support catkin_lint and clang-format tests in travis.yml

.clang-format

@@ -0,0 +1,66 @@
+---
+BasedOnStyle:  Google
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+BinPackParameters: true
+ColumnLimit:    120
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+ExperimentalAutoDetectBinPacking: false
+IndentCaseLabels: true
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakString: 100
+PenaltyBreakFirstLessLess: 1000
+PenaltyExcessCharacter: 1000
+PenaltyReturnTypeOnItsOwnLine: 70
+SpacesBeforeTrailingComments: 2
+Cpp11BracedListStyle: false
+Standard:        Auto
+IndentWidth:     2
+TabWidth:        2
+UseTab:          Never
+IndentFunctionDeclarationAfterType: false
+SpacesInParentheses: false
+SpacesInAngles:  false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+ContinuationIndentWidth: 4
+SortIncludes: false
+SpaceAfterCStyleCast: false
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping: {
+    AfterClass: 'true'
+    AfterControlStatement: 'true'
+    AfterEnum : 'true'
+    AfterFunction : 'true'
+    AfterNamespace : 'true'
+    AfterStruct : 'true'
+    AfterUnion : 'true'
+    BeforeCatch : 'true'
+    BeforeElse : 'true'
+    IndentBraces : 'false'
+}
+...

.clang-tidy

@@ -0,0 +1,50 @@
+---
+Checks:          '-*,
+                  performance-*,
+                  llvm-namespace-comment,
+                  modernize-redundant-void-arg,
+                  modernize-use-nullptr,
+                  modernize-use-default,
+                  modernize-use-override,
+                  modernize-loop-convert,
+                  readability-named-parameter,
+                  readability-redundant-smartptr-get,
+                  readability-redundant-string-cstr,
+                  readability-simplify-boolean-expr,
+                  readability-container-size-empty,
+                  readability-identifier-naming,
+                  '
+HeaderFilterRegex: ''
+AnalyzeTemporaryDtors: false
+CheckOptions:
+  - key:             llvm-namespace-comment.ShortNamespaceLines
+    value:           '10'
+  - key:             llvm-namespace-comment.SpacesBeforeComments
+    value:           '2'
+  - key:             readability-braces-around-statements.ShortStatementLines
+    value:           '2'
+  # type names
+  - key:             readability-identifier-naming.ClassCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.EnumCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.UnionCase
+    value:           CamelCase
+  # method names
+  - key:             readability-identifier-naming.MethodCase
+    value:           camelBack
+  # variable names
+  - key:             readability-identifier-naming.VariableCase
+    value:           lower_case
+  - key:             readability-identifier-naming.ClassMemberSuffix
+    value:           '_'
+  # const static or global variables are UPPER_CASE
+  - key:             readability-identifier-naming.EnumConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.StaticConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.ClassConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.GlobalVariableCase
+    value:           UPPER_CASE
+...

.travis.sh

@@ -22,65 +22,131 @@ function travis_time_end {
     set -x
 }
 
+function setup {
+    travis_time_start setup.before_install
+    #before_install:
+    # Install ROS
+    sudo sh -c "echo \"deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -cs` main\" > /etc/apt/sources.list.d/ros-latest.list"
+    wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+    sudo apt-get update -qq
+    # Install ROS
+    sudo apt-get install -y -q python-catkin-pkg python-catkin-tools python-rosdep python-wstool python-rosinstall-generator ros-$ROS_DISTRO-catkin
+    source /opt/ros/$ROS_DISTRO/setup.bash
+    # Setup for rosdep
+    sudo rosdep init
+    rosdep update
+    travis_time_end
+
+    travis_time_start setup.install
+    #install:
+    mkdir -p ~/catkin_ws/src
+
+    # Add the package under test to the workspace.
+    cd ~/catkin_ws/src
+    ln -s $CI_SOURCE_PATH . # Link the repo we are testing to the new workspace
+
+    # Install all dependencies, using wstool and rosdep.
+    # wstool looks for a ROSINSTALL_FILE defined in before_install.
+    travis_time_end
+
+    travis_time_start setup.before_script
+    #before_script:
+    # source dependencies: install using wstool.
+    cd ~/catkin_ws/src
+    wstool init
+    #if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
+    if [ "$OPENCV_VERSION" == 3 ]; then rosinstall_generator image_pipeline --upstream >> .rosinstall.opencv3; fi # need to recompile image_proc
+    if [ "$OPENCV_VERSION" == 3 ]; then rosinstall_generator compressed_image_transport --upstream >> .rosinstall.opencv3; fi # need to recompile compressed_image_transport
+    if [ "$OPENCV_VERSION" == 3 ]; then rosinstall_generator vision_opencv --upstream >> .rosinstall.opencv3; fi # need to recompile visoin_opencv
+    if [ "$OPENCV_VERSION" == 3 ]; then wstool merge .rosinstall.opencv3; fi # need to recompile visoin_opencv
+    wstool up
+    wstool info
+    if [ "$OPENCV_VERSION" == 3 ]; then  sed -i 's@libopencv-dev@opencv3@' */*/package.xml ; fi
+
+
+    # package depdencies: install using rosdep.
+    cd ~/catkin_ws
+    rosdep install -q -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+    travis_time_end
+}
+
+function build {
+    travis_time_start build.script
+    source /opt/ros/$ROS_DISTRO/setup.bash
+    cd ~/catkin_ws
+    catkin build -p1 -j1 --no-status
+    travis_time_end
+}
+
+function run_test {
+    travis_time_start run_test.script
+    source /opt/ros/$ROS_DISTRO/setup.bash
+    cd ~/catkin_ws
+    catkin run_tests -p1 -j1 --no-status opencv_apps --no-deps
+    catkin_test_results --verbose build || catkin_test_results --all build
+    travis_time_end
+}
+
+function build_install {
+    travis_time_start build_install.script
+    source /opt/ros/$ROS_DISTRO/setup.bash
+    cd ~/catkin_ws
+    catkin clean -b --yes || catkin clean -b -a
+    catkin config --install
+    catkin build -p1 -j1 --no-status
+    travis_time_end
+}
+
+travis_time_start apt.before_install
 apt-get update -qq && apt-get install -y -q wget sudo lsb-release gnupg # for docker
 # set DEBIAN_FRONTEND=noninteractive
 echo 'debconf debconf/frontend select Noninteractive' | sudo debconf-set-selections
-
-travis_time_start setup.before_install
-#before_install:
-# Install ROS
-sudo sh -c "echo \"deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -cs` main\" > /etc/apt/sources.list.d/ros-latest.list"
-wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-sudo apt-get update -qq
-# Install ROS
-sudo apt-get install -y -q python-catkin-pkg python-catkin-tools python-rosdep python-wstool python-rosinstall-generator ros-$ROS_DISTRO-catkin
-source /opt/ros/$ROS_DISTRO/setup.bash
-# Setup for rosdep
-sudo rosdep init
-rosdep update
 travis_time_end
 
-travis_time_start setup.install
-#install:
-mkdir -p ~/catkin_ws/src
+if [ $TEST == "catkin_lint" ]; then
 
-# Add the package under test to the workspace.
-cd ~/catkin_ws/src
-ln -s $CI_SOURCE_PATH . # Link the repo we are testing to the new workspace
+    travis_time_start catkin_lint.script
+    apt-get install -y -q python-pip
+    pip install catkin_lint rosdep
+    rosdep init
+    rosdep update
+    travis_time_end
+    ROS_DISTRO=melodic catkin_lint --resolve-env --strict $CI_SOURCE_PATH
 
-# Install all dependencies, using wstool and rosdep.
-# wstool looks for a ROSINSTALL_FILE defined in before_install.
-travis_time_end
 
-travis_time_start setup.before_script
-#before_script:
-# source dependencies: install using wstool.
-cd ~/catkin_ws/src
-wstool init
-#if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
-if [ $OPENCV_VERSION == 3 ]; then rosinstall_generator image_pipeline --upstream >> .rosinstall.opencv3; fi # need to recompile image_proc
-if [ $OPENCV_VERSION == 3 ]; then rosinstall_generator compressed_image_transport --upstream >> .rosinstall.opencv3; fi # need to recompile compressed_image_transport
-if [ $OPENCV_VERSION == 3 ]; then rosinstall_generator vision_opencv --upstream >> .rosinstall.opencv3; fi # need to recompile visoin_opencv
-if [ $OPENCV_VERSION == 3 ]; then wstool merge .rosinstall.opencv3; fi # need to recompile visoin_opencv
-wstool up
-wstool info
-if [ $OPENCV_VERSION == 3 ]; then  sed -i 's@libopencv-dev@opencv3@' */*/package.xml ; fi
-
-
-# package depdencies: install using rosdep.
-cd ~/catkin_ws
-rosdep install -q -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
-travis_time_end
+elif [ $TEST == "clang-format" ]; then
 
-# Compile and test.
-#script:
-travis_time_start setup.script
-source /opt/ros/$ROS_DISTRO/setup.bash
-cd ~/catkin_ws
-catkin build -p1 -j1 --no-status
-catkin run_tests -p1 -j1 --no-status opencv_apps --no-deps
-catkin_test_results --verbose build || catkin_test_results --all build
-catkin clean -b --yes || catkin clean -b -a
-catkin config --install
-catkin build -p1 -j1 --no-status
-travis_time_end
+    travis_time_start clang_format.script
+    apt-get install -y -q clang-format-3.9 git
+    find $CI_SOURCE_PATH -name '*.h' -or -name '*.hpp' -or -name '*.cpp' | xargs clang-format-3.9 -i -style=file
+    travis_time_end
+    git -C $CI_SOURCE_PATH --no-pager diff
+    git -C $CI_SOURCE_PATH diff-index --quiet HEAD -- .
+
+elif [ $TEST == "clang-tidy" ]; then
+
+    setup
+
+    travis_time_start clang_tidy.script
+    apt-get install -y -q  clang-tidy clang-tools
+    cd ~/catkin_ws
+    catkin config --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
+    travis_time_end
+
+    build
+
+    travis_time_start clang_tidy.script
+    for file in $(find ~/catkin_ws/build -name compile_commands.json) ; do
+	    run-clang-tidy -fix -p $(dirname $file)
+    done
+    travis_time_end
+    git -C $CI_SOURCE_PATH --no-pager diff
+    git -C $CI_SOURCE_PATH diff-index --quiet HEAD -- .
+
+else
+    # Compile and test.
+    setup
+    build
+    run_test
+    build_install
+fi

.travis.yml

@@ -2,6 +2,9 @@ sudo: required
 dist: trusty
 language: generic
 env:
+  - TEST=catkin_lint                   DOCKER_IMAGE=ubuntu:bionic
+  - TEST=clang-format                  DOCKER_IMAGE=ubuntu:bionic
+  - TEST=clang-tidy ROS_DISTRO=melodic DOCKER_IMAGE=ubuntu:bionic
   - ROS_DISTRO=hydro                   DOCKER_IMAGE=ubuntu:precise
   - OPENCV_VERSION=2 ROS_DISTRO=indigo DOCKER_IMAGE=ubuntu:trusty
   - OPENCV_VERSION=3 ROS_DISTRO=indigo DOCKER_IMAGE=ubuntu:trusty
@@ -12,7 +15,7 @@ script:
   - export CI_SOURCE_PATH=$(pwd)
   - export REPOSITORY_NAME=${PWD##*/}
   - echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
-  - docker run --rm -i -v $CI_SOURCE_PATH:$CI_SOURCE_PATH -e "CI_SOURCE_PATH=$CI_SOURCE_PATH" -e "HOME=$HOME" -e "ROS_DISTRO=$ROS_DISTRO" -e "OPENCV_VERSION=$OPENCV_VERSION" -t $DOCKER_IMAGE sh -c "cd $CI_SOURCE_PATH; ./.travis.sh"
+  - docker run --rm -i -v $CI_SOURCE_PATH:$CI_SOURCE_PATH -e "CI_SOURCE_PATH=$CI_SOURCE_PATH" -e "HOME=$HOME" -e "ROS_DISTRO=$ROS_DISTRO" -e "OPENCV_VERSION=$OPENCV_VERSION" -e "TEST=$TEST" -t $DOCKER_IMAGE sh -c "cd $CI_SOURCE_PATH; /bin/bash .travis.sh"
 
 after_failure:
   - find ${HOME}/.ros/test_results -type f -exec echo "== {} ==" \; -exec cat {} \;

CMakeLists.txt

@@ -1,7 +1,23 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(opencv_apps)
 
-find_package(catkin REQUIRED COMPONENTS cv_bridge dynamic_reconfigure message_generation image_transport nodelet roscpp sensor_msgs)
+## https://stackoverflow.com/questions/10984442/how-to-detect-c11-support-of-a-compiler-with-cmake
+if(CMAKE_COMPILER_IS_GNUCXX)
+  execute_process(COMMAND ${CMAKE_C_COMPILER} -dumpversion OUTPUT_VARIABLE GCC_VERSION)
+  if (GCC_VERSION VERSION_GREATER 4.7 OR GCC_VERSION VERSION_EQUAL 4.7)
+    message(STATUS "C++11 activated.")
+    add_definitions("-std=gnu++11")
+  elseif(GCC_VERSION VERSION_GREATER 4.3 OR GCC_VERSION VERSION_EQUAL 4.3)
+    message(WARNING "C++0x activated. If you get any errors update to a compiler which fully supports C++11")
+    add_definitions("-std=gnu++0x")
+  else ()
+    message(FATAL_ERROR "C++11 needed. Therefore a gcc compiler with a version higher than 4.3 is needed.")
+  endif()
+else(CMAKE_COMPILER_IS_GNUCXX)
+  add_definitions("-std=c++0x")
+endif(CMAKE_COMPILER_IS_GNUCXX)
+
+find_package(catkin REQUIRED COMPONENTS cv_bridge dynamic_reconfigure message_generation image_transport nodelet roscpp sensor_msgs std_msgs std_srvs)
 
 find_package(OpenCV REQUIRED)
 message(STATUS "OpenCV VERSION: ${OpenCV_VERSION}")
@@ -99,7 +115,7 @@ generate_messages(
   std_msgs
 )
 
-catkin_package(CATKIN_DEPENDS std_msgs
+catkin_package(CATKIN_DEPENDS message_runtime sensor_msgs std_msgs
 #                DEPENDS OpenCV
                INCLUDE_DIRS include
                LIBRARIES ${PROJECT_NAME}
@@ -351,7 +367,8 @@ install(DIRECTORY launch test scripts
 
 ## test
 if(CATKIN_ENABLE_TESTING)
-  find_package(catkin REQUIRED COMPONENTS rostest roslaunch)
+  find_package(rostest REQUIRED)
+  find_package(roslaunch REQUIRED)
   if(roslaunch_VERSION VERSION_LESS "1.11.1")
     message(WARNING "roslaunch_add_file check fails with unsupported doc attributes ${roslaunch_VERSION}")
   else()