Merge branch 'ClemensElflein:main' into main

.clang-format

@@ -0,0 +1,4 @@
+BasedOnStyle: Google
+ColumnLimit: 120
+AllowShortFunctionsOnASingleLine: None
+AllowShortCaseLabelsOnASingleLine: true

.gitattributes

@@ -1,2 +1 @@
 web/* linguist-vendored
-

.github/workflows/build-image.yaml

@@ -45,6 +45,8 @@ jobs:
       # Get the repository's code
       - name: Checkout
         uses: actions/checkout@v4
+      - uses: actions/setup-python@v3
+      - uses: pre-commit/action@v3.0.1
       - name: Docker meta
         id: meta
         uses: docker/metadata-action@v5

.github/workflows/clear_github_cache.yaml

@@ -27,4 +27,4 @@ jobs:
                 cache_id: cache.id,
               })
             }
-            console.log("Clear completed")
+            console.log("Clear completed")

.gitignore

@@ -59,4 +59,3 @@ CATKIN_IGNORE
 
 cmake-build-debug/
 .vscode
-

.pre-commit-config.yaml

@@ -0,0 +1,25 @@
+exclude: '^(config|web)/.+$'
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+    -   id: check-yaml
+    -   id: end-of-file-fixer
+    -   id: trailing-whitespace
+    -   id: check-added-large-files
+    -   id: check-case-conflict
+    -   id: check-json
+    -   id: check-executables-have-shebangs
+    -   id: check-shebang-scripts-are-executable
+    -   id: pretty-format-json
+        args: [--autofix, --no-sort-keys]
+    -   id: check-merge-conflict
+    -   id: check-symlinks
+    -   id: destroyed-symlinks
+    -   id: forbid-new-submodules
+    -   id: mixed-line-ending
+-   repo: https://github.com/pocc/pre-commit-hooks
+    rev: v1.3.5
+    hooks:
+      - id: clang-format
+        args: [--style=file, -i]

LICENSE

@@ -435,4 +435,3 @@ the avoidance of doubt, this paragraph does not form part of the
 public licenses.
 
 Creative Commons may be contacted at creativecommons.org.
-

README.md

@@ -98,4 +98,3 @@ Copy the settings for **Build directory** and **CMake options**. Everything else
 <a rel="license" href="http://creativecommons.org/licenses/by-nc-sa/4.0/"><img alt="Creative Commons License" style="border-width:0" src="https://i.creativecommons.org/l/by-nc-sa/4.0/88x31.png" /></a><br />This work is licensed under a <a rel="license" href="http://creativecommons.org/licenses/by-nc-sa/4.0/">Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License</a>.
 
 Feel free to use the design in your private/educational projects, but don't try to sell the design or products based on it without getting my consent first. The idea here is to share knowledge, not to enable others to simply sell my work. Thank you for understanding.
-

devenv/Dockerfile

@@ -7,9 +7,20 @@ ARG MY_USER
 RUN groupadd -g ${MY_GID} -o ${MY_USER}
 
 # Create a new user, assign it to the group, and set its shell to bash
-RUN useradd -m -u ${MY_UID} -g ${MY_GID} -o -s /bin/bash ${MY_USER}
+RUN useradd -m -u ${MY_UID} -g ${MY_GID} -o -s /bin/bash ${MY_USER} && yes ${MY_USER} | passwd ${MY_USER}
 
-RUN apt-get update && apt-get install -y zsh git
+RUN apt-get update && apt-get install -y zsh git sudo ssh gdb rsync
+RUN echo "$MY_USER ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
+
+RUN ( \
+    echo 'LogLevel DEBUG2'; \
+    echo 'PermitRootLogin yes'; \
+    echo 'PasswordAuthentication yes'; \
+    echo 'ListenAddress 0.0.0.0:2222'; \
+    echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \
+  ) > /etc/ssh/sshd_clion \
+  && mkdir /run/sshd
+RUN bash -c "ssh-keygen -A"
 
 # Update rosdep package manager for ROS
 RUN rosdep update --rosdistro $ROS_DISTRO
@@ -36,3 +47,4 @@ RUN apt-get update && \
     rm -rf /var/lib/apt/lists/*
 
 
+CMD ["sudo", "/usr/sbin/sshd", "-D", "-e", "-f", "/etc/ssh/sshd_clion"]

devenv/README.md

@@ -3,4 +3,4 @@ A Dockerized version of ros-noetic-desktop-full.
 
 ## How to use
 - run `./start_devenv.sh` to build and run the ROS container. This will start the container in the background, you can attach to it later.
-- run `./attach.sh` to attach to the container. You should be able to do `catkin_make` and also use tools like `rviz`
+- run `./attach.sh` to attach to the container. You should be able to do `catkin_make` and also use tools like `rviz`

devenv/attach.sh

@@ -4,4 +4,3 @@ export MY_UID=$(id -u)
 export MY_GID=$(id -g)
 export MY_USER=${USER}
 docker compose exec -it ros /ros_entrypoint.sh bash
-

devenv/docker-compose.yaml

@@ -7,8 +7,6 @@ services:
         - MY_UID=${MY_UID:-1000}
         - MY_GID=${MY_GID:-1000}
         - MY_USER=${MY_USER:-dev}
-    # this will block forever and keep the container running
-    command: tail -F /dev/null
     environment:
       - DISPLAY=${DISPLAY}
       - QT_X11_NO_MITSHM=1
@@ -17,4 +15,4 @@ services:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - ../:/workspace:rw
     user: "${MY_UID:-1000}:${MY_GID:-1000}"
-
+    network_mode: "host"

devenv/start_devenv.sh

@@ -5,4 +5,3 @@ export MY_GID=$(id -g)
 export MY_USER=${USER}
 docker compose down
 docker compose up --build -d --wait
-

docker/assets/mosquitto.conf

@@ -5,4 +5,4 @@ allow_anonymous true
 
 listener 9001
 protocol websockets
-allow_anonymous true
+allow_anonymous true

src/lib/.clang-format

@@ -0,0 +1,2 @@
+DisableFormat: true
+SortIncludes: Never

src/mower_comms/src/COBS.h

@@ -8,7 +8,6 @@
 #ifndef SRC_COBS_H
 #define SRC_COBS_H
 
-
 /// \brief A Consistent Overhead Byte Stuffing (COBS) Encoder.
 ///
 /// Consistent Overhead Byte Stuffing (COBS) is an encoding that removes all 0
@@ -24,106 +23,85 @@
 /// \sa http://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing
 /// \sa https://github.com/jacquesf/COBS-Consistent-Overhead-Byte-Stuffing
 /// \sa http://www.jacquesf.com/2011/03/consistent-overhead-byte-stuffing
-class COBS
-{
-public:
-    /// \brief Encode a byte buffer with the COBS encoder.
-    /// \param buffer A pointer to the unencoded buffer to encode.
-    /// \param size  The number of bytes in the \p buffer.
-    /// \param encodedBuffer The buffer for the encoded bytes.
-    /// \returns The number of bytes written to the \p encodedBuffer.
-    /// \warning The encodedBuffer must have at least getEncodedBufferSize() 
-    ///          allocated.
-    static size_t encode(const uint8_t* buffer,
-                         size_t size,
-                         uint8_t* encodedBuffer)
-    {
-        size_t read_index  = 0;
-        size_t write_index = 1;
-        size_t code_index  = 0;
-        uint8_t code       = 1;
-
-        while (read_index < size)
-        {
-            if (buffer[read_index] == 0)
-            {
-                encodedBuffer[code_index] = code;
-                code = 1;
-                code_index = write_index++;
-                read_index++;
-            }
-            else
-            {
-                encodedBuffer[write_index++] = buffer[read_index++];
-                code++;
-
-                if (code == 0xFF)
-                {
-                    encodedBuffer[code_index] = code;
-                    code = 1;
-                    code_index = write_index++;
-                }
-            }
+class COBS {
+ public:
+  /// \brief Encode a byte buffer with the COBS encoder.
+  /// \param buffer A pointer to the unencoded buffer to encode.
+  /// \param size  The number of bytes in the \p buffer.
+  /// \param encodedBuffer The buffer for the encoded bytes.
+  /// \returns The number of bytes written to the \p encodedBuffer.
+  /// \warning The encodedBuffer must have at least getEncodedBufferSize()
+  ///          allocated.
+  static size_t encode(const uint8_t* buffer, size_t size, uint8_t* encodedBuffer) {
+    size_t read_index = 0;
+    size_t write_index = 1;
+    size_t code_index = 0;
+    uint8_t code = 1;
+
+    while (read_index < size) {
+      if (buffer[read_index] == 0) {
+        encodedBuffer[code_index] = code;
+        code = 1;
+        code_index = write_index++;
+        read_index++;
+      } else {
+        encodedBuffer[write_index++] = buffer[read_index++];
+        code++;
+
+        if (code == 0xFF) {
+          encodedBuffer[code_index] = code;
+          code = 1;
+          code_index = write_index++;
         }
+      }
+    }
 
-        encodedBuffer[code_index] = code;
+    encodedBuffer[code_index] = code;
 
-        return write_index;
-    }
+    return write_index;
+  }
 
+  /// \brief Decode a COBS-encoded buffer.
+  /// \param encodedBuffer A pointer to the \p encodedBuffer to decode.
+  /// \param size The number of bytes in the \p encodedBuffer.
+  /// \param decodedBuffer The target buffer for the decoded bytes.
+  /// \returns The number of bytes written to the \p decodedBuffer.
+  /// \warning decodedBuffer must have a minimum capacity of size.
+  static size_t decode(const uint8_t* encodedBuffer, size_t size, uint8_t* decodedBuffer) {
+    if (size == 0) return 0;
 
-    /// \brief Decode a COBS-encoded buffer.
-    /// \param encodedBuffer A pointer to the \p encodedBuffer to decode.
-    /// \param size The number of bytes in the \p encodedBuffer.
-    /// \param decodedBuffer The target buffer for the decoded bytes.
-    /// \returns The number of bytes written to the \p decodedBuffer.
-    /// \warning decodedBuffer must have a minimum capacity of size.
-    static size_t decode(const uint8_t* encodedBuffer,
-                         size_t size,
-                         uint8_t* decodedBuffer)
-    {
-        if (size == 0)
-            return 0;
-
-        size_t read_index  = 0;
-        size_t write_index = 0;
-        uint8_t code       = 0;
-        uint8_t i          = 0;
-
-        while (read_index < size)
-        {
-            code = encodedBuffer[read_index];
-
-            if (read_index + code > size && code != 1)
-            {
-                return 0;
-            }
-
-            read_index++;
-
-            for (i = 1; i < code; i++)
-            {
-                decodedBuffer[write_index++] = encodedBuffer[read_index++];
-            }
-
-            if (code != 0xFF && read_index != size)
-            {
-                decodedBuffer[write_index++] = '\0';
-            }
-        }
+    size_t read_index = 0;
+    size_t write_index = 0;
+    uint8_t code = 0;
+    uint8_t i = 0;
 
-        return write_index;
-    }
+    while (read_index < size) {
+      code = encodedBuffer[read_index];
+
+      if (read_index + code > size && code != 1) {
+        return 0;
+      }
+
+      read_index++;
 
-    /// \brief Get the maximum encoded buffer size for an unencoded buffer size.
-    /// \param unencodedBufferSize The size of the buffer to be encoded.
-    /// \returns the maximum size of the required encoded buffer.
-    static size_t getEncodedBufferSize(size_t unencodedBufferSize)
-    {
-        return unencodedBufferSize + unencodedBufferSize / 254 + 1;
+      for (i = 1; i < code; i++) {
+        decodedBuffer[write_index++] = encodedBuffer[read_index++];
+      }
+
+      if (code != 0xFF && read_index != size) {
+        decodedBuffer[write_index++] = '\0';
+      }
     }
 
-};
+    return write_index;
+  }
 
+  /// \brief Get the maximum encoded buffer size for an unencoded buffer size.
+  /// \param unencodedBufferSize The size of the buffer to be encoded.
+  /// \returns the maximum size of the required encoded buffer.
+  static size_t getEncodedBufferSize(size_t unencodedBufferSize) {
+    return unencodedBufferSize + unencodedBufferSize / 254 + 1;
+  }
+};
 
-#endif
+#endif