Add static code analyzing (clang-tidy)

.clang-tidy

@@ -0,0 +1,66 @@
+---
+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,
+                  '
+# WarningsAsErrors: '
+#                   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
+...

pilz_control/CMakeLists.txt

@@ -26,6 +26,21 @@ add_definitions(-std=c++11)
 
 include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
 
+################
+## Clang tidy ##
+################
+find_program(
+  CLANG_TIDY_EXE
+  NAMES "clang-tidy-6.0"
+  DOC "Path to clang-tidy executable"
+  )
+if(NOT CLANG_TIDY_EXE)
+  message(FATAL_ERROR "clang-tidy-6.0 not found.")
+else()
+  message(STATUS "clang-tidy-6.0 found: ${CLANG_TIDY_EXE}")
+  set(CMAKE_CXX_CLANG_TIDY "${CLANG_TIDY_EXE}")
+endif()
+
 add_library(${PROJECT_NAME}
             include/${PROJECT_NAME}/pilz_joint_trajectory_controller.h
             src/pilz_joint_trajectory_controller.cpp)

pilz_control/package.xml

@@ -20,6 +20,7 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <build_depend>clang-tidy</build_depend>
   <build_depend>cmake_modules</build_depend>
   <build_depend>roslint</build_depend>
 

pilz_testutils/CMakeLists.txt

@@ -20,6 +20,21 @@ catkin_package(
  LIBRARIES ${PROJECT_NAME}
 )
 
+################
+## Clang tidy ##
+################
+find_program(
+  CLANG_TIDY_EXE
+  NAMES "clang-tidy-6.0"
+  DOC "Path to clang-tidy executable"
+  )
+if(NOT CLANG_TIDY_EXE)
+  message(FATAL_ERROR "clang-tidy-6.0 not found.")
+else()
+  message(STATUS "clang-tidy-6.0 found: ${CLANG_TIDY_EXE}")
+  set(CMAKE_CXX_CLANG_TIDY "${CLANG_TIDY_EXE}")
+endif()
+
 ###########
 ## Build ##
 ###########

pilz_testutils/package.xml

@@ -17,5 +17,6 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <build_depend>clang-tidy</build_depend>
   <build_depend>roscpp</build_depend>
 </package>

prbt_gazebo/CMakeLists.txt

@@ -7,6 +7,21 @@ find_package(catkin REQUIRED COMPONENTS actionlib roscpp trajectory_msgs)
 
 catkin_package()
 
+################
+## Clang tidy ##
+################
+find_program(
+  CLANG_TIDY_EXE
+  NAMES "clang-tidy-6.0"
+  DOC "Path to clang-tidy executable"
+  )
+if(NOT CLANG_TIDY_EXE)
+  message(FATAL_ERROR "clang-tidy-6.0 not found.")
+else()
+  message(STATUS "clang-tidy-6.0 found: ${CLANG_TIDY_EXE}")
+  set(CMAKE_CXX_CLANG_TIDY "${CLANG_TIDY_EXE}")
+endif()
+
 #############
 ## Install ##
 #############

prbt_gazebo/package.xml

@@ -17,6 +17,8 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <build_depend>clang-tidy</build_depend>
+
   <exec_depend>xacro</exec_depend>
   <exec_depend>roslaunch</exec_depend>
   <exec_depend>gazebo_ros</exec_depend>

prbt_hardware_support/CMakeLists.txt

@@ -51,6 +51,21 @@ catkin_package(
   CATKIN_DEPENDS message_runtime std_msgs std_srvs sensor_msgs
 )
 
+################
+## Clang tidy ##
+################
+find_program(
+  CLANG_TIDY_EXE
+  NAMES "clang-tidy-6.0"
+  DOC "Path to clang-tidy executable"
+  )
+if(NOT CLANG_TIDY_EXE)
+  message(FATAL_ERROR "clang-tidy-6.0 not found.")
+else()
+  message(STATUS "clang-tidy-6.0 found: ${CLANG_TIDY_EXE}")
+  set(CMAKE_CXX_CLANG_TIDY "${CLANG_TIDY_EXE}")
+endif()
+
 ###########
 ## Build ##
 ###########

prbt_hardware_support/package.xml

@@ -16,14 +16,17 @@
   <url type="repository">https://github.com/PilzDE/pilz_robots</url>
 
   <buildtool_depend>catkin</buildtool_depend>
+
   <build_depend>canopen_chain_node</build_depend>
+  <build_depend>clang-tidy</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>libmodbus-dev</build_depend>
   <build_depend>message_generation</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>std_srvs</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>message_filters</build_depend>
+
   <run_depend>roscpp</run_depend>
   <run_depend>message_runtime</run_depend>
   <run_depend>std_msgs</run_depend>

prbt_ikfast_manipulator_plugin/CMakeLists.txt

@@ -9,10 +9,10 @@ add_compile_options(-Wno-unused-variable)
 add_compile_options(-Werror)
 
 # enable aligned new in gcc7+
-if(CMAKE_COMPILER_IS_GNUCXX) 
-  if (CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 7.0) 
+if(CMAKE_COMPILER_IS_GNUCXX)
+  if (CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 7.0)
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -faligned-new")
-  endif() 
+  endif()
 endif()
 
 find_package(catkin REQUIRED COMPONENTS
@@ -35,6 +35,21 @@ target_link_libraries(${IKFAST_LIBRARY_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARI
 # suppress warnings about unused variables in OpenRave's solver code
 target_compile_options(${IKFAST_LIBRARY_NAME} PRIVATE -Wno-unused-variable)
 
+################
+## Clang tidy ##
+################
+find_program(
+  CLANG_TIDY_EXE
+  NAMES "clang-tidy-6.0"
+  DOC "Path to clang-tidy executable"
+  )
+if(NOT CLANG_TIDY_EXE)
+  message(FATAL_ERROR "clang-tidy-6.0 not found.")
+else()
+  message(STATUS "clang-tidy-6.0 found: ${CLANG_TIDY_EXE}")
+  set(CMAKE_CXX_CLANG_TIDY "${CLANG_TIDY_EXE}")
+endif()
+
 install(TARGETS
   ${IKFAST_LIBRARY_NAME}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

prbt_ikfast_manipulator_plugin/package.xml

@@ -15,6 +15,7 @@
   <export>
     <moveit_core plugin="${prefix}/prbt_manipulator_moveit_ikfast_plugin_description.xml"/>
   </export>
+  <build_depend>clang-tidy</build_depend>
   <build_depend>eigen_conversions</build_depend>
   <build_depend>liblapack-dev</build_depend>
   <build_depend>moveit_core</build_depend>

prbt_support/CMakeLists.txt

@@ -8,6 +8,21 @@ catkin_package(
   INCLUDE_DIRS
 )
 
+################
+## Clang tidy ##
+################
+find_program(
+  CLANG_TIDY_EXE
+  NAMES "clang-tidy-6.0"
+  DOC "Path to clang-tidy executable"
+  )
+if(NOT CLANG_TIDY_EXE)
+  message(FATAL_ERROR "clang-tidy-6.0 not found.")
+else()
+  message(STATUS "clang-tidy-6.0 found: ${CLANG_TIDY_EXE}")
+  set(CMAKE_CXX_CLANG_TIDY "${CLANG_TIDY_EXE}")
+endif()
+
 #############
 ## Install ##
 #############
@@ -51,4 +66,3 @@ if(CATKIN_ENABLE_TESTING)
   roslaunch_add_file_check(launch)
 
 endif()
-

prbt_support/package.xml

@@ -16,6 +16,8 @@
   <url type="repository">https://github.com/PilzDE/pilz_robots</url>
 
   <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>clang-tidy</build_depend>
   <build_depend>roscpp</build_depend>
 
   <exec_depend>roscpp</exec_depend>