Add prettierrc (#744)

This adds a .prettierrc.yml file so that prettierrc config file outside the project will not get mistakenly loaded when it goes through husky/lint-staged. I also did a run of prettier and clang-format on the current files, feel free to revert the formatting commits if they are undesired.

Most of the changes are just formatting, only .prettierrc.yml and package.json changes are relevalent.

Fix #738

Author: Teo Koon Peng

.eslintrc.yml

@@ -1,53 +1,24 @@
 env:
   node: true
   es6: true
-
 globals:
   every: true
   after: true
   constantly: true
-
-ignorePatterns: ["generated/"]
-
+ignorePatterns: ['generated/', 'types/interfaces.d.ts']
 rules:
-  camelcase: [2, {properties: "always"}]
-  comma-dangle: 0
-  comma-spacing: [2, {before: false, after: true}]
-  comma-style: [2, "last"]
-  handle-callback-err: [2, "^.*(e|E)rr" ]
-  indent: ["error", 2, {"SwitchCase": 1}]
-  key-spacing: [2, { beforeColon: false, afterColon: true }]
-  max-depth: [1, 3]
-  max-len: ["error", {"code": 120, "tabWidth": 2, "ignoreComments": true}]
-  max-nested-callbacks: [1, 7]
-  no-cond-assign: 2
-  no-constant-condition: 2
-  no-dupe-args: 2
-  no-dupe-keys: 2
-  no-else-return: 2
-  no-empty: 2
-  no-lonely-if: 2
-  no-multiple-empty-lines: 2
-  no-nested-ternary: 2
-  no-self-compare: 2
-  no-sync: 1
-  no-throw-literal: 2
-  no-underscore-dangle: 0
-  quote-props: [2, "as-needed"]
-  quotes: [2, "single", {"avoidEscape": true}]
-  radix: 2
-  semi-spacing: [2, {before: false, after: true}]
-  semi: [2, "always"]
-  keyword-spacing: [2, {before: true, after: true}]
-  space-before-blocks: [2, "always"]
-  space-before-function-paren: [0, "always"]
-  space-in-parens: [2, "never"]
-  spaced-comment: [1, "always"]
-  strict: [2, "global"]
-  valid-jsdoc: 2
-  yoda: [2, "never"]
-
-extends: [prettier]
-
+  prettier/prettier: 'error'
+extends: ['prettier']
+plugins: ['prettier']
 parserOptions:
   ecmaVersion: 2018
+overrides:
+  - files: ['*.ts']
+    parser: '@typescript-eslint/parser'
+    plugins: ['@typescript-eslint']
+    parserOptions: {
+      sourceType: 'module'
+    }
+    rules: {
+      strict: [0, 'global']
+    }

.prettierrc.yml

@@ -0,0 +1,4 @@
+{
+  singleQuote: true,
+  trailingComma: es5,
+}

benchmark/README.md

@@ -8,11 +8,11 @@ This folder contains code used to measure the performance between different ROS
 
 You can download the latest binary package of ROS2 from [here](http://ci.ros2.org/view/packaging/) and follow the instructions to setup the environment.
 
-* [Linux](https://github.com/ros2/ros2/wiki/Linux-Install-Binary)
-* [macOS](https://github.com/ros2/ros2/wiki/OSX-Install-Binary)
-* [Windows](https://github.com/ros2/ros2/wiki/Windows-Install-Binary)
+- [Linux](https://github.com/ros2/ros2/wiki/Linux-Install-Binary)
+- [macOS](https://github.com/ros2/ros2/wiki/OSX-Install-Binary)
+- [Windows](https://github.com/ros2/ros2/wiki/Windows-Install-Binary)
 
-2.Install Node.js
+  2.Install Node.js
 
 Download the latest LTS edition from https://nodejs.org/en/
 
@@ -22,23 +22,26 @@ Download the latest LTS edition from https://nodejs.org/en/
 
 The table lists the directories for each kind of the ROS 2.0 clients.
 
-Directory | Purpose |
-:----------:| ------------- |
-topic | Benchmarks for `publisher` and `subscription` features
-service | Benchmarks for `client` and `service` features
-startup | Benchamrks for measuring the startup time consumption
+| Directory | Purpose                                                |
+| :-------: | ------------------------------------------------------ |
+|   topic   | Benchmarks for `publisher` and `subscription` features |
+|  service  | Benchmarks for `client` and `service` features         |
+|  startup  | Benchamrks for measuring the startup time consumption  |
 
 ## Run tests
 
 1.Benchmark for [rclcpp](https://github.com/ros2/rclcpp)
+
 - Compile the source files, `cd benchmark/rclcpp/` and run `colcon build`
 - The executable files locate at `build/rclcpp_benchmark/`
 - `your_benchamrk -h` for help.
 
-2.Benchmark for [rclpy](https://github.com/ros2/rclpy)
+  2.Benchmark for [rclpy](https://github.com/ros2/rclpy)
+
 - Enter the Python scripts folder `benchmark/rclpy/`
 - `python3 your_benchamrk -h` for help.
 
-3.Benchmark for rclnodejs
+  3.Benchmark for rclnodejs
+
 - Enter the Node.js scripts folder `benchmark/rclnodejs/`
 - `node your_benchamrk -h` for help.

benchmark/rclnodejs/service/client-stress-test.js

@@ -18,32 +18,39 @@
 const app = require('commander');
 const rclnodejs = require('../../../index.js');
 
-app
-  .option('-r, --run <n>', 'How many times to run')
-  .parse(process.argv);
+app.option('-r, --run <n>', 'How many times to run').parse(process.argv);
 
-rclnodejs.init().then(() => {
-  const time = process.hrtime();
-  const node = rclnodejs.createNode('stress_client_rclnodejs');
-  const client = node.createClient('nav_msgs/srv/GetMap', 'get_map');
-  let receivedTimes = 0;
-  let totalTimes = app.run || 1;
-  console.log('The client will send a GetMap request continuously' +
-    ` until receiving response ${totalTimes} times.`);
-  let sendRequest = function() {
-    client.sendRequest({}, (response) => {
-      if (++receivedTimes > totalTimes) {
-        rclnodejs.shutdown();
-        const diff = process.hrtime(time);
-        console.log(`Benchmark took ${diff[0]} seconds and ${Math.ceil(diff[1] / 1000000)} milliseconds.`);
-      } else {
-        setImmediate(sendRequest);
-      }
-    });
-  };
+rclnodejs
+  .init()
+  .then(() => {
+    const time = process.hrtime();
+    const node = rclnodejs.createNode('stress_client_rclnodejs');
+    const client = node.createClient('nav_msgs/srv/GetMap', 'get_map');
+    let receivedTimes = 0;
+    let totalTimes = app.run || 1;
+    console.log(
+      'The client will send a GetMap request continuously' +
+        ` until receiving response ${totalTimes} times.`
+    );
+    let sendRequest = function () {
+      client.sendRequest({}, (response) => {
+        if (++receivedTimes > totalTimes) {
+          rclnodejs.shutdown();
+          const diff = process.hrtime(time);
+          console.log(
+            `Benchmark took ${diff[0]} seconds and ${Math.ceil(
+              diff[1] / 1000000
+            )} milliseconds.`
+          );
+        } else {
+          setImmediate(sendRequest);
+        }
+      });
+    };
 
-  sendRequest();
-  rclnodejs.spin(node);
-}).catch((e) => {
-  console.log(`Error: ${e}`);
-});
+    sendRequest();
+    rclnodejs.spin(node);
+  })
+  .catch((e) => {
+    console.log(`Error: ${e}`);
+  });

benchmark/rclnodejs/service/service-stress-test.js

@@ -18,9 +18,7 @@
 const app = require('commander');
 const rclnodejs = require('../../../index.js');
 
-app
-  .option('-s, --size [size_kb]', 'The block size')
-  .parse(process.argv);
+app.option('-s, --size [size_kb]', 'The block size').parse(process.argv);
 
 let size = app.size || 1;
 const mapData = {
@@ -30,7 +28,7 @@ const mapData = {
         sec: 123456,
         nanosec: 789,
       },
-      frame_id: 'main_frame'
+      frame_id: 'main_frame',
     },
     info: {
       map_load_time: {
@@ -44,26 +42,33 @@ const mapData = {
         position: {
           x: 0.0,
           y: 0.0,
-          z: 0.0
+          z: 0.0,
         },
         orientation: {
           x: 0.0,
           y: 0.0,
           z: 0.0,
-          w: 0.0
-        }
-      }
+          w: 0.0,
+        },
+      },
     },
-    data: Int8Array.from({length: 1024 * size}, (v, k) => k)
-  }
+    data: Int8Array.from({ length: 1024 * size }, (v, k) => k),
+  },
 };
 
-rclnodejs.init().then(() => {
-  let node = rclnodejs.createNode('stress_service_rclnodejs');
-  node.createService('nav_msgs/srv/GetMap', 'get_map', (request, response) => {
-    return mapData;
+rclnodejs
+  .init()
+  .then(() => {
+    let node = rclnodejs.createNode('stress_service_rclnodejs');
+    node.createService(
+      'nav_msgs/srv/GetMap',
+      'get_map',
+      (request, response) => {
+        return mapData;
+      }
+    );
+    rclnodejs.spin(node);
+  })
+  .catch((e) => {
+    console.log(`Error: ${e}`);
   });
-  rclnodejs.spin(node);
-}).catch((e) => {
-  console.log(`Error: ${e}`);
-});

benchmark/rclnodejs/topic/publisher-stress-test.js

@@ -23,37 +23,49 @@ app
   .option('-r, --run <n>', 'How many times to run')
   .parse(process.argv);
 
-rclnodejs.init().then(() => {
-  const time = process.hrtime();
-  let node = rclnodejs.createNode('stress_publisher_rclnodejs');
-  const publisher = node.createPublisher('std_msgs/msg/UInt8MultiArray', 'stress_topic');
-  let sentTimes = 0;
-  let totalTimes = app.run || 1;
-  let size = app.size || 1;
-  const message = {
-    layout: {
-      dim: [
-        {label: 'height',  size: 10, stride: 600},
-        {label: 'width',   size: 20, stride: 60},
-        {label: 'channel', size: 3,  stride: 4},
-      ],
-      data_offset: 0,
-    },
-    data: Uint8Array.from({length: 1024 * size}, (v, k) => k)
-  };
-  console.log(`The publisher will publish a UInt8MultiArray topic(contains a size of ${size}KB array)` +
-  ` ${totalTimes} times.`);
+rclnodejs
+  .init()
+  .then(() => {
+    const time = process.hrtime();
+    let node = rclnodejs.createNode('stress_publisher_rclnodejs');
+    const publisher = node.createPublisher(
+      'std_msgs/msg/UInt8MultiArray',
+      'stress_topic'
+    );
+    let sentTimes = 0;
+    let totalTimes = app.run || 1;
+    let size = app.size || 1;
+    const message = {
+      layout: {
+        dim: [
+          { label: 'height', size: 10, stride: 600 },
+          { label: 'width', size: 20, stride: 60 },
+          { label: 'channel', size: 3, stride: 4 },
+        ],
+        data_offset: 0,
+      },
+      data: Uint8Array.from({ length: 1024 * size }, (v, k) => k),
+    };
+    console.log(
+      `The publisher will publish a UInt8MultiArray topic(contains a size of ${size}KB array)` +
+        ` ${totalTimes} times.`
+    );
 
-  setImmediate(() => {
-    while (sentTimes++ < totalTimes) {
-      publisher.publish(message);
-    }
-    rclnodejs.shutdown();
-    const diff = process.hrtime(time);
-    console.log(`Benchmark took ${diff[0]} seconds and ${Math.ceil(diff[1] / 1000000)} milliseconds.`);
-  });
+    setImmediate(() => {
+      while (sentTimes++ < totalTimes) {
+        publisher.publish(message);
+      }
+      rclnodejs.shutdown();
+      const diff = process.hrtime(time);
+      console.log(
+        `Benchmark took ${diff[0]} seconds and ${Math.ceil(
+          diff[1] / 1000000
+        )} milliseconds.`
+      );
+    });
 
-  rclnodejs.spin(node);
-}).catch((err) => {
-  console.log(err);
-});
+    rclnodejs.spin(node);
+  })
+  .catch((err) => {
+    console.log(err);
+  });

benchmark/rclnodejs/topic/subscription-stress-test.js

@@ -16,11 +16,17 @@
 
 const rclnodejs = require('../../../index.js');
 
-rclnodejs.init().then(() => {
-  const node = rclnodejs.createNode('stress_subscription_rclnodejs');
-  node.createSubscription('std_msgs/msg/UInt8MultiArray', 'stress_topic', (array) => {
+rclnodejs
+  .init()
+  .then(() => {
+    const node = rclnodejs.createNode('stress_subscription_rclnodejs');
+    node.createSubscription(
+      'std_msgs/msg/UInt8MultiArray',
+      'stress_topic',
+      (array) => {}
+    );
+    rclnodejs.spin(node);
+  })
+  .catch((e) => {
+    console.log(e);
   });
-  rclnodejs.spin(node);
-}).catch(e => {
-  console.log(e);
-});

example/action-client-cancel-example.js

@@ -37,7 +37,7 @@ class FibonacciActionClient {
 
     this._node.getLogger().info('Sending goal request...');
 
-    const goalHandle = await this._actionClient.sendGoal(goal, feedback =>
+    const goalHandle = await this._actionClient.sendGoal(goal, (feedback) =>
       this.feedbackCallback(feedback)
     );
 
@@ -87,6 +87,6 @@ rclnodejs
 
     rclnodejs.spin(node);
   })
-  .catch(err => {
+  .catch((err) => {
     console.error(err);
   });

example/action-client-example.js

@@ -38,7 +38,7 @@ class FibonacciActionClient {
 
     this._node.getLogger().info('Sending goal request...');
 
-    const goalHandle = await this._actionClient.sendGoal(goal, feedback =>
+    const goalHandle = await this._actionClient.sendGoal(goal, (feedback) =>
       this.feedbackCallback(feedback)
     );
 
@@ -80,6 +80,6 @@ rclnodejs
 
     rclnodejs.spin(node);
   })
-  .catch(err => {
+  .catch((err) => {
     console.error(err);
   });