add pre-commit hooks and make related formatting fixes

Author: lauralindzey

.gitignore

@@ -4,4 +4,4 @@ doc/
 .DS_Store
 build/
 
-.vscode/
+.vscode/

.pre-commit-config.yaml

@@ -0,0 +1,41 @@
+# 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
+    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
+
+-   repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v15.0.4
+    hooks:
+    -   id: clang-format
+        # Respect .clang-format if it exists, otherwise use Google
+        args: ["--fallback-style=Google"]
+
+# -   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
+    hooks:
+    -   id: black
+        # For now, no configuration. May want "--line-length 80"
+-   repo: https://github.com/PyCQA/flake8
+    rev: 6.0.0
+    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]

fips

@@ -3,15 +3,20 @@
 import os
 import sys
 import subprocess
+
 proj_path = os.path.dirname(os.path.abspath(__file__))
-fips_path = os.path.dirname(proj_path) + '/fips'
-if not os.path.isdir(fips_path) :
+fips_path = os.path.dirname(proj_path) + "/fips"
+if not os.path.isdir(fips_path):
     print("\033[93m=== cloning fips build system to '{}':\033[0m".format(fips_path))
-    subprocess.call(['git', 'clone', 'https://github.com/amarburg/fips.git', fips_path]) 
-sys.path.insert(0,fips_path)
-try :
+    subprocess.call(["git", "clone", "https://github.com/amarburg/fips.git", fips_path])
+sys.path.insert(0, fips_path)
+try:
     from mod import fips
-except ImportError :
-    print("\033[91m[ERROR]\033[0m failed to initialize fips build system in '{}'".format(proj_path))
+except ImportError:
+    print(
+        "\033[91m[ERROR]\033[0m failed to initialize fips build system in '{}'".format(
+            proj_path
+        )
+    )
     sys.exit(10)
 fips.run(fips_path, proj_path, sys.argv)

include/liboculus/BearingData.h

@@ -39,15 +39,12 @@ namespace liboculus {
 
 class BearingData {
  public:
-  BearingData()
-    : _data(nullptr), _numBeams(0)
-    {;}
+  BearingData() : _data(nullptr), _numBeams(0) { ; }
 
-  BearingData(const BearingData &other)  = default;
+  BearingData(const BearingData &other) = default;
 
   BearingData(const int16_t *data, int nBeams)
-      : _data(data),
-        _numBeams(nBeams) {}
+      : _data(data), _numBeams(nBeams) {}
 
   int size() const { return _numBeams; }
 
@@ -61,17 +58,11 @@ class BearingData {
     return _data[i] / 100.0;
   }
 
-  float at_rad(unsigned int i) const {
-    return deg2rad(at(i));
-  }
+  float at_rad(unsigned int i) const { return deg2rad(at(i)); }
 
-  float front() const {
-    return _data[0] / 100.0;
-  }
+  float front() const { return _data[0] / 100.0; }
 
-  float back() const {
-    return _data[_numBeams-1] / 100.0;
-  }
+  float back() const { return _data[_numBeams - 1] / 100.0; }
 
  private:
   const int16_t *_data;

include/liboculus/Constants.h

@@ -32,79 +32,76 @@
 
 #pragma once
 
+#include <cmath>
 #include <cstddef>  // for size_t
 #include <string>
 #include <vector>
-#include <cmath>
 
 #include "Oculus/Oculus.h"
 
 namespace liboculus {
-    const uint16_t StatusBroadcastPort = 52102;
-    const uint16_t DataPort = 52100;
+const uint16_t StatusBroadcastPort = 52102;
+const uint16_t DataPort = 52100;
 
-    const uint8_t PacketHeaderLSB = (OCULUS_CHECK_ID & 0x00FF);
-    const uint8_t PacketHeaderMSB = (OCULUS_CHECK_ID & 0xFF00) >> 8;
+const uint8_t PacketHeaderLSB = (OCULUS_CHECK_ID & 0x00FF);
+const uint8_t PacketHeaderMSB = (OCULUS_CHECK_ID & 0xFF00) >> 8;
 
-    namespace Oculus_1200MHz {
-        const float ElevationBeamwidthDeg = 20.0;
-        const float ElevationBeamwidthRad = 20.0*M_PI/180.0;
+namespace Oculus_1200MHz {
+const float ElevationBeamwidthDeg = 20.0;
+const float ElevationBeamwidthRad = 20.0 * M_PI / 180.0;
 
-        const float AzimuthBeamwidthDeg = 0.6;
-        const float AzimuthBeamwidthRad = 0.6*M_PI/180.0;
+const float AzimuthBeamwidthDeg = 0.6;
+const float AzimuthBeamwidthRad = 0.6 * M_PI / 180.0;
 
-        // NOTE(lindzey): According to the spec sheet, max range is 30 m
-        //    at 1.2 MHz on the M3000d, but 40 m on the M1200d.
-        const float MaxRange = 40;
-    };
+// NOTE(lindzey): According to the spec sheet, max range is 30 m
+//    at 1.2 MHz on the M3000d, but 40 m on the M1200d.
+const float MaxRange = 40;
+};  // namespace Oculus_1200MHz
 
-    namespace Oculus_2100MHz {
-         const float ElevationBeamwidthDeg = 12.0;
-         const float ElevationBeamwidthRad = 12.0*M_PI/180.0;
+namespace Oculus_2100MHz {
+const float ElevationBeamwidthDeg = 12.0;
+const float ElevationBeamwidthRad = 12.0 * M_PI / 180.0;
 
-         const float AzimuthBeamwidthDeg = 0.4;
-         const float AzimuthBeamwidthRad = 0.4*M_PI/180.0;
+const float AzimuthBeamwidthDeg = 0.4;
+const float AzimuthBeamwidthRad = 0.4 * M_PI / 180.0;
 
-         // \todo These shouldn't be fixed, should read from Oculus.h
-         // But I don't feel like dealing with their data structure
-         const float MaxRange = 10;  // meters
-    };
+// \todo These shouldn't be fixed, should read from Oculus.h
+// But I don't feel like dealing with their data structure
+const float MaxRange = 10;  // meters
+};                          // namespace Oculus_2100MHz
 
-    namespace Oculus_3000MHz {
-         const float ElevationBeamwidthDeg = 20.0;
-         const float ElevationBeamwidthRad = 20.0*M_PI/180.0;
+namespace Oculus_3000MHz {
+const float ElevationBeamwidthDeg = 20.0;
+const float ElevationBeamwidthRad = 20.0 * M_PI / 180.0;
 
-         const float AzimuthBeamwidthDeg = 0.4;
-         const float AzimuthBeamwidthRad = 0.4*M_PI/180.0;
+const float AzimuthBeamwidthDeg = 0.4;
+const float AzimuthBeamwidthRad = 0.4 * M_PI / 180.0;
 
-         // \todo These shouldn't be fixed, should read from Oculus.h
-         // But I don't feel like dealing with their data structure
-         const float MaxRange = 5;  // meters
-    };
+// \todo These shouldn't be fixed, should read from Oculus.h
+// But I don't feel like dealing with their data structure
+const float MaxRange = 5;  // meters
+};                         // namespace Oculus_3000MHz
 
 struct FlagBits {
   // bit 0: 0 = interpret range as percent, 1 = interpret range as meters
   // bit 1: 0 = 8 bit data, 1 = 16 bit data
   // bit 2: 0 = wont send gain, 1 = send gain
   // bit 3: 0 = send full return message, 1 = send simple return message
   // bit 4: "gain assistance"?
-  // bit 6: use 512 beams (vs 256): email from Blueprint said to set flags |= 0x40
+  // bit 6: use 512 beams (vs 256): email from Blueprint said to set flags |=
+  // 0x40
 
   static const uint8_t RangeAsMeters = (0x01) << 0;
-  static const uint8_t Data16Bits    = (0x01) << 1;
-  static const uint8_t DoSendGain    = (0x01) << 2;
-  static const uint8_t SimpleReturn  = (0x01) << 3;
+  static const uint8_t Data16Bits = (0x01) << 1;
+  static const uint8_t DoSendGain = (0x01) << 2;
+  static const uint8_t SimpleReturn = (0x01) << 3;
   static const uint8_t GainAssistance = (0x01) << 4;
-  static const uint8_t Do512Beams    = (0x01) << 6;
+  static const uint8_t Do512Beams = (0x01) << 6;
 };
 
-  // There doesn't appear to be an enum for the masterMode (like there is
-  // for pingRate and dataSize), so creating our own to match comments in
-  // liboculus/thirdparty/Oculus/Oculus.h.
-  typedef enum {
-    OCULUS_LOW_FREQ = 1,
-    OCULUS_HIGH_FREQ = 2
-  } OculusFreqMode;
-
+// There doesn't appear to be an enum for the masterMode (like there is
+// for pingRate and dataSize), so creating our own to match comments in
+// liboculus/thirdparty/Oculus/Oculus.h.
+typedef enum { OCULUS_LOW_FREQ = 1, OCULUS_HIGH_FREQ = 2 } OculusFreqMode;
 
 }  // namespace liboculus

include/liboculus/DataRx.h

@@ -30,15 +30,15 @@
 
 #pragma once
 
+#include <memory>
 #include <string>
 #include <thread>
 #include <vector>
-#include <memory>
 
 #include "liboculus/IoServiceThread.h"
+#include "liboculus/OculusMessageHandler.h"
 #include "liboculus/SimplePingResult.h"
 #include "liboculus/SonarConfiguration.h"
-#include "liboculus/OculusMessageHandler.h"
 
 namespace liboculus {
 
@@ -54,7 +54,7 @@ class DataRx : public OculusMessageHandler {
   void connect(const boost::asio::ip::address &addr);
   void connect(const std::string &strAddr);
 
-  typedef std::function< void() > OnConnectCallback;
+  typedef std::function<void()> OnConnectCallback;
   void setOnConnectCallback(OnConnectCallback callback) {
     _onConnectCallback = callback;
   }
@@ -69,38 +69,36 @@ class DataRx : public OculusMessageHandler {
 
   // Implement data read / data written hooks as virtual functions rather
   // rather than callbacks.
-  virtual void haveWritten(const ByteVector &bytes) {;}
-  virtual void haveRead(const ByteVector &bytes) {;}
+  virtual void haveWritten(const ByteVector &bytes) { ; }
+  virtual void haveRead(const ByteVector &bytes) { ; }
 
  private:
-  void onConnect(const boost::system::error_code& error);
+  void onConnect(const boost::system::error_code &error);
 
   // Initiates a network read.
   // Note this function reads until the **total number of bytes
   // in _buffer == bytes**   The actual number of bytes requested
   // from the network depends on the size of _buffer at the start
   // of the function and is tpically less than bytes.
-  typedef std::function<void(const boost::system::error_code&, std::size_t)> StateMachineCallback;
-  void readUpTo(size_t bytes,
-                StateMachineCallback callback);
+  typedef std::function<void(const boost::system::error_code &, std::size_t)>
+      StateMachineCallback;
+  void readUpTo(size_t bytes, StateMachineCallback callback);
 
   // This function is "reset the receive state machine"
   void restartReceiveCycle();
 
   // All rx* functions are states in the receive state machine
-  void rxFirstByteOculusId(const boost::system::error_code& ec,
-                  std::size_t bytes_transferred);
+  void rxFirstByteOculusId(const boost::system::error_code &ec,
+                           std::size_t bytes_transferred);
 
-  void rxSecondByteOculusId(const boost::system::error_code& ec,
-                  std::size_t bytes_transferred);
-
-  void rxHeader(const boost::system::error_code& ec,
-                  std::size_t bytes_transferred);
-
-  void rxPacket(const boost::system::error_code& ec,
-                  std::size_t bytes_transferred);
+  void rxSecondByteOculusId(const boost::system::error_code &ec,
+                            std::size_t bytes_transferred);
 
+  void rxHeader(const boost::system::error_code &ec,
+                std::size_t bytes_transferred);
 
+  void rxPacket(const boost::system::error_code &ec,
+                std::size_t bytes_transferred);
 
   boost::asio::ip::tcp::socket _socket;
 
@@ -110,7 +108,6 @@ class DataRx : public OculusMessageHandler {
 
 };  // class DataRx
 
-
 template <typename FireMsg_t = OculusSimpleFireMessage2>
 void DataRx::sendSimpleFireMessage(const SonarConfiguration &config) {
   if (!isConnected()) {