From 5ed842df272e9d24aa31a859462488154cff9630 Mon Sep 17 00:00:00 2001
From: Henry Huang <69825683+hhenry01@users.noreply.github.com>
Date: Wed, 8 Nov 2023 12:59:49 -0800
Subject: [PATCH] Fix cpp Config (#199)

* Fix cpp config

* Remove c_cpp_properties.json

* Update clang-tidy CI
---
 .../config/sailbot_workspace.code-workspace    | 14 ++++++++++++++
 .github/actions/clang-tidy/run.sh              |  2 +-
 .vscode/c_cpp_properties.json                  | 18 ------------------
 build.sh                                       |  6 ------
 4 files changed, 15 insertions(+), 25 deletions(-)
 delete mode 100644 .vscode/c_cpp_properties.json

diff --git a/.devcontainer/config/sailbot_workspace.code-workspace b/.devcontainer/config/sailbot_workspace.code-workspace
index 5e2539185..8f61c7a21 100644
--- a/.devcontainer/config/sailbot_workspace.code-workspace
+++ b/.devcontainer/config/sailbot_workspace.code-workspace
@@ -180,11 +180,25 @@
         "mypy-type-checker.interpreter": ["/usr/bin/python3"],
 
         // c/c++
+
+        "C_Cpp.intelliSenseEngine": "disabled",  // Use clangd intellisense instead (it's better)
+
+        "clangd.path": "/usr/bin/clangd",
+        "clangd.onConfigChanged": "restart",
+        "clangd.arguments": [
+            "-log=verbose",
+            "-pretty",
+            "--background-index",
+            "--compile-commands-dir=/workspaces/sailbot_workspace/build/"
+        ],
+
         "[cpp]": {
+            "editor.defaultFormatter": "llvm-vs-code-extensions.vscode-clangd",
             "editor.formatOnSave": true,
             "editor.rulers": [120],
         },
         "[c]": {
+            "editor.defaultFormatter": "llvm-vs-code-extensions.vscode-clangd",
             "editor.formatOnSave": true,
             "editor.rulers": [120],
         },
diff --git a/.github/actions/clang-tidy/run.sh b/.github/actions/clang-tidy/run.sh
index 5c08e0795..d3872d336 100755
--- a/.github/actions/clang-tidy/run.sh
+++ b/.github/actions/clang-tidy/run.sh
@@ -7,4 +7,4 @@ if [[ $LOCAL_RUN != "true" ]]; then
     ./build.sh RelWithDebInfo OFF
 fi
 
-python3 .github/actions/clang-tidy/ament_clang_tidy.py compile_commands.json --jobs 8
+python3 .github/actions/clang-tidy/ament_clang_tidy.py build/compile_commands.json --jobs 8
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
deleted file mode 100644
index e346acd25..000000000
--- a/.vscode/c_cpp_properties.json
+++ /dev/null
@@ -1,18 +0,0 @@
-{
-    "configurations": [
-        {
-            "name": "Linux",
-            "includePath": [
-                "${workspaceFolder}/**",
-                "/opt/ros/humble/include/**"
-            ],
-            "defines": [],
-            "compilerPath": "/usr/bin/clang",
-            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
-            "cStandard": "c99",
-            "cppStandard": "c++14",
-            "intelliSenseMode": "linux-clang-x64"
-        }
-    ],
-    "version": 4
-}
diff --git a/build.sh b/build.sh
index 353fc3a91..6dac9b36d 100755
--- a/build.sh
+++ b/build.sh
@@ -41,9 +41,3 @@ colcon build \
         --merge-install \
         --symlink-install \
         --cmake-args "-DCMAKE_BUILD_TYPE=$BUILD_TYPE" "-DSTATIC_ANALYSIS=$STATIC_ANALYSIS" "-DUNIT_TEST=$UNIT_TEST" "--no-warn-unused-cli"
-
-# For Clangd
-if [[ -f $ROS_WORKSPACE/build/compile_commands.json && ! -f $ROS_WORKSPACE/compile_commands.json ]]
-then
-    ln -s $ROS_WORKSPACE/build/compile_commands.json $ROS_WORKSPACE
-fi