJECT_NAME = "RCDT Robotics"
+
+INPUT = ros2_ws/src
+RECURSIVE = YES
+QUIET = YES
+
+WARNINGS = YES
+WARN_NO_PARAMDOC = YES
+WARN_IF_UNDOC_ENUM_VAL = YES
+
+EXTRACT_PRIVATE = YES
+EXTRACT_PRIV_VIRTUAL = YES
+EXTRACT_PACKAGE = YES
+EXTRACT_STATIC = YES
+EXTRACT_LOCAL_CLASSES = YES
+
+# If no output is generated, Doxygen seems to not fully parse documentation.
+# This can lead to erroneous warnings that are not present if any type of output is generated. 
+GENERATE_LATEX = NO
+GENERATE_HTML = NO
+GENERATE_RTF = YES
+
+FILE_PATTERNS = *.cpp \
+		*.h \
+		*.hpp

doxygen-lint.sh

@@ -0,0 +1,28 @@
+#!/bin/bash
+
+# SPDX-FileCopyrightText: Alliander N. V.
+# 
+# SPDX-License-Identifier: Apache-2.0
+FILENAME=doxyfile.lint
+
+if ! command -v doxygen > /dev/null 2>&1 ; then
+  echo "Doxygen not found, exiting."
+  exit 1
+fi
+
+if [ ! -f $FILENAME ]; then
+  echo "Doxyfile '$FILENAME' not found, exiting."
+  exit 1
+fi
+
+OUTPUT=$(doxygen $FILENAME /dev/null 2>&1)
+NUM_WARNINGS=$(echo "$OUTPUT" | grep -i "warning:" | wc -l)
+
+SCRIPT_DIR=$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" &>/dev/null && pwd)
+rm -rf $SCRIPT_DIR/rtf/
+
+if [ "$NUM_WARNINGS" -gt 0 ]; then
+  echo "$OUTPUT"
+  echo "Doxygen found $NUM_WARNINGS documentation warnings."
+  exit 1
+fi

ros2_ws/src/rcdt_moveit/include/moveit_manager.hpp

@@ -2,12 +2,13 @@
 //
 // # SPDX-License-Identifier: Apache-2.0
 
+#include <moveit_visual_tools/moveit_visual_tools.h>
+
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <moveit/move_group_interface/move_group_interface.hpp>
 #include <moveit/planning_scene_interface/planning_scene_interface.hpp>
 #include <moveit/robot_model/joint_model_group.hpp>
 #include <moveit_msgs/srv/servo_command_type.hpp>
-#include <moveit_visual_tools/moveit_visual_tools.h>
 #include <rcdt_messages/srv/add_marker.hpp>
 #include <rcdt_messages/srv/add_object.hpp>
 #include <rcdt_messages/srv/define_goal_pose.hpp>
@@ -29,71 +30,170 @@ typedef std_srvs::srv::Trigger Trigger;
 typedef geometry_msgs::msg::PoseStamped PoseStamped;
 typedef rcdt_messages::srv::ExpressPoseInOtherFrame ExpressPoseInOtherFrame;
 
-struct Action {
-  std::string name;
-  std::string argument = "";
-  float value = 0.0;
-};
-
+/**
+ * Class to interact with the Moveit framework.
+ */
 class MoveitManager {
-public:
+ public:
+  /**
+   * @brief constructor for the MoveitManager class.
+   * @param node The ROS2 node to attach to.
+   */
   MoveitManager(rclcpp::Node::SharedPtr node);
 
-private:
-  rclcpp::Node::SharedPtr node;
-  rclcpp::Node::SharedPtr client_node;
-  moveit::planning_interface::MoveGroupInterface move_group;
-  moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
-  const moveit::core::JointModelGroup *joint_model_group;
-  moveit_visual_tools::MoveItVisualTools moveit_visual_tools;
-  PoseStamped goal_pose;
+ private:
+  rclcpp::Node::SharedPtr node; /**< ROS2 node with MoveIt Services */
+  rclcpp::Node::SharedPtr
+      client_node; /**< ROS2 node with ExpressPoseInOtherFrame Client */
+  moveit::planning_interface::MoveGroupInterface
+      move_group; /**< Interface for setting joint/pose goals */
+  moveit::planning_interface::PlanningSceneInterface
+      planning_scene_interface; /**< Interface for adding collision objects */
+  const moveit::core::JointModelGroup*
+      joint_model_group; /**< Joint models for planning trajectories */
+  moveit_visual_tools::MoveItVisualTools
+      moveit_visual_tools; /**< Visualization tools */
+  PoseStamped goal_pose;   /**< Goal pose to move end-effector to */
 
   //   Definitions:
   std::map<std::string, int> shapes = {
-      {"BOX", 1}, {"SPHERE", 2}, {"CYLINDER", 3}, {"CONE", 4}};
-  std::set<std::string> pilz_types = {"PTP", "LIN", "CIRC"};
+      {"BOX", 1},
+      {"SPHERE", 2},
+      {"CYLINDER", 3},
+      {"CONE", 4}}; /**< Basic shape types for MoveIt */
+  std::set<std::string> pilz_types = {
+      "PTP", "LIN",
+      "CIRC"}; /**< Motion planning types (point-to-point, linear, circular) */
 
   //   Clients:
   rclcpp::Client<ExpressPoseInOtherFrame>::SharedPtr
-      express_pose_in_other_frame_client;
+      express_pose_in_other_frame_client; /**< Client to transform a Pose in
+                                             another coordinate frame */
 
   //   Services:
-  rclcpp::Service<AddObject>::SharedPtr add_object_service;
+  rclcpp::Service<AddObject>::SharedPtr
+      add_object_service; /**< Service to add collision object */
+
+  /**
+   * @brief Callback to add a collision object.
+   * @param request The AddObject request indicating object pose and shape.
+   * @param response Response indicating whether the service call succeeded.
+   */
   void add_object(const std::shared_ptr<AddObject::Request> request,
                   std::shared_ptr<AddObject::Response> response);
 
-  rclcpp::Service<Trigger>::SharedPtr clear_objects_service;
+  rclcpp::Service<Trigger>::SharedPtr
+      clear_objects_service; /**< Service to remove all collision objects */
+
+  /**
+   * @brief Callback to clear collision objects.
+   * @param request The Trigger request.
+   * @param response Response indicating whether the service call succeeded.
+   */
   void clear_objects(const std::shared_ptr<Trigger::Request> request,
                      std::shared_ptr<Trigger::Response> response);
 
-  rclcpp::Service<DefineGoalPose>::SharedPtr define_goal_pose_service;
+  rclcpp::Service<DefineGoalPose>::SharedPtr
+      define_goal_pose_service; /**< Service to define goal
+                                   pose for arm to move to */
+
+  /**
+   * @brief Callback to define goal pose for arm to move to.
+   * @param request The DefineGoalPose request containing the goal pose.
+   * @param response Response indicating whether the service call succeeded.
+   */
   void define_goal_pose(const std::shared_ptr<DefineGoalPose::Request> request,
                         std::shared_ptr<DefineGoalPose::Response> response);
 
-  rclcpp::Service<TransformGoalPose>::SharedPtr transform_goal_pose_service;
-  void
-  transform_goal_pose(const std::shared_ptr<TransformGoalPose::Request> request,
-                      std::shared_ptr<TransformGoalPose::Response> response);
-
-  rclcpp::Service<MoveToConf>::SharedPtr move_to_configuration_service;
+  rclcpp::Service<TransformGoalPose>::SharedPtr
+      transform_goal_pose_service; /**< Service to offset the goal_pose by a
+                                      specified translation */
+
+  /**
+   * @brief Callback to offset goal_pose by a specified translation around a
+   * specified axis.
+   * @param request The TransformGoalPose request containing relevant axis and
+   * translation.
+   * @param response Response indicating whether the service call succeeded.
+   */
+  void transform_goal_pose(
+      const std::shared_ptr<TransformGoalPose::Request> request,
+      std::shared_ptr<TransformGoalPose::Response> response);
+
+  rclcpp::Service<MoveToConf>::SharedPtr
+      move_to_configuration_service; /**< Service to move to a specified
+                                        configuration */
+
+  /**
+   * @brief Callback to move arm to a specified configuration (e.g. home).
+   * @param request The MoveToConf request containing the configuration.
+   * @param response Response indicating whether the service call succeeded.
+   */
   void move_to_configuration(const std::shared_ptr<MoveToConf::Request> request,
                              std::shared_ptr<MoveToConf::Response> response);
 
-  rclcpp::Service<MoveHandToPose>::SharedPtr move_hand_to_pose_service;
+  rclcpp::Service<MoveHandToPose>::SharedPtr
+      move_hand_to_pose_service; /**< Service to move hand to
+                                    a specified goal Pose */
+
+  /**
+   * @brief Callback to move arm to a specified goal Pose.
+   * @param request The MoveHandToPose request containing the goal Pose and Pilz
+   * planning type.
+   * @param response Response indicating whether the service call succeeded.
+   */
   void move_hand_to_pose(const std::shared_ptr<MoveHandToPose::Request> request,
                          std::shared_ptr<MoveHandToPose::Response> response);
 
-  rclcpp::Service<AddMarker>::SharedPtr add_marker_service;
+  rclcpp::Service<AddMarker>::SharedPtr
+      add_marker_service; /**< Service to add a visual marker at a
+                             specified Pose */
+
+  /**
+   * @brief Callback to add a visual marker at a specified location.
+   * @param request The AddMarker request containing the Pose to add the visual
+   * marker.
+   * @param response Response indicating whether the service call succeeded.
+   */
   void add_marker(const std::shared_ptr<AddMarker::Request> request,
                   std::shared_ptr<AddMarker::Response> response);
 
-  rclcpp::Service<Trigger>::SharedPtr clear_markers_service;
+  rclcpp::Service<Trigger>::SharedPtr
+      clear_markers_service; /**< Service to clear all visual markers. */
+
+  /**
+   * @brief Callback to clear all visual markers.
+   * @param request The Trigger request to remove all visual markers.
+   * @param response Response indicating whether the service call succeeded.
+   */
   void clear_markers(const std::shared_ptr<Trigger::Request> request,
                      std::shared_ptr<Trigger::Response> response);
 
   //   Methods:
+  /**
+   * @brief Initializes the ExpressPoseInOtherFrame service client Node and
+   * Client.
+   */
   void initialize_clients();
+
+  /**
+   * @brief Initializes all MoveIt Services
+   */
   void initialize_services();
+
+  /**
+   * @brief Method to change a specified Pose to a world-fixed frame.
+   * @param pose PoseStamped object to transform into world-fixed-frame.
+   * @return PoseStamped object transformed to world-fixed frame.
+   */
   PoseStamped change_frame_to_world(PoseStamped pose);
+
+  /**
+   * @brief Method that engages the move_group to plan a trajectory to the
+   * goal_pose.
+   * @param planning_type String containing the Pilz planning type
+   * (point-to-point, linear, circular).
+   * @return boolean indicating whether the planning succeeded or not.
+   */
   bool plan_and_execute(std::string planning_type = "");
-};
+};