Perform clang-format check via github action from pre-commit.com

Author: rhaschke

.github/workflows/format.yml

@@ -0,0 +1,20 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - uses: actions/setup-python@v2
+    - name: Install clang-format-10
+      run: sudo apt-get install clang-format-10
+    - uses: pre-commit/[email protected]

.gitignore

@@ -1,2 +1 @@
 *.swp
-

.pre-commit-config.yaml

@@ -0,0 +1,47 @@
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v3.4.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-case-conflict
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+
+  - repo: local
+    hooks:
+      - id: clang-format
+        name: clang-format
+        description: Format files with ClangFormat.
+        entry: clang-format-10
+        language: system
+        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
+        args: ['-fallback-style=none', '-i']
+
+  - repo: local
+    hooks:
+      - id: misspelled-moveit
+        name: misspelled-moveit
+        description: MoveIt should be spelled exactly as MoveIt
+        language: pygrep
+        entry: Moveit|MoveIt!
+        exclude: .pre-commit-config.yaml|README.md

.travis.yml

@@ -16,7 +16,6 @@ env:
     - UPSTREAM_WORKSPACE=.rosinstall
 
 jobs:
-  - env: TEST=clang-format
   - env: TEST=code-coverage
   - compiler: clang
     env: DOCKER_IMAGE=moveit/moveit:master-source

core/src/stages/compute_ik.cpp

@@ -277,7 +277,7 @@ void ComputeIK::compute() {
 	if (value.empty()) {  // property undefined
 		//  determine IK link from eef/group
 		if (!(link = eef_jmg ? robot_model->getLinkModel(eef_jmg->getEndEffectorParentGroup().second) :
-                             jmg->getOnlyOneEndEffectorTip())) {
+		                       jmg->getOnlyOneEndEffectorTip())) {
 			ROS_WARN_STREAM_NAMED("ComputeIK", "Failed to derive IK target link");
 			return;
 		}

core/test/test_interface_state.cpp

@@ -62,4 +62,4 @@ TEST(Interface, update) {
 
 	i.updatePriority(*i.begin(), Prio(6, std::numeric_limits<double>::infinity()));
 	EXPECT_THAT(i.depths(), ::testing::ElementsAreArray({ 5, 3 }));  // larger priority is ignored
-}
+}

demo/package.xml

@@ -16,4 +16,4 @@
   <depend>moveit_core</depend>
   <depend>rosparam_shortcuts</depend>
   <exec_depend>moveit_resources_panda_moveit_config</exec_depend>
-</package>
+</package>