Removed fips support, pre-commit all

Author: amarburg

.pre-commit-config.yaml

@@ -1,41 +1,43 @@
-# See https://pre-commit.com for more information
-# See https://pre-commit.com/hooks.html for more hooks
 repos:
--   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v3.2.0
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.12.3
     hooks:
-    -   id: check-added-large-files
-    -   id: check-json
-    -   id: check-merge-conflict
-    -   id: check-xml
-    -   id: check-yaml
-    -   id: end-of-file-fixer
-    -   id: mixed-line-ending
-    -   id: trailing-whitespace
+      # Run the linter
+      - id: ruff-check
+        args: ["--fix", "--exit-non-zero-on-fix"]
+      # Run the formatter.
+      - id: ruff-format
 
--   repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v15.0.4
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v20.1.7
     hooks:
     -   id: clang-format
-        # Respect .clang-format if it exists, otherwise use Google
-        args: ["--fallback-style=Google"]
+        types_or: [c++, c]
 
-# -   repo: https://gitlab.com/daverona/pre-commit/cpp
-#     rev: 0.8.0
-#     hooks:
-#     -   id: cpplint
-#         args: ["--filter=-build/include_order,-readability/todo"]
-
--   repo: https://github.com/psf/black
-    rev: 22.12.0
+  # CMake formatter
+  - repo: https://github.com/BlankSpruce/gersemi
+    rev: 0.19.3
     hooks:
-    -   id: black
-        # For now, no configuration. May want "--line-length 80"
--   repo: https://github.com/PyCQA/flake8
-    rev: 6.0.0
+    - id: gersemi
+
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
     hooks:
-    -   id: flake8
-        # pep8-naming catches camel_case violations
-        additional_dependencies: [pep8-naming, flake8-bugbear, flake8-comprehensions]
-        # formatting handles line-length, no reason for linter to also flag.
-        args: [--ignore, E501]
+      - id: check-added-large-files
+      - id: check-case-conflict
+      - id: check-executables-have-shebangs
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-shebang-scripts-are-executable
+      - id: check-symlinks
+      - id: check-toml
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: fix-byte-order-marker
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        args: [--markdown-linebreak-ext=md]

CMakeLists.txt

@@ -4,57 +4,22 @@ project(liboculus)
 # == Code common to all builds =======================================
 list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
 
-if( FIPS_CONFIG AND NOT FIPS_IMPORT )
-  get_filename_component(FIPS_ROOT_DIR "../fips" ABSOLUTE)
-  include("${FIPS_ROOT_DIR}/cmake/fips.cmake")
-
-  fips_setup()
-
-  find_package( Boost REQUIRED COMPONENTS system )
-  find_package( g3log REQUIRED)
-
-  #== fips-specific section ==========================================
-  add_compile_options(-std=c++17)
-
-  ## Set global include paths
-  fips_include_directories(
-    ${CMAKE_CURRENT_SOURCE_DIR}/include
-    ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty
-  )
-
-  ## Verbose output about ASIO handlers
-  #add_definitions( -DBOOST_ASIO_ENABLE_HANDLER_TRACKING )
-
-  fips_add_subdirectory("lib/")
-
-  if( NOT FIPS_IMPORT )
-    add_subdirectory("tools/")
-  endif()
-
-  if( FIPS_UNITTESTS )
-    add_subdirectory( test/ )
-  endif()
-
-  fips_finish()
-
-else()
-
-  # ROS build, determine which version...
-  find_package(ros_environment REQUIRED)
-  set(ROS_VERSION $ENV{ROS_VERSION})
-
-  set(oculus_SRCS
-              lib/DataRx.cpp
-              lib/SonarConfiguration.cpp
-              lib/SonarStatus.cpp
-              lib/StatusRx.cpp
-              lib/SonarPlayer.cpp
-              lib/OculusMessageHandler.cpp
-              lib/SimpleFireMessage.cpp
-              lib/IoServiceThread.cpp )
-
-
-  if(${ROS_VERSION} EQUAL 2)
+# ROS build, determine which version...
+find_package(ros_environment REQUIRED)
+set(ROS_VERSION $ENV{ROS_VERSION})
+
+set(oculus_SRCS
+    lib/DataRx.cpp
+    lib/SonarConfiguration.cpp
+    lib/SonarStatus.cpp
+    lib/StatusRx.cpp
+    lib/SonarPlayer.cpp
+    lib/OculusMessageHandler.cpp
+    lib/SimpleFireMessage.cpp
+    lib/IoServiceThread.cpp
+)
+
+if(${ROS_VERSION} EQUAL 2)
     # == ament/ROS2 section =================================
 
     find_package(ament_cmake REQUIRED)
@@ -65,45 +30,37 @@ else()
     set(CMAKE_CXX_STANDARD_REQUIRED ON)
     add_compile_options(-std=c++17)
 
-    include_directories(
-      include
-      thirdparty
-    )
+    include_directories(include thirdparty)
 
     add_library(oculus SHARED ${oculus_SRCS})
-    target_link_libraries(oculus
-      Boost::system
-      g3log_ros::g3log
-    )
-    ament_target_dependencies(oculus Boost g3log_ros)
+    target_link_libraries(oculus PUBLIC Boost::system g3log_ros::g3log_ros)
 
     install(
-      TARGETS oculus
-      EXPORT export_${PROJECT_NAME}
-      ARCHIVE DESTINATION lib
-      LIBRARY DESTINATION lib
-      RUNTIME DESTINATION bin
+        TARGETS oculus
+        EXPORT export_${PROJECT_NAME}
+        ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin
     )
 
     install(
-      DIRECTORY include/${PROJECT_NAME}/ thirdparty/
-      DESTINATION include
-      FILES_MATCHING PATTERN "*.hpp" PATTERN "*.h"
-      PATTERN ".git" EXCLUDE
+        DIRECTORY include/${PROJECT_NAME}/ thirdparty/
+        DESTINATION include
+        FILES_MATCHING
+        PATTERN "*.hpp"
+        PATTERN "*.h"
+        PATTERN ".git" EXCLUDE
     )
 
     ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
     ament_export_include_directories(include)
     ament_export_libraries(oculus)
 
     ament_package()
-
-  elseif(${ROS_VERSION} EQUAL 1)
-
+elseif(${ROS_VERSION} EQUAL 1)
     # Catkin/ROS1 section =====
-    find_package( catkin REQUIRED COMPONENTS
-                  g3log_ros )
-    find_package( Boost REQUIRED COMPONENTS system)
+    find_package(catkin REQUIRED COMPONENTS g3log_ros)
+    find_package(Boost REQUIRED COMPONENTS system)
 
     catkin_package(
         CATKIN_DEPENDS g3log_ros
@@ -113,48 +70,48 @@ else()
 
     add_compile_options(-std=c++14)
 
-    add_library(liboculus
-                ${oculus_SRCS})
+    add_library(liboculus ${oculus_SRCS})
 
-    include_directories(liboculus
-      include
-      thirdparty
-      ${catkin_INCLUDE_DIRS}
-    )
+    include_directories(liboculus include thirdparty ${catkin_INCLUDE_DIRS})
 
-    target_link_libraries(liboculus
-                ${catkin_LIBRARIES}
-    )
+    target_link_libraries(liboculus ${catkin_LIBRARIES})
 
-    install(TARGETS liboculus
-      ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-      LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-      RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+    install(
+        TARGETS liboculus
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
     )
 
     ## Install headers
-    install(DIRECTORY  include/${PROJECT_NAME}/ thirdparty/
-    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-    FILES_MATCHING PATTERN "*.hpp" PATTERN "*.h"
-                PATTERN ".git" EXCLUDE)
+    install(
+        DIRECTORY include/${PROJECT_NAME}/ thirdparty/
+        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+        FILES_MATCHING
+        PATTERN "*.hpp"
+        PATTERN "*.h"
+        PATTERN ".git" EXCLUDE
+    )
 
-    if (CATKIN_ENABLE_TESTING)
-      add_definitions(-DTEST_DATA_PATH="${CMAKE_CURRENT_SOURCE_DIR}/test/data")
-      include_directories( test/data/ )
+    if(CATKIN_ENABLE_TESTING)
+        add_definitions(
+            -DTEST_DATA_PATH="${CMAKE_CURRENT_SOURCE_DIR}/test/data"
+        )
+        include_directories(test/data/)
 
-      file(GLOB oculus_test_SRCS
-                test/unit/*cpp )
+        file(GLOB oculus_test_SRCS test/unit/*cpp)
 
-      catkin_add_gtest(oculus_test ${oculus_test_SRCS})
+        catkin_add_gtest(oculus_test ${oculus_test_SRCS})
 
-      target_link_libraries(oculus_test ${catkin_LIBRARIES}
-                liboculus
-                Boost::system )
+        target_link_libraries(
+            oculus_test
+            ${catkin_LIBRARIES}
+            liboculus
+            Boost::system
+        )
     endif()
-
-  else()
-    message("Unsure what sort of build to do.  Not in a FIPS, ROS1 or ROS2 environment")
-  endif()
-
-
+else()
+    message(
+        "Unsure what sort of build to do.  Not in a ROS1 or ROS2 environment"
+    )
 endif()

README.md

@@ -27,17 +27,15 @@ This is a hybrid repository:
 
 * We primarily build in ROS1 or ROS2, though there are no ROS dependencies in the code. We hope the code is still useful for others looking to talk to the Oculus.   It is implemented as a hybrid package which should build successfully in either a ROS1 "catkin" or ROS2 "colcon" workspace.
 
-* Historically, the repo has also supported the [fips](http://floooh.github.io/fips/) C++ dependency management tool. To build with fips: `./fips build`
+* [fips](http://floooh.github.io/fips/) support has been removed from this branch.
 
 The primary dependency is on [g3log](https://github.com/KjellKod/g3log).
 * If using either ROS1 or ROS2, there are two options:
   * clone [g3log_ros](https://gitlab.com/apl-ocean-engineering/g3log_ros) into your workspace's `src/` directory
   * use the provided `liboculus.rosinstall` file: `cd <catkin_ws>/src`; `vcs import --input liboculus/liboculus.repos`.   The `main` branch of `g3log_ros` is also a ROS1-ROS2 hybrid.
-* It will be handled automagically if using fips.
 
 The (optional) test suite also requires Googletest and the (also optional)
-binary `oc_client` requires [CLI11](https://github.com/CLIUtils/CLI11),
-both of which are also handled by fips.
+binary `oc_client` requires [CLI11](https://github.com/CLIUtils/CLI11).
 
 Internally, the ethernet interface uses
 [Boost::asio](https://www.boost.org/doc/libs/1_66_0/doc/html/boost_asio.html).

cmake/FindOculusSDK.cmake

@@ -10,14 +10,13 @@
 
 find_package(PkgConfig)
 
-SET(TRIAL_PATHS
- $ENV{OCULUS_DIR}
- ${OCULUS_DIR}
-)
+set(TRIAL_PATHS $ENV{OCULUS_DIR} ${OCULUS_DIR})
 
-find_path(OCULUS_SDK_ROOT Oculus/Oculus.h
-         HINTS ${TRIAL_PATHS}
-         DOC "Location OCULUS SDK"
-        )
+find_path(
+    OCULUS_SDK_ROOT
+    Oculus/Oculus.h
+    HINTS ${TRIAL_PATHS}
+    DOC "Location OCULUS SDK"
+)
 
 find_package_handle_standard_args(OCULUS_SDK DEFAULT_MSG OCULUS_SDK_ROOT)