Add format test to CI pipeline

.clang-format

@@ -0,0 +1,9 @@
+  BasedOnStyle: Google
+  ColumnLimit: 140
+  IndentWidth: 2
+  BreakBeforeBraces: Attach
+  DerivePointerAlignment: false
+  PointerAlignment: Left
+  AllowShortFunctionsOnASingleLine: Inline
+  IncludeBlocks: Preserve
+  BinPackParameters: false

.github/workflows/format_test.yml

@@ -0,0 +1,76 @@
+name: Code Format Check
+
+on:
+  push:
+    branches: [ main, develop ]
+  pull_request:
+    branches: [ main, develop ]
+
+jobs:
+  format-check:
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+
+    - name: Set up Python
+      uses: actions/setup-python@v4
+      with:
+        python-version: '3.x'
+
+    - name: Install Python formatters
+      run: |
+        python -m pip install --upgrade pip
+        pip install black
+
+    - name: Install clang-format
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y clang-format
+
+    - name: Check clang-format version
+      run: clang-format --version
+
+    - name: Check Black version
+      run: black --version
+
+    - name: Check git status before formatting
+      run: git status --porcelain
+
+    - name: Run make format
+      run: make format
+
+    - name: Check for formatting changes
+      id: format-check
+      run: |
+        if [ -n "$(git status --porcelain)" ]; then
+          echo "changes=true" >> $GITHUB_OUTPUT
+          echo "❌ Files were modified by 'make format'"
+          echo ""
+          echo "Modified files:"
+          git status --porcelain
+          echo ""
+          echo "Diff:"
+          git diff
+        else
+          echo "changes=false" >> $GITHUB_OUTPUT
+          echo "✅ No formatting changes needed"
+        fi
+
+    - name: Display formatting instructions
+      if: steps.format-check.outputs.changes == 'true'
+      run: |
+        echo "❌ Code formatting check failed!"
+        echo ""
+        echo "To fix all formatting issues, run:"
+        echo ""
+        echo "  make format"
+        echo ""
+        echo "Then commit and push your changes."
+
+    - name: Fail if formatting issues found
+      if: steps.format-check.outputs.changes == 'true'
+      run: |
+        echo "Code formatting issues detected. Please run 'make format' to fix them."
+        exit 1

.gitignore

@@ -1,6 +1,3 @@
-# clang
-.clang-*
-
 # Remove accidental build stuff put in here
 build/
 log/

Makefile

@@ -170,11 +170,8 @@ clean-cppad:
 	rm -rf cppad_code_gen
 
 format:
-	lib/halodi-ros2-code-quality/Tools/fix_code_style.sh robot_models humanoid_nmpc
-
-validate-format: 
-	lib/halodi-ros2-code-quality/Tools/check_code_style.sh robot_models humanoid_nmpc
-
+	find . -name "lib" -prune -o \( -name "*.cpp" -o -name "*.h" -o -name "*.hpp" \) -print | xargs clang-format -i && \
+	black . --exclude="lib/"
 
 launch-g1-dummy-sim:
 	cd ${build_dir} && \

dependencies.txt

@@ -11,6 +11,7 @@ ninja-build
 ccache
 python3-pygame
 python3-tk
+black
 
 ros-${ROS_DISTRO}-ament-cmake-clang-format
 ros-${ROS_DISTRO}-joint-state-publisher-gui

humanoid_nmpc/humanoid_common_mpc/include/humanoid_common_mpc/gait/GaitScheduleUpdater.h

@@ -53,7 +53,7 @@ class GaitScheduleUpdater : public SolverSynchronizedModule {
                             const vector_t& currentState,
                             const ReferenceManagerInterface& referenceManager) override;
 
-  void postSolverRun(const PrimalSolution&) override{};
+  void postSolverRun(const PrimalSolution&) override {};
 
   // Override this function in case you need to e.g. access the received gait in a mutex protected way.
   virtual ModeSequenceTemplate getReceivedGait() { return receivedGait_; }

humanoid_nmpc/humanoid_common_mpc/include/humanoid_common_mpc/reference_manager/ProceduralMpcMotionManager.h

@@ -96,7 +96,7 @@ class ProceduralMpcMotionManager : public SolverSynchronizedModule {
    *
    * @param primalSolution : primalSolution
    */
-  void postSolverRun(const PrimalSolution& primalSolution) override{};
+  void postSolverRun(const PrimalSolution& primalSolution) override {};
 
   virtual void setAndScaleVelocityCommand(const WalkingVelocityCommand& rawVelocityCommand);
 

humanoid_nmpc/humanoid_common_mpc/src/gait/GaitSchedule.cpp

@@ -137,7 +137,7 @@ void GaitSchedule::tileModeSequenceTemplate(scalar_t startTime, scalar_t finalTi
       scalar_t deltaTime = templateTimes[i + 1] - templateTimes[i];
       eventTimes.push_back(eventTimes.back() + deltaTime);
     }  // end of i loop
-  }    // end of while loop
+  }  // end of while loop
 
   // default final phase
   modeSequence.push_back(ModeNumber::STANCE);

humanoid_nmpc/humanoid_common_mpc_ros2/include/humanoid_common_mpc_ros2/ros_comm/MRTPolicySubscriber.h

@@ -46,9 +46,9 @@ class MRTPolicySubscriber : public MRT_BASE {
    */
   ~MRTPolicySubscriber() override;
 
-  void resetMpcNode(const TargetTrajectories& initTargetTrajectories) override{};
+  void resetMpcNode(const TargetTrajectories& initTargetTrajectories) override {};
 
-  void setCurrentObservation(const SystemObservation& currentObservation) override{};
+  void setCurrentObservation(const SystemObservation& currentObservation) override {};
 
   /**
    * Shut down the ROS nodes.

humanoid_nmpc/humanoid_wb_mpc/src/end_effector/PinocchioEndEffectorDynamicsCppAd.cpp

@@ -379,9 +379,8 @@ ad_vector_t PinocchioEndEffectorDynamicsCppAd::getOrientationCppAd(const ad_vect
 /******************************************************************************************************/
 /******************************************************************************************************/
 /******************************************************************************************************/
-auto PinocchioEndEffectorDynamicsCppAd::getOrientationError(const vector_t& state,
-                                                            const std::vector<quaternion_t>& referenceOrientations) const
-    -> std::vector<vector3_t> {
+auto PinocchioEndEffectorDynamicsCppAd::getOrientationError(
+    const vector_t& state, const std::vector<quaternion_t>& referenceOrientations) const -> std::vector<vector3_t> {
   vector_t params(4 * endEffectorIds_.size());
   for (size_t i = 0; i < endEffectorIds_.size(); i++) {
     params.segment<4>(i * 4) = referenceOrientations[i].coeffs();
@@ -662,8 +661,8 @@ ad_vector_t PinocchioEndEffectorDynamicsCppAd::getLinearAccelerationCppAd(const
 /******************************************************************************************************/
 /******************************************************************************************************/
 /******************************************************************************************************/
-auto PinocchioEndEffectorDynamicsCppAd::getLinearAcceleration(const vector_t& state, const vector_t& input) const
-    -> std::vector<vector3_t> {
+auto PinocchioEndEffectorDynamicsCppAd::getLinearAcceleration(const vector_t& state,
+                                                              const vector_t& input) const -> std::vector<vector3_t> {
   vector_t stateInput(state.rows() + input.rows());
   stateInput << state, input;
   const vector_t accelerationValues = linearAccelerationCppAdInterfacePtr_->getFunctionValue(stateInput);
@@ -721,8 +720,8 @@ ad_vector_t PinocchioEndEffectorDynamicsCppAd::getAngularAccelerationCppAd(const
 /******************************************************************************************************/
 /******************************************************************************************************/
 /******************************************************************************************************/
-auto PinocchioEndEffectorDynamicsCppAd::getAngularAcceleration(const vector_t& state, const vector_t& input) const
-    -> std::vector<vector3_t> {
+auto PinocchioEndEffectorDynamicsCppAd::getAngularAcceleration(const vector_t& state,
+                                                               const vector_t& input) const -> std::vector<vector3_t> {
   vector_t stateInput(state.rows() + input.rows());
   stateInput << state, input;
   const vector_t accelerationValues = angularAccelerationCppAdInterfacePtr_->getFunctionValue(stateInput);

humanoid_nmpc/remote_control/remote_control/xbox_walking_command_publisher.py

@@ -61,7 +61,8 @@ def __init__(self):
     def timer_callback(self):
         if self.xbox_controller_interface.joystick_connected:
             success, msg = self.xbox_controller_interface.get_walking_command_msg()
-            if success: self.publisher_.publish(msg)
+            if success:
+                self.publisher_.publish(msg)
         else:
             if self.counter >= (2 * self.publisher_rate):
                 self.xbox_controller_interface.get_joystick_connection()