CIで体裁チェックとビルドチェックを実行

.clang-format

@@ -0,0 +1,17 @@
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: false

.github/workflows/compile-sketches.yaml

@@ -0,0 +1,63 @@
+name: Compile Sketches
+
+on:
+  push:
+    paths-ignore:
+    - '**.md'
+  pull_request:
+    paths-ignore:
+    - '**.md'
+  workflow_dispatch:
+
+env:
+  # It's convenient to set variables for values used multiple times in the workflow
+  SKETCHES_REPORTS_PATH: sketches-reports
+  SKETCHES_REPORTS_ARTIFACT_NAME: sketches-reports
+
+jobs:
+  compile-sketches:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: arduino/compile-sketches@v1
+        with:
+          enable-deltas-report: true
+          sketches-report-path: ${{ env.SKETCHES_REPORTS_PATH }}
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          fqbn: esp32:esp32:esp32s3
+          platforms: |  # ESP32公式のpackage indexを使用する
+            - name: esp32:esp32
+              source-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
+          sketch-paths: |
+            - pico_halfV2_STEP1_LED
+            - pico_halfV2_STEP2_SWITCH
+            - pico_halfV2_STEP3_Buzzer
+            - pico_halfV2_STEP4_Sensor
+            - pico_halfV2_STEP5_Straight
+            - pico_halfV2_STEP6_rotate
+            - pico_halfV2_STEP7_P_control
+            - pico_halfV2_STEP8_micromouse
+
+      # This step is needed to pass the size data to the report job 
+      - name: Upload sketches report to workflow artifact
+        uses: actions/upload-artifact@v3
+        with:
+          name: ${{ env.SKETCHES_REPORTS_ARTIFACT_NAME }}
+          path: ${{ env.SKETCHES_REPORTS_PATH }}
+
+  report:
+    needs: compile-sketches  # Wait for the compile job to finish to get the data for the report
+    if: github.event_name == 'pull_request' # Only run the job when the workflow is triggered by a pull request
+    runs-on: ubuntu-latest
+    steps:
+      # This step is needed to get the size data produced by the compile jobs
+      - name: Download sketches reports artifact
+        uses: actions/download-artifact@v3
+        with:
+          name: ${{ env.SKETCHES_REPORTS_ARTIFACT_NAME }}
+          path: ${{ env.SKETCHES_REPORTS_PATH }}
+
+      - uses: arduino/report-size-deltas@v1
+        with:
+          sketches-reports-source: ${{ env.SKETCHES_REPORTS_PATH }}
+          github-token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/lint.yaml

@@ -0,0 +1,30 @@
+name: Lint
+
+on:
+  push:
+    paths-ignore:
+    - '**.md'
+  pull_request:
+    paths-ignore:
+    - '**.md'
+  workflow_dispatch:
+
+jobs:
+  arduino-lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: arduino/arduino-lint-action@v1
+        with:
+          recursive: true
+          compliance: specification
+  clang-format:
+    needs: arduino-lint
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      # 各スケッチファイルの.ino、.hファイルに対してclang-formatによる整形が必要か判定する
+      # 正規表現を簡単にするためzshを使用する
+      - run: sudo apt install -y clang-format zsh
+      - run: clang-format --dry-run -Werror pico_halfV2_STEP*/*.(ino|h)
+        shell: zsh {0}

pico_halfV2_STEP1_LED/.clang-format

@@ -0,0 +1 @@
+../.clang-format

pico_halfV2_STEP2_SWITCH/.clang-format

@@ -0,0 +1 @@
+../.clang-format

pico_halfV2_STEP2_SWITCH/pico_halfV2_STEP2_SWITCH.ino

@@ -33,13 +33,13 @@ void setup()
   pinMode(SW_L, INPUT);
   pinMode(SW_R, INPUT);
 
-  g_state_r = g_state_l  = 0;
+  g_state_r = g_state_l = 0;
 }
 
 void loop()
 {
   // put your main code here, to run repeatedly:
-  while ( digitalRead(SW_L) && digitalRead(SW_R)) {
+  while (digitalRead(SW_L) && digitalRead(SW_R)) {
     continue;
   }
   if (digitalRead(SW_R) == 0) {

pico_halfV2_STEP3_Buzzer/.clang-format

@@ -0,0 +1 @@
+../.clang-format

pico_halfV2_STEP3_Buzzer/pico_halfV2_STEP3_Buzzer.ino

@@ -101,7 +101,7 @@ void setup()
 void loop()
 {
   // put your main code here, to run repeatedly:
-  while ( digitalRead(SW_L) & digitalRead(SW_R)) {
+  while (digitalRead(SW_L) & digitalRead(SW_R)) {
     continue;
   }
   if (digitalRead(SW_R) == 0) {

pico_halfV2_STEP4_Sensor/.clang-format

@@ -0,0 +1 @@
+../.clang-format

pico_halfV2_STEP4_Sensor/pico_halfV2_STEP4_Sensor.ino

@@ -33,7 +33,7 @@ portMUX_TYPE g_timer_mux = portMUX_INITIALIZER_UNLOCKED;
 void IRAM_ATTR onTimer1(void)
 {
   static char cnt = 0;
-  short temp_r,temp_l;
+  short temp_r, temp_l;
   portENTER_CRITICAL_ISR(&g_timer_mux);
   switch (cnt) {
     case 0:

pico_halfV2_STEP5_Straight/.clang-format

@@ -0,0 +1 @@
+../.clang-format

pico_halfV2_STEP5_Straight/pico_halfV2_STEP5_Straight.ino

@@ -28,7 +28,7 @@
 
 #define MIN_HZ 40
 #define TIRE_DIAMETER (24.70)
-#define PULSE (TIRE_DIAMETER * PI / (35.0/10.0*20.0*4.0))
+#define PULSE (TIRE_DIAMETER * PI / (35.0 / 10.0 * 20.0 * 4.0))
 #define MIN_SPEED (MIN_HZ * PULSE)
 
 hw_timer_t * g_timer0 = NULL;

pico_halfV2_STEP6_rotate/.clang-format

@@ -0,0 +1 @@
+../.clang-format

pico_halfV2_STEP6_rotate/pico_halfV2_STEP6_rotate.ino

@@ -28,7 +28,7 @@
 
 #define MIN_HZ 40
 #define TIRE_DIAMETER (24.70)
-#define PULSE (TIRE_DIAMETER * PI / (35.0/10.0*20.0*4.0))
+#define PULSE (TIRE_DIAMETER * PI / (35.0 / 10.0 * 20.0 * 4.0))
 #define MIN_SPEED (MIN_HZ * PULSE)
 #define TREAD_WIDTH (31.5)
 

pico_halfV2_STEP7_P_control/.clang-format

@@ -0,0 +1 @@
+../.clang-format

pico_halfV2_STEP7_P_control/interrupt.ino

@@ -50,7 +50,7 @@ void controlInterrupt(void)
 void sensorInterrupt(void)
 {
   static char cnt = 0;
-  short temp_r,temp_l;
+  short temp_r, temp_l;
 
   switch (cnt) {
     case 0:
@@ -61,8 +61,8 @@ void sensorInterrupt(void)
       for (int i = 0; i < 10; i++) {
         asm("nop \n");
       }
-      g_sen_fr.value = analogRead(AD4)-temp_r;
-      g_sen_fl.value = analogRead(AD1)-temp_l;
+      g_sen_fr.value = analogRead(AD4) - temp_r;
+      g_sen_fl.value = analogRead(AD1) - temp_l;
       digitalWrite(SLED_F, LOW);
       if (g_sen_fr.value > g_sen_fr.th_wall) {
         g_sen_fr.is_wall = true;
@@ -83,8 +83,8 @@ void sensorInterrupt(void)
       for (int i = 0; i < 10; i++) {
         asm("nop \n");
       }
-      g_sen_r.value = analogRead(AD3)-temp_r;
-      g_sen_l.value = analogRead(AD2)-temp_l;
+      g_sen_r.value = analogRead(AD3) - temp_r;
+      g_sen_l.value = analogRead(AD2) - temp_l;
       digitalWrite(SLED_S, LOW);
       if (g_sen_r.value > g_sen_r.th_wall) {
         g_sen_r.is_wall = true;

pico_halfV2_STEP7_P_control/pico_halfV2_STEP7_P_control.ino

@@ -37,7 +37,7 @@
 
 #define MIN_HZ 40
 #define TIRE_DIAMETER (24.70)
-#define PULSE (TIRE_DIAMETER * PI / (35.0/10.0*20.0*4.0))
+#define PULSE (TIRE_DIAMETER * PI / (35.0 / 10.0 * 20.0 * 4.0))
 #define MIN_SPEED (MIN_HZ * PULSE)
 
 //環境に合わせて変更する

pico_halfV2_STEP8_micromouse/.clang-format

@@ -0,0 +1 @@
+../.clang-format

pico_halfV2_STEP8_micromouse/device.ino

@@ -257,31 +257,31 @@ unsigned char getSW(void)
 }
 
 //sensor
-void getSensorS(volatile short *r_value, volatile short *l_value) 
+void getSensorS(volatile short * r_value, volatile short * l_value)
 {
-  short temp_r,temp_l;
-  temp_r=analogRead(AD3);
-  temp_l=analogRead(AD2);
+  short temp_r, temp_l;
+  temp_r = analogRead(AD3);
+  temp_l = analogRead(AD2);
   digitalWrite(SLED_S, HIGH);
   for (int i = 0; i < WAITLOOP_SLED; i++) {
     asm("nop \n");
   }
-  *r_value = analogRead(AD3)-temp_r;
-  *l_value = analogRead(AD2)-temp_l;
+  *r_value = analogRead(AD3) - temp_r;
+  *l_value = analogRead(AD2) - temp_l;
   digitalWrite(SLED_S, LOW);
 }
 
-void getSensorF(volatile short *fr_value, volatile short *fl_value)
+void getSensorF(volatile short * fr_value, volatile short * fl_value)
 {
-  short temp_r,temp_l;
-  temp_r=analogRead(AD4);
-  temp_l=analogRead(AD1);
+  short temp_r, temp_l;
+  temp_r = analogRead(AD4);
+  temp_l = analogRead(AD1);
   digitalWrite(SLED_F, HIGH);  //LED点灯
   for (int i = 0; i < WAITLOOP_SLED; i++) {
     asm("nop \n");
   }
-  *fr_value = analogRead(AD4)-temp_r;
-  *fl_value = analogRead(AD1)-temp_l;
+  *fr_value = analogRead(AD4) - temp_r;
+  *fl_value = analogRead(AD1) - temp_l;
   digitalWrite(SLED_F, LOW);  //LED消灯
 }
 

pico_halfV2_STEP8_micromouse/interrupt.ino

@@ -62,7 +62,7 @@ void sensorInterrupt(void)
     case 0:
       g_sen_r.p_value = g_sen_r.value;
       g_sen_l.p_value = g_sen_l.value;
-      getSensorS(&g_sen_r.value,&g_sen_l.value);
+      getSensorS(&g_sen_r.value, &g_sen_l.value);
       if (g_sen_r.value > g_sen_r.th_wall) {
         g_sen_r.is_wall = true;
       } else {
@@ -91,7 +91,7 @@ void sensorInterrupt(void)
     case 1:
       g_sen_fr.p_value = g_sen_fr.value;
       g_sen_fl.p_value = g_sen_fl.value;
-      getSensorF(&g_sen_fr.value,&g_sen_fl.value);
+      getSensorF(&g_sen_fr.value, &g_sen_fl.value);
       if (g_sen_fr.value > g_sen_fr.th_wall) {
         g_sen_fr.is_wall = true;
       } else {

pico_halfV2_STEP8_micromouse/parameter.h

@@ -4,7 +4,7 @@
 #define TIRE_DIAMETER (24.7)
 #define TREAD_WIDTH (31.5)
 #define TREAD_CIRCUIT (TREAD_WIDTH * PI / 4)
-#define PULSE (TIRE_DIAMETER * PI / (35.0/10.0*20.0*4.0))
+#define PULSE (TIRE_DIAMETER * PI / (35.0 / 10.0 * 20.0 * 4.0))
 #define MIN_HZ 40
 
 #define WAITLOOP_SLED 10