Issue #10: Implement Code Style and Static Code Analyse check

Author: AksonovSergei

.clang-format

@@ -0,0 +1,4 @@
+BasedOnStyle: Google
+IndentWidth: 4
+ColumnLimit: 120
+Language: Cpp

.clang-tidy

@@ -0,0 +1,75 @@
+Checks: >
+  google-*,
+  clang-analyzer-*,
+  modernize-*,
+  readability-*,
+  performance-*,
+  cert-*,
+  concurrency-*,
+  misc-*,
+  portability-*,
+  cppcoreguidelines-*,
+  misc-definitions-in-headers,
+  -modernize-use-trailing-return-type,
+  -cppcoreguidelines-pro-bounds-pointer-arithmetic
+
+
+CheckOptions:
+  - key: readability-identifier-naming.ClassCase
+    value: CamelCase  # Classes should use CamelCase
+    
+  - key: readability-identifier-naming.StructCase
+    value: CamelCase  # Structs should use CamelCase
+
+  - key: readability-identifier-naming.EnumCase
+    value: CamelCase  # Enums should use CamelCase
+
+  - key: readability-identifier-naming.EnumConstantCase
+    value: CamelCase
+  - key: readability-identifier-naming.EnumConstantPrefix
+    value: k  # Google style: kEnumValue
+
+  - key: readability-identifier-naming.FunctionCase
+    value: CamelCase  # Google style: Functions use CamelCase, not camelCase
+
+  - key: readability-identifier-naming.VariableCase
+    value: lower_case  # Google style: snake_case for variables
+
+  - key: readability-identifier-naming.MemberCase
+    value: lower_case  # Google style: snake_case for member variables
+    
+  - key: readability-identifier-naming.MemberSuffix
+    value: _  # Google style: member variables have trailing underscore
+
+  - key: readability-identifier-naming.PrivateMemberSuffix
+    value: _  # Private members have underscore suffix in Google style
+
+  - key: readability-identifier-naming.GlobalVariableCase
+    value: lower_case  # Global variables use snake_case
+    
+  - key: readability-identifier-naming.GlobalConstantCase
+    value: CamelCase
+  - key: readability-identifier-naming.GlobalConstantPrefix
+    value: k  # Google style: kCamelCase
+
+  - key: readability-identifier-naming.StaticVariableCase
+    value: lower_case  # Static variables use snake_case
+
+  - key: readability-identifier-naming.StaticConstantCase
+    value: CamelCase
+  - key: readability-identifier-naming.StaticConstantPrefix
+    value: k  # Static constants use kCamelCase
+
+  - key: readability-identifier-naming.ConstantCase
+    value: CamelCase
+  - key: readability-identifier-naming.ConstantPrefix
+    value: k  # Constants use kCamelCase
+
+  - key: readability-identifier-naming.MacroCase
+    value: UPPER_CASE  # Macros use UPPER_CASE
+
+  - key: readability-identifier-naming.TypedefCase
+    value: CamelCase  # Typedefs use CamelCase
+
+  - key: readability-identifier-naming.NamespaceCase
+    value: lower_case  # Namespaces use snake_case

.github/workflows/pr-code-style-check.yml

@@ -0,0 +1,34 @@
+name: C++ Code Style and Static Analysis
+
+on:
+  pull_request:
+    types: [opened, synchronize, reopened, ready_for_review]
+
+jobs:
+  check-cs:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      checks: write
+      packages: read
+    container: ghcr.io/kpi-rover/kpi-rover-bbb-check:latest
+    steps:
+      - name: Checkout Code with Submodules
+        uses: actions/checkout@v3
+        with:
+          submodules: recursive
+          fetch-depth: 0
+
+      - name: Configure CMake
+        run: cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -B build/check
+
+      - name: Verify compile_commands.json exists
+        run: ls build/check/compile_commands.json
+
+      - name: Run Clang-Format
+        id: clang-format
+        run: find src/kpi_rover_ecu/ -name '*.cpp' -o -name '*.h' | xargs --no-run-if-empty clang-format --dry-run --Werror
+
+      - name: Run Clang-Tidy
+        id: clang-tidy
+        run: find src/kpi_rover_ecu/ -name '*.cpp' -o -name '*.h' | xargs --no-run-if-empty clang-tidy -p=build/check --warnings-as-errors='*'

README.md

@@ -2,10 +2,9 @@
 
 For the first time, the Beaglebone board should be prepared. Please refer to the section [Preparing Beaglebone Blue Board](#Preparing-Beaglebone-Blue-Board).
 
-## Communication between BBB and ROS2
-![BBB2ROS](./docs/BBB2ROS.png)
+## Build project and deploy on BBB
 
-## Download Source Code
+### Download Source Code
 ```
 git clone --recurse-submodules [email protected]:KPI-Rover/ecu_sw_bb.git
 cd ecu_sw_bb
@@ -18,6 +17,67 @@ git submodule init
 git submodule update
 ```
 
+### Build Docker Image
+```
+docker build -t kpi-rover-bbb-build -f docker/Dockerfile.build .
+
+docker build -t kpi-rover-bbb-check -f docker/Dockerfile.check .
+```
+
+### Build application using Docker
+```bash
+./build.sh
+```
+
+### Upload binary file to Beaglebone Blue
+```bash
+export BBB_HOST=debian@<BeagleBone Blue IP>
+./deploy.sh
+```
+
+## Run software on BBB
+
+### Connect to board using SSH 
+Using USB over network
+
+```
+ssh [email protected]:~
+password: temppwd
+```
+
+If you set wireless interface
+
+```
+ssh debian@<bbb_local_ip>:~
+password: temppwd
+```
+
+### Run program
+```
+./kpi_rover_ecu -a 0.0.0.0 -p 6000
+```
+## Code Style Check and Static Code Analysis
+
+### Importance
+Consistent code style and static code analysis are essential for maintaining high-quality software:
+- **Code Readability**: Consistent style makes code easier to read and understand for all team members
+- **Error Prevention**: Static analysis helps identify potential bugs, memory leaks, and undefined behavior before runtime
+- **Maintainability**: Standardized code is easier to maintain and extend over time
+- **Collaboration**: Unified coding conventions improve team collaboration and onboarding process
+
+### Standards
+This project follows the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html), which provides comprehensive guidelines for C++ coding conventions.
+
+### Continuous Integration
+GitHub CI is configured to automatically verify code style and perform static analysis on each Pull Request. PRs failing these checks cannot be merged until issues are resolved, ensuring code quality standards are maintained throughout the development process.
+
+### Local Verification
+To check code style and run static analysis locally before committing:
+```bash
+./check_cs.sh
+```
+This script will identify any style violations or potential issues in your code, allowing you to fix them before pushing your changes.
+
 ## Preparing Beaglebone Blue Board
 
 ### Download and flash image
@@ -132,46 +192,6 @@ sudo systemctl enable robotcontrol
 sudo systemctl start robotcontrol
 ```
 
-## Build of project and loading on BBB
-
-### Build Docker Image
-```
-docker build -t kpi-rover-bbb .
-```
-
-### Build application using Docker
-```bash
-./build.sh
-```
-
-### Upload binary file to Beaglebone Blue
-```bash
-export BBB_HOST=debian@<BeagleBone Blue IP>
-./deploy.sh
-```
-
-## Running
-
-### Connect to board using SSH 
-Using USB over network
-
-```
-ssh [email protected]:~
-password: temppwd
-```
-
-If you set wireless interface
-
-```
-ssh debian@<bbb_local_ip>:~
-password: temppwd
-```
-
-### Run program
-```
-./kpi_rover_ecu -a 0.0.0.0 -p 6000
-```
-
 ## Fixing probable issues while debugging or testing
 
 If server started on 192.168.7.2 :

build.sh

@@ -1,14 +1,17 @@
 #!/bin/bash
 
+# Ensure build directory exists
+mkdir -p build/target
+
 # Check if the "nocache" argument is passed
 if [[ "$1" == "nocache" ]]; then
     echo "-- Clearing CMake cache..."
-    rm -rf build/*
+    rm -rf build/target/*
 fi
 
 # Run the Docker container with CMake commands
 docker run -it --rm \
     -u $(id -u ${USER}):$(id -g ${USER}) \
-    -v $(pwd):/work \
-    kpi-rover-bbb \
-    bash -c "cmake -B build -H. && cmake --build build -- -j$(nproc)"
+    -v $(pwd):/workspace \
+    kpi-rover-bbb-build \
+    bash -c "cmake -B build/target -H. && cmake --build build/target -- -j$(nproc)"

check_cs.sh

@@ -0,0 +1,12 @@
+#!/bin/bash
+
+docker run -it --rm \
+    -u $(id -u ${USER}):$(id -g ${USER}) \
+    -v $(pwd):/workspace \
+    kpi-rover-bbb-check \
+    bash -c "
+        cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -B build/check && ls build/check/compile_commands.json && \
+        find src/kpi_rover_ecu/ -name '*.cpp' -o -name '*.h' | xargs --no-run-if-empty clang-format --dry-run --Werror; \
+        find src/kpi_rover_ecu/ -name '*.cpp' -o -name '*.h' | xargs --no-run-if-empty clang-tidy -p=build/check --warnings-as-errors='*'
+    "
+

Dockerfile docker/Dockerfile.buildDockerfile renamed to docker/Dockerfile.build

@@ -24,4 +24,4 @@ ENV AS=/usr/bin/arm-linux-gnueabihf-as \
 
     RUN echo "alias ll='ls -alF --color=auto'" >> /etc/bash.bashrc
 
-WORKDIR /work
+WORKDIR /workspace

docker/Dockerfile.check

@@ -0,0 +1,37 @@
+#######################################################
+# Dockerfile for the Beaglebone blue cross compilation
+#######################################################
+
+FROM ubuntu:24.04
+
+RUN apt-get update -q && \
+    apt-get install -y -q \
+    gcc-arm-linux-gnueabihf \
+    g++-arm-linux-gnueabihf \
+    clang-format \
+    clang-tidy \
+    cppcheck \
+    python3 \
+    python3-pip \
+    cmake \
+    && rm -rf /var/lib/apt/lists/*
+
+# RUN ln -s /usr/bin/arm-linux-gnueabihf-g++-8 /usr/bin/arm-linux-gnueabihf-g++ && \
+#     ln -s /usr/bin/arm-linux-gnueabihf-gcc-8 /usr/bin/arm-linux-gnueabihf-gcc && \
+#     ln -s /usr/bin/arm-linux-gnueabihf-cpp-8 /usr/bin/arm-linux-gnueabihf-cpp
+    
+ENV AS=/usr/bin/arm-linux-gnueabihf-as \
+    AR=/usr/bin/arm-linux-gnueabihf-ar \
+    CC=/usr/bin/arm-linux-gnueabihf-gcc \
+    CPP=/usr/bin/arm-linux-gnueabihf-cpp \
+    CXX=/usr/bin/arm-linux-gnueabihf-g++ \
+    LD=/usr/bin/arm-linux-gnueabihf-ld
+
+RUN echo "alias ll='ls -alF --color=auto'" >> /etc/bash.bashrc
+
+RUN apt-get update -q && \
+    apt-get install -y -q \
+    git \
+    && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /workspace

docs/architecture.md

@@ -0,0 +1,2 @@
+## Communication between BBB and ROS2
+![BBB2ROS](BBB2ROS.png)

external/.clang-format

@@ -0,0 +1 @@
+DisableFormat: true