diff --git a/.gitignore b/.gitignore index 416ecfb5f..08e5eba3e 100644 --- a/.gitignore +++ b/.gitignore @@ -2,3 +2,4 @@ build build_* *.*.sw? +.vscode diff --git a/CMakeLists.txt b/CMakeLists.txt index 5ee0e2f90..5fe7f2094 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -274,6 +274,27 @@ else (build_errors) add_subdirectory(doc) endif(BUILD_SDF) + ######################################## + # Setup Codecheck + include (IgnCodeCheck) + set(CPPCHECK_DIRS + ${PROJECT_SOURCE_DIR}/src + ${PROJECT_SOURCE_DIR}/include + ${PROJECT_SOURCE_DIR}/test/integration + ${PROJECT_SOURCE_DIR}/test/performance) + + set(CPPCHECK_INCLUDE_DIRS + ${PROJECT_BINARY_DIR} + ${PROJECT_SOURCE_DIR}/include + ${PROJECT_SOURCE_DIR}/test/integration + ${PROJECT_SOURCE_DIR}/test/performance) + + # Ignore vendored directories. + file(WRITE ${PROJECT_BINARY_DIR}/cppcheck.suppress + "*:${PROJECT_SOURCE_DIR}/src/urdf/*\n" + ) + ign_setup_target_for_codecheck() + ######################################## # Make the package config file set(PC_CONFIG_INSTALL_DIR ${LIB_INSTALL_DIR}/pkgconfig) diff --git a/Changelog.md b/Changelog.md index 532196688..0865a9924 100644 --- a/Changelog.md +++ b/Changelog.md @@ -354,6 +354,62 @@ ### libsdformat 9.X.X (202X-XX-XX) +### libsdformat 9.6.0 (2021-08-18) + +1. Adds `enable_metrics` flag to Sensor. + * [Pull request #665](https://github.com/ignitionrobotics/sdformat/pull/665) + +1. Add GPS sensor DOM to sdf9 + * [Pull request #453](https://github.com/ignitionrobotics/sdformat/pull/453) + +1. Support parsing elements that are not part of the schema + * [Pull request #638](https://github.com/ignitionrobotics/sdformat/pull/638) + +1. Add lightmap to 1.7 spec and PBR material DOM + * [Pull request #429](https://github.com/ignitionrobotics/sdformat/pull/429) + +1. Fix urdf link extension tags + * [Pull request #628](https://github.com/ignitionrobotics/sdformat/pull/628) + +1. Updated material spec + * [Pull request #644](https://github.com/ignitionrobotics/sdformat/pull/644) + +1. Minor fix to Migration guide + * [Pull request #630](https://github.com/ignitionrobotics/sdformat/pull/630) + +1. Error: move << operator from .hh to .cc file + * [Pull request #625](https://github.com/ignitionrobotics/sdformat/pull/625) + +1. Update build system to allow overriding CXX flags and using clang on Linux + * [Pull request #621](https://github.com/ignitionrobotics/sdformat/pull/621) + +1. Add Element::FindElement as an alternative to Element::GetElement + * [Pull request #620](https://github.com/ignitionrobotics/sdformat/pull/620) + +1. Add ValidateGraphs methods to Model/World (sdf9) + * [Pull request #602](https://github.com/ignitionrobotics/sdformat/pull/602) + +1. Fix ABI break + * [Pull request #605](https://github.com/ignitionrobotics/sdformat/pull/605) + +1. Making PrintValues() and ToString() able to not print default elements + * [Pull request #575](https://github.com/ignitionrobotics/sdformat/pull/575) + +1. Add API for determining if an element was set by the user + * [Pull request #542](https://github.com/ignitionrobotics/sdformat/pull/542) + +1. Methods for removing attributes from an element + * [Pull request #555](https://github.com/ignitionrobotics/sdformat/pull/555) + +1. Improve docs of collision_bitmask. + * [Pull request #521](https://github.com/ignitionrobotics/sdformat/pull/521) + +1. Add camera type aliases to docs. + * [Pull request #514](https://github.com/ignitionrobotics/sdformat/pull/514) + +1. Add action-ignition-ci + * [Pull request #501](https://github.com/ignitionrobotics/sdformat/pull/452) + ### libsdformat 9.5.0 (2021-02-11) 1. Add Windows installation diff --git a/README.md b/README.md index 19614df8e..f5372d3bf 100644 --- a/README.md +++ b/README.md @@ -31,7 +31,8 @@ TODO(eric.cousineau): Move terminology section to sdf_tutorials? ## Test coverage -[![codecov](https://codecov.io/gh/osrf/sdformat/branch/master/graph/badge.svg)](https://codecov.io/gh/osrf/sdformat) + +[![codecov](https://codecov.io/gh/ignitionrobotics/sdformat/branch/main/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/sdformat/branch/main) # Installation @@ -44,7 +45,11 @@ The Source Installation instructions should be used if you need the very latest ### Ubuntu On Ubuntu systems, `apt-get` can be used to install `sdformat`: -``` +```sh +sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' +wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - +sudo apt-get update + sudo apt install libsdformat<#>-dev libsdformat<#> ``` diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake index eb8dc37be..54bcc61db 100644 --- a/cmake/SearchForStuff.cmake +++ b/cmake/SearchForStuff.cmake @@ -102,8 +102,8 @@ endmacro() ######################################## # Find ignition cmake2 -# Only for using the testing macros, not really -# being use to configure the whole project +# Only for using the testing macros and creating the codecheck target, not +# really being use to configure the whole project find_package(ignition-cmake2 2.3 REQUIRED) set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR}) diff --git a/include/sdf/CMakeLists.txt b/include/sdf/CMakeLists.txt index f95349253..243215eb8 100644 --- a/include/sdf/CMakeLists.txt +++ b/include/sdf/CMakeLists.txt @@ -38,6 +38,7 @@ set (headers Material.hh Mesh.hh Model.hh + NavSat.hh Noise.hh Param.hh parser.hh diff --git a/include/sdf/Console.hh b/include/sdf/Console.hh index cb73039a6..04856e900 100644 --- a/include/sdf/Console.hh +++ b/include/sdf/Console.hh @@ -73,7 +73,7 @@ namespace sdf /// \brief Constructor. /// \param[in] _stream Pointer to an output stream operator. Can be /// NULL/nullptr. - public: ConsoleStream(std::ostream *_stream) : + public: explicit ConsoleStream(std::ostream *_stream) : stream(_stream) {} /// \brief Redirect whatever is passed in to both our ostream diff --git a/include/sdf/Element.hh b/include/sdf/Element.hh index dddfad993..53ccb1e24 100644 --- a/include/sdf/Element.hh +++ b/include/sdf/Element.hh @@ -207,7 +207,7 @@ namespace sdf const std::string &_type, const std::string &_defaultvalue, bool _required, - const std::string &_description=""); + const std::string &_description = ""); /// \brief Add a value to this Element. /// \param[in] _type Type of data the parameter will hold. @@ -217,7 +217,7 @@ namespace sdf /// \throws sdf::AssertionInternalError if an invalid type is given. public: void AddValue(const std::string &_type, const std::string &_defaultValue, bool _required, - const std::string &_description=""); + const std::string &_description = ""); /// \brief Add a value to this Element. This override allows passing min and /// max values of the parameter. @@ -553,7 +553,7 @@ namespace sdf const std::string &_type, const std::string &_defaultValue, bool _required, - const std::string &_description=""); + const std::string &_description = ""); /// \brief Private data pointer diff --git a/include/sdf/Exception.hh b/include/sdf/Exception.hh index 6adbc2956..1ada5e8bb 100644 --- a/include/sdf/Exception.hh +++ b/include/sdf/Exception.hh @@ -118,6 +118,7 @@ namespace sdf /// \param[in] _line Line number where the error occurred /// \param[in] _msg Error message public: InternalError(const char *_file, std::int64_t _line, + // cppcheck-suppress passedByValue const std::string _msg); /// \brief Destructor @@ -140,8 +141,11 @@ namespace sdf /// \param[in] _msg Function where assertion failed public: AssertionInternalError(const char *_file, std::int64_t _line, + // cppcheck-suppress passedByValue const std::string _expr, + // cppcheck-suppress passedByValue const std::string _function, + // cppcheck-suppress passedByValue const std::string _msg = ""); /// \brief Destructor public: virtual ~AssertionInternalError(); diff --git a/include/sdf/Imu.hh b/include/sdf/Imu.hh index a6c4c47b0..85b690701 100644 --- a/include/sdf/Imu.hh +++ b/include/sdf/Imu.hh @@ -232,6 +232,16 @@ namespace sdf /// \param[in] _frame The name of the parent frame. public: void SetCustomRpyParentFrame(const std::string &_frame); + /// \brief Get whether orientation data generation is enabled. + /// \return True if orientation data generation is enabled orientation data, + /// false otherwise. + public: bool OrientationEnabled() const; + + /// \brief Set whether to enable orientation data generation. + /// \param[in] _enabled True to enabled orientation data, false to disable + /// it. + public: void SetOrientationEnabled(bool _enabled); + /// \brief Return true if both Imu objects contain the same values. /// \param[_in] _imu Imu value to compare. /// \returen True if 'this' == _imu. diff --git a/include/sdf/Model.hh b/include/sdf/Model.hh index aa85a7b3e..28391a4c2 100644 --- a/include/sdf/Model.hh +++ b/include/sdf/Model.hh @@ -315,7 +315,7 @@ namespace sdf /// relative to the current model, delimited by "::". /// \return An immutable pointer to the canonical link and the nested /// name of the link relative to the current model. - // TODO (addisu): If the canonical link is inside an interface model, this + // TODO(addisu): If the canonical link is inside an interface model, this // function returns {nullptr, name}. This can be problematic for downstream // applications. public: std::pair CanonicalLinkAndRelativeName() diff --git a/include/sdf/NavSat.hh b/include/sdf/NavSat.hh new file mode 100644 index 000000000..66b9b4b39 --- /dev/null +++ b/include/sdf/NavSat.hh @@ -0,0 +1,141 @@ +/* + * Copyright 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ +#ifndef SDF_NAVSAT_HH_ +#define SDF_NAVSAT_HH_ + +#include +#include +#include +#include +#include + +#include + +namespace sdf +{ + // Inline bracket to help doxygen filtering. + inline namespace SDF_VERSION_NAMESPACE { + // + /// \brief NavSat contains information about a NavSat sensor. + /// This sensor can be attached to a link. The NavSat sensor can be defined + /// SDF XML by the "navsat" type. + /// + /// # Example SDF XML using navsat type: + /// + /// ~~~{.xml} + /// + /// 1 2 3 0 0 0 + /// /navsat + /// + /// + /// + /// + /// 0.98 + /// 0.76 + /// + /// + /// + /// + /// 0.98 + /// 0.76 + /// + /// + /// + /// + /// + /// + /// 0.98 + /// 0.76 + /// + /// + /// + /// + /// 0.98 + /// 0.76 + /// + /// + /// + /// + /// + /// ~~~ + class SDFORMAT_VISIBLE NavSat + { + /// \brief Default constructor + public: NavSat(); + /// \brief Load the navsat based on an element pointer. This is *not* + /// the usual entry point. Typical usage of the SDF DOM is through the Root + /// object. + /// \param[in] _sdf The SDF Element pointer + /// \return Errors, which is a vector of Error objects. Each Error includes + /// an error code and message. An empty vector indicates no error. + public: Errors Load(ElementPtr _sdf); + + /// \brief Get a pointer to the SDF element that was used during + /// load. + /// \return SDF element pointer. The value will be nullptr if Load has + /// not been called. + public: sdf::ElementPtr Element() const; + + /// \brief Set the noise values for the horizontal position sensor + /// \param[in] _noise Noise values to set to + public: void SetHorizontalPositionNoise(const Noise &_noise); + + /// \brief Get noise value for horizontal position sensor + /// \return Noise values + public: const Noise &HorizontalPositionNoise() const; + + /// \brief Set the noise values for the vertical position sensor + /// \param[in] _noise Noise values to set to + public: void SetVerticalPositionNoise(const Noise &_noise); + + /// \brief Get noise value for vertical position sensor + /// \return Noise values + public: const Noise &VerticalPositionNoise() const; + + /// \brief Set the noise values for the horizontal velocity sensor + /// \param[in] _noise Noise values to set to + public: void SetHorizontalVelocityNoise(const Noise &_noise); + + /// \brief Get noise value for horizontal velocity sensor + /// \return Noise values + public: const Noise &HorizontalVelocityNoise() const; + + /// \brief Set the noise values for the vertical velocity sensor + /// \param[in] _noise Noise values to set to + public: void SetVerticalVelocityNoise(const Noise &_noise); + + /// \brief Get noise value for vertical velocity sensor + /// \return Noise values + public: const Noise &VerticalVelocityNoise() const; + + /// \brief Return true if both NavSat objects contain the same values. + /// \param[_in] _navsat NavSat value to compare. + /// \return True if 'this' == _navsat. + public: bool operator==(const NavSat &_navsat) const; + + /// \brief Return true this NavSat object does not contain the same + /// values as the passed in parameter. + /// \param[_in] _navsat NavSat value to compare. + /// \return True if 'this' != _navsat. + public: bool operator!=(const NavSat &_navsat) const; + + /// \brief Private data pointer. + IGN_UTILS_IMPL_PTR(dataPtr) + }; + } +} +#endif diff --git a/include/sdf/Param.hh b/include/sdf/Param.hh index eca2a8573..4c2a51d16 100644 --- a/include/sdf/Param.hh +++ b/include/sdf/Param.hh @@ -350,6 +350,8 @@ namespace sdf /// \def ParamVariant /// \brief Variant type def. + /// Note: When a new variant is added, add variant to functions + /// ParamPrivate::TypeToString and ParamPrivate::ValueFromStringImpl public: typedef std::variant std::string ParamPrivate::TypeToString() const { + // cppcheck-suppress syntaxError if constexpr (std::is_same_v) return "bool"; else if constexpr (std::is_same_v) diff --git a/include/sdf/ParticleEmitter.hh b/include/sdf/ParticleEmitter.hh index 9f5e58ecf..d15eaa639 100644 --- a/include/sdf/ParticleEmitter.hh +++ b/include/sdf/ParticleEmitter.hh @@ -17,6 +17,7 @@ #ifndef SDF_PARTICLE_EMITTER_HH_ #define SDF_PARTICLE_EMITTER_HH_ +#include #include #include diff --git a/include/sdf/Sensor.hh b/include/sdf/Sensor.hh index 205fa619c..f8ac4adcd 100644 --- a/include/sdf/Sensor.hh +++ b/include/sdf/Sensor.hh @@ -41,6 +41,7 @@ namespace sdf class Imu; class Lidar; class Magnetometer; + class NavSat; struct PoseRelativeToGraph; template class ScopedGraph; @@ -114,14 +115,17 @@ namespace sdf /// \brief A thermal camera sensor THERMAL_CAMERA = 20, + /// \brief A NavSat sensor, such as GPS. + NAVSAT = 21, + /// \brief A segmentation camera sensor - SEGMENTATION_CAMERA = 21, + SEGMENTATION_CAMERA = 22, /// \brief A boundingbox camera sensor - BOUNDINGBOX_CAMERA = 22, + BOUNDINGBOX_CAMERA = 23, /// \brief A custom sensor - CUSTOM = 23 + CUSTOM = 24 }; /// \brief Information about an SDF sensor. @@ -156,6 +160,14 @@ namespace sdf /// \param[in] _topic Topic for this sensor's data. public: void SetTopic(const std::string &_topic); + /// \brief Get flag state for enabling performance metrics publication. + /// \return True if performance metrics are enabled, false otherwise. + public: bool EnableMetrics() const; + + /// \brief Set flag to enable publishing performance metrics + /// \param[in] _enableMetrics True to enable. + public: void SetEnableMetrics(bool _enableMetrics); + /// \brief Get the pose of the sensor. This is the pose of the sensor /// as specified in SDF ( ... ), and is /// typically used to express the position and rotation of a sensor in a @@ -278,6 +290,17 @@ namespace sdf /// \sa SensorType Type() const public: const Camera *CameraSensor() const; + /// \brief Set the NAVSAT sensor. + /// \param[in] _navsat The NAVSAT sensor. + public: void SetNavSatSensor(const NavSat &_navsat); + + /// \brief Get a pointer to a NAVSAT sensor, or nullptr if the sensor + /// does not contain an NAVSAT sensor. + /// \return Pointer to the sensor's NAVSAT, or nullptr if the sensor + /// is not an NAVSAT. + /// \sa SensorType Type() const + public: const NavSat *NavSatSensor() const; + /// \brief Set the force torque sensor. /// \param[in] _ft The force torque sensor. public: void SetForceTorqueSensor(const ForceTorque &_ft); diff --git a/include/sdf/World.hh b/include/sdf/World.hh index 183e83e2e..00fda70b9 100644 --- a/include/sdf/World.hh +++ b/include/sdf/World.hh @@ -17,6 +17,7 @@ #ifndef SDF_WORLD_HH_ #define SDF_WORLD_HH_ +#include #include #include #include diff --git a/sdf/1.4/joint.sdf b/sdf/1.4/joint.sdf index 1fe55795f..4ff4e1137 100644 --- a/sdf/1.4/joint.sdf +++ b/sdf/1.4/joint.sdf @@ -119,7 +119,7 @@ Parameters that are specific to a certain physics engine. Simbody specific parameters - + Force cut in the multibody graph at this joint. diff --git a/sdf/1.4/physics.sdf b/sdf/1.4/physics.sdf index 2f50db2e7..08f7930df 100644 --- a/sdf/1.4/physics.sdf +++ b/sdf/1.4/physics.sdf @@ -145,7 +145,7 @@ The depth of the surface layer around all geometry objects. Contacts are allowed to sink into the surface layer up to the given depth before coming to rest. The default value is zero. Increasing this to some small value (e.g. 0.001) can help prevent jittering problems due to contacts being repeatedly made and broken. - + Similar to ODE's max_vel implementation. See http://web.archive.org/web/20120430155635/http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information. @@ -173,7 +173,7 @@ Set the successive over-relaxation parameter. - + Flag to enable dynamic rescaling of moment of inertia in constrained directions. See gazebo pull request 1114 for the implementation of this feature. diff --git a/sdf/1.4/surface.sdf b/sdf/1.4/surface.sdf index 8aae287f8..78d21abb6 100644 --- a/sdf/1.4/surface.sdf +++ b/sdf/1.4/surface.sdf @@ -48,7 +48,7 @@ - + Flag to disable contact force generation, while still allowing collision checks and contact visualization to occur. @@ -94,7 +94,7 @@ dynamically "damping"-equivalent coefficient for contact joints - + Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information. diff --git a/sdf/1.5/joint.sdf b/sdf/1.5/joint.sdf index e63d6f765..d6719b4a7 100644 --- a/sdf/1.5/joint.sdf +++ b/sdf/1.5/joint.sdf @@ -163,7 +163,7 @@ Parameters that are specific to a certain physics engine. Simbody specific parameters - + Force cut in the multibody graph at this joint. diff --git a/sdf/1.5/model.sdf b/sdf/1.5/model.sdf index 5f7b5833b..de38cbd56 100644 --- a/sdf/1.5/model.sdf +++ b/sdf/1.5/model.sdf @@ -34,6 +34,7 @@ Override the pose of the included model. A position and orientation in the global coordinate frame for the model. Position(x,y,z) and rotation (roll, pitch yaw) in the global coordinate frame. + Override the name of the included model. diff --git a/sdf/1.5/physics.sdf b/sdf/1.5/physics.sdf index 3e065e76e..4571bf9ea 100644 --- a/sdf/1.5/physics.sdf +++ b/sdf/1.5/physics.sdf @@ -157,7 +157,7 @@ The depth of the surface layer around all geometry objects. Contacts are allowed to sink into the surface layer up to the given depth before coming to rest. The default value is zero. Increasing this to some small value (e.g. 0.001) can help prevent jittering problems due to contacts being repeatedly made and broken. - + Similar to ODE's max_vel implementation. See http://web.archive.org/web/20120430155635/http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information. @@ -185,7 +185,7 @@ Set the successive over-relaxation parameter. - + Flag to enable dynamic rescaling of moment of inertia in constrained directions. See gazebo pull request 1114 for the implementation of this feature. diff --git a/sdf/1.5/schema/types.xsd b/sdf/1.5/schema/types.xsd index 53f3d8db6..3d1215ace 100644 --- a/sdf/1.5/schema/types.xsd +++ b/sdf/1.5/schema/types.xsd @@ -31,7 +31,9 @@ - + + + diff --git a/sdf/1.5/surface.sdf b/sdf/1.5/surface.sdf index 101f43ebe..3bc05999d 100644 --- a/sdf/1.5/surface.sdf +++ b/sdf/1.5/surface.sdf @@ -18,7 +18,7 @@ Torsional friction coefficient in the range of [0..1]. - + If this flag is true, torsional friction is calculated using the "patch_radius" parameter. @@ -77,7 +77,7 @@ - + Flag to disable contact force generation, while still allowing collision checks and contact visualization to occur. @@ -152,7 +152,7 @@ dynamically "damping"-equivalent coefficient for contact joints - + Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information. diff --git a/sdf/1.5/world.sdf b/sdf/1.5/world.sdf index c906a4016..e0acdc8f5 100644 --- a/sdf/1.5/world.sdf +++ b/sdf/1.5/world.sdf @@ -28,6 +28,7 @@ + diff --git a/sdf/1.6/imu.sdf b/sdf/1.6/imu.sdf index 70f9988fc..f68fc9e22 100644 --- a/sdf/1.6/imu.sdf +++ b/sdf/1.6/imu.sdf @@ -118,4 +118,8 @@ + + Some IMU sensors rely on external filters to produce orientation estimates. True to generate and output orientation data, false to disable orientation data generation. + + diff --git a/sdf/1.6/joint.sdf b/sdf/1.6/joint.sdf index 2173ebfb5..21bfb7d97 100644 --- a/sdf/1.6/joint.sdf +++ b/sdf/1.6/joint.sdf @@ -174,7 +174,7 @@ Parameters that are specific to a certain physics engine. Simbody specific parameters - + Force cut in the multibody graph at this joint. diff --git a/sdf/1.6/model.sdf b/sdf/1.6/model.sdf index 54e13ff19..82fb5a0f6 100644 --- a/sdf/1.6/model.sdf +++ b/sdf/1.6/model.sdf @@ -34,6 +34,7 @@ Override the pose of the included model. A position and orientation in the global coordinate frame for the model. Position(x,y,z) and rotation (roll, pitch yaw) in the global coordinate frame. + Override the name of the included model. diff --git a/sdf/1.6/physics.sdf b/sdf/1.6/physics.sdf index 38c22f633..f644ae9fd 100644 --- a/sdf/1.6/physics.sdf +++ b/sdf/1.6/physics.sdf @@ -162,7 +162,7 @@ The depth of the surface layer around all geometry objects. Contacts are allowed to sink into the surface layer up to the given depth before coming to rest. The default value is zero. Increasing this to some small value (e.g. 0.001) can help prevent jittering problems due to contacts being repeatedly made and broken. - + Similar to ODE's max_vel implementation. See http://web.archive.org/web/20120430155635/http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information. @@ -193,10 +193,10 @@ Set the successive over-relaxation parameter. - + Flag to use threading to speed up position correction computation. - + Flag to enable dynamic rescaling of moment of inertia in constrained directions. See gazebo pull request 1114 for the implementation of this feature. diff --git a/sdf/1.6/schema/types.xsd b/sdf/1.6/schema/types.xsd index 53f3d8db6..3d1215ace 100644 --- a/sdf/1.6/schema/types.xsd +++ b/sdf/1.6/schema/types.xsd @@ -31,7 +31,9 @@ - + + + diff --git a/sdf/1.6/surface.sdf b/sdf/1.6/surface.sdf index 032a3b090..a1631368d 100644 --- a/sdf/1.6/surface.sdf +++ b/sdf/1.6/surface.sdf @@ -21,7 +21,7 @@ tangential stress to normal stress. - + If this flag is true, torsional friction is calculated using the "patch_radius" parameter. @@ -133,7 +133,7 @@ - + Flag to disable contact force generation, while still allowing collision checks and contact visualization to occur. @@ -212,7 +212,7 @@ dynamically "damping"-equivalent coefficient for contact joints - + Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information. diff --git a/sdf/1.6/world.sdf b/sdf/1.6/world.sdf index 9f1f5f26f..af16ae256 100644 --- a/sdf/1.6/world.sdf +++ b/sdf/1.6/world.sdf @@ -36,6 +36,7 @@ + diff --git a/sdf/1.7/imu.sdf b/sdf/1.7/imu.sdf index cd23f872c..25690c8f1 100644 --- a/sdf/1.7/imu.sdf +++ b/sdf/1.7/imu.sdf @@ -114,4 +114,7 @@ + + Some IMU sensors rely on external filters to produce orientation estimates. True to generate and output orientation data, false to disable orientation data generation. + diff --git a/sdf/1.7/joint.sdf b/sdf/1.7/joint.sdf index 8e111ea0a..b4a94b0f6 100644 --- a/sdf/1.7/joint.sdf +++ b/sdf/1.7/joint.sdf @@ -170,7 +170,7 @@ Parameters that are specific to a certain physics engine. Simbody specific parameters - + Force cut in the multibody graph at this joint. diff --git a/sdf/1.7/model.sdf b/sdf/1.7/model.sdf index bd6fe4122..54d8759df 100644 --- a/sdf/1.7/model.sdf +++ b/sdf/1.7/model.sdf @@ -41,6 +41,7 @@ + Override the name of the included model. diff --git a/sdf/1.7/navsat.sdf b/sdf/1.7/navsat.sdf new file mode 100644 index 000000000..8a8f1719b --- /dev/null +++ b/sdf/1.7/navsat.sdf @@ -0,0 +1,40 @@ + + These elements are specific to the NAVSAT sensor. + + + + Parameters related to NAVSAT position measurement. + + + + Noise parameters for horizontal position measurement, in units of meters. + + + + + + Noise parameters for vertical position measurement, in units of meters. + + + + + + + + Parameters related to NAVSAT position measurement. + + + + Noise parameters for horizontal velocity measurement, in units of meters/second. + + + + + + Noise parameters for vertical velocity measurement, in units of meters/second. + + + + + + diff --git a/sdf/1.7/physics.sdf b/sdf/1.7/physics.sdf index 38c22f633..f644ae9fd 100644 --- a/sdf/1.7/physics.sdf +++ b/sdf/1.7/physics.sdf @@ -162,7 +162,7 @@ The depth of the surface layer around all geometry objects. Contacts are allowed to sink into the surface layer up to the given depth before coming to rest. The default value is zero. Increasing this to some small value (e.g. 0.001) can help prevent jittering problems due to contacts being repeatedly made and broken. - + Similar to ODE's max_vel implementation. See http://web.archive.org/web/20120430155635/http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information. @@ -193,10 +193,10 @@ Set the successive over-relaxation parameter. - + Flag to use threading to speed up position correction computation. - + Flag to enable dynamic rescaling of moment of inertia in constrained directions. See gazebo pull request 1114 for the implementation of this feature. diff --git a/sdf/1.7/schema/types.xsd b/sdf/1.7/schema/types.xsd index 53f3d8db6..3d1215ace 100644 --- a/sdf/1.7/schema/types.xsd +++ b/sdf/1.7/schema/types.xsd @@ -31,7 +31,9 @@ - + + + diff --git a/sdf/1.7/sensor.sdf b/sdf/1.7/sensor.sdf index 4f506ff7c..a2eaf689c 100644 --- a/sdf/1.7/sensor.sdf +++ b/sdf/1.7/sensor.sdf @@ -22,6 +22,7 @@ logical_camera, magnetometer, multicamera, + navsat, ray, rfid, rfidtag, @@ -30,7 +31,7 @@ thermal_camera, thermal, wireless_receiver, and wireless_transmitter. - The "ray" and "gpu_ray" types are equivalent to "lidar" and "gpu_lidar", respectively. It is preferred to use "lidar" and "gpu_lidar" since "ray" and "gpu_ray" will be deprecated. The "ray" and "gpu_ray" types are maintained for legacy support. + The "ray", "gpu_ray", and "gps" types are equivalent to "lidar", "gpu_lidar", and "navsat", respectively. It is preferred to use "lidar", "gpu_lidar", and "navsat" since "ray", "gpu_ray", and "gps" will be deprecated. The "ray", "gpu_ray", and "gps" types are maintained for legacy support. @@ -50,6 +51,10 @@ Name of the topic on which data is published. This is necessary for visualization + + If true, the sensor will publish performance metrics + + @@ -62,6 +67,7 @@ + diff --git a/sdf/1.7/surface.sdf b/sdf/1.7/surface.sdf index 032a3b090..a1631368d 100644 --- a/sdf/1.7/surface.sdf +++ b/sdf/1.7/surface.sdf @@ -21,7 +21,7 @@ tangential stress to normal stress. - + If this flag is true, torsional friction is calculated using the "patch_radius" parameter. @@ -133,7 +133,7 @@ - + Flag to disable contact force generation, while still allowing collision checks and contact visualization to occur. @@ -212,7 +212,7 @@ dynamically "damping"-equivalent coefficient for contact joints - + Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information. diff --git a/sdf/1.7/world.sdf b/sdf/1.7/world.sdf index 3214518cc..7efc2ef9b 100644 --- a/sdf/1.7/world.sdf +++ b/sdf/1.7/world.sdf @@ -36,6 +36,7 @@ + diff --git a/sdf/1.8/imu.sdf b/sdf/1.8/imu.sdf index cd23f872c..25690c8f1 100644 --- a/sdf/1.8/imu.sdf +++ b/sdf/1.8/imu.sdf @@ -114,4 +114,7 @@ + + Some IMU sensors rely on external filters to produce orientation estimates. True to generate and output orientation data, false to disable orientation data generation. + diff --git a/sdf/1.8/joint.sdf b/sdf/1.8/joint.sdf index f58fa75fd..efea1d1ec 100644 --- a/sdf/1.8/joint.sdf +++ b/sdf/1.8/joint.sdf @@ -170,7 +170,7 @@ Parameters that are specific to a certain physics engine. Simbody specific parameters - + Force cut in the multibody graph at this joint. diff --git a/sdf/1.8/model.sdf b/sdf/1.8/model.sdf index a6d30f392..65100326e 100644 --- a/sdf/1.8/model.sdf +++ b/sdf/1.8/model.sdf @@ -46,6 +46,7 @@ + Override the name of the included model. diff --git a/sdf/1.8/navsat.sdf b/sdf/1.8/navsat.sdf new file mode 100644 index 000000000..8a8f1719b --- /dev/null +++ b/sdf/1.8/navsat.sdf @@ -0,0 +1,40 @@ + + These elements are specific to the NAVSAT sensor. + + + + Parameters related to NAVSAT position measurement. + + + + Noise parameters for horizontal position measurement, in units of meters. + + + + + + Noise parameters for vertical position measurement, in units of meters. + + + + + + + + Parameters related to NAVSAT position measurement. + + + + Noise parameters for horizontal velocity measurement, in units of meters/second. + + + + + + Noise parameters for vertical velocity measurement, in units of meters/second. + + + + + + diff --git a/sdf/1.8/physics.sdf b/sdf/1.8/physics.sdf index 38c22f633..f644ae9fd 100644 --- a/sdf/1.8/physics.sdf +++ b/sdf/1.8/physics.sdf @@ -162,7 +162,7 @@ The depth of the surface layer around all geometry objects. Contacts are allowed to sink into the surface layer up to the given depth before coming to rest. The default value is zero. Increasing this to some small value (e.g. 0.001) can help prevent jittering problems due to contacts being repeatedly made and broken. - + Similar to ODE's max_vel implementation. See http://web.archive.org/web/20120430155635/http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information. @@ -193,10 +193,10 @@ Set the successive over-relaxation parameter. - + Flag to use threading to speed up position correction computation. - + Flag to enable dynamic rescaling of moment of inertia in constrained directions. See gazebo pull request 1114 for the implementation of this feature. diff --git a/sdf/1.8/schema/types.xsd b/sdf/1.8/schema/types.xsd index 53f3d8db6..3d1215ace 100644 --- a/sdf/1.8/schema/types.xsd +++ b/sdf/1.8/schema/types.xsd @@ -31,7 +31,9 @@ - + + + diff --git a/sdf/1.8/sensor.sdf b/sdf/1.8/sensor.sdf index 4f506ff7c..a2eaf689c 100644 --- a/sdf/1.8/sensor.sdf +++ b/sdf/1.8/sensor.sdf @@ -22,6 +22,7 @@ logical_camera, magnetometer, multicamera, + navsat, ray, rfid, rfidtag, @@ -30,7 +31,7 @@ thermal_camera, thermal, wireless_receiver, and wireless_transmitter. - The "ray" and "gpu_ray" types are equivalent to "lidar" and "gpu_lidar", respectively. It is preferred to use "lidar" and "gpu_lidar" since "ray" and "gpu_ray" will be deprecated. The "ray" and "gpu_ray" types are maintained for legacy support. + The "ray", "gpu_ray", and "gps" types are equivalent to "lidar", "gpu_lidar", and "navsat", respectively. It is preferred to use "lidar", "gpu_lidar", and "navsat" since "ray", "gpu_ray", and "gps" will be deprecated. The "ray", "gpu_ray", and "gps" types are maintained for legacy support. @@ -50,6 +51,10 @@ Name of the topic on which data is published. This is necessary for visualization + + If true, the sensor will publish performance metrics + + @@ -62,6 +67,7 @@ + diff --git a/sdf/1.8/surface.sdf b/sdf/1.8/surface.sdf index 032a3b090..a1631368d 100644 --- a/sdf/1.8/surface.sdf +++ b/sdf/1.8/surface.sdf @@ -21,7 +21,7 @@ tangential stress to normal stress. - + If this flag is true, torsional friction is calculated using the "patch_radius" parameter. @@ -133,7 +133,7 @@ - + Flag to disable contact force generation, while still allowing collision checks and contact visualization to occur. @@ -212,7 +212,7 @@ dynamically "damping"-equivalent coefficient for contact joints - + Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information. diff --git a/sdf/1.8/world.sdf b/sdf/1.8/world.sdf index 991eaf083..0f3efe585 100644 --- a/sdf/1.8/world.sdf +++ b/sdf/1.8/world.sdf @@ -38,6 +38,7 @@ + The frame inside the included entity whose pose will be set by the specified pose element. If this element is specified, the pose must be specified. diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 3a93c0527..503fd7599 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -48,6 +48,7 @@ set (sources Material.cc Mesh.cc Model.cc + NavSat.cc Noise.cc parser.cc parser_urdf.cc @@ -122,6 +123,7 @@ if (BUILD_SDF_TEST) Material_TEST.cc Mesh_TEST.cc Model_TEST.cc + NavSat_TEST.cc Noise_TEST.cc Param_TEST.cc parser_TEST.cc diff --git a/src/Converter_TEST.cc b/src/Converter_TEST.cc index 2e33b70b1..96b32b2d2 100644 --- a/src/Converter_TEST.cc +++ b/src/Converter_TEST.cc @@ -1898,10 +1898,14 @@ TEST(Converter, MuchNewerVersion) ASSERT_TRUE(sdf::Converter::Convert(&xmlDoc, "1.6")); } -const std::string CONVERT_DOC_15_16 = - sdf::testing::SourceFile("sdf", "1.6", "1_5.convert"); -const std::string CONVERT_DOC_16_17 = - sdf::testing::SourceFile("sdf", "1.7", "1_6.convert"); +static std::string ConvertDoc_15_16() +{ + return sdf::testing::SourceFile("sdf", "1.6", "1_5.convert"); +} +static std::string ConvertDoc_16_17() +{ + return sdf::testing::SourceFile("sdf", "1.7", "1_6.convert"); +} ///////////////////////////////////////////////// /// Test conversion of imu in 1.5 to 1.6 @@ -1943,7 +1947,7 @@ TEST(Converter, IMU_15_to_16) // Convert tinyxml2::XMLDocument convertXmlDoc; - convertXmlDoc.LoadFile(CONVERT_DOC_15_16.c_str()); + convertXmlDoc.LoadFile(ConvertDoc_15_16().c_str()); sdf::Converter::Convert(&xmlDoc, &convertXmlDoc); // Check some basic elements @@ -2037,7 +2041,7 @@ TEST(Converter, World_15_to_16) // Convert tinyxml2::XMLDocument convertXmlDoc; - convertXmlDoc.LoadFile(CONVERT_DOC_15_16.c_str()); + convertXmlDoc.LoadFile(ConvertDoc_15_16().c_str()); sdf::Converter::Convert(&xmlDoc, &convertXmlDoc); // Check some basic elements @@ -2093,7 +2097,7 @@ TEST(Converter, Pose_16_to_17) // Convert tinyxml2::XMLDocument convertXmlDoc; - convertXmlDoc.LoadFile(CONVERT_DOC_16_17.c_str()); + convertXmlDoc.LoadFile(ConvertDoc_16_17().c_str()); sdf::Converter::Convert(&xmlDoc, &convertXmlDoc); // Check some basic elements @@ -2141,8 +2145,10 @@ TEST(Converter, Pose_16_to_17) EXPECT_STREQ("parent", jointLinkPoseElem->Attribute("relative_to")); } -const std::string CONVERT_DOC_17_18 = - sdf::testing::SourceFile("sdf", "1.8", "1_7.convert"); +static std::string ConvertDoc_17_18() +{ + return sdf::testing::SourceFile("sdf", "1.8", "1_7.convert"); +} ///////////////////////////////////////////////// /// Test conversion unflattened world in 1.7 to 1.8 @@ -2176,7 +2182,7 @@ TEST(Converter, World_17_to_18) // Convert tinyxml2::XMLDocument convertXmlDoc; - convertXmlDoc.LoadFile(CONVERT_DOC_17_18.c_str()); + convertXmlDoc.LoadFile(ConvertDoc_17_18().c_str()); sdf::Converter::Convert(&xmlDoc, &convertXmlDoc); // Compare converted xml with expected diff --git a/src/Error.cc b/src/Error.cc index de8ea66de..2a3c3ca88 100644 --- a/src/Error.cc +++ b/src/Error.cc @@ -108,7 +108,6 @@ void Error::SetXmlPath(const std::string &_xmlPath) } ///////////////////////////////////////////////// -// cppcheck-suppress unusedFunction Error::operator bool() const { return this->dataPtr->code != ErrorCode::NONE; @@ -127,7 +126,6 @@ namespace sdf inline namespace SDF_VERSION_NAMESPACE { ///////////////////////////////////////////////// -// cppcheck-suppress unusedFunction std::ostream &operator<<(std::ostream &_out, const sdf::Error &_err) { std::string pathInfo = ""; diff --git a/src/FrameSemantics.cc b/src/FrameSemantics.cc index 496111f18..94893dcf5 100644 --- a/src/FrameSemantics.cc +++ b/src/FrameSemantics.cc @@ -16,6 +16,7 @@ */ #include #include +#include #include #include @@ -1269,7 +1270,7 @@ Errors buildPoseRelativeToGraph(ScopedGraph &_out, // add frame vertices and default edge if both // relative_to and attached_to are empty - for (const auto &frame: _model->Frames()) + for (const auto &frame : _model->Frames()) { if (outModel.Count(frame.Name()) > 0) { @@ -1333,7 +1334,7 @@ Errors buildPoseRelativeToGraph(ScopedGraph &_out, outModel.AddEdge({relativeToId, jointId}, joint.PoseInChildFrame()); } - for (const auto &frame: _model->Frames()) + for (const auto &frame : _model->Frames()) { if (frame.AttachedTo().empty()) { diff --git a/src/Imu.cc b/src/Imu.cc index a99ae753c..9512ada62 100644 --- a/src/Imu.cc +++ b/src/Imu.cc @@ -64,6 +64,9 @@ class sdf::Imu::Implementation /// \brief The SDF element pointer used during load. public: sdf::ElementPtr sdf; + + /// \brief True to enable orientation + public: bool orientationEnabled = true; }; ////////////////////////////////////////////////// @@ -178,6 +181,12 @@ Errors Imu::Load(ElementPtr _sdf) } } + if (_sdf->HasElement("enable_orientation")) + { + this->dataPtr->orientationEnabled = _sdf->Get( + "enable_orientation", this->dataPtr->orientationEnabled).first; + } + return errors; } @@ -344,3 +353,15 @@ void Imu::SetCustomRpyParentFrame(const std::string &_frame) { this->dataPtr->customRpyParentFrame = _frame; } + +////////////////////////////////////////////////// +void Imu::SetOrientationEnabled(bool _enabled) +{ + this->dataPtr->orientationEnabled = _enabled; +} + +////////////////////////////////////////////////// +bool Imu::OrientationEnabled() const +{ + return this->dataPtr->orientationEnabled; +} diff --git a/src/Imu_TEST.cc b/src/Imu_TEST.cc index 2d76c20ca..4deda538b 100644 --- a/src/Imu_TEST.cc +++ b/src/Imu_TEST.cc @@ -75,6 +75,10 @@ TEST(DOMImu, Construction) imu.SetLocalization("NED"); EXPECT_EQ("NED", imu.Localization()); + EXPECT_TRUE(imu.OrientationEnabled()); + imu.SetOrientationEnabled(false); + EXPECT_FALSE(imu.OrientationEnabled()); + // Copy Constructor sdf::Imu imu2(imu); EXPECT_EQ(imu, imu2); diff --git a/src/Joint.cc b/src/Joint.cc index 114aecab1..c7847bf5b 100644 --- a/src/Joint.cc +++ b/src/Joint.cc @@ -55,7 +55,6 @@ class sdf::Joint::Implementation public: double threadPitch = 1.0; /// \brief Joint axis - // cppcheck-suppress public: std::array, 2> axis; /// \brief The SDF element pointer used during load. diff --git a/src/Light.cc b/src/Light.cc index 364d71244..692a925b9 100644 --- a/src/Light.cc +++ b/src/Light.cc @@ -205,7 +205,7 @@ Errors Light::Load(ElementPtr _sdf) this->SetSpotInnerAngle(doubleValue.first); // Check for and set outer_angle - doubleValue =spotElem->Get( + doubleValue = spotElem->Get( "outer_angle", this->dataPtr->spotOuterAngle.Radian()); if (!doubleValue.second) { @@ -215,7 +215,7 @@ Errors Light::Load(ElementPtr _sdf) this->SetSpotOuterAngle(doubleValue.first); // Check for and set falloff - doubleValue =spotElem->Get("falloff", this->dataPtr->spotFalloff); + doubleValue = spotElem->Get("falloff", this->dataPtr->spotFalloff); if (!doubleValue.second) { errors.push_back({ErrorCode::ELEMENT_MISSING, diff --git a/src/Link.cc b/src/Link.cc index 6a8b9df31..67160226a 100644 --- a/src/Link.cc +++ b/src/Link.cc @@ -495,5 +495,5 @@ bool Link::EnableWind() const ///////////////////////////////////////////////// void Link::SetEnableWind(const bool _enableWind) { - this->dataPtr->enableWind =_enableWind; + this->dataPtr->enableWind = _enableWind; } diff --git a/src/Model.cc b/src/Model.cc index 1aa981069..8fdd68181 100644 --- a/src/Model.cc +++ b/src/Model.cc @@ -394,7 +394,7 @@ bool Model::EnableWind() const ///////////////////////////////////////////////// void Model::SetEnableWind(const bool _enableWind) { - this->dataPtr->enableWind =_enableWind; + this->dataPtr->enableWind = _enableWind; } ///////////////////////////////////////////////// diff --git a/src/NavSat.cc b/src/NavSat.cc new file mode 100644 index 000000000..26f7ec9d2 --- /dev/null +++ b/src/NavSat.cc @@ -0,0 +1,193 @@ +/* + * Copyright 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ +#include "sdf/NavSat.hh" + +using namespace sdf; +using namespace ignition; + +/// \brief Private navsat data. +class sdf::NavSat::Implementation +{ + /// \brief Noise values for the horizontal positioning sensor + public: Noise horizontalPositionNoise; + + /// \brief Noise values for the vertical positioning sensor + public: Noise verticalPositionNoise; + + /// \brief Noise values for the horizontal velocity sensor + public: Noise horizontalVelocityNoise; + + /// \brief Noise values for the verical velocity sensor + public: Noise verticalVelocityNoise; + + /// \brief The SDF element pointer used during load. + public: sdf::ElementPtr sdf{nullptr}; +}; + +////////////////////////////////////////////////// +NavSat::NavSat() + : dataPtr(ignition::utils::MakeImpl()) +{ +} + +////////////////////////////////////////////////// +Errors NavSat::Load(ElementPtr _sdf) +{ + Errors errors; + + this->dataPtr->sdf = _sdf; + + // Check that sdf is a valid pointer + if (!_sdf) + { + errors.push_back({ErrorCode::ELEMENT_MISSING, + "Attempting to load NAVSAT, but the provided SDF " + "element is null."}); + return errors; + } + + // Check that the provided SDF element is a element. + // This is an error that cannot be recovered, so return an error. + if (_sdf->GetName() != "navsat" && _sdf->GetName() != "gps") + { + errors.push_back({ErrorCode::ELEMENT_INCORRECT_TYPE, + "Attempting to load NAVSAT, but the provided SDF element is " + "not a ."}); + return errors; + } + + // Load navsat sensor properties + if (_sdf->HasElement("position_sensing")) + { + sdf::ElementPtr elem = _sdf->GetElement("position_sensing"); + if (elem->HasElement("horizontal")) + { + sdf::ElementPtr horiz = elem->GetElement("horizontal"); + if (horiz->HasElement("noise")) + { + this->dataPtr->horizontalPositionNoise.Load(horiz->GetElement("noise")); + } + } + if (elem->HasElement("vertical")) + { + sdf::ElementPtr vert = elem->GetElement("vertical"); + if (vert->HasElement("noise")) + { + this->dataPtr->verticalPositionNoise.Load(vert->GetElement("noise")); + } + } + } + if (_sdf->HasElement("velocity_sensing")) + { + sdf::ElementPtr elem = _sdf->GetElement("velocity_sensing"); + if (elem->HasElement("horizontal")) + { + sdf::ElementPtr horiz = elem->GetElement("horizontal"); + if (horiz->HasElement("noise")) + { + this->dataPtr->horizontalVelocityNoise.Load(horiz->GetElement("noise")); + } + } + if (elem->HasElement("vertical")) + { + sdf::ElementPtr vert = elem->GetElement("vertical"); + if (vert->HasElement("noise")) + { + this->dataPtr->verticalVelocityNoise.Load(vert->GetElement("noise")); + } + } + } + + return errors; +} + +////////////////////////////////////////////////// +sdf::ElementPtr NavSat::Element() const +{ + return this->dataPtr->sdf; +} + +////////////////////////////////////////////////// +const Noise &NavSat::HorizontalPositionNoise() const +{ + return this->dataPtr->horizontalPositionNoise; +} + +////////////////////////////////////////////////// +void NavSat::SetHorizontalPositionNoise(const Noise &_noise) +{ + this->dataPtr->horizontalPositionNoise = _noise; +} + +////////////////////////////////////////////////// +const Noise &NavSat::HorizontalVelocityNoise() const +{ + return this->dataPtr->horizontalVelocityNoise; +} + +////////////////////////////////////////////////// +void NavSat::SetHorizontalVelocityNoise(const Noise &_noise) +{ + this->dataPtr->horizontalVelocityNoise = _noise; +} + +////////////////////////////////////////////////// +const Noise &NavSat::VerticalPositionNoise() const +{ + return this->dataPtr->verticalPositionNoise; +} + +////////////////////////////////////////////////// +void NavSat::SetVerticalPositionNoise(const Noise &_noise) +{ + this->dataPtr->verticalPositionNoise = _noise; +} + +////////////////////////////////////////////////// +const Noise &NavSat::VerticalVelocityNoise() const +{ + return this->dataPtr->verticalVelocityNoise; +} + +////////////////////////////////////////////////// +void NavSat::SetVerticalVelocityNoise(const Noise &_noise) +{ + this->dataPtr->verticalVelocityNoise = _noise; +} + +////////////////////////////////////////////////// +bool NavSat::operator==(const NavSat &_navsat) const +{ + if (this->dataPtr->verticalPositionNoise != _navsat.VerticalPositionNoise()) + return false; + if (this->dataPtr->horizontalPositionNoise != + _navsat.HorizontalPositionNoise()) + return false; + if (this->dataPtr->verticalVelocityNoise != _navsat.VerticalVelocityNoise()) + return false; + if (this->dataPtr->horizontalVelocityNoise != + _navsat.HorizontalVelocityNoise()) + return false; + + return true; +} + +////////////////////////////////////////////////// +bool NavSat::operator!=(const NavSat &_navsat) const +{ + return !(*this == _navsat); +} diff --git a/src/NavSat_TEST.cc b/src/NavSat_TEST.cc new file mode 100644 index 000000000..a4d10e925 --- /dev/null +++ b/src/NavSat_TEST.cc @@ -0,0 +1,115 @@ +/* + * Copyright (C) 2021 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include +#include "sdf/NavSat.hh" + +///////////////////////////////////////////////// +TEST(DOMNavSat, Construction) +{ + sdf::NavSat navSat; + sdf::Noise defaultNoise; + EXPECT_EQ(defaultNoise, navSat.VerticalPositionNoise()); + EXPECT_EQ(defaultNoise, navSat.HorizontalPositionNoise()); + EXPECT_EQ(defaultNoise, navSat.VerticalVelocityNoise()); + EXPECT_EQ(defaultNoise, navSat.HorizontalVelocityNoise()); +} + +///////////////////////////////////////////////// +TEST(DOMNavSat, Set) +{ + sdf::NavSat navSat; + + sdf::Noise noise; + sdf::Noise defaultNoise; + + // set random values and check they apply. + noise.SetMean(6.5); + noise.SetStdDev(3.79); + + navSat.SetVerticalPositionNoise(noise); + EXPECT_EQ(noise, navSat.VerticalPositionNoise()); + EXPECT_EQ(defaultNoise, navSat.HorizontalPositionNoise()); + EXPECT_EQ(defaultNoise, navSat.VerticalVelocityNoise()); + EXPECT_EQ(defaultNoise, navSat.HorizontalVelocityNoise()); + navSat.SetHorizontalPositionNoise(noise); + EXPECT_EQ(noise, navSat.VerticalPositionNoise()); + EXPECT_EQ(noise, navSat.HorizontalPositionNoise()); + EXPECT_EQ(defaultNoise, navSat.VerticalVelocityNoise()); + EXPECT_EQ(defaultNoise, navSat.HorizontalVelocityNoise()); + navSat.SetVerticalVelocityNoise(noise); + EXPECT_EQ(noise, navSat.VerticalPositionNoise()); + EXPECT_EQ(noise, navSat.HorizontalPositionNoise()); + EXPECT_EQ(noise, navSat.VerticalVelocityNoise()); + EXPECT_EQ(defaultNoise, navSat.HorizontalVelocityNoise()); + navSat.SetHorizontalVelocityNoise(noise); + EXPECT_EQ(noise, navSat.VerticalPositionNoise()); + EXPECT_EQ(noise, navSat.HorizontalPositionNoise()); + EXPECT_EQ(noise, navSat.VerticalVelocityNoise()); + EXPECT_EQ(noise, navSat.HorizontalVelocityNoise()); + + // Inequality operator + sdf::NavSat navSat2; + EXPECT_NE(navSat2, navSat); + + // Copy constructor + sdf::NavSat navSatCopied(navSat); + EXPECT_EQ(navSatCopied, navSat); + + // Assignment operator + sdf::NavSat navSatAssigned; + navSatAssigned = navSat; + EXPECT_EQ(navSatAssigned, navSat); + + // Move constructor + sdf::NavSat navSatMoved = std::move(navSat); + EXPECT_EQ(navSatCopied, navSatMoved); + + // Test nullptr private class + navSat = navSatMoved; + EXPECT_EQ(navSatCopied, navSat); + + // Move assignment operator + sdf::NavSat navSatMoveAssigned; + navSatMoveAssigned = std::move(navSatCopied); + EXPECT_EQ(navSatAssigned, navSatMoveAssigned); + + // Test nullptr private class + navSatCopied = navSatMoveAssigned; + EXPECT_EQ(navSatAssigned, navSatCopied); +} + +///////////////////////////////////////////////// +TEST(DOMNavSat, Load) +{ + sdf::NavSat navSat; + sdf::Errors errors; + + // Null element + errors = navSat.Load(nullptr); + ASSERT_EQ(1u, errors.size()); + EXPECT_EQ(sdf::ErrorCode::ELEMENT_MISSING, errors[0].Code()); + EXPECT_EQ(nullptr, navSat.Element()); + + // Bad element name + sdf::ElementPtr sdf(new sdf::Element()); + sdf->SetName("bad"); + errors = navSat.Load(sdf); + ASSERT_EQ(1u, errors.size()); + EXPECT_EQ(sdf::ErrorCode::ELEMENT_INCORRECT_TYPE, errors[0].Code()); + EXPECT_NE(nullptr, navSat.Element()); +} diff --git a/src/Noise.cc b/src/Noise.cc index e1309dae5..d509db1e0 100644 --- a/src/Noise.cc +++ b/src/Noise.cc @@ -91,7 +91,7 @@ Errors Noise::Load(ElementPtr _sdf) else if (typeLower == "gaussian") this->dataPtr->type = NoiseType::GAUSSIAN; else if (typeLower == "gaussian_quantized") - this->dataPtr->type =NoiseType::GAUSSIAN_QUANTIZED; + this->dataPtr->type = NoiseType::GAUSSIAN_QUANTIZED; else { errors.push_back({ErrorCode::ELEMENT_MISSING, diff --git a/src/Param.cc b/src/Param.cc index c658c4a1a..b0684b5bf 100644 --- a/src/Param.cc +++ b/src/Param.cc @@ -856,6 +856,7 @@ bool Param::ValidateValue() const { using T = std::decay_t; // cppcheck-suppress syntaxError + // cppcheck-suppress unmatchedSuppression if constexpr (std::is_scalar_v) { if (this->dataPtr->minValue.has_value()) diff --git a/src/ParamPassing.cc b/src/ParamPassing.cc index f8f581997..2e56dca73 100644 --- a/src/ParamPassing.cc +++ b/src/ParamPassing.cc @@ -15,6 +15,7 @@ * */ #include +#include #include #include "sdf/Filesystem.hh" diff --git a/src/Pbr.cc b/src/Pbr.cc index 9ba0b3a0a..1c83899b7 100644 --- a/src/Pbr.cc +++ b/src/Pbr.cc @@ -173,7 +173,7 @@ Errors PbrWorkflow::Load(sdf::ElementPtr _sdf) this->dataPtr->albedoMap = _sdf->Get("albedo_map", this->dataPtr->albedoMap).first; - this->dataPtr->normalMap= _sdf->Get("normal_map", + this->dataPtr->normalMap = _sdf->Get("normal_map", this->dataPtr->normalMap).first; this->dataPtr->environmentMap = _sdf->Get("environment_map", diff --git a/src/SDF.cc b/src/SDF.cc index 45feb5a29..c44eda697 100644 --- a/src/SDF.cc +++ b/src/SDF.cc @@ -37,7 +37,9 @@ namespace sdf { inline namespace SDF_VERSION_NAMESPACE { -std::string SDF::version = SDF_VERSION; +// TODO(azeey) This violates the Google style guide. Change to a function that +// returns the version string when possible. +std::string SDF::version = SDF_VERSION; // NOLINT(runtime/string) ///////////////////////////////////////////////// void setFindCallback(std::function _cb) @@ -62,7 +64,6 @@ std::string findFile(const std::string &_filename, bool _searchLocalPath, { // Check to see if the URI in the global map is the first part of the // given filename - // cppcheck-suppress stlIfStrFind if (_filename.find(uriScheme) == 0) { std::string suffix = _filename; @@ -307,9 +308,7 @@ void SDF::PrintDoc() std::cout << "\n"; - std::cout << "\ - \ - \n"; + std::cout << " \n"; } ///////////////////////////////////////////////// diff --git a/src/SDFExtension.hh b/src/SDFExtension.hh index 8ada34681..77bd032ac 100644 --- a/src/SDFExtension.hh +++ b/src/SDFExtension.hh @@ -34,7 +34,7 @@ namespace sdf // Inline bracket to help doxygen filtering. inline namespace SDF_VERSION_NAMESPACE { // - using XMLDocumentPtr= std::shared_ptr; + using XMLDocumentPtr = std::shared_ptr; using XMLElementPtr = std::shared_ptr; /// \internal diff --git a/src/Scene.cc b/src/Scene.cc index 6bcc0249d..f99430d47 100644 --- a/src/Scene.cc +++ b/src/Scene.cc @@ -70,7 +70,7 @@ Errors Scene::Load(ElementPtr _sdf) } // Get the ambient property - this->dataPtr->ambient= _sdf->Get("ambient", + this->dataPtr->ambient = _sdf->Get("ambient", this->dataPtr->ambient).first; // Get the background color property diff --git a/src/Sensor.cc b/src/Sensor.cc index 4f2898e2e..6f1ac7b3f 100644 --- a/src/Sensor.cc +++ b/src/Sensor.cc @@ -24,6 +24,7 @@ #include "sdf/Camera.hh" #include "sdf/Error.hh" #include "sdf/ForceTorque.hh" +#include "sdf/NavSat.hh" #include "sdf/Imu.hh" #include "sdf/Magnetometer.hh" #include "sdf/Lidar.hh" @@ -60,6 +61,7 @@ const std::vector sensorTypeStrs = "air_pressure", "rgbd_camera", "thermal_camera", + "navsat", "segmentation_camera", "boundingbox_camera", "custom" @@ -85,6 +87,9 @@ class sdf::Sensor::Implementation /// \brief The SDF element pointer used during load. public: sdf::ElementPtr sdf; + /// \brief Performance metrics flag. + public: bool enableMetrics{false}; + /// \brief Name of xml parent object. public: std::string xmlParentName; @@ -97,6 +102,9 @@ class sdf::Sensor::Implementation /// \brief Optional altimeter. public: std::optional altimeter; + /// \brief Optional NAVSAT sensor. + public: std::optional navSat; + /// \brief Optional air pressure sensor. public: std::optional airPressure; @@ -136,6 +144,7 @@ bool Sensor::operator==(const Sensor &_sensor) const this->Topic() != _sensor.Topic() || this->RawPose() != _sensor.RawPose() || this->PoseRelativeTo() != _sensor.PoseRelativeTo() || + this->EnableMetrics() != _sensor.EnableMetrics() || !ignition::math::equal(this->UpdateRate(), _sensor.UpdateRate())) { return false; @@ -154,6 +163,8 @@ bool Sensor::operator==(const Sensor &_sensor) const return *(this->dataPtr->forceTorque) == *(_sensor.dataPtr->forceTorque); case SensorType::IMU: return *(this->dataPtr->imu) == *(_sensor.dataPtr->imu); + case SensorType::NAVSAT: + return *(this->dataPtr->navSat) == *(_sensor.dataPtr->navSat); case SensorType::CAMERA: case SensorType::DEPTH_CAMERA: case SensorType::RGBD_CAMERA: @@ -223,6 +234,8 @@ Errors Sensor::Load(ElementPtr _sdf) if (this->dataPtr->topic == "__default__") this->dataPtr->topic = ""; + this->dataPtr->enableMetrics = _sdf->Get("enable_metrics", + this->dataPtr->enableMetrics).first; std::string type = _sdf->Get("type"); if (type == "air_pressure") { @@ -297,9 +310,13 @@ Errors Sensor::Load(ElementPtr _sdf) _sdf->GetElement("force_torque")); errors.insert(errors.end(), err.begin(), err.end()); } - else if (type == "gps") + else if (type == "navsat" || type == "gps") { - this->dataPtr->type = SensorType::GPS; + this->dataPtr->type = SensorType::NAVSAT; + this->dataPtr->navSat.emplace(); + Errors err = this->dataPtr->navSat->Load( + _sdf->GetElement(_sdf->HasElement("navsat") ? "navsat" : "gps")); + errors.insert(errors.end(), err.begin(), err.end()); } else if (type == "gpu_ray" || type == "gpu_lidar") { @@ -435,6 +452,18 @@ void Sensor::SetPoseRelativeToGraph( this->dataPtr->poseRelativeToGraph = _graph; } +///////////////////////////////////////////////// +bool Sensor::EnableMetrics() const +{ + return this->dataPtr->enableMetrics; +} + +///////////////////////////////////////////////// +void Sensor::SetEnableMetrics(bool _enableMetrics) +{ + this->dataPtr->enableMetrics = _enableMetrics; +} + ///////////////////////////////////////////////// sdf::SemanticPose Sensor::SemanticPose() const { @@ -570,6 +599,18 @@ const ForceTorque *Sensor::ForceTorqueSensor() const return optionalToPointer(this->dataPtr->forceTorque); } +///////////////////////////////////////////////// +void Sensor::SetNavSatSensor(const NavSat &_gps) +{ + this->dataPtr->navSat = _gps; +} + +///////////////////////////////////////////////// +const NavSat *Sensor::NavSatSensor() const +{ + return optionalToPointer(this->dataPtr->navSat); +} + ///////////////////////////////////////////////// void Sensor::SetImuSensor(const Imu &_imu) { diff --git a/src/Sensor_TEST.cc b/src/Sensor_TEST.cc index 51acf6e99..e1b66b92e 100644 --- a/src/Sensor_TEST.cc +++ b/src/Sensor_TEST.cc @@ -18,6 +18,7 @@ #include #include "sdf/Noise.hh" #include "sdf/Magnetometer.hh" +#include "sdf/sdf.hh" #include "sdf/Sensor.hh" ///////////////////////////////////////////////// @@ -248,7 +249,7 @@ TEST(DOMSensor, Type) sdf::SensorType::CONTACT, sdf::SensorType::DEPTH_CAMERA, sdf::SensorType::FORCE_TORQUE, - sdf::SensorType::GPS, + sdf::SensorType::NAVSAT, sdf::SensorType::GPU_LIDAR, sdf::SensorType::IMU, sdf::SensorType::LOGICAL_CAMERA, @@ -273,7 +274,7 @@ TEST(DOMSensor, Type) "contact", "depth_camera", "force_torque", - "gps", + "navsat", "gpu_lidar", "imu", "logical_camera", @@ -308,3 +309,30 @@ TEST(DOMSensor, Type) EXPECT_EQ(typeStrs[i], sensor.TypeStr()); } } + +///////////////////////////////////////////////// +TEST(DOMSensor, EnableMetrics) +{ + sdf::Sensor sensor; + // Verify default value. + EXPECT_EQ(false, sensor.EnableMetrics()); + + // Set up a simple sdf to test enable metrics option + std::ostringstream stream; + stream << "" + << " " + << " " + << " true" + << " " + << " " + << ""; + sdf::SDF sdfParsed; + sdfParsed.SetFromString(stream.str()); + + const sdf::ElementPtr sensorElem = sdfParsed.Root()-> + GetElement("model")->GetElement("sensor"); + sensor.Load(sensorElem); + EXPECT_EQ(true, sensor.EnableMetrics()); + sensor.SetEnableMetrics(false); + EXPECT_EQ(false, sensor.EnableMetrics()); +} diff --git a/src/Utils.cc b/src/Utils.cc index 3b2834706..6c9dcc3f0 100644 --- a/src/Utils.cc +++ b/src/Utils.cc @@ -14,6 +14,7 @@ * limitations under the License. * */ +#include #include #include #include "sdf/SDFImpl.hh" diff --git a/src/ign.cc b/src/ign.cc index c8d36e3e6..e046d6fc1 100644 --- a/src/ign.cc +++ b/src/ign.cc @@ -17,6 +17,7 @@ #include #include +#include #include #include "sdf/sdf_config.h" @@ -30,7 +31,6 @@ #include "ign.hh" ////////////////////////////////////////////////// -// cppcheck-suppress unusedFunction extern "C" SDFORMAT_VISIBLE int cmdCheck(const char *_path) { int result = 0; @@ -99,7 +99,6 @@ extern "C" SDFORMAT_VISIBLE int cmdCheck(const char *_path) } ////////////////////////////////////////////////// -// cppcheck-suppress unusedFunction extern "C" SDFORMAT_VISIBLE char *ignitionVersion() { #ifdef _MSC_VER @@ -112,7 +111,6 @@ extern "C" SDFORMAT_VISIBLE char *ignitionVersion() ////////////////////////////////////////////////// /// \brief Print the full description of the SDF spec. /// \return 0 on success, -1 if SDF could not be initialized. -// cppcheck-suppress unusedFunction extern "C" SDFORMAT_VISIBLE int cmdDescribe(const char *_version) { sdf::SDFPtr sdf(new sdf::SDF()); @@ -133,7 +131,6 @@ extern "C" SDFORMAT_VISIBLE int cmdDescribe(const char *_version) } ////////////////////////////////////////////////// -// cppcheck-suppress unusedFunction extern "C" SDFORMAT_VISIBLE int cmdPrint(const char *_path) { if (!sdf::filesystem::exists(_path)) diff --git a/src/ign_TEST.cc b/src/ign_TEST.cc index 9757a307c..c3e8adfac 100644 --- a/src/ign_TEST.cc +++ b/src/ign_TEST.cc @@ -32,9 +32,15 @@ #define pclose _pclose #endif -static const std::string g_sdfVersion(" --force-version " + - std::string(SDF_VERSION_FULL)); -static const std::string g_ignCommand(std::string(IGN_PATH) + "/ign"); +static std::string SdfVersion() +{ + return " --force-version " + std::string(SDF_VERSION_FULL); +} + +static std::string IgnCommand() +{ + return std::string(IGN_PATH) + "/ign"; +} ///////////////////////////////////////////////// std::string custom_exec_str(std::string _cmd) @@ -70,7 +76,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check box_plane_low_friction_test.world std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -80,7 +86,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check box_bad_test.world std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("Required attribute"), std::string::npos) << output; } @@ -92,7 +98,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check world_duplicate.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("World with name[default] already exists."), std::string::npos) << output; } @@ -104,7 +110,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check world_sibling_same_names.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("Non-unique names"), std::string::npos) << output; } @@ -116,7 +122,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_duplicate_links.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("link with name[link] already exists."), std::string::npos) << output; } @@ -128,7 +134,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_duplicate_joints.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("joint with name[joint] already exists."), std::string::npos) << output; } @@ -140,7 +146,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_link_joint_same_name.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("Non-unique names"), std::string::npos) << output; } @@ -152,7 +158,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check link_duplicate_sibling_collisions.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("collision with name[collision] " "already exists."), std::string::npos) << output; @@ -165,7 +171,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check link_duplicate_sibling_visuals.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("visual with name[visual] already exists."), std::string::npos) << output; } @@ -177,7 +183,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check link_duplicate_cousin_collisions.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -188,7 +194,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check link_duplicate_cousin_visuals.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -198,7 +204,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check joint_invalid_child.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("Child frame with name[invalid] specified by " "joint with name[joint] not found in model with " "name[joint_invalid_child]."), @@ -211,7 +217,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check joint_invalid_parent.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("parent frame with name[invalid] specified by " "joint with name[joint] not found in model with " "name[joint_invalid_parent]."), @@ -224,7 +230,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check joint_invalid_self_child.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("FrameAttachedToGraph cycle detected, already " "visited vertex [joint_invalid_self_child::self]."), std::string::npos) << output; @@ -236,7 +242,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check joint_invalid_self_parent.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("joint with name[self] in model with " "name[joint_invalid_self_parent] must not specify " "its own name as the parent frame."), @@ -249,7 +255,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check joint_invalid_parent_same_as_child.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("Joint with name[joint] must " "specify different link names for parent and child, " "while [link] was specified for both."), @@ -264,7 +270,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check joint_invalid_resolved_parent_same_as_child.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("specified parent frame [J1] and child frame [L2] " "that both resolve to [L2], but they should resolve " "to different values."), @@ -277,7 +283,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check joint_child_world.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("Joint with name[joint] specified invalid " "child link [world]."), std::string::npos) << output; @@ -290,7 +296,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check joint_parent_world.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -301,7 +307,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check joint_child_frame.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -312,7 +318,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check joint_parent_frame.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -323,7 +329,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_canonical_link.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -333,7 +339,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_invalid_canonical_link.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("canonical_link with name[link3] not found in " "model with name[model_invalid_canonical_link]."), std::string::npos) << output; @@ -345,7 +351,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_without_links.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("A model must have at least one link."), std::string::npos) << output; } @@ -356,7 +362,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check nested_model.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -366,7 +372,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check nested_canonical_link.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -378,7 +384,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check nested_explicit_canonical_link.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -388,7 +394,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check nested_without_links_invalid.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("A model must have at least one link."), std::string::npos) << output; } @@ -399,7 +405,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_invalid_reserved_names.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("The supplied link name [world] is reserved."), std::string::npos) << output; EXPECT_NE(output.find("The supplied link name [__link__] " @@ -424,7 +430,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) std::string path = pathBase +"/ignore_sdf_in_plugin.sdf"; std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -433,7 +439,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) std::string path = pathBase +"/ignore_sdf_in_namespaced_elements.sdf"; std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -444,7 +450,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_frame_attached_to.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -455,7 +461,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_frame_attached_to_joint.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -466,7 +472,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_frame_attached_to_nested_model.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -476,7 +482,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_frame_invalid_attached_to.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("attached_to name[A] specified by frame with " "name[F3] does not match a nested model, link, " "joint, or frame name in model with " @@ -494,7 +500,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_frame_invalid_attached_to_cycle.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(std::string::npos, output.find("FrameAttachedToGraph cycle detected, already visited " "vertex [model_frame_invalid_attached_to_cycle::F1].")) @@ -512,7 +518,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check world_frame_attached_to.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -522,7 +528,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check world_frame_invalid_attached_to.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("attached_to name[A] specified by frame with " "name[F] does not match a model or frame " "name in world with " @@ -542,7 +548,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_link_relative_to.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -552,7 +558,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_invalid_link_relative_to.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("relative_to name[A] specified by link with " "name[L] does not match a nested model, link, " "joint, or frame name in model with " @@ -571,7 +577,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_nested_model_relative_to.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -583,7 +589,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_nested_model_relative_to.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -594,7 +600,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_joint_relative_to.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -604,7 +610,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_invalid_joint_relative_to.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("relative_to name[A] specified by joint with " "name[J] does not match a nested model, link, " "joint, or frame name in model with " @@ -623,7 +629,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_frame_relative_to.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -634,7 +640,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_frame_relative_to_joint.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -644,7 +650,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_invalid_frame_relative_to.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("relative_to name[A] specified by frame with " "name[F] does not match a nested model, link, " "joint, or frame name in model with " @@ -662,7 +668,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_invalid_frame_relative_to_cycle.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(std::string::npos, output.find("PoseRelativeToGraph cycle detected, already visited " "vertex [model_invalid_frame_relative_to_cycle::F1].")) @@ -680,7 +686,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check world_frame_relative_to.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -690,7 +696,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check world_frame_invalid_relative_to.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE(output.find("relative_to name[A] specified by model with " "name[M] does not match a model or frame " "name in world with " @@ -719,7 +725,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check model_invalid_placement_frame.sdf std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE( output.find("unable to find unique frame with name [link3] in graph"), std::string::npos) @@ -731,7 +737,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) std::string path = pathBase + "/nested_model_cross_references.sdf"; std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } @@ -740,7 +746,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) std::string path = pathBase + "/model_invalid_root_reference.sdf"; std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE( output.find("'__root__' is reserved; it cannot be used as a " "value of attribute [relative_to]"), @@ -760,7 +766,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) std::string path = pathBase + "/world_invalid_root_reference.sdf"; std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE( output.find("'__root__' is reserved; it cannot be used as a " "value of attribute [relative_to]"), @@ -807,7 +813,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) std::string path = pathBase + "/world_valid_root_reference.sdf"; std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output) << output; } // Check an SDF with an invalid relative frame at the top level model @@ -815,7 +821,7 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) std::string path = pathBase + "/model_invalid_top_level_frame.sdf"; std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_NE( output.find("Attribute //pose[@relative_to] of top level model must be " "left empty, found //pose[@relative_to='some_frame']."), @@ -833,7 +839,7 @@ TEST(check_shapes_sdf, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) std::string path = pathBase +"/shapes.sdf"; std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output); } @@ -841,7 +847,7 @@ TEST(check_shapes_sdf, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) std::string path = pathBase +"/shapes_world.sdf"; std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output); } } @@ -857,7 +863,7 @@ TEST(check_model_sdf, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) std::string path = pathBase +"/model.sdf"; std::string output = - custom_exec_str(g_ignCommand + " sdf -k " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output); } @@ -867,7 +873,7 @@ TEST(check_model_sdf, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) std::string output = custom_exec_str("cd " + pathBase + " && " + - g_ignCommand + " sdf -k " + path + g_sdfVersion); + IgnCommand() + " sdf -k " + path + SdfVersion()); EXPECT_EQ("Valid.\n", output); } } @@ -877,7 +883,7 @@ TEST(describe, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) { // Get the description std::string output = - custom_exec_str(g_ignCommand + " sdf -d " + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -d " + SdfVersion()); EXPECT_FALSE(output.empty()); // The first line should start with the following text. @@ -899,7 +905,7 @@ TEST(print, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check box_plane_low_friction_test.world std::string output = - custom_exec_str(g_ignCommand + " sdf -p " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -p " + path + SdfVersion()); EXPECT_EQ(sdf->Root()->ToString(""), output); } @@ -909,7 +915,7 @@ TEST(print, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF)) // Check box_bad_test.world std::string output = - custom_exec_str(g_ignCommand + " sdf -p " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -p " + path + SdfVersion()); EXPECT_TRUE(output.find("Required attribute") != std::string::npos); } } @@ -924,7 +930,7 @@ TEST(GraphCmd, IGN_UTILS_TEST_DISABLED_ON_WIN32(WorldPoseRelativeTo)) pathBase + "/world_relative_to_nested_reference.sdf"; const std::string output = - custom_exec_str(g_ignCommand + " sdf -g pose " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -g pose " + path + SdfVersion()); std::stringstream expected; expected << "digraph {\n" @@ -971,7 +977,7 @@ TEST(GraphCmd, IGN_UTILS_TEST_DISABLED_ON_WIN32(ModelPoseRelativeTo)) const std::string pathBase = std::string(PROJECT_SOURCE_PATH) + "/test/sdf"; const std::string path = pathBase + "/model_relative_to_nested_reference.sdf"; const std::string output = - custom_exec_str(g_ignCommand + " sdf -g pose " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -g pose " + path + SdfVersion()); std::stringstream expected; expected << "digraph {\n" @@ -1047,7 +1053,7 @@ TEST(GraphCmd, IGN_UTILS_TEST_DISABLED_ON_WIN32(WorldFrameAttachedTo)) const std::string pathBase = std::string(PROJECT_SOURCE_PATH) + "/test/sdf"; const std::string path = pathBase + "/world_nested_frame_attached_to.sdf"; const std::string output = - custom_exec_str(g_ignCommand + " sdf -g frame " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -g frame " + path + SdfVersion()); std::stringstream expected; @@ -1093,7 +1099,7 @@ TEST(GraphCmd, IGN_UTILS_TEST_DISABLED_ON_WIN32(ModelFrameAttachedTo)) const std::string pathBase = std::string(PROJECT_SOURCE_PATH) + "/test/sdf"; const std::string path = pathBase + "/model_nested_frame_attached_to.sdf"; const std::string output = - custom_exec_str(g_ignCommand + " sdf -g frame " + path + g_sdfVersion); + custom_exec_str(IgnCommand() + " sdf -g frame " + path + SdfVersion()); std::stringstream expected; diff --git a/src/parser.cc b/src/parser.cc index 26993bb11..1168a5587 100644 --- a/src/parser.cc +++ b/src/parser.cc @@ -1017,59 +1017,18 @@ std::string getModelFilePath(const std::string &_modelDirPath) } ////////////////////////////////////////////////// -bool readXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf, - const ParserConfig &_config, const std::string &_source, Errors &_errors) +/// Helper function that reads all the attributes of an element from TinyXML to +/// sdf::Element. +/// \param[in] _xml Pointer to XML element to read the attributes from. +/// \param[in,out] _sdf sdf::Element pointer to parse the attribute data into. +/// \param[in] _config Custom parser configuration +/// \param[in] _errorSourcePath Source of the XML document. +/// \param[out] _errors Captures errors found during parsing. +/// \return True on success, false on error. +static bool readAttributes(tinyxml2::XMLElement *_xml, ElementPtr _sdf, + const ParserConfig &_config, const std::string &_errorSourcePath, + Errors &_errors) { - // Check if the element pointer is deprecated. - if (_sdf->GetRequired() == "-1") - { - std::stringstream ss; - ss << "SDF Element[" + _sdf->GetName() + "] is deprecated\n"; - Error err(ErrorCode::ELEMENT_DEPRECATED, ss.str()); - err.SetXmlPath(_sdf->XmlPath()); - enforceConfigurablePolicyCondition( - _config.DeprecatedElementsPolicy(), err, _errors); - } - - if (!_xml) - { - if (_sdf->GetRequired() == "1" || _sdf->GetRequired() =="+") - { - Error err( - ErrorCode::ELEMENT_MISSING, - "SDF Element<" + _sdf->GetName() + "> is missing", - _source); - err.SetXmlPath(_sdf->XmlPath()); - _errors.push_back(err); - return false; - } - else - { - return true; - } - } - - // check for nested sdf - std::string refSDFStr = _sdf->ReferenceSDF(); - if (!refSDFStr.empty()) - { - const std::string filePath = _sdf->FilePath(); - const std::string xmlPath = _sdf->XmlPath(); - auto lineNumber = _sdf->LineNumber(); - - ElementPtr refSDF; - refSDF.reset(new Element); - std::string refFilename = refSDFStr + ".sdf"; - initFile(refFilename, refSDF); - _sdf->RemoveFromParent(); - _sdf->Copy(refSDF); - - _sdf->SetFilePath(filePath); - _sdf->SetXmlPath(xmlPath); - if (lineNumber.has_value()) - _sdf->SetLineNumber(lineNumber.value()); - } - // A list of parent element-attributes pairs where a frame name is referenced // in the attribute. This is used to check if the reference is invalid. std::set> frameReferenceAttributes { @@ -1088,7 +1047,7 @@ bool readXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf, unsigned int i = 0; - // Iterate over all the attributes defined in the given XML element + // Iterate over all the attributes defined in the give XML element while (attribute) { // Avoid printing a warning message for missing attributes if a namespaced @@ -1121,8 +1080,7 @@ bool readXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf, "'" + std::string(attribute->Value()) + "' is reserved; it cannot be used as a value of " "attribute [" + p->GetKey() + "]", - _source, - attribute->GetLineNum()); + _errorSourcePath, attribute->GetLineNum()); err.SetXmlPath(attributeXmlPath); _errors.push_back(err); } @@ -1133,8 +1091,7 @@ bool readXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf, Error err( ErrorCode::ATTRIBUTE_INVALID, "Unable to read attribute[" + p->GetKey() + "]", - _source, - attribute->GetLineNum()); + _errorSourcePath, attribute->GetLineNum()); err.SetXmlPath(attributeXmlPath); _errors.push_back(err); return false; @@ -1151,9 +1108,7 @@ bool readXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf, << "] not defined in SDF.\n"; Error err( ErrorCode::ATTRIBUTE_INCORRECT_TYPE, - ss.str(), - _source, - _xml->GetLineNum()); + ss.str(), _errorSourcePath, _xml->GetLineNum()); err.SetXmlPath(attributeXmlPath); enforceConfigurablePolicyCondition( _config.WarningsPolicy(), err, _errors); @@ -1172,14 +1127,146 @@ bool readXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf, ErrorCode::ATTRIBUTE_MISSING, "Required attribute[" + p->GetKey() + "] in element[" + _xml->Value() + "] is not specified in SDF.", - _source, - _xml->GetLineNum()); + _errorSourcePath, _xml->GetLineNum()); + err.SetXmlPath(_sdf->XmlPath()); + _errors.push_back(err); + return false; + } + } + + return true; +} + +////////////////////////////////////////////////// +/// Helper function to resolve file name from an //include/uri element. +/// \param[in] _includeXml Pointer to TinyXML object that corresponds to the +/// //include tag +/// \param[in] _config Custom parser configuration +/// \param[in] _includeXmlPath The XML path of the //include element used for +/// error messages. +/// \param[in] _errorSourcePath Source of the XML document. +/// \param[out] _fileName Resolved file name. +/// \param[out] _errors Captures errors found during parsing. +/// \return True if the file name is successfully resolved, false on error. +static bool resolveFileNameFromUri(tinyxml2::XMLElement *_includeXml, + const sdf::ParserConfig &_config, const std::string _includeXmlPath, + const std::string &_errorSourcePath, std::string &_fileName, + Errors &_errors) +{ + tinyxml2::XMLElement *uriElement = _includeXml->FirstChildElement("uri"); + const std::string uriXmlPath = _includeXmlPath + "/uri"; + if (uriElement) + { + const std::string uri = uriElement->GetText(); + const std::string modelPath = sdf::findFile(uri, true, true, _config); + + // Test the model path + if (modelPath.empty()) + { + Error err(ErrorCode::URI_LOOKUP, "Unable to find uri[" + uri + "]", + _errorSourcePath, uriElement->GetLineNum()); + err.SetXmlPath(uriXmlPath); + _errors.push_back(err); + return false; + } + else + { + if (sdf::filesystem::is_directory(modelPath)) + { + // Get the model.config filename + _fileName = getModelFilePath(modelPath); + + if (_fileName.empty()) + { + Error err( + ErrorCode::URI_LOOKUP, + "Unable to resolve uri[" + uri + "] to model path [" + + modelPath + "] since it does not contain a model.config " + + "file.", + _errorSourcePath, uriElement->GetLineNum()); + err.SetXmlPath(uriXmlPath); + _errors.push_back(err); + return false; + } + } + else + { + // This is a file path and since sdf::findFile returns an empty + // string if the file doesn't exist, we don't have to check for + // existence again here. + _fileName = modelPath; + } + } + } + else + { + Error err(ErrorCode::ATTRIBUTE_MISSING, + " element missing 'uri' attribute", _errorSourcePath, + _includeXml->GetLineNum()); + err.SetXmlPath(_includeXmlPath); + _errors.push_back(err); + return false; + } + return true; +} + +////////////////////////////////////////////////// +bool readXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf, + const ParserConfig &_config, const std::string &_source, Errors &_errors) +{ + // Check if the element pointer is deprecated. + if (_sdf->GetRequired() == "-1") + { + std::stringstream ss; + ss << "SDF Element[" + _sdf->GetName() + "] is deprecated\n"; + Error err(ErrorCode::ELEMENT_DEPRECATED, ss.str()); + err.SetXmlPath(_sdf->XmlPath()); + enforceConfigurablePolicyCondition( + _config.DeprecatedElementsPolicy(), err, _errors); + } + + if (!_xml) + { + if (_sdf->GetRequired() == "1" || _sdf->GetRequired() =="+") + { + Error err( + ErrorCode::ELEMENT_MISSING, + "SDF Element<" + _sdf->GetName() + "> is missing", + _source); err.SetXmlPath(_sdf->XmlPath()); _errors.push_back(err); return false; } + else + { + return true; + } } + // check for nested sdf + std::string refSDFStr = _sdf->ReferenceSDF(); + if (!refSDFStr.empty()) + { + const std::string filePath = _sdf->FilePath(); + const std::string xmlPath = _sdf->XmlPath(); + auto lineNumber = _sdf->LineNumber(); + + ElementPtr refSDF; + refSDF.reset(new Element); + std::string refFilename = refSDFStr + ".sdf"; + initFile(refFilename, refSDF); + _sdf->RemoveFromParent(); + _sdf->Copy(refSDF); + + _sdf->SetFilePath(filePath); + _sdf->SetXmlPath(xmlPath); + if (lineNumber.has_value()) + _sdf->SetLineNumber(lineNumber.value()); + } + + if (!readAttributes(_xml, _sdf, _config, _source, _errors)) + return false; + if (_xml->GetText() != nullptr && _sdf->GetValue()) { if (!_sdf->GetValue()->SetFromString(_xml->GetText())) @@ -1204,72 +1291,15 @@ bool readXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf, { if (std::string("include") == elemXml->Value()) { - std::string modelPath; - std::string uri; tinyxml2::XMLElement *uriElement = elemXml->FirstChildElement("uri"); const std::string includeXmlPath = _sdf->XmlPath() + "/include[" + std::to_string(++includeElemIndex) + "]"; const std::string uriXmlPath = includeXmlPath + "/uri"; - if (uriElement) - { - uri = uriElement->GetText(); - modelPath = sdf::findFile(uri, true, true, _config); - - // Test the model path - if (modelPath.empty()) - { - Error err( - ErrorCode::URI_LOOKUP, - "Unable to find uri[" + uri + "]", - _source, - uriElement->GetLineNum()); - err.SetXmlPath(uriXmlPath); - _errors.push_back(err); - continue; - } - else - { - if (sdf::filesystem::is_directory(modelPath)) - { - // Get the model.config filename - filename = getModelFilePath(modelPath); - - if (filename.empty()) - { - Error err( - ErrorCode::URI_LOOKUP, - "Unable to resolve uri[" + uri + "] to model path [" + - modelPath + "] since it does not contain a model.config " + - "file.", - _source, - uriElement->GetLineNum()); - err.SetXmlPath(uriXmlPath); - _errors.push_back(err); - continue; - } - } - else - { - // This is a file path and since sdf::findFile returns an empty - // string if the file doesn't exist, we don't have to check for - // existence again here. - filename = modelPath; - } - } - } - else - { - Error err( - ErrorCode::ATTRIBUTE_MISSING, - " element missing 'uri' attribute", - _source, - elemXml->GetLineNum()); - err.SetXmlPath(includeXmlPath); - _errors.push_back(err); + if (!resolveFileNameFromUri(elemXml, _config, includeXmlPath, + _source, filename, _errors)) continue; - } // If the file is not an SDFormat file, it is assumed that it will // handled by a custom parser, so fall through and add the include diff --git a/src/parser_TEST.cc b/src/parser_TEST.cc index fd557fa4b..284832a0d 100644 --- a/src/parser_TEST.cc +++ b/src/parser_TEST.cc @@ -548,14 +548,12 @@ class ValueConstraintsFixture : public ::testing::Test this->errBuffer.str(""); } - // cppcheck-suppress unusedFunction protected: void SetUp() override { sdf::Console::Instance()->SetQuiet(false); oldRdbuf = std::cerr.rdbuf(errBuffer.rdbuf()); } - // cppcheck-suppress unusedFunction protected: void TearDown() override { std::cerr.rdbuf(oldRdbuf); diff --git a/src/parser_urdf.cc b/src/parser_urdf.cc index 375d95136..851a367b3 100644 --- a/src/parser_urdf.cc +++ b/src/parser_urdf.cc @@ -53,9 +53,9 @@ typedef std::map > StringSDFExtensionPtrMap g_extensions; bool g_reduceFixedJoints; bool g_enforceLimits; -std::string g_collisionExt = "_collision"; -std::string g_visualExt = "_visual"; -std::string g_lumpPrefix = "_fixed_joint_lump__"; +const char kCollisionExt[] = "_collision"; +const char kVisualExt[] = "_visual"; +const char kLumpPrefix[] = "_fixed_joint_lump__"; urdf::Pose g_initialRobotPose; bool g_initialRobotPoseValid = false; std::set g_fixedJointsTransformedInRevoluteJoints; @@ -925,8 +925,8 @@ void ReduceVisualsToParent(urdf::LinkSharedPtr _link) // from another descendant link connected by a fixed joint. // // Algorithm for generating new name (or group name) is: - // original name + g_lumpPrefix+original link name (urdf 0.3.x) - // original group name + g_lumpPrefix+original link name (urdf 0.2.x) + // original name + kLumpPrefix+original link name (urdf 0.3.x) + // original group name + kLumpPrefix+original link name (urdf 0.2.x) // The purpose is to track where this visual came from // (original parent link name before lumping/reducing). for (std::vector::iterator @@ -935,7 +935,7 @@ void ReduceVisualsToParent(urdf::LinkSharedPtr _link) { // 20151116: changelog for pull request #235 std::string newVisualName; - std::size_t lumpIndex = (*visualIt)->name.find(g_lumpPrefix); + std::size_t lumpIndex = (*visualIt)->name.find(kLumpPrefix); if (lumpIndex != std::string::npos) { newVisualName = (*visualIt)->name; @@ -985,8 +985,8 @@ void ReduceCollisionsToParent(urdf::LinkSharedPtr _link) // from another descendant link connected by a fixed joint. // // Algorithm for generating new name (or group name) is: - // original name + g_lumpPrefix+original link name (urdf 0.3.x) - // original group name + g_lumpPrefix+original link name (urdf 0.2.x) + // original name + kLumpPrefix+original link name (urdf 0.3.x) + // original group name + kLumpPrefix+original link name (urdf 0.2.x) // The purpose is to track where this collision came from // (original parent link name before lumping/reducing). for (std::vector::iterator @@ -994,7 +994,7 @@ void ReduceCollisionsToParent(urdf::LinkSharedPtr _link) collisionIt != _link->collision_array.end(); ++collisionIt) { std::string newCollisionName; - std::size_t lumpIndex = (*collisionIt)->name.find(g_lumpPrefix); + std::size_t lumpIndex = (*collisionIt)->name.find(kLumpPrefix); if (lumpIndex != std::string::npos) { newCollisionName = (*collisionIt)->name; @@ -1084,9 +1084,6 @@ URDF2SDF::URDF2SDF() g_enforceLimits = true; g_reduceFixedJoints = true; g_extensions.clear(); - g_collisionExt = "_collision"; - g_visualExt = "_visual"; - g_lumpPrefix = "_fixed_joint_lump__"; g_initialRobotPoseValid = false; g_fixedJointsTransformedInRevoluteJoints.clear(); g_fixedJointsTransformedInFixedJoints.clear(); @@ -1624,8 +1621,8 @@ void InsertSDFExtensionCollision(tinyxml2::XMLElement *_elem, // << "]\n"; // std::cerr << "----------------------------\n"; - std::string lumpCollisionName = g_lumpPrefix + - (*ge)->oldLinkName + g_collisionExt; + std::string lumpCollisionName = kLumpPrefix + + (*ge)->oldLinkName + kCollisionExt; bool wasReduced = (_linkName == (*ge)->oldLinkName); bool collisionNameContainsLinkname = @@ -1633,7 +1630,7 @@ void InsertSDFExtensionCollision(tinyxml2::XMLElement *_elem, bool collisionNameContainsLumpedLinkname = sdfCollisionName.find(lumpCollisionName) != std::string::npos; bool collisionNameContainsLumpedRef = - sdfCollisionName.find(g_lumpPrefix) != std::string::npos; + sdfCollisionName.find(kLumpPrefix) != std::string::npos; if (!collisionNameContainsLinkname) { @@ -1642,9 +1639,9 @@ void InsertSDFExtensionCollision(tinyxml2::XMLElement *_elem, } // if the collision _elem was not reduced, - // its name should not have g_lumpPrefix in it. + // its name should not have kLumpPrefix in it. // otherwise, its name should have - // "g_lumpPrefix+[original link name before reduction]". + // "kLumpPrefix+[original link name before reduction]". if ((wasReduced && !collisionNameContainsLumpedRef) || (!wasReduced && collisionNameContainsLumpedLinkname)) { @@ -1931,8 +1928,8 @@ void InsertSDFExtensionVisual(tinyxml2::XMLElement *_elem, // << "]\n"; // std::cerr << "----------------------------\n"; - std::string lumpVisualName = g_lumpPrefix + - (*ge)->oldLinkName + g_visualExt; + std::string lumpVisualName = kLumpPrefix + + (*ge)->oldLinkName + kVisualExt; bool wasReduced = (_linkName == (*ge)->oldLinkName); bool visualNameContainsLinkname = @@ -1940,7 +1937,7 @@ void InsertSDFExtensionVisual(tinyxml2::XMLElement *_elem, bool visualNameContainsLumpedLinkname = sdfVisualName.find(lumpVisualName) != std::string::npos; bool visualNameContainsLumpedRef = - sdfVisualName.find(g_lumpPrefix) != std::string::npos; + sdfVisualName.find(kLumpPrefix) != std::string::npos; if (!visualNameContainsLinkname) { @@ -1949,9 +1946,9 @@ void InsertSDFExtensionVisual(tinyxml2::XMLElement *_elem, } // if the visual _elem was not reduced, - // its name should not have g_lumpPrefix in it. + // its name should not have kLumpPrefix in it. // otherwise, its name should have - // "g_lumpPrefix+[original link name before reduction]". + // "kLumpPrefix+[original link name before reduction]". if ((wasReduced && !visualNameContainsLumpedRef) || (!wasReduced && visualNameContainsLumpedLinkname)) { @@ -2827,7 +2824,7 @@ void CreateCollisions(tinyxml2::XMLElement* _elem, } // add _collision extension - collisionName = collisionName + g_collisionExt; + collisionName = collisionName + kCollisionExt; if (collisionCount > 0) { @@ -2872,7 +2869,7 @@ void CreateVisuals(tinyxml2::XMLElement* _elem, } // add _visual extension - visualName = visualName + g_visualExt; + visualName = visualName + kVisualExt; if (visualCount > 0) { @@ -3044,10 +3041,6 @@ void CreateJoint(tinyxml2::XMLElement *_root, Values2str(1, &_link->parent_joint->limits->lower)); AddKeyValue(jointAxisLimit, "upper", Values2str(1, &_link->parent_joint->limits->upper)); - AddKeyValue(jointAxisLimit, "effort", - Values2str(1, &_link->parent_joint->limits->effort)); - AddKeyValue(jointAxisLimit, "velocity", - Values2str(1, &_link->parent_joint->limits->velocity)); } else if (_link->parent_joint->type != urdf::Joint::CONTINUOUS) { @@ -3069,11 +3062,11 @@ void CreateJoint(tinyxml2::XMLElement *_root, Values2str(1, &_link->parent_joint->limits->lower)); AddKeyValue(jointAxisLimit, "upper", Values2str(1, &_link->parent_joint->limits->upper)); - AddKeyValue(jointAxisLimit, "effort", - Values2str(1, &_link->parent_joint->limits->effort)); - AddKeyValue(jointAxisLimit, "velocity", - Values2str(1, &_link->parent_joint->limits->velocity)); } + AddKeyValue(jointAxisLimit, "effort", + Values2str(1, &_link->parent_joint->limits->effort)); + AddKeyValue(jointAxisLimit, "velocity", + Values2str(1, &_link->parent_joint->limits->velocity)); } } @@ -3125,7 +3118,7 @@ void CreateCollision(tinyxml2::XMLElement* _elem, else { sdfCollision->SetAttribute("name", (_link->name - + g_lumpPrefix + _oldLinkName).c_str()); + + kLumpPrefix + _oldLinkName).c_str()); } // std::cerr << "collision [" << sdfCollision->Attribute("name") << "]\n"; @@ -3173,7 +3166,7 @@ void CreateVisual(tinyxml2::XMLElement *_elem, urdf::LinkConstSharedPtr _link, else { sdfVisual->SetAttribute("name", - (_link->name + g_lumpPrefix + _oldLinkName).c_str()); + (_link->name + kLumpPrefix + _oldLinkName).c_str()); } // add the visualisation transfrom @@ -3609,14 +3602,14 @@ void ReduceSDFExtensionContactSensorFrameReplace( if (collision) { if (GetKeyValueAsString(collision->ToElement()) == - linkName + g_collisionExt) + linkName + kCollisionExt) { contact->DeleteChild(collision); auto* doc = contact->GetDocument(); tinyxml2::XMLElement *collisionNameKey = doc->NewElement("collision"); std::ostringstream collisionNameStream; - collisionNameStream << parentLinkName << g_collisionExt + collisionNameStream << parentLinkName << kCollisionExt << "_" << linkName; tinyxml2::XMLText *collisionNameTxt = doc->NewText( collisionNameStream.str().c_str()); diff --git a/test/integration/cfm_damping_implicit_spring_damper.cc b/test/integration/cfm_damping_implicit_spring_damper.cc index b6563c8bd..5112e1366 100644 --- a/test/integration/cfm_damping_implicit_spring_damper.cc +++ b/test/integration/cfm_damping_implicit_spring_damper.cc @@ -23,20 +23,15 @@ #include "test_config.h" -const std::string URDF_TEST_FILE = - sdf::testing::TestFile( - "integration", "cfm_damping_implicit_spring_damper.urdf"); - -const std::string SDF_TEST_FILE = - sdf::testing::TestFile( - "integration", "cfm_damping_implicit_spring_damper.sdf"); ///////////////////////////////////////////////// TEST(SDFParser, CFMDampingSDFTest) { + const std::string sdfTestFile = sdf::testing::TestFile( + "integration", "cfm_damping_implicit_spring_damper.sdf"); sdf::SDFPtr robot(new sdf::SDF()); sdf::init(robot); - ASSERT_TRUE(sdf::readFile(SDF_TEST_FILE, robot)); + ASSERT_TRUE(sdf::readFile(sdfTestFile, robot)); sdf::ElementPtr model = robot->Root()->GetElement("model"); unsigned int jointBitMask = 0; @@ -111,9 +106,12 @@ TEST(SDFParser, CFMDampingSDFTest) ///////////////////////////////////////////////// TEST(SDFParser, CFMDampingURDFTest) { + const std::string urdfTestFile = sdf::testing::TestFile( + "integration", "cfm_damping_implicit_spring_damper.urdf"); + sdf::SDFPtr robot(new sdf::SDF()); sdf::init(robot); - ASSERT_TRUE(sdf::readFile(URDF_TEST_FILE, robot)); + ASSERT_TRUE(sdf::readFile(urdfTestFile, robot)); sdf::ElementPtr root = robot->Root(); ASSERT_TRUE(root != nullptr); diff --git a/test/integration/disable_fixed_joint_reduction.cc b/test/integration/disable_fixed_joint_reduction.cc index 1303c808e..8d4cd7f4a 100644 --- a/test/integration/disable_fixed_joint_reduction.cc +++ b/test/integration/disable_fixed_joint_reduction.cc @@ -23,12 +23,6 @@ #include "test_config.h" -const std::string SDF_FIXED_JNT = - sdf::testing::TestFile("integration", "fixed_joint_reduction.urdf"); - -const std::string SDF_FIXED_JNT_NO_LUMPING = - sdf::testing::TestFile("integration", "fixed_joint_reduction_disabled.urdf"); - ///////////////////////////////////////////////// bool findJointInModel(const std::string &desired_joint_name, sdf::SDFPtr robot) { @@ -51,13 +45,19 @@ bool findJointInModel(const std::string &desired_joint_name, sdf::SDFPtr robot) ///////////////////////////////////////////////// TEST(SDFParser, DisableFixedJointReductionTest) { + const std::string sdfFixedJntFile = + sdf::testing::TestFile("integration", "fixed_joint_reduction.urdf"); + + const std::string sdfFixedJntNoLumpingFile = sdf::testing::TestFile( + "integration", "fixed_joint_reduction_disabled.urdf"); + sdf::SDFPtr robot(new sdf::SDF()); sdf::init(robot); - ASSERT_TRUE(sdf::readFile(SDF_FIXED_JNT, robot)); + ASSERT_TRUE(sdf::readFile(sdfFixedJntFile, robot)); sdf::SDFPtr robot_disable_lumping(new sdf::SDF()); sdf::init(robot_disable_lumping); - ASSERT_TRUE(sdf::readFile(SDF_FIXED_JNT_NO_LUMPING, robot_disable_lumping)); + ASSERT_TRUE(sdf::readFile(sdfFixedJntNoLumpingFile, robot_disable_lumping)); ASSERT_FALSE(findJointInModel("joint12a", robot)); ASSERT_FALSE(findJointInModel("joint23a", robot)); diff --git a/test/integration/element_memory_leak.cc b/test/integration/element_memory_leak.cc index 178aa773b..9632f13f8 100644 --- a/test/integration/element_memory_leak.cc +++ b/test/integration/element_memory_leak.cc @@ -68,12 +68,12 @@ const std::string sdfString( " \n" ""); -const std::string getMemInfoPath = - sdf::testing::SourceFile("tools", "get_mem_info.py"); -const std::string pythonMeminfo("python3 " + getMemInfoPath); - int getMemoryUsage() { + static const std::string getMemInfoPath = + sdf::testing::SourceFile("tools", "get_mem_info.py"); + static const std::string pythonMeminfo("python3 " + getMemInfoPath); + return std::stoi(custom_exec(pythonMeminfo)); } diff --git a/test/integration/element_tracing.cc b/test/integration/element_tracing.cc index 93169075c..a7075d14d 100644 --- a/test/integration/element_tracing.cc +++ b/test/integration/element_tracing.cc @@ -155,7 +155,7 @@ TEST(ElementTracing, includes) const auto worldFile = sdf::testing::TestFile("sdf", "includes.sdf"); sdf::Root root; sdf::Errors errors = root.Load(worldFile); - EXPECT_TRUE(errors.empty()); + EXPECT_TRUE(errors.empty()) << errors; const std::string xmlPath = "/sdf"; diff --git a/test/integration/fixed_joint_reduction.cc b/test/integration/fixed_joint_reduction.cc index 50efeaacd..0475db78b 100644 --- a/test/integration/fixed_joint_reduction.cc +++ b/test/integration/fixed_joint_reduction.cc @@ -24,27 +24,23 @@ #include "test_config.h" -const std::string SDF_TEST_FILE = - sdf::testing::TestFile("integration", "fixed_joint_reduction.urdf"); -const std::string SDF_TEST_FILE_COLLISION = - sdf::testing::TestFile("integration", - "fixed_joint_reduction_collision.urdf"); -const std::string SDF_TEST_FILE_SIMPLE = - sdf::testing::TestFile("integration", "fixed_joint_reduction_simple.urdf"); -const std::string SDF_TEST_FILE_VISUAL = - sdf::testing::TestFile("integration", "fixed_joint_reduction_visual.urdf"); -const std::string SDF_TEST_FILE_COLLISION_VISUAL_EXTENSION = - sdf::testing::TestFile("integration", - "fixed_joint_reduction_collision_visual_extension.urdf"); -const std::string SDF_TEST_FILE_COLLISION_VISUAL_EXTENSION_SDF = - sdf::testing::TestFile("integration", - "fixed_joint_reduction_collision_visual_extension.sdf"); -const std::string SDF_TEST_FILE_COLLISION_VISUAL_EXTENSION_EMPTY_ROOT = - sdf::testing::TestFile("integration", - "fixed_joint_reduction_collision_visual_empty_root.urdf"); -const std::string SDF_TEST_FILE_COLLISION_VISUAL_EXTENSION_EMPTY_ROOT_SDF = - sdf::testing::TestFile("integration", - "fixed_joint_reduction_collision_visual_empty_root.sdf"); +const char SDF_TEST_FILE[] = "fixed_joint_reduction.urdf"; +const char SDF_TEST_FILE_COLLISION[] = "fixed_joint_reduction_collision.urdf"; +const char SDF_TEST_FILE_SIMPLE[] = "fixed_joint_reduction_simple.urdf"; +const char SDF_TEST_FILE_VISUAL[] = "fixed_joint_reduction_visual.urdf"; +const char SDF_TEST_FILE_COLLISION_VISUAL_EXTENSION[] = + "fixed_joint_reduction_collision_visual_extension.urdf"; +const char SDF_TEST_FILE_COLLISION_VISUAL_EXTENSION_SDF[] = + "fixed_joint_reduction_collision_visual_extension.sdf"; +const char SDF_TEST_FILE_COLLISION_VISUAL_EXTENSION_EMPTY_ROOT[] = + "fixed_joint_reduction_collision_visual_empty_root.urdf"; +const char SDF_TEST_FILE_COLLISION_VISUAL_EXTENSION_EMPTY_ROOT_SDF[] = + "fixed_joint_reduction_collision_visual_empty_root.sdf"; + +static std::string GetFullTestFilePath(const char *_input) +{ + return sdf::testing::TestFile("integration", _input); +} const double gc_tolerance = 1e-6; @@ -57,7 +53,7 @@ void FixedJointReductionCollisionVisualExtensionEmptyRoot( ///////////////////////////////////////////////// TEST(SDFParser, FixedJointReductionEquivalenceTest) { - FixedJointReductionEquivalence(SDF_TEST_FILE); + FixedJointReductionEquivalence(GetFullTestFilePath(SDF_TEST_FILE)); } ///////////////////////////////////////////////// @@ -66,7 +62,7 @@ TEST(SDFParser, FixedJointReductionEquivalenceTest) // version of urdfdom (see #63). TEST(SDFParser, FixedJointReductionVisualTest) { - FixedJointReductionEquivalence(SDF_TEST_FILE_VISUAL); + FixedJointReductionEquivalence(GetFullTestFilePath(SDF_TEST_FILE_VISUAL)); } ///////////////////////////////////////////////// @@ -75,7 +71,7 @@ TEST(SDFParser, FixedJointReductionVisualTest) // FixedJointReductionVisualTest TEST(SDFParser, FixedJointReductionCollisionTest) { - FixedJointReductionEquivalence(SDF_TEST_FILE_COLLISION); + FixedJointReductionEquivalence(GetFullTestFilePath(SDF_TEST_FILE_COLLISION)); } // this updated test will not work for old parser @@ -88,8 +84,8 @@ TEST(SDFParser, FixedJointReductionCollisionTest) TEST(SDFParser, FixedJointReductionCollisionVisualExtensionTest) { FixedJointReductionCollisionVisualExtension( - SDF_TEST_FILE_COLLISION_VISUAL_EXTENSION, - SDF_TEST_FILE_COLLISION_VISUAL_EXTENSION_SDF); + GetFullTestFilePath(SDF_TEST_FILE_COLLISION_VISUAL_EXTENSION), + GetFullTestFilePath(SDF_TEST_FILE_COLLISION_VISUAL_EXTENSION_SDF)); } ///////////////////////////////////////////////// @@ -100,8 +96,9 @@ TEST(SDFParser, FixedJointReductionCollisionVisualExtensionTest) TEST(SDFParser, FixedJointReductionCollisionVisualExtensionEmptyRootTest) { FixedJointReductionCollisionVisualExtensionEmptyRoot( - SDF_TEST_FILE_COLLISION_VISUAL_EXTENSION_EMPTY_ROOT, - SDF_TEST_FILE_COLLISION_VISUAL_EXTENSION_EMPTY_ROOT_SDF); + GetFullTestFilePath(SDF_TEST_FILE_COLLISION_VISUAL_EXTENSION_EMPTY_ROOT), + GetFullTestFilePath( + SDF_TEST_FILE_COLLISION_VISUAL_EXTENSION_EMPTY_ROOT_SDF)); } ///////////////////////////////////////////////// @@ -618,17 +615,17 @@ void FixedJointReductionEquivalence(const std::string &_file) } } - if (_file.compare(SDF_TEST_FILE) == 0) + if (_file.compare(GetFullTestFilePath(SDF_TEST_FILE)) == 0) { EXPECT_EQ(countCollisions, 7u); EXPECT_EQ(countVisuals, 7u); } - else if (_file.compare(SDF_TEST_FILE_COLLISION) == 0) + else if (_file.compare(GetFullTestFilePath(SDF_TEST_FILE_COLLISION)) == 0) { EXPECT_EQ(countCollisions, 6u); EXPECT_EQ(countVisuals, 0u); } - else if (_file.compare(SDF_TEST_FILE_VISUAL) == 0) + else if (_file.compare(GetFullTestFilePath(SDF_TEST_FILE_VISUAL)) == 0) { EXPECT_EQ(countCollisions, 0u); EXPECT_EQ(countVisuals, 6u); @@ -640,7 +637,7 @@ TEST(SDFParser, FixedJointReductionSimple) { sdf::SDFPtr robot(new sdf::SDF()); sdf::init(robot); - ASSERT_TRUE(sdf::readFile(SDF_TEST_FILE_SIMPLE, robot)); + ASSERT_TRUE(sdf::readFile(GetFullTestFilePath(SDF_TEST_FILE_SIMPLE), robot)); std::map linkMasses; std::map linkPoses; diff --git a/test/integration/force_torque_sensor.cc b/test/integration/force_torque_sensor.cc index 6dbb346cd..f5e2f18b9 100644 --- a/test/integration/force_torque_sensor.cc +++ b/test/integration/force_torque_sensor.cc @@ -23,15 +23,15 @@ #include "test_config.h" -const std::string SDF_TEST_FILE = - sdf::testing::TestFile("integration", "force_torque_sensor.urdf"); - ///////////////////////////////////////////////// TEST(SDFParser, ForceTorqueSensorTest) { + const std::string sdfTestFile = + sdf::testing::TestFile("integration", "force_torque_sensor.urdf"); + sdf::SDFPtr robot(new sdf::SDF()); sdf::init(robot); - ASSERT_TRUE(sdf::readFile(SDF_TEST_FILE, robot)); + ASSERT_TRUE(sdf::readFile(sdfTestFile, robot)); sdf::ElementPtr model = robot->Root()->GetElement("model"); unsigned int jointBitMask = 0; diff --git a/test/integration/interface_api.cc b/test/integration/interface_api.cc index 2f566a5cb..6d7bdde83 100644 --- a/test/integration/interface_api.cc +++ b/test/integration/interface_api.cc @@ -408,7 +408,7 @@ TEST_F(InterfaceAPI, FrameSemantics) }; { - const sdf::Frame * frame= world->FrameByName("F0"); + const sdf::Frame *frame = world->FrameByName("F0"); ASSERT_NE(nullptr, frame); // The pose of F0 relative to the double_pendulum interface model is the // inverse of the raw pose of double_pendulum diff --git a/test/integration/link_dom.cc b/test/integration/link_dom.cc index 5815bfa5d..1c98a1ba2 100644 --- a/test/integration/link_dom.cc +++ b/test/integration/link_dom.cc @@ -28,6 +28,7 @@ #include "sdf/Error.hh" #include "sdf/Filesystem.hh" #include "sdf/Imu.hh" +#include "sdf/NavSat.hh" #include "sdf/Link.hh" #include "sdf/Magnetometer.hh" #include "sdf/Model.hh" @@ -250,6 +251,7 @@ TEST(DOMLink, Sensors) EXPECT_EQ("altimeter_sensor", altimeterSensor->Name()); EXPECT_EQ(sdf::SensorType::ALTIMETER, altimeterSensor->Type()); EXPECT_EQ(ignition::math::Pose3d::Zero, altimeterSensor->RawPose()); + EXPECT_FALSE(altimeterSensor->EnableMetrics()); const sdf::Altimeter *altSensor = altimeterSensor->AltimeterSensor(); ASSERT_NE(nullptr, altSensor); EXPECT_DOUBLE_EQ(0.1, altSensor->VerticalPositionNoise().Mean()); @@ -265,6 +267,7 @@ TEST(DOMLink, Sensors) EXPECT_EQ("camera_sensor", cameraSensor->Name()); EXPECT_EQ(sdf::SensorType::CAMERA, cameraSensor->Type()); EXPECT_EQ(ignition::math::Pose3d(1, 2, 3, 0, 0, 0), cameraSensor->RawPose()); + EXPECT_FALSE(cameraSensor->EnableMetrics()); const sdf::Camera *camSensor = cameraSensor->CameraSensor(); ASSERT_NE(nullptr, camSensor); EXPECT_EQ("my_camera", camSensor->Name()); @@ -313,6 +316,7 @@ TEST(DOMLink, Sensors) EXPECT_EQ(ignition::math::Pose3d(4, 5, 6, 0, 0, 0), pose); EXPECT_TRUE(contactSensor->SemanticPose().Resolve(pose).empty()); EXPECT_EQ(ignition::math::Pose3d(4, 5, 3, 0, 0, 0), pose); + EXPECT_TRUE(contactSensor->EnableMetrics()); // Get the custom sensor const sdf::Sensor *customSensor = link->SensorByName("custom_sensor"); @@ -333,6 +337,7 @@ TEST(DOMLink, Sensors) EXPECT_EQ("depth_sensor", depthSensor->Name()); EXPECT_EQ(sdf::SensorType::DEPTH_CAMERA, depthSensor->Type()); EXPECT_EQ(ignition::math::Pose3d(7, 8, 9, 0, 0, 0), depthSensor->RawPose()); + EXPECT_TRUE(depthSensor->EnableMetrics()); const sdf::Camera *depthCamSensor = depthSensor->CameraSensor(); ASSERT_NE(nullptr, depthCamSensor); EXPECT_EQ("my_depth_camera", depthCamSensor->Name()); @@ -343,6 +348,7 @@ TEST(DOMLink, Sensors) EXPECT_EQ("rgbd_sensor", rgbdSensor->Name()); EXPECT_EQ(sdf::SensorType::RGBD_CAMERA, rgbdSensor->Type()); EXPECT_EQ(ignition::math::Pose3d(37, 38, 39, 0, 0, 0), rgbdSensor->RawPose()); + EXPECT_FALSE(rgbdSensor->EnableMetrics()); const sdf::Camera *rgbdCamSensor = rgbdSensor->CameraSensor(); ASSERT_NE(nullptr, rgbdCamSensor); EXPECT_EQ("my_rgbd_camera", rgbdCamSensor->Name()); @@ -354,6 +360,7 @@ TEST(DOMLink, Sensors) EXPECT_EQ(sdf::SensorType::THERMAL_CAMERA, thermalSensor->Type()); EXPECT_EQ(ignition::math::Pose3d(37, 38, 39, 0, 0, 0), thermalSensor->RawPose()); + EXPECT_FALSE(thermalSensor->EnableMetrics()); const sdf::Camera *thermalCamSensor = thermalSensor->CameraSensor(); ASSERT_NE(nullptr, thermalCamSensor); EXPECT_EQ("my_thermal_camera", thermalCamSensor->Name()); @@ -395,13 +402,27 @@ TEST(DOMLink, Sensors) EXPECT_EQ(sdf::SensorType::FORCE_TORQUE, forceTorqueSensor->Type()); EXPECT_EQ(ignition::math::Pose3d(10, 11, 12, 0, 0, 0), forceTorqueSensor->RawPose()); + EXPECT_FALSE(forceTorqueSensor->EnableMetrics()); - // Get the gps sensor - const sdf::Sensor *gpsSensor = link->SensorByName("gps_sensor"); - ASSERT_NE(nullptr, gpsSensor); - EXPECT_EQ("gps_sensor", gpsSensor->Name()); - EXPECT_EQ(sdf::SensorType::GPS, gpsSensor->Type()); - EXPECT_EQ(ignition::math::Pose3d(13, 14, 15, 0, 0, 0), gpsSensor->RawPose()); + // Get the navsat sensor + const sdf::Sensor *navSatSensor = link->SensorByName("navsat_sensor"); + ASSERT_NE(nullptr, navSatSensor); + EXPECT_EQ("navsat_sensor", navSatSensor->Name()); + EXPECT_EQ(sdf::SensorType::NAVSAT, navSatSensor->Type()); + EXPECT_EQ(ignition::math::Pose3d(13, 14, 15, 0, 0, 0), + navSatSensor->RawPose()); + EXPECT_FALSE(navSatSensor->EnableMetrics()); + const sdf::NavSat *navSatSensorObj = navSatSensor->NavSatSensor(); + ASSERT_NE(nullptr, navSatSensorObj); + + EXPECT_DOUBLE_EQ(1.2, navSatSensorObj->HorizontalPositionNoise().Mean()); + EXPECT_DOUBLE_EQ(3.4, navSatSensorObj->HorizontalPositionNoise().StdDev()); + EXPECT_DOUBLE_EQ(5.6, navSatSensorObj->VerticalPositionNoise().Mean()); + EXPECT_DOUBLE_EQ(7.8, navSatSensorObj->VerticalPositionNoise().StdDev()); + EXPECT_DOUBLE_EQ(9.1, navSatSensorObj->HorizontalVelocityNoise().Mean()); + EXPECT_DOUBLE_EQ(10.11, navSatSensorObj->HorizontalVelocityNoise().StdDev()); + EXPECT_DOUBLE_EQ(12.13, navSatSensorObj->VerticalVelocityNoise().Mean()); + EXPECT_DOUBLE_EQ(14.15, navSatSensorObj->VerticalVelocityNoise().StdDev()); // Get the gpu_ray sensor const sdf::Sensor *gpuRaySensor = link->SensorByName("gpu_ray_sensor"); @@ -409,6 +430,7 @@ TEST(DOMLink, Sensors) EXPECT_EQ("gpu_ray_sensor", gpuRaySensor->Name()); EXPECT_EQ(sdf::SensorType::GPU_LIDAR, gpuRaySensor->Type()); EXPECT_EQ(ignition::math::Pose3d(1, 2, 3, 0, 0, 0), gpuRaySensor->RawPose()); + EXPECT_FALSE(gpuRaySensor->EnableMetrics()); const sdf::Lidar *gpuRay = gpuRaySensor->LidarSensor(); ASSERT_NE(nullptr, gpuRay); @@ -419,6 +441,7 @@ TEST(DOMLink, Sensors) EXPECT_EQ(sdf::SensorType::GPU_LIDAR, gpuLidarSensor->Type()); EXPECT_EQ(ignition::math::Pose3d(1, 2, 3, 0, 0, 0), gpuLidarSensor->RawPose()); + EXPECT_FALSE(gpuLidarSensor->EnableMetrics()); const sdf::Lidar *gpuLidar = gpuLidarSensor->LidarSensor(); ASSERT_NE(nullptr, gpuLidar); @@ -428,6 +451,7 @@ TEST(DOMLink, Sensors) EXPECT_EQ("imu_sensor", imuSensor->Name()); EXPECT_EQ(sdf::SensorType::IMU, imuSensor->Type()); EXPECT_EQ(ignition::math::Pose3d(4, 5, 6, 0, 0, 0), imuSensor->RawPose()); + EXPECT_FALSE(imuSensor->EnableMetrics()); const sdf::Imu *imuSensorObj = imuSensor->ImuSensor(); ASSERT_NE(nullptr, imuSensorObj); @@ -466,7 +490,6 @@ TEST(DOMLink, Sensors) EXPECT_DOUBLE_EQ(5.0, imuSensorObj->AngularVelocityYNoise().DynamicBiasCorrelationTime()); - EXPECT_DOUBLE_EQ(5.0, imuSensorObj->AngularVelocityZNoise().Mean()); EXPECT_DOUBLE_EQ(5.1, imuSensorObj->AngularVelocityZNoise().StdDev()); EXPECT_DOUBLE_EQ(6.2, @@ -474,13 +497,14 @@ TEST(DOMLink, Sensors) EXPECT_DOUBLE_EQ(6.0, imuSensorObj->AngularVelocityZNoise().DynamicBiasCorrelationTime()); - EXPECT_EQ("ENU", imuSensorObj->Localization()); EXPECT_EQ("linka", imuSensorObj->CustomRpyParentFrame()); EXPECT_EQ(ignition::math::Vector3d::UnitY, imuSensorObj->CustomRpy()); EXPECT_EQ("linkb", imuSensorObj->GravityDirXParentFrame()); EXPECT_EQ(ignition::math::Vector3d::UnitZ, imuSensorObj->GravityDirX()); + EXPECT_FALSE(imuSensorObj->OrientationEnabled()); + // Get the logical camera sensor const sdf::Sensor *logicalCameraSensor = link->SensorByName("logical_camera_sensor"); @@ -489,6 +513,7 @@ TEST(DOMLink, Sensors) EXPECT_EQ(sdf::SensorType::LOGICAL_CAMERA, logicalCameraSensor->Type()); EXPECT_EQ(ignition::math::Pose3d(7, 8, 9, 0, 0, 0), logicalCameraSensor->RawPose()); + EXPECT_FALSE(logicalCameraSensor->EnableMetrics()); // Get the magnetometer sensor const sdf::Sensor *magnetometerSensor = @@ -498,6 +523,7 @@ TEST(DOMLink, Sensors) EXPECT_EQ(sdf::SensorType::MAGNETOMETER, magnetometerSensor->Type()); EXPECT_EQ(ignition::math::Pose3d(10, 11, 12, 0, 0, 0), magnetometerSensor->RawPose()); + EXPECT_FALSE(magnetometerSensor->EnableMetrics()); const sdf::Magnetometer *magSensor = magnetometerSensor->MagnetometerSensor(); ASSERT_NE(nullptr, magSensor); EXPECT_DOUBLE_EQ(0.1, magSensor->XNoise().Mean()); @@ -515,6 +541,7 @@ TEST(DOMLink, Sensors) EXPECT_EQ(sdf::SensorType::MULTICAMERA, multicameraSensor->Type()); EXPECT_EQ(ignition::math::Pose3d(13, 14, 15, 0, 0, 0), multicameraSensor->RawPose()); + EXPECT_FALSE(multicameraSensor->EnableMetrics()); // Get the ray sensor const sdf::Sensor *raySensor = link->SensorByName("ray_sensor"); @@ -522,6 +549,7 @@ TEST(DOMLink, Sensors) EXPECT_EQ("ray_sensor", raySensor->Name()); EXPECT_EQ(sdf::SensorType::LIDAR, raySensor->Type()); EXPECT_EQ(ignition::math::Pose3d(1, 2, 3, 0, 0, 0), raySensor->RawPose()); + EXPECT_FALSE(raySensor->EnableMetrics()); const sdf::Lidar *ray = raySensor->LidarSensor(); ASSERT_NE(nullptr, ray); EXPECT_EQ(320u, ray->HorizontalScanSamples()); @@ -544,6 +572,7 @@ TEST(DOMLink, Sensors) EXPECT_EQ("lidar_sensor", lidarSensor->Name()); EXPECT_EQ(sdf::SensorType::LIDAR, lidarSensor->Type()); EXPECT_EQ(ignition::math::Pose3d(1, 2, 3, 0, 0, 0), lidarSensor->RawPose()); + EXPECT_TRUE(lidarSensor->EnableMetrics()); const sdf::Lidar *lidar = lidarSensor->LidarSensor(); ASSERT_NE(nullptr, lidar); EXPECT_EQ(320u, lidar->HorizontalScanSamples()); @@ -566,6 +595,7 @@ TEST(DOMLink, Sensors) EXPECT_EQ("rfid_sensor", rfidSensor->Name()); EXPECT_EQ(sdf::SensorType::RFID, rfidSensor->Type()); EXPECT_EQ(ignition::math::Pose3d(4, 5, 6, 0, 0, 0), rfidSensor->RawPose()); + EXPECT_FALSE(rfidSensor->EnableMetrics()); // Get the rfid tag const sdf::Sensor *rfidTag = link->SensorByName("rfid_tag"); @@ -573,6 +603,7 @@ TEST(DOMLink, Sensors) EXPECT_EQ("rfid_tag", rfidTag->Name()); EXPECT_EQ(sdf::SensorType::RFIDTAG, rfidTag->Type()); EXPECT_EQ(ignition::math::Pose3d(7, 8, 9, 0, 0, 0), rfidTag->RawPose()); + EXPECT_FALSE(rfidTag->EnableMetrics()); // Get the sonar sensor const sdf::Sensor *sonarSensor = link->SensorByName("sonar_sensor"); @@ -581,6 +612,7 @@ TEST(DOMLink, Sensors) EXPECT_EQ(sdf::SensorType::SONAR, sonarSensor->Type()); EXPECT_EQ(ignition::math::Pose3d(10, 11, 12, 0, 0, 0), sonarSensor->RawPose()); + EXPECT_FALSE(sonarSensor->EnableMetrics()); // Get the wireless receiver const sdf::Sensor *wirelessReceiver = link->SensorByName("wireless_receiver"); @@ -589,6 +621,7 @@ TEST(DOMLink, Sensors) EXPECT_EQ(sdf::SensorType::WIRELESS_RECEIVER, wirelessReceiver->Type()); EXPECT_EQ(ignition::math::Pose3d(13, 14, 15, 0, 0, 0), wirelessReceiver->RawPose()); + EXPECT_FALSE(wirelessReceiver->EnableMetrics()); // Get the wireless transmitter const sdf::Sensor *wirelessTransmitter = @@ -598,6 +631,7 @@ TEST(DOMLink, Sensors) EXPECT_EQ(sdf::SensorType::WIRELESS_TRANSMITTER, wirelessTransmitter->Type()); EXPECT_EQ(ignition::math::Pose3d(1, 2, 3, 0, 0, 0), wirelessTransmitter->RawPose()); + EXPECT_FALSE(wirelessTransmitter->EnableMetrics()); // Get the air_pressure sensor const sdf::Sensor *airPressureSensor = link->SensorByName( @@ -607,6 +641,7 @@ TEST(DOMLink, Sensors) EXPECT_EQ(sdf::SensorType::AIR_PRESSURE, airPressureSensor->Type()); EXPECT_EQ(ignition::math::Pose3d(10, 20, 30, 0, 0, 0), airPressureSensor->RawPose()); + EXPECT_FALSE(airPressureSensor->EnableMetrics()); const sdf::AirPressure *airSensor = airPressureSensor->AirPressureSensor(); ASSERT_NE(nullptr, airSensor); EXPECT_DOUBLE_EQ(3.4, airSensor->PressureNoise().Mean()); diff --git a/test/integration/locale_fix.cc b/test/integration/locale_fix.cc index 197b6f06b..bb2cbd323 100644 --- a/test/integration/locale_fix.cc +++ b/test/integration/locale_fix.cc @@ -24,14 +24,14 @@ #include "test_config.h" -const std::string SDF_TEST_FILE = - sdf::testing::TestFile("integration", "numeric.sdf"); - // Windows supports the setlocale call but we can not extract the // available locales using the Linux call #ifndef _MSC_VER TEST(CheckFixForLocal, MakeTestToFail) { + const std::string sdfTestFile = + sdf::testing::TestFile("integration", "numeric.sdf"); + // Check if any of the latin locales is avilable FILE *fp = popen("locale -a | grep '^es\\|^pt_\\|^it_' | head -n 1", "r"); @@ -58,7 +58,7 @@ TEST(CheckFixForLocal, MakeTestToFail) // fix to allow make test without make install sdf::SDFPtr p(new sdf::SDF()); sdf::init(p); - ASSERT_TRUE(sdf::readFile(SDF_TEST_FILE, p)); + ASSERT_TRUE(sdf::readFile(sdfTestFile, p)); sdf::ElementPtr elem = p->Root()->GetElement("world") ->GetElement("physics")->GetElement("ode")->GetElement("solver") @@ -68,8 +68,8 @@ TEST(CheckFixForLocal, MakeTestToFail) elem->Set(0.423); - // TODO: automatic checking. Error is thrown to the log file and std::err - // We should check for "Error [Param.cc:186] Unable to set value" + // TODO(anyone): automatic checking. Error is thrown to the log file and + // std::err We should check for "Error [Param.cc:186] Unable to set value" // Problem is How to get the log file path without duplicating code // Verify that the locale is not affecting the Param constructor diff --git a/test/integration/locale_fix_cxx.cc b/test/integration/locale_fix_cxx.cc index 90f670c6c..f2fbd20df 100644 --- a/test/integration/locale_fix_cxx.cc +++ b/test/integration/locale_fix_cxx.cc @@ -25,7 +25,6 @@ TEST(CheckFixForLocal, CheckFixForCxxLocal) { struct CommaDecimalPointFacet : std::numpunct { - // cppcheck-suppress unusedFunction char do_decimal_point() const { return ','; diff --git a/test/integration/nested_model.cc b/test/integration/nested_model.cc index 3a78e6f40..904115114 100644 --- a/test/integration/nested_model.cc +++ b/test/integration/nested_model.cc @@ -324,7 +324,7 @@ TEST(NestedModel, NestedInclude) // each model has 3 links, and the link names of the nested models have // been transformed EXPECT_EQ(3u, model1->LinkCount()); - // TODO (addisu): Update the following two expectations to account for the + // TODO(addisu): Update the following two expectations to account for the // fact that included models are no longer flattened. // EXPECT_EQ(3u, model2->LinkCount()); // EXPECT_EQ(3u, model3->LinkCount()); @@ -359,7 +359,7 @@ TEST(NestedModel, NestedInclude) // each model has 2 joints, and the joint names of the nested models have // been transformed EXPECT_EQ(2u, model1->JointCount()); - // TODO (addisu): Update the following two expectations to account for the + // TODO(addisu): Update the following two expectations to account for the // fact that included models are no longer flattened. // EXPECT_EQ(2u, model2->JointCount()); // EXPECT_EQ(2u, model3->JointCount()); diff --git a/test/integration/provide_feedback.cc b/test/integration/provide_feedback.cc index 888f8cc87..582a39c3f 100644 --- a/test/integration/provide_feedback.cc +++ b/test/integration/provide_feedback.cc @@ -23,15 +23,15 @@ #include "test_config.h" -const std::string SDF_TEST_FILE = - sdf::testing::TestFile("integration", "provide_feedback.urdf"); - ///////////////////////////////////////////////// TEST(SDFParser, ProvideFeedbackTest) { + const std::string sdfTestFile = + sdf::testing::TestFile("integration", "provide_feedback.urdf"); + sdf::SDFPtr robot(new sdf::SDF()); sdf::init(robot); - ASSERT_TRUE(sdf::readFile(SDF_TEST_FILE, robot)); + ASSERT_TRUE(sdf::readFile(sdfTestFile, robot)); sdf::ElementPtr root = robot->Root(); ASSERT_TRUE(root != nullptr); diff --git a/test/integration/schema_test.cc b/test/integration/schema_test.cc index 3395b1a9d..999fef8cb 100644 --- a/test/integration/schema_test.cc +++ b/test/integration/schema_test.cc @@ -25,27 +25,17 @@ #include "test_config.h" -const std::string SDF_ROOT_SCHEMA = - sdf::filesystem::append(PROJECT_BINARY_DIR, "sdf", SDF_PROTOCOL_VERSION, - "root.xsd"); - -const std::string SDF_TEST_PR2 = - sdf::testing::TestFile("integration", "model", "pr2.sdf"); - -const std::string SDF_TEST_TURTLEBOT = - sdf::testing::TestFile("integration", "model", "turtlebot.sdf"); - -const std::string SDF_TEST_PENDULUM = - sdf::testing::TestFile("integration", "model", "double_pendulum.sdf"); - class SDFSchemaGenerator : public testing::Test { public: void runXMLlint(const std::string & model) { + const std::string sdfRootSchema = sdf::filesystem::append( + PROJECT_BINARY_DIR, "sdf", SDF_PROTOCOL_VERSION, "root.xsd"); + std::string xmllintCmd = "xmllint --noout --schema " + - SDF_ROOT_SCHEMA + " " + model; + sdfRootSchema + " " + model; std::cout << "CMD[" << xmllintCmd << "]\n"; if (system(xmllintCmd.c_str()) != 0) { @@ -61,18 +51,27 @@ class SDFSchemaGenerator : public testing::Test ///////////////////////////////////////////////// TEST_F(SDFSchemaGenerator, TestDoublePendulum) { - runXMLlint(SDF_TEST_PENDULUM); + const std::string sdfTestPendulum = + sdf::testing::TestFile("integration", "model", "double_pendulum.sdf"); + + runXMLlint(sdfTestPendulum); } ///////////////////////////////////////////////// TEST_F(SDFSchemaGenerator, TestPR2Model) { - runXMLlint(SDF_TEST_PR2); + const std::string sdfTestPr2 = + sdf::testing::TestFile("integration", "model", "pr2.sdf"); + + runXMLlint(sdfTestPr2); } ///////////////////////////////////////////////// TEST_F(SDFSchemaGenerator, TestTurtleBotModel) { - runXMLlint(SDF_TEST_TURTLEBOT); + const std::string sdfTestTurtlebot = + sdf::testing::TestFile("integration", "model", "turtlebot.sdf"); + + runXMLlint(sdfTestTurtlebot); } diff --git a/test/integration/sdf_custom.cc b/test/integration/sdf_custom.cc index 11343acb9..2b29d4f67 100644 --- a/test/integration/sdf_custom.cc +++ b/test/integration/sdf_custom.cc @@ -23,14 +23,14 @@ #include "test_config.h" -const std::string SDF_TEST_FILE = - sdf::testing::TestFile("integration", "custom_elems_attrs.sdf"); - ///////////////////////////////////////////////// TEST(SDFParser, CustomElements) { + const std::string sdfTestFile = + sdf::testing::TestFile("integration", "custom_elems_attrs.sdf"); + sdf::Root root; - EXPECT_TRUE(root.Load(SDF_TEST_FILE).empty()); + EXPECT_TRUE(root.Load(sdfTestFile).empty()); const sdf::World *world = root.WorldByIndex(0); diff --git a/test/integration/toml_parser.hh b/test/integration/toml_parser.hh index f7e468a28..f142aad7c 100644 --- a/test/integration/toml_parser.hh +++ b/test/integration/toml_parser.hh @@ -102,6 +102,7 @@ struct Value { using T = std::decay_t; // cppcheck-suppress syntaxError + // cppcheck-suppress unmatchedSuppression if constexpr (std::is_same_v) { os << _key << " = " << arg << std::endl; diff --git a/test/integration/urdf_gazebo_extensions.cc b/test/integration/urdf_gazebo_extensions.cc index 504b2ba55..df7a53b33 100644 --- a/test/integration/urdf_gazebo_extensions.cc +++ b/test/integration/urdf_gazebo_extensions.cc @@ -23,15 +23,15 @@ #include "test_config.h" -const std::string URDF_TEST_FILE = - sdf::testing::TestFile("integration", "urdf_gazebo_extensions.urdf"); - ///////////////////////////////////////////////// TEST(SDFParser, UrdfGazeboExtensionURDFTest) { + const std::string urdfTestFile = + sdf::testing::TestFile("integration", "urdf_gazebo_extensions.urdf"); + sdf::SDFPtr robot(new sdf::SDF()); sdf::init(robot); - ASSERT_TRUE(sdf::readFile(URDF_TEST_FILE, robot)); + ASSERT_TRUE(sdf::readFile(urdfTestFile, robot)); sdf::ElementPtr model = robot->Root()->GetElement("model"); for (sdf::ElementPtr joint = model->GetElement("joint"); joint; diff --git a/test/integration/urdf_joint_parameters.cc b/test/integration/urdf_joint_parameters.cc index 87a3bb721..e6ae97d87 100644 --- a/test/integration/urdf_joint_parameters.cc +++ b/test/integration/urdf_joint_parameters.cc @@ -23,15 +23,15 @@ #include "test_config.h" -const std::string SDF_TEST_FILE = - sdf::testing::TestFile("integration", "urdf_joint_parameters.urdf"); - ///////////////////////////////////////////////// TEST(SDFParser, JointAxisParameters) { + const std::string sdfTestFile = + sdf::testing::TestFile("integration", "urdf_joint_parameters.urdf"); + sdf::SDFPtr robot(new sdf::SDF()); sdf::init(robot); - ASSERT_TRUE(sdf::readFile(SDF_TEST_FILE, robot)); + ASSERT_TRUE(sdf::readFile(sdfTestFile, robot)); sdf::ElementPtr model = robot->Root()->GetElement("model"); @@ -65,6 +65,13 @@ TEST(SDFParser, JointAxisParameters) ASSERT_TRUE(dynamics->HasElement("friction")); EXPECT_DOUBLE_EQ(value, dynamics->Get("damping")); EXPECT_DOUBLE_EQ(value, dynamics->Get("friction")); + + EXPECT_TRUE(axis->HasElement("limit")); + sdf::ElementPtr limit = axis->GetElement("limit"); + EXPECT_TRUE(limit->HasElement("effort")); + EXPECT_TRUE(limit->HasElement("velocity")); + EXPECT_DOUBLE_EQ(value, limit->Get("effort")); + EXPECT_DOUBLE_EQ(value, limit->Get("velocity")); } EXPECT_EQ(bitmask, 0x3u); diff --git a/test/integration/urdf_joint_parameters.urdf b/test/integration/urdf_joint_parameters.urdf index e33fb28c1..cd1e466c3 100644 --- a/test/integration/urdf_joint_parameters.urdf +++ b/test/integration/urdf_joint_parameters.urdf @@ -9,6 +9,7 @@ + @@ -31,6 +32,7 @@ + diff --git a/test/sdf/sensors.sdf b/test/sdf/sensors.sdf index ac7d7bbff..123441186 100644 --- a/test/sdf/sensors.sdf +++ b/test/sdf/sensors.sdf @@ -22,6 +22,7 @@ 1 2 3 0 0 0 + false 0.1 0.2 0.3 0 0 0 .75 @@ -78,6 +79,7 @@ 4 5 6 0 0 0 + true @@ -88,6 +90,7 @@ 7 8 9 0 0 0 + true 0.1 0.2 0.3 0 0 0 .75 @@ -147,8 +150,38 @@ 10 11 12 0 0 0 - + 13 14 15 0 0 0 + + + + + 1.2 + 3.4 + + + + + 5.6 + 7.8 + + + + + + + 9.1 + 10.11 + + + + + 12.13 + 14.15 + + + + @@ -219,6 +252,7 @@ 0 1 0 0 0 1 + false @@ -286,6 +320,7 @@ 1 2 3 0 0 0 + true @@ -314,6 +349,7 @@ + 4 5 6 0 0 0 diff --git a/tools/cpplint.py b/tools/cpplint.py index 1847a26a3..1632bed19 100644 --- a/tools/cpplint.py +++ b/tools/cpplint.py @@ -1,4 +1,4 @@ -#!/usr/bin/python2.4 +#!/usr/bin/env python # # Copyright (c) 2009 Google Inc. All rights reserved. # @@ -28,43 +28,8 @@ # (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -# Here are some issues that I've had people identify in my code during reviews, -# that I think are possible to flag automatically in a lint tool. If these were -# caught by lint, it would save time both for myself and that of my reviewers. -# Most likely, some of these are beyond the scope of the current lint framework, -# but I think it is valuable to retain these wish-list items even if they cannot -# be immediately implemented. -# -# Suggestions -# ----------- -# - Check for no 'explicit' for multi-arg ctor -# - Check for boolean assign RHS in parens -# - Check for ctor initializer-list colon position and spacing -# - Check that if there's a ctor, there should be a dtor -# - Check accessors that return non-pointer member variables are -# declared const -# - Check accessors that return non-const pointer member vars are -# *not* declared const -# - Check for using public includes for testing -# - Check for spaces between brackets in one-line inline method -# - Check for no assert() -# - Check for spaces surrounding operators -# - Check for 0 in pointer context (should be NULL) -# - Check for 0 in char context (should be '\0') -# - Check for camel-case method name conventions for methods -# that are not simple inline getters and setters -# - Check that base classes have virtual destructors -# put " // namespace" after } that closes a namespace, with -# namespace's name after 'namespace' if it is named. -# - Do not indent namespace contents -# - Avoid inlining non-trivial constructors in header files -# include base/basictypes.h if DISALLOW_EVIL_CONSTRUCTORS is used -# - Check for old-school (void) cast for call-sites of functions -# ignored return value -# - Check gUnit usage of anonymous namespace -# - Check for class declaration order (typedefs, consts, enums, -# ctor(s?), dtor, friend declarations, methods, member vars) -# +# Imported from https://github.com/cpplint/cpplint: +# https://github.com/cpplint/cpplint/blob/0f2319741f3407d8638cdc7c41e4fc9bad217f68/cpplint.py """Does google-lint on c++ files. @@ -80,23 +45,51 @@ """ import codecs +import copy import getopt +import glob +import itertools import math # for log import os import re import sre_compile import string import sys +import sysconfig import unicodedata +import xml.etree.ElementTree + +# if empty, use defaults +_valid_extensions = set([]) + +__VERSION__ = '1.5.4' + +try: + xrange # Python 2 +except NameError: + # -- pylint: disable=redefined-builtin + xrange = range # Python 3 _USAGE = """ -Syntax: cpplint.py [--verbose=#] [--output=vs7] [--filter=-x,+y,...] - [--counting=total|toplevel|detailed] +Syntax: cpplint.py [--verbose=#] [--output=emacs|eclipse|vs7|junit|sed|gsed] + [--filter=-x,+y,...] + [--counting=total|toplevel|detailed] [--root=subdir] + [--repository=path] + [--linelength=digits] [--headers=x,y,...] + [--recursive] + [--exclude=path] + [--extensions=hpp,cpp,...] + [--includeorder=default|standardcfirst] + [--quiet] + [--version] [file] ... + Style checker for C/C++ source files. + This is a fork of the Google style checker with minor extensions. + The style guidelines this tries to follow are those in - http://google-styleguide.googlecode.com/svn/trunk/cppguide.xml + https://google.github.io/styleguide/cppguide.html Every problem is given a confidence score from 1-5, with 5 meaning we are certain of the problem, and 1 meaning it could be a legitimate construct. @@ -107,16 +100,30 @@ suppresses errors of all categories on that line. The files passed in will be linted; at least one file must be provided. - Linted extensions are .cc, .cpp, and .h. Other file types will be ignored. + Default linted extensions are %s. + Other file types will be ignored. + Change the extensions with the --extensions flag. Flags: - output=vs7 + output=emacs|eclipse|vs7|junit|sed|gsed By default, the output is formatted to ease emacs parsing. Visual Studio - compatible output (vs7) may also be used. Other formats are unsupported. + compatible output (vs7) may also be used. Further support exists for + eclipse (eclipse), and JUnit (junit). XML parsers such as those used + in Jenkins and Bamboo may also be used. + The sed format outputs sed commands that should fix some of the errors. + Note that this requires gnu sed. If that is installed as gsed on your + system (common e.g. on macOS with homebrew) you can use the gsed output + format. Sed commands are written to stdout, not stderr, so you should be + able to pipe output straight to a shell to run the fixes. verbose=# Specify a number 0-5 to restrict errors to certain verbosity levels. + Errors with lower verbosity levels have lower confidence and are more + likely to be false positives. + + quiet + Don't print anything if no errors are found. filter=-x,+y,... Specify a comma-separated list of category-filters to apply: only @@ -139,134 +146,634 @@ the top-level categories like 'build' and 'whitespace' will also be printed. If 'detailed' is provided, then a count is provided for each category like 'build/class'. + + repository=path + The top level directory of the repository, used to derive the header + guard CPP variable. By default, this is determined by searching for a + path that contains .git, .hg, or .svn. When this flag is specified, the + given path is used instead. This option allows the header guard CPP + variable to remain consistent even if members of a team have different + repository root directories (such as when checking out a subdirectory + with SVN). In addition, users of non-mainstream version control systems + can use this flag to ensure readable header guard CPP variables. + + Examples: + Assuming that Alice checks out ProjectName and Bob checks out + ProjectName/trunk and trunk contains src/chrome/ui/browser.h, then + with no --repository flag, the header guard CPP variable will be: + + Alice => TRUNK_SRC_CHROME_BROWSER_UI_BROWSER_H_ + Bob => SRC_CHROME_BROWSER_UI_BROWSER_H_ + + If Alice uses the --repository=trunk flag and Bob omits the flag or + uses --repository=. then the header guard CPP variable will be: + + Alice => SRC_CHROME_BROWSER_UI_BROWSER_H_ + Bob => SRC_CHROME_BROWSER_UI_BROWSER_H_ + + root=subdir + The root directory used for deriving header guard CPP variable. + This directory is relative to the top level directory of the repository + which by default is determined by searching for a directory that contains + .git, .hg, or .svn but can also be controlled with the --repository flag. + If the specified directory does not exist, this flag is ignored. + + Examples: + Assuming that src is the top level directory of the repository (and + cwd=top/src), the header guard CPP variables for + src/chrome/browser/ui/browser.h are: + + No flag => CHROME_BROWSER_UI_BROWSER_H_ + --root=chrome => BROWSER_UI_BROWSER_H_ + --root=chrome/browser => UI_BROWSER_H_ + --root=.. => SRC_CHROME_BROWSER_UI_BROWSER_H_ + + linelength=digits + This is the allowed line length for the project. The default value is + 80 characters. + + Examples: + --linelength=120 + + recursive + Search for files to lint recursively. Each directory given in the list + of files to be linted is replaced by all files that descend from that + directory. Files with extensions not in the valid extensions list are + excluded. + + exclude=path + Exclude the given path from the list of files to be linted. Relative + paths are evaluated relative to the current directory and shell globbing + is performed. This flag can be provided multiple times to exclude + multiple files. + + Examples: + --exclude=one.cc + --exclude=src/*.cc + --exclude=src/*.cc --exclude=test/*.cc + + extensions=extension,extension,... + The allowed file extensions that cpplint will check + + Examples: + --extensions=%s + + includeorder=default|standardcfirst + For the build/include_order rule, the default is to blindly assume angle + bracket includes with file extension are c-system-headers (default), + even knowing this will have false classifications. + The default is established at google. + standardcfirst means to instead use an allow-list of known c headers and + treat all others as separate group of "other system headers". The C headers + included are those of the C-standard lib and closely related ones. + + headers=x,y,... + The header extensions that cpplint will treat as .h in checks. Values are + automatically added to --extensions list. + (by default, only files with extensions %s will be assumed to be headers) + + Examples: + --headers=%s + --headers=hpp,hxx + --headers=hpp + + cpplint.py supports per-directory configurations specified in CPPLINT.cfg + files. CPPLINT.cfg file can contain a number of key=value pairs. + Currently the following options are supported: + + set noparent + filter=+filter1,-filter2,... + exclude_files=regex + linelength=80 + root=subdir + headers=x,y,... + + "set noparent" option prevents cpplint from traversing directory tree + upwards looking for more .cfg files in parent directories. This option + is usually placed in the top-level project directory. + + The "filter" option is similar in function to --filter flag. It specifies + message filters in addition to the |_DEFAULT_FILTERS| and those specified + through --filter command-line flag. + + "exclude_files" allows to specify a regular expression to be matched against + a file name. If the expression matches, the file is skipped and not run + through the linter. + + "linelength" allows to specify the allowed line length for the project. + + The "root" option is similar in function to the --root flag (see example + above). Paths are relative to the directory of the CPPLINT.cfg. + + The "headers" option is similar in function to the --headers flag + (see example above). + + CPPLINT.cfg has an effect on files in the same directory and all + sub-directories, unless overridden by a nested configuration file. + + Example file: + filter=-build/include_order,+build/include_alpha + exclude_files=.*\\.cc + + The above example disables build/include_order warning and enables + build/include_alpha as well as excludes all .cc from being + processed by linter, in the current directory (where the .cfg + file is located) and all sub-directories. """ # We categorize each error message we print. Here are the categories. # We want an explicit list so we can list them all in cpplint --filter=. # If you add a new error message with a new category, add it to the list # here! cpplint_unittest.py should tell you if you forget to do this. -# \ used for clearer layout -- pylint: disable-msg=C6013 _ERROR_CATEGORIES = [ - 'build/class', - 'build/deprecated', - 'build/endif_comment', - 'build/explicit_make_pair', - 'build/forward_decl', - 'build/header_guard', - 'build/include', - 'build/include_alpha', - 'build/include_order', - 'build/include_what_you_use', - 'build/namespaces', - 'build/printf_format', - 'build/storage_class', - 'legal/copyright', - 'readability/braces', - 'readability/casting', - 'readability/check', - 'readability/constructors', - 'readability/fn_size', - 'readability/function', - 'readability/multiline_comment', - 'readability/multiline_string', - 'readability/nolint', - 'readability/streams', - 'readability/todo', - 'readability/utf8', - 'runtime/arrays', - 'runtime/casting', - 'runtime/explicit', - 'runtime/int', - 'runtime/init', - 'runtime/invalid_increment', - 'runtime/member_string_references', - 'runtime/memset', - 'runtime/operator', - 'runtime/printf', - 'runtime/printf_format', - 'runtime/references', - 'runtime/rtti', - 'runtime/sizeof', - 'runtime/string', - 'runtime/threadsafe_fn', - 'runtime/virtual', - 'whitespace/blank_line', - 'whitespace/braces', - 'whitespace/comma', - 'whitespace/comments', - 'whitespace/end_of_line', - 'whitespace/ending_newline', - 'whitespace/indent', - 'whitespace/labels', - 'whitespace/line_length', - 'whitespace/newline', - 'whitespace/operators', - 'whitespace/parens', - 'whitespace/semicolon', - 'whitespace/tab', - 'whitespace/todo' - ] + 'build/class', + 'build/c++11', + 'build/c++14', + 'build/c++tr1', + 'build/deprecated', + 'build/endif_comment', + 'build/explicit_make_pair', + 'build/forward_decl', + 'build/header_guard', + 'build/include', + 'build/include_subdir', + 'build/include_alpha', + 'build/include_order', + 'build/include_what_you_use', + 'build/namespaces_headers', + 'build/namespaces_literals', + 'build/namespaces', + 'build/printf_format', + 'build/storage_class', + 'legal/copyright', + 'readability/alt_tokens', + 'readability/braces', + 'readability/casting', + 'readability/check', + 'readability/constructors', + 'readability/fn_size', + 'readability/inheritance', + 'readability/multiline_comment', + 'readability/multiline_string', + 'readability/namespace', + 'readability/nolint', + 'readability/nul', + 'readability/strings', + 'readability/todo', + 'readability/utf8', + 'runtime/arrays', + 'runtime/casting', + 'runtime/explicit', + 'runtime/int', + 'runtime/init', + 'runtime/invalid_increment', + 'runtime/member_string_references', + 'runtime/memset', + 'runtime/indentation_namespace', + 'runtime/operator', + 'runtime/printf', + 'runtime/printf_format', + 'runtime/references', + 'runtime/string', + 'runtime/threadsafe_fn', + 'runtime/vlog', + 'whitespace/blank_line', + 'whitespace/braces', + 'whitespace/comma', + 'whitespace/comments', + 'whitespace/empty_conditional_body', + 'whitespace/empty_if_body', + 'whitespace/empty_loop_body', + 'whitespace/end_of_line', + 'whitespace/ending_newline', + 'whitespace/forcolon', + 'whitespace/indent', + 'whitespace/line_length', + 'whitespace/newline', + 'whitespace/operators', + 'whitespace/parens', + 'whitespace/semicolon', + 'whitespace/tab', + 'whitespace/todo', + ] -# These constants define types of headers for use with -# _IncludeState.CheckNextIncludeOrder(). -_C_SYS_HEADER = 1 -_CPP_SYS_HEADER = 2 -_OTHER_HEADER = 3 -_LIKELY_MY_HEADER = 4 -_POSSIBLE_MY_HEADER = 5 +# keywords to use with --outputs which generate stdout for machine processing +_MACHINE_OUTPUTS = [ + 'junit', + 'sed', + 'gsed' +] + +# These error categories are no longer enforced by cpplint, but for backwards- +# compatibility they may still appear in NOLINT comments. +_LEGACY_ERROR_CATEGORIES = [ + 'readability/streams', + 'readability/function', + ] -# The default state of the category filter. This is overrided by the --filter= +# The default state of the category filter. This is overridden by the --filter= # flag. By default all errors are on, so only add here categories that should be # off by default (i.e., categories that must be enabled by the --filter= flags). # All entries here should start with a '-' or '+', as in the --filter= flag. -_DEFAULT_FILTERS = ['-build/include_alpha'] +_DEFAULT_FILTERS = [ + '-build/c++11', + '-build/header_guard', + '-build/include_alpha', + '-build/include_order', + '-build/include_subdir', + '-build/namespaces', + '-readability/namespace', + '-runtime/indentation_namespace', + '-runtime/references', + '-whitespace/blank_line', + '-whitespace/braces', + '-whitespace/indent', + '-whitespace/newline', + '-whitespace/parens', + ] + +# The default list of categories suppressed for C (not C++) files. +_DEFAULT_C_SUPPRESSED_CATEGORIES = [ + 'readability/casting', + ] + +# The default list of categories suppressed for Linux Kernel files. +_DEFAULT_KERNEL_SUPPRESSED_CATEGORIES = [ + 'whitespace/tab', + ] # We used to check for high-bit characters, but after much discussion we # decided those were OK, as long as they were in UTF-8 and didn't represent # hard-coded international strings, which belong in a separate i18n file. -# Headers that we consider STL headers. -_STL_HEADERS = frozenset([ - 'algobase.h', 'algorithm', 'alloc.h', 'bitset', 'deque', 'exception', - 'function.h', 'functional', 'hash_map', 'hash_map.h', 'hash_set', - 'hash_set.h', 'iterator', 'list', 'list.h', 'map', 'memory', 'new', - 'pair.h', 'pthread_alloc', 'queue', 'set', 'set.h', 'sstream', 'stack', - 'stl_alloc.h', 'stl_relops.h', 'type_traits.h', - 'utility', 'vector', 'vector.h', +# C++ headers +_CPP_HEADERS = frozenset([ + # Legacy + 'algobase.h', + 'algo.h', + 'alloc.h', + 'builtinbuf.h', + 'bvector.h', + 'complex.h', + 'defalloc.h', + 'deque.h', + 'editbuf.h', + 'fstream.h', + 'function.h', + 'hash_map', + 'hash_map.h', + 'hash_set', + 'hash_set.h', + 'hashtable.h', + 'heap.h', + 'indstream.h', + 'iomanip.h', + 'iostream.h', + 'istream.h', + 'iterator.h', + 'list.h', + 'map.h', + 'multimap.h', + 'multiset.h', + 'ostream.h', + 'pair.h', + 'parsestream.h', + 'pfstream.h', + 'procbuf.h', + 'pthread_alloc', + 'pthread_alloc.h', + 'rope', + 'rope.h', + 'ropeimpl.h', + 'set.h', + 'slist', + 'slist.h', + 'stack.h', + 'stdiostream.h', + 'stl_alloc.h', + 'stl_relops.h', + 'streambuf.h', + 'stream.h', + 'strfile.h', + 'strstream.h', + 'tempbuf.h', + 'tree.h', + 'type_traits.h', + 'vector.h', + # 17.6.1.2 C++ library headers + 'algorithm', + 'array', + 'atomic', + 'bitset', + 'chrono', + 'codecvt', + 'complex', + 'condition_variable', + 'deque', + 'exception', + 'forward_list', + 'fstream', + 'functional', + 'future', + 'initializer_list', + 'iomanip', + 'ios', + 'iosfwd', + 'iostream', + 'istream', + 'iterator', + 'limits', + 'list', + 'locale', + 'map', + 'memory', + 'mutex', + 'new', + 'numeric', + 'ostream', + 'queue', + 'random', + 'ratio', + 'regex', + 'scoped_allocator', + 'set', + 'sstream', + 'stack', + 'stdexcept', + 'streambuf', + 'string', + 'strstream', + 'system_error', + 'thread', + 'tuple', + 'typeindex', + 'typeinfo', + 'type_traits', + 'unordered_map', + 'unordered_set', + 'utility', + 'valarray', + 'vector', + # 17.6.1.2 C++14 headers + 'shared_mutex', + # 17.6.1.2 C++17 headers + 'any', + 'charconv', + 'codecvt', + 'execution', + 'filesystem', + 'memory_resource', + 'optional', + 'string_view', + 'variant', + # 17.6.1.2 C++ headers for C library facilities + 'cassert', + 'ccomplex', + 'cctype', + 'cerrno', + 'cfenv', + 'cfloat', + 'cinttypes', + 'ciso646', + 'climits', + 'clocale', + 'cmath', + 'csetjmp', + 'csignal', + 'cstdalign', + 'cstdarg', + 'cstdbool', + 'cstddef', + 'cstdint', + 'cstdio', + 'cstdlib', + 'cstring', + 'ctgmath', + 'ctime', + 'cuchar', + 'cwchar', + 'cwctype', ]) - -# Non-STL C++ system headers. -_CPP_HEADERS = frozenset([ - 'algo.h', 'builtinbuf.h', 'bvector.h', 'cassert', 'cctype', - 'cerrno', 'cfloat', 'ciso646', 'climits', 'clocale', 'cmath', - 'complex', 'complex.h', 'csetjmp', 'csignal', 'cstdarg', 'cstddef', - 'cstdio', 'cstdlib', 'cstring', 'ctime', 'cwchar', 'cwctype', - 'defalloc.h', 'deque.h', 'editbuf.h', 'exception', 'fstream', - 'fstream.h', 'hashtable.h', 'heap.h', 'indstream.h', 'iomanip', - 'iomanip.h', 'ios', 'iosfwd', 'iostream', 'iostream.h', 'istream', - 'istream.h', 'iterator.h', 'limits', 'map.h', 'multimap.h', 'multiset.h', - 'numeric', 'ostream', 'ostream.h', 'parsestream.h', 'pfstream.h', - 'PlotFile.h', 'procbuf.h', 'pthread_alloc.h', 'rope', 'rope.h', - 'ropeimpl.h', 'SFile.h', 'slist', 'slist.h', 'stack.h', 'stdexcept', - 'stdiostream.h', 'streambuf.h', 'stream.h', 'strfile.h', 'string', - 'strstream', 'strstream.h', 'tempbuf.h', 'tree.h', 'typeinfo', 'valarray', +# C headers +_C_HEADERS = frozenset([ + # System C headers + 'assert.h', + 'complex.h', + 'ctype.h', + 'errno.h', + 'fenv.h', + 'float.h', + 'inttypes.h', + 'iso646.h', + 'limits.h', + 'locale.h', + 'math.h', + 'setjmp.h', + 'signal.h', + 'stdalign.h', + 'stdarg.h', + 'stdatomic.h', + 'stdbool.h', + 'stddef.h', + 'stdint.h', + 'stdio.h', + 'stdlib.h', + 'stdnoreturn.h', + 'string.h', + 'tgmath.h', + 'threads.h', + 'time.h', + 'uchar.h', + 'wchar.h', + 'wctype.h', + # additional POSIX C headers + 'aio.h', + 'arpa/inet.h', + 'cpio.h', + 'dirent.h', + 'dlfcn.h', + 'fcntl.h', + 'fmtmsg.h', + 'fnmatch.h', + 'ftw.h', + 'glob.h', + 'grp.h', + 'iconv.h', + 'langinfo.h', + 'libgen.h', + 'monetary.h', + 'mqueue.h', + 'ndbm.h', + 'net/if.h', + 'netdb.h', + 'netinet/in.h', + 'netinet/tcp.h', + 'nl_types.h', + 'poll.h', + 'pthread.h', + 'pwd.h', + 'regex.h', + 'sched.h', + 'search.h', + 'semaphore.h', + 'setjmp.h', + 'signal.h', + 'spawn.h', + 'strings.h', + 'stropts.h', + 'syslog.h', + 'tar.h', + 'termios.h', + 'trace.h', + 'ulimit.h', + 'unistd.h', + 'utime.h', + 'utmpx.h', + 'wordexp.h', + # additional GNUlib headers + 'a.out.h', + 'aliases.h', + 'alloca.h', + 'ar.h', + 'argp.h', + 'argz.h', + 'byteswap.h', + 'crypt.h', + 'endian.h', + 'envz.h', + 'err.h', + 'error.h', + 'execinfo.h', + 'fpu_control.h', + 'fstab.h', + 'fts.h', + 'getopt.h', + 'gshadow.h', + 'ieee754.h', + 'ifaddrs.h', + 'libintl.h', + 'mcheck.h', + 'mntent.h', + 'obstack.h', + 'paths.h', + 'printf.h', + 'pty.h', + 'resolv.h', + 'shadow.h', + 'sysexits.h', + 'ttyent.h', + # Additional linux glibc headers + 'dlfcn.h', + 'elf.h', + 'features.h', + 'gconv.h', + 'gnu-versions.h', + 'lastlog.h', + 'libio.h', + 'link.h', + 'malloc.h', + 'memory.h', + 'netash/ash.h', + 'netatalk/at.h', + 'netax25/ax25.h', + 'neteconet/ec.h', + 'netipx/ipx.h', + 'netiucv/iucv.h', + 'netpacket/packet.h', + 'netrom/netrom.h', + 'netrose/rose.h', + 'nfs/nfs.h', + 'nl_types.h', + 'nss.h', + 're_comp.h', + 'regexp.h', + 'sched.h', + 'sgtty.h', + 'stab.h', + 'stdc-predef.h', + 'stdio_ext.h', + 'syscall.h', + 'termio.h', + 'thread_db.h', + 'ucontext.h', + 'ustat.h', + 'utmp.h', + 'values.h', + 'wait.h', + 'xlocale.h', + # Hardware specific headers + 'arm_neon.h', + 'emmintrin.h', + 'xmmintin.h', ]) +# Folders of C libraries so commonly used in C++, +# that they have parity with standard C libraries. +C_STANDARD_HEADER_FOLDERS = frozenset([ + # standard C library + "sys", + # glibc for linux + "arpa", + "asm-generic", + "bits", + "gnu", + "net", + "netinet", + "protocols", + "rpc", + "rpcsvc", + "scsi", + # linux kernel header + "drm", + "linux", + "misc", + "mtd", + "rdma", + "sound", + "video", + "xen", + ]) + +# Type names +_TYPES = re.compile( + r'^(?:' + # [dcl.type.simple] + r'(char(16_t|32_t)?)|wchar_t|' + r'bool|short|int|long|signed|unsigned|float|double|' + # [support.types] + r'(ptrdiff_t|size_t|max_align_t|nullptr_t)|' + # [cstdint.syn] + r'(u?int(_fast|_least)?(8|16|32|64)_t)|' + r'(u?int(max|ptr)_t)|' + r')$') + + +# These headers are excluded from [build/include] and [build/include_order] +# checks: +# - Anything not following google file name conventions (containing an +# uppercase character, such as Python.h or nsStringAPI.h, for example). +# - Lua headers. +_THIRD_PARTY_HEADERS_PATTERN = re.compile( + r'^(?:[^/]*[A-Z][^/]*\.h|lua\.h|lauxlib\.h|lualib\.h)$') + +# Pattern for matching FileInfo.BaseName() against test file name +_test_suffixes = ['_test', '_regtest', '_unittest'] +_TEST_FILE_SUFFIX = '(' + '|'.join(_test_suffixes) + r')$' + +# Pattern that matches only complete whitespace, possibly across multiple lines. +_EMPTY_CONDITIONAL_BODY_PATTERN = re.compile(r'^\s*$', re.DOTALL) # Assertion macros. These are defined in base/logging.h and -# testing/base/gunit.h. Note that the _M versions need to come first -# for substring matching to work. +# testing/base/public/gunit.h. _CHECK_MACROS = [ 'DCHECK', 'CHECK', - 'EXPECT_TRUE_M', 'EXPECT_TRUE', - 'ASSERT_TRUE_M', 'ASSERT_TRUE', - 'EXPECT_FALSE_M', 'EXPECT_FALSE', - 'ASSERT_FALSE_M', 'ASSERT_FALSE', + 'EXPECT_TRUE', 'ASSERT_TRUE', + 'EXPECT_FALSE', 'ASSERT_FALSE', ] # Replacement macros for CHECK/DCHECK/EXPECT_TRUE/EXPECT_FALSE -_CHECK_REPLACEMENT = dict([(m, {}) for m in _CHECK_MACROS]) +_CHECK_REPLACEMENT = dict([(macro_var, {}) for macro_var in _CHECK_MACROS]) for op, replacement in [('==', 'EQ'), ('!=', 'NE'), ('>=', 'GE'), ('>', 'GT'), @@ -275,29 +782,196 @@ _CHECK_REPLACEMENT['CHECK'][op] = 'CHECK_%s' % replacement _CHECK_REPLACEMENT['EXPECT_TRUE'][op] = 'EXPECT_%s' % replacement _CHECK_REPLACEMENT['ASSERT_TRUE'][op] = 'ASSERT_%s' % replacement - _CHECK_REPLACEMENT['EXPECT_TRUE_M'][op] = 'EXPECT_%s_M' % replacement - _CHECK_REPLACEMENT['ASSERT_TRUE_M'][op] = 'ASSERT_%s_M' % replacement for op, inv_replacement in [('==', 'NE'), ('!=', 'EQ'), ('>=', 'LT'), ('>', 'LE'), ('<=', 'GT'), ('<', 'GE')]: _CHECK_REPLACEMENT['EXPECT_FALSE'][op] = 'EXPECT_%s' % inv_replacement _CHECK_REPLACEMENT['ASSERT_FALSE'][op] = 'ASSERT_%s' % inv_replacement - _CHECK_REPLACEMENT['EXPECT_FALSE_M'][op] = 'EXPECT_%s_M' % inv_replacement - _CHECK_REPLACEMENT['ASSERT_FALSE_M'][op] = 'ASSERT_%s_M' % inv_replacement + +# Alternative tokens and their replacements. For full list, see section 2.5 +# Alternative tokens [lex.digraph] in the C++ standard. +# +# Digraphs (such as '%:') are not included here since it's a mess to +# match those on a word boundary. +_ALT_TOKEN_REPLACEMENT = { + 'and': '&&', + 'bitor': '|', + 'or': '||', + 'xor': '^', + 'compl': '~', + 'bitand': '&', + 'and_eq': '&=', + 'or_eq': '|=', + 'xor_eq': '^=', + 'not': '!', + 'not_eq': '!=' + } + +# Compile regular expression that matches all the above keywords. The "[ =()]" +# bit is meant to avoid matching these keywords outside of boolean expressions. +# +# False positives include C-style multi-line comments and multi-line strings +# but those have always been troublesome for cpplint. +_ALT_TOKEN_REPLACEMENT_PATTERN = re.compile( + r'[ =()](' + ('|'.join(_ALT_TOKEN_REPLACEMENT.keys())) + r')(?=[ (]|$)') -_regexp_compile_cache = {} +# These constants define types of headers for use with +# _IncludeState.CheckNextIncludeOrder(). +_C_SYS_HEADER = 1 +_CPP_SYS_HEADER = 2 +_OTHER_SYS_HEADER = 3 +_LIKELY_MY_HEADER = 4 +_POSSIBLE_MY_HEADER = 5 +_OTHER_HEADER = 6 + +# These constants define the current inline assembly state +_NO_ASM = 0 # Outside of inline assembly block +_INSIDE_ASM = 1 # Inside inline assembly block +_END_ASM = 2 # Last line of inline assembly block +_BLOCK_ASM = 3 # The whole block is an inline assembly block + +# Match start of assembly blocks +_MATCH_ASM = re.compile(r'^\s*(?:asm|_asm|__asm|__asm__)' + r'(?:\s+(volatile|__volatile__))?' + r'\s*[{(]') + +# Match strings that indicate we're working on a C (not C++) file. +_SEARCH_C_FILE = re.compile(r'\b(?:LINT_C_FILE|' + r'vim?:\s*.*(\s*|:)filetype=c(\s*|:|$))') + +# Match string that indicates we're working on a Linux Kernel file. +_SEARCH_KERNEL_FILE = re.compile(r'\b(?:LINT_KERNEL_FILE)') + +# Commands for sed to fix the problem +_SED_FIXUPS = { + 'Remove spaces around =': r's/ = /=/', + 'Remove spaces around !=': r's/ != /!=/', + 'Remove space before ( in if (': r's/if (/if(/', + 'Remove space before ( in for (': r's/for (/for(/', + 'Remove space before ( in while (': r's/while (/while(/', + 'Remove space before ( in switch (': r's/switch (/switch(/', + 'Should have a space between // and comment': r's/\/\//\/\/ /', + 'Missing space before {': r's/\([^ ]\){/\1 {/', + 'Tab found, replace by spaces': r's/\t/ /g', + 'Line ends in whitespace. Consider deleting these extra spaces.': r's/\s*$//', + 'You don\'t need a ; after a }': r's/};/}/', + 'Missing space after ,': r's/,\([^ ]\)/, \1/g', +} -# Finds occurrences of NOLINT or NOLINT(...). -_RE_SUPPRESSION = re.compile(r'\bNOLINT\b(\([^)]*\))?') +_regexp_compile_cache = {} # {str, set(int)}: a map from error categories to sets of linenumbers # on which those errors are expected and should be suppressed. _error_suppressions = {} +# The root directory used for deriving header guard CPP variable. +# This is set by --root flag. +_root = None +_root_debug = False + +# The top level repository directory. If set, _root is calculated relative to +# this directory instead of the directory containing version control artifacts. +# This is set by the --repository flag. +_repository = None + +# Files to exclude from linting. This is set by the --exclude flag. +_excludes = None + +# Whether to supress all PrintInfo messages, UNRELATED to --quiet flag +_quiet = False + +# The allowed line length of files. +# This is set by --linelength flag. +_line_length = 80 + +# This allows to use different include order rule than default +_include_order = "default" + +try: + unicode +except NameError: + # -- pylint: disable=redefined-builtin + basestring = unicode = str + +try: + long +except NameError: + # -- pylint: disable=redefined-builtin + long = int + +if sys.version_info < (3,): + # -- pylint: disable=no-member + # BINARY_TYPE = str + itervalues = dict.itervalues + iteritems = dict.iteritems +else: + # BINARY_TYPE = bytes + itervalues = dict.values + iteritems = dict.items + +def unicode_escape_decode(x): + if sys.version_info < (3,): + return codecs.unicode_escape_decode(x)[0] + else: + return x + +# Treat all headers starting with 'h' equally: .h, .hpp, .hxx etc. +# This is set by --headers flag. +_hpp_headers = set([]) + +# {str, bool}: a map from error categories to booleans which indicate if the +# category should be suppressed for every line. +_global_error_suppressions = {} + +def ProcessHppHeadersOption(val): + global _hpp_headers + try: + _hpp_headers = {ext.strip() for ext in val.split(',')} + except ValueError: + PrintUsage('Header extensions must be comma separated list.') + +def ProcessIncludeOrderOption(val): + if val is None or val == "default": + pass + elif val == "standardcfirst": + global _include_order + _include_order = val + else: + PrintUsage('Invalid includeorder value %s. Expected default|standardcfirst') + +def IsHeaderExtension(file_extension): + return file_extension in GetHeaderExtensions() + +def GetHeaderExtensions(): + if _hpp_headers: + return _hpp_headers + if _valid_extensions: + return {h for h in _valid_extensions if 'h' in h} + return set(['h', 'hh', 'hpp', 'hxx', 'h++', 'cuh']) + +# The allowed extensions for file names +# This is set by --extensions flag +def GetAllExtensions(): + return GetHeaderExtensions().union(_valid_extensions or set( + ['c', 'cc', 'cpp', 'cxx', 'c++', 'cu'])) + +def ProcessExtensionsOption(val): + global _valid_extensions + try: + extensions = [ext.strip() for ext in val.split(',')] + _valid_extensions = set(extensions) + except ValueError: + PrintUsage('Extensions should be a comma-separated list of values;' + 'for example: extensions=hpp,cpp\n' + 'This could not be parsed: "%s"' % (val,)) + +def GetNonHeaderExtensions(): + return GetAllExtensions().difference(GetHeaderExtensions()) + def ParseNolintSuppressions(filename, raw_line, linenum, error): - """Updates the global list of error-suppressions. + """Updates the global list of line error-suppressions. Parses any NOLINT comments on the current line, updating the global error_suppressions store. Reports an error if the NOLINT comment @@ -309,64 +983,113 @@ def ParseNolintSuppressions(filename, raw_line, linenum, error): linenum: int, the number of the current line. error: function, an error handler. """ - # FIXME(adonovan): "NOLINT(" is misparsed as NOLINT(*). - matched = _RE_SUPPRESSION.search(raw_line) + matched = Search(r'\bNOLINT(NEXTLINE)?\b(\([^)]+\))?', raw_line) if matched: - category = matched.group(1) + if matched.group(1): + suppressed_line = linenum + 1 + else: + suppressed_line = linenum + category = matched.group(2) if category in (None, '(*)'): # => "suppress all" - _error_suppressions.setdefault(None, set()).add(linenum) + _error_suppressions.setdefault(None, set()).add(suppressed_line) else: if category.startswith('(') and category.endswith(')'): category = category[1:-1] if category in _ERROR_CATEGORIES: - _error_suppressions.setdefault(category, set()).add(linenum) - else: + _error_suppressions.setdefault(category, set()).add(suppressed_line) + elif category not in _LEGACY_ERROR_CATEGORIES: error(filename, linenum, 'readability/nolint', 5, 'Unknown NOLINT error category: %s' % category) +def ProcessGlobalSuppresions(lines): + """Updates the list of global error suppressions. + + Parses any lint directives in the file that have global effect. + + Args: + lines: An array of strings, each representing a line of the file, with the + last element being empty if the file is terminated with a newline. + """ + for line in lines: + if _SEARCH_C_FILE.search(line): + for category in _DEFAULT_C_SUPPRESSED_CATEGORIES: + _global_error_suppressions[category] = True + if _SEARCH_KERNEL_FILE.search(line): + for category in _DEFAULT_KERNEL_SUPPRESSED_CATEGORIES: + _global_error_suppressions[category] = True + + def ResetNolintSuppressions(): - "Resets the set of NOLINT suppressions to empty." + """Resets the set of NOLINT suppressions to empty.""" _error_suppressions.clear() + _global_error_suppressions.clear() def IsErrorSuppressedByNolint(category, linenum): """Returns true if the specified error category is suppressed on this line. Consults the global error_suppressions map populated by - ParseNolintSuppressions/ResetNolintSuppressions. + ParseNolintSuppressions/ProcessGlobalSuppresions/ResetNolintSuppressions. Args: category: str, the category of the error. linenum: int, the current line number. Returns: - bool, True iff the error should be suppressed due to a NOLINT comment. + bool, True iff the error should be suppressed due to a NOLINT comment or + global suppression. """ - return (linenum in _error_suppressions.get(category, set()) or + return (_global_error_suppressions.get(category, False) or + linenum in _error_suppressions.get(category, set()) or linenum in _error_suppressions.get(None, set())) + def Match(pattern, s): """Matches the string with the pattern, caching the compiled regexp.""" # The regexp compilation caching is inlined in both Match and Search for # performance reasons; factoring it out into a separate function turns out # to be noticeably expensive. - if not pattern in _regexp_compile_cache: + if pattern not in _regexp_compile_cache: _regexp_compile_cache[pattern] = sre_compile.compile(pattern) return _regexp_compile_cache[pattern].match(s) +def ReplaceAll(pattern, rep, s): + """Replaces instances of pattern in a string with a replacement. + + The compiled regex is kept in a cache shared by Match and Search. + + Args: + pattern: regex pattern + rep: replacement text + s: search string + + Returns: + string with replacements made (or original string if no replacements) + """ + if pattern not in _regexp_compile_cache: + _regexp_compile_cache[pattern] = sre_compile.compile(pattern) + return _regexp_compile_cache[pattern].sub(rep, s) + + def Search(pattern, s): """Searches the string for the pattern, caching the compiled regexp.""" - if not pattern in _regexp_compile_cache: + if pattern not in _regexp_compile_cache: _regexp_compile_cache[pattern] = sre_compile.compile(pattern) return _regexp_compile_cache[pattern].search(s) -class _IncludeState(dict): +def _IsSourceExtension(s): + """File extension (excluding dot) matches a source file extension.""" + return s in GetNonHeaderExtensions() + + +class _IncludeState(object): """Tracks line numbers for includes, and the order in which includes appear. - As a dict, an _IncludeState object serves as a mapping between include - filename and line number on which that file was included. + include_list contains list of lists of (header, line number) pairs. + It's a lists of lists rather than just one flat list to make it + easier to update across preprocessor boundaries. Call CheckNextIncludeOrder() once for each header in the file, passing in the type constants defined above. Calls in an illegal order will @@ -376,33 +1099,71 @@ class _IncludeState(dict): # self._section will move monotonically through this set. If it ever # needs to move backwards, CheckNextIncludeOrder will raise an error. _INITIAL_SECTION = 0 - _C_SECTION = 1 - _CPP_SECTION = 2 - _OTHER_H_SECTION = 3 - _MY_H_SECTION = 4 + _MY_H_SECTION = 1 + _C_SECTION = 2 + _CPP_SECTION = 3 + _OTHER_SYS_SECTION = 4 + _OTHER_H_SECTION = 5 _TYPE_NAMES = { _C_SYS_HEADER: 'C system header', _CPP_SYS_HEADER: 'C++ system header', + _OTHER_SYS_HEADER: 'other system header', _LIKELY_MY_HEADER: 'header this file implements', _POSSIBLE_MY_HEADER: 'header this file may implement', _OTHER_HEADER: 'other header', } _SECTION_NAMES = { _INITIAL_SECTION: "... nothing. (This can't be an error.)", + _MY_H_SECTION: 'a header this file implements', _C_SECTION: 'C system header', _CPP_SECTION: 'C++ system header', + _OTHER_SYS_SECTION: 'other system header', _OTHER_H_SECTION: 'other header', - _MY_H_SECTION: 'a header this file implements', } def __init__(self): - dict.__init__(self) + self.include_list = [[]] + self._section = None + self._last_header = None + self.ResetSection('') + + def FindHeader(self, header): + """Check if a header has already been included. + + Args: + header: header to check. + Returns: + Line number of previous occurrence, or -1 if the header has not + been seen before. + """ + for section_list in self.include_list: + for f in section_list: + if f[0] == header: + return f[1] + return -1 + + def ResetSection(self, directive): + """Reset section checking for preprocessor directive. + + Args: + directive: preprocessor directive (e.g. "if", "else"). + """ # The name of the current section. self._section = self._INITIAL_SECTION # The path of last found header. self._last_header = '' + # Update list of includes. Note that we never pop from the + # include list. + if directive in ('if', 'ifdef', 'ifndef'): + self.include_list.append([]) + elif directive in ('else', 'elif'): + self.include_list[-1] = [] + + def SetLastHeader(self, header_path): + self._last_header = header_path + def CanonicalizeAlphabeticalOrder(self, header_path): """Returns a path canonicalized for alphabetical comparison. @@ -418,19 +1179,25 @@ def CanonicalizeAlphabeticalOrder(self, header_path): """ return header_path.replace('-inl.h', '.h').replace('-', '_').lower() - def IsInAlphabeticalOrder(self, header_path): + def IsInAlphabeticalOrder(self, clean_lines, linenum, header_path): """Check if a header is in alphabetical order with the previous header. Args: - header_path: Header to be checked. + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + header_path: Canonicalized header to be checked. Returns: Returns true if the header is in alphabetical order. """ - canonical_header = self.CanonicalizeAlphabeticalOrder(header_path) - if self._last_header > canonical_header: + # If previous section is different from current section, _last_header will + # be reset to empty string, so it's always less than current header. + # + # If previous line was a blank line, assume that the headers are + # intentionally sorted the way they are. + if (self._last_header > header_path and + Match(r'^\s*#\s*include\b', clean_lines.elided[linenum - 1])): return False - self._last_header = canonical_header return True def CheckNextIncludeOrder(self, header_type): @@ -465,6 +1232,12 @@ def CheckNextIncludeOrder(self, header_type): else: self._last_header = '' return error_message + elif header_type == _OTHER_SYS_HEADER: + if self._section <= self._OTHER_SYS_SECTION: + self._section = self._OTHER_SYS_SECTION + else: + self._last_header = '' + return error_message elif header_type == _LIKELY_MY_HEADER: if self._section <= self._MY_H_SECTION: self._section = self._MY_H_SECTION @@ -495,18 +1268,36 @@ def __init__(self): self.error_count = 0 # global count of reported errors # filters to apply when emitting error messages self.filters = _DEFAULT_FILTERS[:] + # backup of filter list. Used to restore the state after each file. + self._filters_backup = self.filters[:] self.counting = 'total' # In what way are we counting errors? self.errors_by_category = {} # string to int dict storing error counts + self.quiet = False # Suppress non-error messagess? # output format: # "emacs" - format that emacs can parse (default) + # "eclipse" - format that eclipse can parse # "vs7" - format that Microsoft Visual Studio 7 can parse + # "junit" - format that Jenkins, Bamboo, etc can parse + # "sed" - returns a gnu sed command to fix the problem + # "gsed" - like sed, but names the command gsed, e.g. for macOS homebrew users self.output_format = 'emacs' + # For JUnit output, save errors and failures until the end so that they + # can be written into the XML + self._junit_errors = [] + self._junit_failures = [] + def SetOutputFormat(self, output_format): """Sets the output format for errors.""" self.output_format = output_format + def SetQuiet(self, quiet): + """Sets the module's quiet settings, and returns the previous setting.""" + last_quiet = self.quiet + self.quiet = quiet + return last_quiet + def SetVerboseLevel(self, level): """Sets the module's verbosity, and returns the previous setting.""" last_verbose_level = self.verbose_level @@ -533,6 +1324,10 @@ def SetFilters(self, filters): """ # Default filters always have less priority than the flag ones. self.filters = _DEFAULT_FILTERS[:] + self.AddFilters(filters) + + def AddFilters(self, filters): + """ Adds more filters to the existing list of error-message filters. """ for filt in filters.split(','): clean_filt = filt.strip() if clean_filt: @@ -542,6 +1337,14 @@ def SetFilters(self, filters): raise ValueError('Every filter in --filters must start with + or -' ' (%s does not)' % filt) + def BackupFilters(self): + """ Saves the current filter list to backup storage.""" + self._filters_backup = self.filters[:] + + def RestoreFilters(self): + """ Restores filters previously backed up.""" + self.filters = self._filters_backup[:] + def ResetErrorCounts(self): """Sets the module's error statistic back to zero.""" self.error_count = 0 @@ -559,10 +1362,71 @@ def IncrementErrorCount(self, category): def PrintErrorCounts(self): """Print a summary of errors by category, and the total.""" - for category, count in self.errors_by_category.iteritems(): - sys.stderr.write('Category \'%s\' errors found: %d\n' % + for category, count in sorted(iteritems(self.errors_by_category)): + self.PrintInfo('Category \'%s\' errors found: %d\n' % (category, count)) - sys.stderr.write('Total errors found: %d\n' % self.error_count) + if self.error_count > 0: + self.PrintInfo('Total errors found: %d\n' % self.error_count) + + def PrintInfo(self, message): + # _quiet does not represent --quiet flag. + # Hide infos from stdout to keep stdout pure for machine consumption + if not _quiet and self.output_format not in _MACHINE_OUTPUTS: + sys.stdout.write(message) + + def PrintError(self, message): + if self.output_format == 'junit': + self._junit_errors.append(message) + else: + sys.stderr.write(message) + + def AddJUnitFailure(self, filename, linenum, message, category, confidence): + self._junit_failures.append((filename, linenum, message, category, + confidence)) + + def FormatJUnitXML(self): + num_errors = len(self._junit_errors) + num_failures = len(self._junit_failures) + + testsuite = xml.etree.ElementTree.Element('testsuite') + testsuite.attrib['errors'] = str(num_errors) + testsuite.attrib['failures'] = str(num_failures) + testsuite.attrib['name'] = 'cpplint' + + if num_errors == 0 and num_failures == 0: + testsuite.attrib['tests'] = str(1) + xml.etree.ElementTree.SubElement(testsuite, 'testcase', name='passed') + + else: + testsuite.attrib['tests'] = str(num_errors + num_failures) + if num_errors > 0: + testcase = xml.etree.ElementTree.SubElement(testsuite, 'testcase') + testcase.attrib['name'] = 'errors' + error = xml.etree.ElementTree.SubElement(testcase, 'error') + error.text = '\n'.join(self._junit_errors) + if num_failures > 0: + # Group failures by file + failed_file_order = [] + failures_by_file = {} + for failure in self._junit_failures: + failed_file = failure[0] + if failed_file not in failed_file_order: + failed_file_order.append(failed_file) + failures_by_file[failed_file] = [] + failures_by_file[failed_file].append(failure) + # Create a testcase for each file + for failed_file in failed_file_order: + failures = failures_by_file[failed_file] + testcase = xml.etree.ElementTree.SubElement(testsuite, 'testcase') + testcase.attrib['name'] = failed_file + failure = xml.etree.ElementTree.SubElement(testcase, 'failure') + template = '{0}: {1} [{2}] [{3}]' + texts = [template.format(f[1], f[2], f[3], f[4]) for f in failures] + failure.text = '\n'.join(texts) + + xml_decl = '\n' + return xml_decl + xml.etree.ElementTree.tostring(testsuite, 'utf-8').decode('utf-8') + _cpplint_state = _CppLintState() @@ -576,6 +1440,14 @@ def _SetOutputFormat(output_format): """Sets the module's output format.""" _cpplint_state.SetOutputFormat(output_format) +def _Quiet(): + """Return's the module's quiet setting.""" + return _cpplint_state.quiet + +def _SetQuiet(quiet): + """Set the module's quiet status, and return previous setting.""" + return _cpplint_state.SetQuiet(quiet) + def _VerboseLevel(): """Returns the module's verbosity setting.""" @@ -609,6 +1481,25 @@ def _SetFilters(filters): """ _cpplint_state.SetFilters(filters) +def _AddFilters(filters): + """Adds more filter overrides. + + Unlike _SetFilters, this function does not reset the current list of filters + available. + + Args: + filters: A string of comma-separated filters (eg "whitespace/indent"). + Each filter should start with + or -; else we die. + """ + _cpplint_state.AddFilters(filters) + +def _BackupFilters(): + """ Saves the current filter list to backup storage.""" + _cpplint_state.BackupFilters() + +def _RestoreFilters(): + """ Restores filters previously backed up.""" + _cpplint_state.RestoreFilters() class _FunctionState(object): """Tracks current function name and the number of lines in its body.""" @@ -644,6 +1535,9 @@ def Check(self, error, filename, linenum): filename: The name of the current file. linenum: The number of the line to check. """ + if not self.in_a_function: + return + if Match(r'T(EST|est)', self.current_function): base_trigger = self._TEST_TRIGGER else: @@ -671,7 +1565,7 @@ class _IncludeError(Exception): pass -class FileInfo: +class FileInfo(object): """Provides utility functions for filenames. FileInfo provides easy access to the components of a file's path @@ -686,12 +1580,12 @@ def FullName(self): return os.path.abspath(self._filename).replace('\\', '/') def RepositoryName(self): - """FullName after removing the local path to the repository. + r"""FullName after removing the local path to the repository. If we have a real absolute path name here we can try to do something smart: detecting the root of the checkout and truncating /path/to/checkout from the name so that we get header guards that don't include things like - "C:\Documents and Settings\..." or "/home/username/..." in them and thus + "C:\\Documents and Settings\\..." or "/home/username/..." in them and thus people on different computers who have checked the source out to different locations won't see bogus errors. """ @@ -700,6 +1594,20 @@ def RepositoryName(self): if os.path.exists(fullname): project_dir = os.path.dirname(fullname) + # If the user specified a repository path, it exists, and the file is + # contained in it, use the specified repository path + if _repository: + repo = FileInfo(_repository).FullName() + root_dir = project_dir + while os.path.exists(root_dir): + # allow case insensitive compare on Windows + if os.path.normcase(root_dir) == os.path.normcase(repo): + return os.path.relpath(fullname, root_dir).replace('\\', '/') + one_up_dir = os.path.dirname(root_dir) + if one_up_dir == root_dir: + break + root_dir = one_up_dir + if os.path.exists(os.path.join(project_dir, ".svn")): # If there's a .svn file in the current directory, we recursively look # up the directory tree for the top of the SVN checkout @@ -712,16 +1620,19 @@ def RepositoryName(self): prefix = os.path.commonprefix([root_dir, project_dir]) return fullname[len(prefix) + 1:] - # Not SVN? Try to find a git or hg top level directory by searching up - # from the current path. - root_dir = os.path.dirname(fullname) - while (root_dir != os.path.dirname(root_dir) and - not os.path.exists(os.path.join(root_dir, ".git")) and - not os.path.exists(os.path.join(root_dir, ".hg"))): - root_dir = os.path.dirname(root_dir) + # Not SVN <= 1.6? Try to find a git, hg, or svn top level directory by + # searching up from the current path. + root_dir = current_dir = os.path.dirname(fullname) + while current_dir != os.path.dirname(current_dir): + if (os.path.exists(os.path.join(current_dir, ".git")) or + os.path.exists(os.path.join(current_dir, ".hg")) or + os.path.exists(os.path.join(current_dir, ".svn"))): + root_dir = current_dir + current_dir = os.path.dirname(current_dir) if (os.path.exists(os.path.join(root_dir, ".git")) or - os.path.exists(os.path.join(root_dir, ".hg"))): + os.path.exists(os.path.join(root_dir, ".hg")) or + os.path.exists(os.path.join(root_dir, ".svn"))): prefix = os.path.commonprefix([root_dir, project_dir]) return fullname[len(prefix) + 1:] @@ -747,7 +1658,7 @@ def BaseName(self): return self.Split()[1] def Extension(self): - """File extension - text following the final period.""" + """File extension - text following the final period, includes that period.""" return self.Split()[2] def NoExtension(self): @@ -756,7 +1667,7 @@ def NoExtension(self): def IsSource(self): """File has a source file extension.""" - return self.Extension()[1:] in ('c', 'cc', 'cpp', 'cxx') + return _IsSourceExtension(self.Extension()[1:]) def _ShouldPrintError(category, confidence, linenum): @@ -767,6 +1678,7 @@ def _ShouldPrintError(category, confidence, linenum): # the verbosity level isn't high enough, or the filters filter it out. if IsErrorSuppressedByNolint(category, linenum): return False + if confidence < _cpplint_state.verbose_level: return False @@ -811,21 +1723,32 @@ def Error(filename, linenum, category, confidence, message): if _ShouldPrintError(category, confidence, linenum): _cpplint_state.IncrementErrorCount(category) if _cpplint_state.output_format == 'vs7': - sys.stderr.write('%s(%s): %s [%s] [%d]\n' % ( + _cpplint_state.PrintError('%s(%s): error cpplint: [%s] %s [%d]\n' % ( + filename, linenum, category, message, confidence)) + elif _cpplint_state.output_format == 'eclipse': + sys.stderr.write('%s:%s: warning: %s [%s] [%d]\n' % ( filename, linenum, message, category, confidence)) + elif _cpplint_state.output_format == 'junit': + _cpplint_state.AddJUnitFailure(filename, linenum, message, category, + confidence) + elif _cpplint_state.output_format in ['sed', 'gsed']: + if message in _SED_FIXUPS: + sys.stdout.write(_cpplint_state.output_format + " -i '%s%s' %s # %s [%s] [%d]\n" % ( + linenum, _SED_FIXUPS[message], filename, message, category, confidence)) + else: + sys.stderr.write('# %s:%s: "%s" [%s] [%d]\n' % ( + filename, linenum, message, category, confidence)) else: - sys.stderr.write('%s:%s: %s [%s] [%d]\n' % ( - filename, linenum, message, category, confidence)) + final_message = '%s:%s: %s [%s] [%d]\n' % ( + filename, linenum, message, category, confidence) + sys.stderr.write(final_message) - -# Matches standard C++ escape esequences per 2.13.2.3 of the C++ standard. +# Matches standard C++ escape sequences per 2.13.2.3 of the C++ standard. _RE_PATTERN_CLEANSE_LINE_ESCAPES = re.compile( r'\\([abfnrtv?"\\\']|\d+|x[0-9a-fA-F]+)') -# Matches strings. Escape codes should already be removed by ESCAPES. -_RE_PATTERN_CLEANSE_LINE_DOUBLE_QUOTES = re.compile(r'"[^"]*"') -# Matches characters. Escape codes should already be removed by ESCAPES. -_RE_PATTERN_CLEANSE_LINE_SINGLE_QUOTES = re.compile(r"'.'") -# Matches multi-line C++ comments. +# Match a single C style comment on the same line. +_RE_PATTERN_C_COMMENTS = r'/\*(?:[^*]|\*(?!/))*\*/' +# Matches multi-line C style comments. # This RE is a little bit more complicated than one might expect, because we # have to take care of space removals tools so we can handle comments inside # statements better. @@ -834,10 +1757,10 @@ def Error(filename, linenum, category, confidence, message): # if this doesn't work we try on left side but only if there's a non-character # on the right. _RE_PATTERN_CLEANSE_LINE_C_COMMENTS = re.compile( - r"""(\s*/\*.*\*/\s*$| - /\*.*\*/\s+| - \s+/\*.*\*/(?=\W)| - /\*.*\*/)""", re.VERBOSE) + r'(\s*' + _RE_PATTERN_C_COMMENTS + r'\s*$|' + + _RE_PATTERN_C_COMMENTS + r'\s+|' + + r'\s+' + _RE_PATTERN_C_COMMENTS + r'(?=\W)|' + + _RE_PATTERN_C_COMMENTS + r')') def IsCppString(line): @@ -857,6 +1780,82 @@ def IsCppString(line): return ((line.count('"') - line.count(r'\"') - line.count("'\"'")) & 1) == 1 +def CleanseRawStrings(raw_lines): + """Removes C++11 raw strings from lines. + + Before: + static const char kData[] = R"( + multi-line string + )"; + + After: + static const char kData[] = "" + (replaced by blank line) + ""; + + Args: + raw_lines: list of raw lines. + + Returns: + list of lines with C++11 raw strings replaced by empty strings. + """ + + delimiter = None + lines_without_raw_strings = [] + for line in raw_lines: + if delimiter: + # Inside a raw string, look for the end + end = line.find(delimiter) + if end >= 0: + # Found the end of the string, match leading space for this + # line and resume copying the original lines, and also insert + # a "" on the last line. + leading_space = Match(r'^(\s*)\S', line) + line = leading_space.group(1) + '""' + line[end + len(delimiter):] + delimiter = None + else: + # Haven't found the end yet, append a blank line. + line = '""' + + # Look for beginning of a raw string, and replace them with + # empty strings. This is done in a loop to handle multiple raw + # strings on the same line. + while delimiter is None: + # Look for beginning of a raw string. + # See 2.14.15 [lex.string] for syntax. + # + # Once we have matched a raw string, we check the prefix of the + # line to make sure that the line is not part of a single line + # comment. It's done this way because we remove raw strings + # before removing comments as opposed to removing comments + # before removing raw strings. This is because there are some + # cpplint checks that requires the comments to be preserved, but + # we don't want to check comments that are inside raw strings. + matched = Match(r'^(.*?)\b(?:R|u8R|uR|UR|LR)"([^\s\\()]*)\((.*)$', line) + if (matched and + not Match(r'^([^\'"]|\'(\\.|[^\'])*\'|"(\\.|[^"])*")*//', + matched.group(1))): + delimiter = ')' + matched.group(2) + '"' + + end = matched.group(3).find(delimiter) + if end >= 0: + # Raw string ended on same line + line = (matched.group(1) + '""' + + matched.group(3)[end + len(delimiter):]) + delimiter = None + else: + # Start of a multi-line raw string + line = matched.group(1) + '""' + else: + break + + lines_without_raw_strings.append(line) + + # TODO(unknown): if delimiter is not None here, we might want to + # emit a warning for unterminated string. + return lines_without_raw_strings + + def FindNextMultiLineCommentStart(lines, lineix): """Find the beginning marker for a multiline comment.""" while lineix < len(lines): @@ -879,10 +1878,10 @@ def FindNextMultiLineCommentEnd(lines, lineix): def RemoveMultiLineCommentsFromRange(lines, begin, end): """Clears a range of lines for multi-line comments.""" - # Having // dummy comments makes the lines non-empty, so we will not get + # Having // comments makes the lines non-empty, so we will not get # unnecessary blank line warnings later in the code. for i in range(begin, end): - lines[i] = '// dummy' + lines[i] = '/**/' def RemoveMultiLineComments(filename, lines, error): @@ -918,12 +1917,14 @@ def CleanseComments(line): class CleansedLines(object): - """Holds 3 copies of all lines with different preprocessing applied to them. - - 1) elided member contains lines without strings and comments, - 2) lines member contains lines without comments, and - 3) raw member contains all the lines without processing. - All these three members are of , and of the same length. + """Holds 4 copies of all lines with different preprocessing applied to them. + + 1) elided member contains lines without strings and comments. + 2) lines member contains lines without comments. + 3) raw_lines member contains all the lines without processing. + 4) lines_without_raw_strings member is same as raw_lines, but with C++11 raw + strings removed. + All these members are of , and of the same length. """ def __init__(self, lines): @@ -931,9 +1932,11 @@ def __init__(self, lines): self.lines = [] self.raw_lines = lines self.num_lines = len(lines) - for linenum in range(len(lines)): - self.lines.append(CleanseComments(lines[linenum])) - elided = self._CollapseStrings(lines[linenum]) + self.lines_without_raw_strings = CleanseRawStrings(lines) + for linenum in range(len(self.lines_without_raw_strings)): + self.lines.append(CleanseComments( + self.lines_without_raw_strings[linenum])) + elided = self._CollapseStrings(self.lines_without_raw_strings[linenum]) self.elided.append(CleanseComments(elided)) def NumLines(self): @@ -952,22 +1955,151 @@ def _CollapseStrings(elided): Returns: The line with collapsed strings. """ - if not _RE_PATTERN_INCLUDE.match(elided): - # Remove escaped characters first to make quote/single quote collapsing - # basic. Things that look like escaped characters shouldn't occur - # outside of strings and chars. - elided = _RE_PATTERN_CLEANSE_LINE_ESCAPES.sub('', elided) - elided = _RE_PATTERN_CLEANSE_LINE_SINGLE_QUOTES.sub("''", elided) - elided = _RE_PATTERN_CLEANSE_LINE_DOUBLE_QUOTES.sub('""', elided) - return elided + if _RE_PATTERN_INCLUDE.match(elided): + return elided + + # Remove escaped characters first to make quote/single quote collapsing + # basic. Things that look like escaped characters shouldn't occur + # outside of strings and chars. + elided = _RE_PATTERN_CLEANSE_LINE_ESCAPES.sub('', elided) + + # Replace quoted strings and digit separators. Both single quotes + # and double quotes are processed in the same loop, otherwise + # nested quotes wouldn't work. + collapsed = '' + while True: + # Find the first quote character + match = Match(r'^([^\'"]*)([\'"])(.*)$', elided) + if not match: + collapsed += elided + break + head, quote, tail = match.groups() + + if quote == '"': + # Collapse double quoted strings + second_quote = tail.find('"') + if second_quote >= 0: + collapsed += head + '""' + elided = tail[second_quote + 1:] + else: + # Unmatched double quote, don't bother processing the rest + # of the line since this is probably a multiline string. + collapsed += elided + break + else: + # Found single quote, check nearby text to eliminate digit separators. + # + # There is no special handling for floating point here, because + # the integer/fractional/exponent parts would all be parsed + # correctly as long as there are digits on both sides of the + # separator. So we are fine as long as we don't see something + # like "0.'3" (gcc 4.9.0 will not allow this literal). + if Search(r'\b(?:0[bBxX]?|[1-9])[0-9a-fA-F]*$', head): + match_literal = Match(r'^((?:\'?[0-9a-zA-Z_])*)(.*)$', "'" + tail) + collapsed += head + match_literal.group(1).replace("'", '') + elided = match_literal.group(2) + else: + second_quote = tail.find('\'') + if second_quote >= 0: + collapsed += head + "''" + elided = tail[second_quote + 1:] + else: + # Unmatched single quote + collapsed += elided + break + + return collapsed + + +def FindEndOfExpressionInLine(line, startpos, stack): + """Find the position just after the end of current parenthesized expression. + + Args: + line: a CleansedLines line. + startpos: start searching at this position. + stack: nesting stack at startpos. + + Returns: + On finding matching end: (index just after matching end, None) + On finding an unclosed expression: (-1, None) + Otherwise: (-1, new stack at end of this line) + """ + for i in xrange(startpos, len(line)): + char = line[i] + if char in '([{': + # Found start of parenthesized expression, push to expression stack + stack.append(char) + elif char == '<': + # Found potential start of template argument list + if i > 0 and line[i - 1] == '<': + # Left shift operator + if stack and stack[-1] == '<': + stack.pop() + if not stack: + return (-1, None) + elif i > 0 and Search(r'\boperator\s*$', line[0:i]): + # operator<, don't add to stack + continue + else: + # Tentative start of template argument list + stack.append('<') + elif char in ')]}': + # Found end of parenthesized expression. + # + # If we are currently expecting a matching '>', the pending '<' + # must have been an operator. Remove them from expression stack. + while stack and stack[-1] == '<': + stack.pop() + if not stack: + return (-1, None) + if ((stack[-1] == '(' and char == ')') or + (stack[-1] == '[' and char == ']') or + (stack[-1] == '{' and char == '}')): + stack.pop() + if not stack: + return (i + 1, None) + else: + # Mismatched parentheses + return (-1, None) + elif char == '>': + # Found potential end of template argument list. + + # Ignore "->" and operator functions + if (i > 0 and + (line[i - 1] == '-' or Search(r'\boperator\s*$', line[0:i - 1]))): + continue + + # Pop the stack if there is a matching '<'. Otherwise, ignore + # this '>' since it must be an operator. + if stack: + if stack[-1] == '<': + stack.pop() + if not stack: + return (i + 1, None) + elif char == ';': + # Found something that look like end of statements. If we are currently + # expecting a '>', the matching '<' must have been an operator, since + # template argument list should not contain statements. + while stack and stack[-1] == '<': + stack.pop() + if not stack: + return (-1, None) + + # Did not find end of expression or unbalanced parentheses on this line + return (-1, stack) def CloseExpression(clean_lines, linenum, pos): - """If input points to ( or { or [, finds the position that closes it. + """If input points to ( or { or [ or <, finds the position that closes it. - If lines[linenum][pos] points to a '(' or '{' or '[', finds the + If lines[linenum][pos] points to a '(' or '{' or '[' or '<', finds the linenum/pos that correspond to the closing of the expression. + TODO(unknown): cpplint spends a fair bit of time matching parentheses. + Ideally we would want to index all opening and closing parentheses once + and have CloseExpression be just a simple lookup, but due to preprocessor + tricks, this is not so easy. + Args: clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. @@ -981,31 +2113,146 @@ def CloseExpression(clean_lines, linenum, pos): """ line = clean_lines.elided[linenum] - startchar = line[pos] - if startchar not in '({[': + if (line[pos] not in '({[<') or Match(r'<[<=]', line[pos:]): return (line, clean_lines.NumLines(), -1) - if startchar == '(': endchar = ')' - if startchar == '[': endchar = ']' - if startchar == '{': endchar = '}' - num_open = line.count(startchar) - line.count(endchar) - while linenum < clean_lines.NumLines() and num_open > 0: + # Check first line + (end_pos, stack) = FindEndOfExpressionInLine(line, pos, []) + if end_pos > -1: + return (line, linenum, end_pos) + + # Continue scanning forward + while stack and linenum < clean_lines.NumLines() - 1: linenum += 1 line = clean_lines.elided[linenum] - num_open += line.count(startchar) - line.count(endchar) - # OK, now find the endchar that actually got us back to even - endpos = len(line) - while num_open >= 0: - endpos = line.rfind(')', 0, endpos) - num_open -= 1 # chopped off another ) - return (line, linenum, endpos + 1) + (end_pos, stack) = FindEndOfExpressionInLine(line, 0, stack) + if end_pos > -1: + return (line, linenum, end_pos) + + # Did not find end of expression before end of file, give up + return (line, clean_lines.NumLines(), -1) + + +def FindStartOfExpressionInLine(line, endpos, stack): + """Find position at the matching start of current expression. + + This is almost the reverse of FindEndOfExpressionInLine, but note + that the input position and returned position differs by 1. + + Args: + line: a CleansedLines line. + endpos: start searching at this position. + stack: nesting stack at endpos. + + Returns: + On finding matching start: (index at matching start, None) + On finding an unclosed expression: (-1, None) + Otherwise: (-1, new stack at beginning of this line) + """ + i = endpos + while i >= 0: + char = line[i] + if char in ')]}': + # Found end of expression, push to expression stack + stack.append(char) + elif char == '>': + # Found potential end of template argument list. + # + # Ignore it if it's a "->" or ">=" or "operator>" + if (i > 0 and + (line[i - 1] == '-' or + Match(r'\s>=\s', line[i - 1:]) or + Search(r'\boperator\s*$', line[0:i]))): + i -= 1 + else: + stack.append('>') + elif char == '<': + # Found potential start of template argument list + if i > 0 and line[i - 1] == '<': + # Left shift operator + i -= 1 + else: + # If there is a matching '>', we can pop the expression stack. + # Otherwise, ignore this '<' since it must be an operator. + if stack and stack[-1] == '>': + stack.pop() + if not stack: + return (i, None) + elif char in '([{': + # Found start of expression. + # + # If there are any unmatched '>' on the stack, they must be + # operators. Remove those. + while stack and stack[-1] == '>': + stack.pop() + if not stack: + return (-1, None) + if ((char == '(' and stack[-1] == ')') or + (char == '[' and stack[-1] == ']') or + (char == '{' and stack[-1] == '}')): + stack.pop() + if not stack: + return (i, None) + else: + # Mismatched parentheses + return (-1, None) + elif char == ';': + # Found something that look like end of statements. If we are currently + # expecting a '<', the matching '>' must have been an operator, since + # template argument list should not contain statements. + while stack and stack[-1] == '>': + stack.pop() + if not stack: + return (-1, None) + + i -= 1 + + return (-1, stack) + + +def ReverseCloseExpression(clean_lines, linenum, pos): + """If input points to ) or } or ] or >, finds the position that opens it. + + If lines[linenum][pos] points to a ')' or '}' or ']' or '>', finds the + linenum/pos that correspond to the opening of the expression. + + Args: + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + pos: A position on the line. + + Returns: + A tuple (line, linenum, pos) pointer *at* the opening brace, or + (line, 0, -1) if we never find the matching opening brace. Note + we ignore strings and comments when matching; and the line we + return is the 'cleansed' line at linenum. + """ + line = clean_lines.elided[linenum] + if line[pos] not in ')}]>': + return (line, 0, -1) + + # Check last line + (start_pos, stack) = FindStartOfExpressionInLine(line, pos, []) + if start_pos > -1: + return (line, linenum, start_pos) + + # Continue scanning backward + while stack and linenum > 0: + linenum -= 1 + line = clean_lines.elided[linenum] + (start_pos, stack) = FindStartOfExpressionInLine(line, len(line) - 1, stack) + if start_pos > -1: + return (line, linenum, start_pos) + + # Did not find start of expression before beginning of file, give up + return (line, 0, -1) def CheckForCopyright(filename, lines, error): """Logs an error if no Copyright message appears at the top of the file.""" # We'll say it should occur by line 10. Don't forget there's a - # dummy line at the front. + # placeholder line at the front. for line in xrange(1, min(len(lines), 11)): if re.search(r'Copyright', lines[line], re.I): break else: # means no copyright line was found @@ -1014,6 +2261,46 @@ def CheckForCopyright(filename, lines, error): 'You should have a line: "Copyright [year] "') +def GetIndentLevel(line): + """Return the number of leading spaces in line. + + Args: + line: A string to check. + + Returns: + An integer count of leading spaces, possibly zero. + """ + indent = Match(r'^( *)\S', line) + if indent: + return len(indent.group(1)) + else: + return 0 + +def PathSplitToList(path): + """Returns the path split into a list by the separator. + + Args: + path: An absolute or relative path (e.g. '/a/b/c/' or '../a') + + Returns: + A list of path components (e.g. ['a', 'b', 'c]). + """ + lst = [] + while True: + (head, tail) = os.path.split(path) + if head == path: # absolute paths end + lst.append(head) + break + if tail == path: # relative paths end + lst.append(tail) + break + + path = head + lst.append(tail) + + lst.reverse() + return lst + def GetHeaderGuardCPPVariable(filename): """Returns the CPP variable that should be used as a header guard. @@ -1029,12 +2316,69 @@ def GetHeaderGuardCPPVariable(filename): # Restores original filename in case that cpplint is invoked from Emacs's # flymake. filename = re.sub(r'_flymake\.h$', '.h', filename) + filename = re.sub(r'/\.flymake/([^/]*)$', r'/\1', filename) + # Replace 'c++' with 'cpp'. + filename = filename.replace('C++', 'cpp').replace('c++', 'cpp') fileinfo = FileInfo(filename) - return re.sub(r'[-./\s]', '_', fileinfo.RepositoryName()).upper() + '_' + file_path_from_root = fileinfo.RepositoryName() + + def FixupPathFromRoot(): + if _root_debug: + sys.stderr.write("\n_root fixup, _root = '%s', repository name = '%s'\n" + % (_root, fileinfo.RepositoryName())) + + # Process the file path with the --root flag if it was set. + if not _root: + if _root_debug: + sys.stderr.write("_root unspecified\n") + return file_path_from_root + + def StripListPrefix(lst, prefix): + # f(['x', 'y'], ['w, z']) -> None (not a valid prefix) + if lst[:len(prefix)] != prefix: + return None + # f(['a, 'b', 'c', 'd'], ['a', 'b']) -> ['c', 'd'] + return lst[(len(prefix)):] + + # root behavior: + # --root=subdir , lstrips subdir from the header guard + maybe_path = StripListPrefix(PathSplitToList(file_path_from_root), + PathSplitToList(_root)) + if _root_debug: + sys.stderr.write(("_root lstrip (maybe_path=%s, file_path_from_root=%s," + + " _root=%s)\n") % (maybe_path, file_path_from_root, _root)) -def CheckForHeaderGuard(filename, lines, error): + if maybe_path: + return os.path.join(*maybe_path) + + # --root=.. , will prepend the outer directory to the header guard + full_path = fileinfo.FullName() + # adapt slashes for windows + root_abspath = os.path.abspath(_root).replace('\\', '/') + + maybe_path = StripListPrefix(PathSplitToList(full_path), + PathSplitToList(root_abspath)) + + if _root_debug: + sys.stderr.write(("_root prepend (maybe_path=%s, full_path=%s, " + + "root_abspath=%s)\n") % (maybe_path, full_path, root_abspath)) + + if maybe_path: + return os.path.join(*maybe_path) + + if _root_debug: + sys.stderr.write("_root ignore, returning %s\n" % (file_path_from_root)) + + # --root=FAKE_DIR is ignored + return file_path_from_root + + file_path_from_root = FixupPathFromRoot() + return re.sub(r'[^a-zA-Z0-9]', '_', file_path_from_root).upper() + '_' + + +def CheckForHeaderGuard(filename, clean_lines, error): """Checks that the file contains a header guard. Logs an error if no #ifndef header guard is present. For other @@ -1042,18 +2386,34 @@ def CheckForHeaderGuard(filename, lines, error): Args: filename: The name of the C++ header file. - lines: An array of strings, each representing a line of the file. + clean_lines: A CleansedLines instance containing the file. error: The function to call with any errors found. """ + # Don't check for header guards if there are error suppression + # comments somewhere in this file. + # + # Because this is silencing a warning for a nonexistent line, we + # only support the very specific NOLINT(build/header_guard) syntax, + # and not the general NOLINT or NOLINT(*) syntax. + raw_lines = clean_lines.lines_without_raw_strings + for i in raw_lines: + if Search(r'//\s*NOLINT\(build/header_guard\)', i): + return + + # Allow pragma once instead of header guards + for i in raw_lines: + if Search(r'^\s*#pragma\s+once', i): + return + cppvar = GetHeaderGuardCPPVariable(filename) - ifndef = None + ifndef = '' ifndef_linenum = 0 - define = None - endif = None + define = '' + endif = '' endif_linenum = 0 - for linenum, line in enumerate(lines): + for linenum, line in enumerate(raw_lines): linesplit = line.split() if len(linesplit) >= 2: # find the first occurrence of #ifndef and #define, save arg @@ -1076,34 +2436,95 @@ def CheckForHeaderGuard(filename, lines, error): # The guard should be PATH_FILE_H_, but we also allow PATH_FILE_H__ # for backward compatibility. - #if ifndef != cppvar: - # error_level = 0 - # if ifndef != cppvar + '_': - # error_level = 5 + if ifndef != cppvar: + error_level = 0 + if ifndef != cppvar + '_': + error_level = 5 + + ParseNolintSuppressions(filename, raw_lines[ifndef_linenum], ifndef_linenum, + error) + error(filename, ifndef_linenum, 'build/header_guard', error_level, + '#ifndef header guard has wrong style, please use: %s' % cppvar) + + # Check for "//" comments on endif line. + ParseNolintSuppressions(filename, raw_lines[endif_linenum], endif_linenum, + error) + match = Match(r'#endif\s*//\s*' + cppvar + r'(_)?\b', endif) + if match: + if match.group(1) == '_': + # Issue low severity warning for deprecated double trailing underscore + error(filename, endif_linenum, 'build/header_guard', 0, + '#endif line should be "#endif // %s"' % cppvar) + return + + # Didn't find the corresponding "//" comment. If this file does not + # contain any "//" comments at all, it could be that the compiler + # only wants "/**/" comments, look for those instead. + no_single_line_comments = True + for i in xrange(1, len(raw_lines) - 1): + line = raw_lines[i] + if Match(r'^(?:(?:\'(?:\.|[^\'])*\')|(?:"(?:\.|[^"])*")|[^\'"])*//', line): + no_single_line_comments = False + break + + if no_single_line_comments: + match = Match(r'#endif\s*/\*\s*' + cppvar + r'(_)?\s*\*/', endif) + if match: + if match.group(1) == '_': + # Low severity warning for double trailing underscore + error(filename, endif_linenum, 'build/header_guard', 0, + '#endif line should be "#endif /* %s */"' % cppvar) + return + + # Didn't find anything + error(filename, endif_linenum, 'build/header_guard', 5, + '#endif line should be "#endif // %s"' % cppvar) + + +def CheckHeaderFileIncluded(filename, include_state, error): + """Logs an error if a source file does not include its header.""" + + # Do not check test files + fileinfo = FileInfo(filename) + if Search(_TEST_FILE_SUFFIX, fileinfo.BaseName()): + return + + for ext in GetHeaderExtensions(): + basefilename = filename[0:len(filename) - len(fileinfo.Extension())] + headerfile = basefilename + '.' + ext + if not os.path.exists(headerfile): + continue + headername = FileInfo(headerfile).RepositoryName() + first_include = None + include_uses_unix_dir_aliases = False + for section_list in include_state.include_list: + for f in section_list: + include_text = f[0] + if "./" in include_text: + include_uses_unix_dir_aliases = True + if headername in include_text or include_text in headername: + return + if not first_include: + first_include = f[1] - # ParseNolintSuppressions(filename, lines[ifndef_linenum], ifndef_linenum, - # error) - # error(filename, ifndef_linenum, 'build/header_guard', error_level, - # '#ifndef header guard has wrong style, please use: %s' % cppvar) + message = '%s should include its header file %s' % (fileinfo.RepositoryName(), headername) + if include_uses_unix_dir_aliases: + message += ". Relative paths like . and .. are not allowed." - #if endif != ('#endif // %s' % cppvar): - # error_level = 0 - # if endif != ('#endif // %s' % (cppvar + '_')): - # error_level = 5 + error(filename, first_include, 'build/include', 5, message) - # ParseNolintSuppressions(filename, lines[endif_linenum], endif_linenum, - # error) - # error(filename, endif_linenum, 'build/header_guard', error_level, - # '#endif line should be "#endif // %s"' % cppvar) +def CheckForBadCharacters(filename, lines, error): + """Logs an error for each line containing bad characters. -def CheckForUnicodeReplacementCharacters(filename, lines, error): - """Logs an error for each line containing Unicode replacement characters. + Two kinds of bad characters: - These indicate that either the file contained invalid UTF-8 (likely) - or Unicode replacement characters (which it shouldn't). Note that - it's possible for this to throw off line numbering if the invalid - UTF-8 occurred adjacent to a newline. + 1. Unicode replacement characters: These indicate that either the file + contained invalid UTF-8 (likely) or Unicode replacement characters (which + it shouldn't). Note that it's possible for this to throw off line + numbering if the invalid UTF-8 occurred adjacent to a newline. + + 2. NUL bytes. These are problematic for some tools. Args: filename: The name of the current file. @@ -1111,9 +2532,11 @@ def CheckForUnicodeReplacementCharacters(filename, lines, error): error: The function to call with any errors found. """ for linenum, line in enumerate(lines): - if u'\ufffd' in line: + if unicode_escape_decode('\ufffd') in line: error(filename, linenum, 'readability/utf8', 5, 'Line contains invalid UTF-8 (or Unicode replacement character).') + if '\0' in line: + error(filename, linenum, 'readability/nul', 5, 'Line contains NUL byte.') def CheckForNewlineAtEOF(filename, lines, error): @@ -1165,27 +2588,40 @@ def CheckForMultilineCommentsAndStrings(filename, clean_lines, linenum, error): 'with #if 0...#endif, ' 'or with more clearly structured multi-line comments.') - #if (line.count('"') - line.count('\\"')) % 2: - # error(filename, linenum, 'readability/multiline_string', 5, - # 'Multi-line string ("...") found. This lint script doesn\'t ' - # 'do well with such strings, and may give bogus warnings. They\'re ' - # 'ugly and unnecessary, and you should use concatenation instead".') - - -threading_list = ( - ('asctime(', 'asctime_r('), - ('ctime(', 'ctime_r('), - ('getgrgid(', 'getgrgid_r('), - ('getgrnam(', 'getgrnam_r('), - ('getlogin(', 'getlogin_r('), - ('getpwnam(', 'getpwnam_r('), - ('getpwuid(', 'getpwuid_r('), - ('gmtime(', 'gmtime_r('), - ('localtime(', 'localtime_r('), - ('rand(', 'rand_r('), - ('readdir(', 'readdir_r('), - ('strtok(', 'strtok_r('), - ('ttyname(', 'ttyname_r('), + if (line.count('"') - line.count('\\"')) % 2: + error(filename, linenum, 'readability/multiline_string', 5, + 'Multi-line string ("...") found. This lint script doesn\'t ' + 'do well with such strings, and may give bogus warnings. ' + 'Use C++11 raw strings or concatenation instead.') + + +# (non-threadsafe name, thread-safe alternative, validation pattern) +# +# The validation pattern is used to eliminate false positives such as: +# _rand(); // false positive due to substring match. +# ->rand(); // some member function rand(). +# ACMRandom rand(seed); // some variable named rand. +# ISAACRandom rand(); // another variable named rand. +# +# Basically we require the return value of these functions to be used +# in some expression context on the same line by matching on some +# operator before the function name. This eliminates constructors and +# member function calls. +_UNSAFE_FUNC_PREFIX = r'(?:[-+*/=%^&|(<]\s*|>\s+)' +_THREADING_LIST = ( + ('asctime(', 'asctime_r(', _UNSAFE_FUNC_PREFIX + r'asctime\([^)]+\)'), + ('ctime(', 'ctime_r(', _UNSAFE_FUNC_PREFIX + r'ctime\([^)]+\)'), + ('getgrgid(', 'getgrgid_r(', _UNSAFE_FUNC_PREFIX + r'getgrgid\([^)]+\)'), + ('getgrnam(', 'getgrnam_r(', _UNSAFE_FUNC_PREFIX + r'getgrnam\([^)]+\)'), + ('getlogin(', 'getlogin_r(', _UNSAFE_FUNC_PREFIX + r'getlogin\(\)'), + ('getpwnam(', 'getpwnam_r(', _UNSAFE_FUNC_PREFIX + r'getpwnam\([^)]+\)'), + ('getpwuid(', 'getpwuid_r(', _UNSAFE_FUNC_PREFIX + r'getpwuid\([^)]+\)'), + ('gmtime(', 'gmtime_r(', _UNSAFE_FUNC_PREFIX + r'gmtime\([^)]+\)'), + ('localtime(', 'localtime_r(', _UNSAFE_FUNC_PREFIX + r'localtime\([^)]+\)'), + ('rand(', 'rand_r(', _UNSAFE_FUNC_PREFIX + r'rand\(\)'), + ('strtok(', 'strtok_r(', + _UNSAFE_FUNC_PREFIX + r'strtok\([^)]+\)'), + ('ttyname(', 'ttyname_r(', _UNSAFE_FUNC_PREFIX + r'ttyname\([^)]+\)'), ) @@ -1205,17 +2641,34 @@ def CheckPosixThreading(filename, clean_lines, linenum, error): error: The function to call with any errors found. """ line = clean_lines.elided[linenum] - for single_thread_function, multithread_safe_function in threading_list: - ix = line.find(single_thread_function) - # Comparisons made explicit for clarity -- pylint: disable-msg=C6403 - if ix >= 0 and (ix == 0 or (not line[ix - 1].isalnum() and - line[ix - 1] not in ('_', '.', '>'))): + for single_thread_func, multithread_safe_func, pattern in _THREADING_LIST: + # Additional pattern matching check to confirm that this is the + # function we are looking for + if Search(pattern, line): error(filename, linenum, 'runtime/threadsafe_fn', 2, - 'Consider using ' + multithread_safe_function + - '...) instead of ' + single_thread_function + + 'Consider using ' + multithread_safe_func + + '...) instead of ' + single_thread_func + '...) for improved thread safety.') +def CheckVlogArguments(filename, clean_lines, linenum, error): + """Checks that VLOG() is only used for defining a logging level. + + For example, VLOG(2) is correct. VLOG(INFO), VLOG(WARNING), VLOG(ERROR), and + VLOG(FATAL) are not. + + Args: + filename: The name of the current file. + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + error: The function to call with any errors found. + """ + line = clean_lines.elided[linenum] + if Search(r'\bVLOG\((INFO|ERROR|WARNING|DFATAL|FATAL)\)', line): + error(filename, linenum, 'runtime/vlog', 5, + 'VLOG() should be used with numeric verbosity level. ' + 'Use LOG() if you want symbolic severity levels.') + # Matches invalid increment: *count++, which moves pointer instead of # incrementing a value. _RE_PATTERN_INVALID_INCREMENT = re.compile( @@ -1244,17 +2697,95 @@ def CheckInvalidIncrement(filename, clean_lines, linenum, error): 'Changing pointer instead of value (or unused value of operator*).') -class _ClassInfo(object): - """Stores information about a class.""" +def IsMacroDefinition(clean_lines, linenum): + if Search(r'^#define', clean_lines[linenum]): + return True + + if linenum > 0 and Search(r'\\$', clean_lines[linenum - 1]): + return True + + return False + + +def IsForwardClassDeclaration(clean_lines, linenum): + return Match(r'^\s*(\btemplate\b)*.*class\s+\w+;\s*$', clean_lines[linenum]) + + +class _BlockInfo(object): + """Stores information about a generic block of code.""" + + def __init__(self, linenum, seen_open_brace): + self.starting_linenum = linenum + self.seen_open_brace = seen_open_brace + self.open_parentheses = 0 + self.inline_asm = _NO_ASM + self.check_namespace_indentation = False + + def CheckBegin(self, filename, clean_lines, linenum, error): + """Run checks that applies to text up to the opening brace. + + This is mostly for checking the text after the class identifier + and the "{", usually where the base class is specified. For other + blocks, there isn't much to check, so we always pass. + + Args: + filename: The name of the current file. + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + error: The function to call with any errors found. + """ + pass + + def CheckEnd(self, filename, clean_lines, linenum, error): + """Run checks that applies to text after the closing brace. + + This is mostly used for checking end of namespace comments. + + Args: + filename: The name of the current file. + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + error: The function to call with any errors found. + """ + pass + + def IsBlockInfo(self): + """Returns true if this block is a _BlockInfo. + + This is convenient for verifying that an object is an instance of + a _BlockInfo, but not an instance of any of the derived classes. + + Returns: + True for this class, False for derived classes. + """ + return self.__class__ == _BlockInfo - def __init__(self, name, clean_lines, linenum): + +class _ExternCInfo(_BlockInfo): + """Stores information about an 'extern "C"' block.""" + + def __init__(self, linenum): + _BlockInfo.__init__(self, linenum, True) + + +class _ClassInfo(_BlockInfo): + """Stores information about a class.""" + + def __init__(self, name, class_or_struct, clean_lines, linenum): + _BlockInfo.__init__(self, linenum, False) self.name = name - self.linenum = linenum - self.seen_open_brace = False self.is_derived = False - self.virtual_method_linenumber = None - self.has_virtual_destructor = False - self.brace_depth = 0 + self.check_namespace_indentation = True + if class_or_struct == 'struct': + self.access = 'public' + self.is_struct = True + else: + self.access = 'private' + self.is_struct = False + + # Remember initial indentation level for this class. Using raw_lines here + # instead of elided to account for leading comments. + self.class_indent = GetIndentLevel(clean_lines.raw_lines[linenum]) # Try to find the end of the class. This will be confused by things like: # class A { @@ -1264,45 +2795,500 @@ def __init__(self, name, clean_lines, linenum): self.last_line = 0 depth = 0 for i in range(linenum, clean_lines.NumLines()): - line = clean_lines.lines[i] + line = clean_lines.elided[i] depth += line.count('{') - line.count('}') if not depth: self.last_line = i break + def CheckBegin(self, filename, clean_lines, linenum, error): + # Look for a bare ':' + if Search('(^|[^:]):($|[^:])', clean_lines.elided[linenum]): + self.is_derived = True + + def CheckEnd(self, filename, clean_lines, linenum, error): + # If there is a DISALLOW macro, it should appear near the end of + # the class. + seen_last_thing_in_class = False + for i in xrange(linenum - 1, self.starting_linenum, -1): + match = Search( + r'\b(DISALLOW_COPY_AND_ASSIGN|DISALLOW_IMPLICIT_CONSTRUCTORS)\(' + + self.name + r'\)', + clean_lines.elided[i]) + if match: + if seen_last_thing_in_class: + error(filename, i, 'readability/constructors', 3, + match.group(1) + ' should be the last thing in the class') + break -class _ClassState(object): - """Holds the current state of the parse relating to class declarations. + if not Match(r'^\s*$', clean_lines.elided[i]): + seen_last_thing_in_class = True - It maintains a stack of _ClassInfos representing the parser's guess - as to the current nesting of class declarations. The innermost class - is at the top (back) of the stack. Typically, the stack will either - be empty or have exactly one entry. - """ + # Check that closing brace is aligned with beginning of the class. + # Only do this if the closing brace is indented by only whitespaces. + # This means we will not check single-line class definitions. + indent = Match(r'^( *)\}', clean_lines.elided[linenum]) + if indent and len(indent.group(1)) != self.class_indent: + if self.is_struct: + parent = 'struct ' + self.name + else: + parent = 'class ' + self.name + error(filename, linenum, 'whitespace/indent', 3, + 'Closing brace should be aligned with beginning of %s' % parent) + + +class _NamespaceInfo(_BlockInfo): + """Stores information about a namespace.""" + + def __init__(self, name, linenum): + _BlockInfo.__init__(self, linenum, False) + self.name = name or '' + self.check_namespace_indentation = True + + def CheckEnd(self, filename, clean_lines, linenum, error): + """Check end of namespace comments.""" + line = clean_lines.raw_lines[linenum] + + # Check how many lines is enclosed in this namespace. Don't issue + # warning for missing namespace comments if there aren't enough + # lines. However, do apply checks if there is already an end of + # namespace comment and it's incorrect. + # + # TODO(unknown): We always want to check end of namespace comments + # if a namespace is large, but sometimes we also want to apply the + # check if a short namespace contained nontrivial things (something + # other than forward declarations). There is currently no logic on + # deciding what these nontrivial things are, so this check is + # triggered by namespace size only, which works most of the time. + if (linenum - self.starting_linenum < 10 + and not Match(r'^\s*};*\s*(//|/\*).*\bnamespace\b', line)): + return + + # Look for matching comment at end of namespace. + # + # Note that we accept C style "/* */" comments for terminating + # namespaces, so that code that terminate namespaces inside + # preprocessor macros can be cpplint clean. + # + # We also accept stuff like "// end of namespace ." with the + # period at the end. + # + # Besides these, we don't accept anything else, otherwise we might + # get false negatives when existing comment is a substring of the + # expected namespace. + if self.name: + # Named namespace + if not Match((r'^\s*};*\s*(//|/\*).*\bnamespace\s+' + + re.escape(self.name) + r'[\*/\.\\\s]*$'), + line): + error(filename, linenum, 'readability/namespace', 5, + 'Namespace should be terminated with "// namespace %s"' % + self.name) + else: + # Anonymous namespace + if not Match(r'^\s*};*\s*(//|/\*).*\bnamespace[\*/\.\\\s]*$', line): + # If "// namespace anonymous" or "// anonymous namespace (more text)", + # mention "// anonymous namespace" as an acceptable form + if Match(r'^\s*}.*\b(namespace anonymous|anonymous namespace)\b', line): + error(filename, linenum, 'readability/namespace', 5, + 'Anonymous namespace should be terminated with "// namespace"' + ' or "// anonymous namespace"') + else: + error(filename, linenum, 'readability/namespace', 5, + 'Anonymous namespace should be terminated with "// namespace"') + + +class _PreprocessorInfo(object): + """Stores checkpoints of nesting stacks when #if/#else is seen.""" + + def __init__(self, stack_before_if): + # The entire nesting stack before #if + self.stack_before_if = stack_before_if + + # The entire nesting stack up to #else + self.stack_before_else = [] + + # Whether we have already seen #else or #elif + self.seen_else = False + + +class NestingState(object): + """Holds states related to parsing braces.""" def __init__(self): - self.classinfo_stack = [] + # Stack for tracking all braces. An object is pushed whenever we + # see a "{", and popped when we see a "}". Only 3 types of + # objects are possible: + # - _ClassInfo: a class or struct. + # - _NamespaceInfo: a namespace. + # - _BlockInfo: some other type of block. + self.stack = [] + + # Top of the previous stack before each Update(). + # + # Because the nesting_stack is updated at the end of each line, we + # had to do some convoluted checks to find out what is the current + # scope at the beginning of the line. This check is simplified by + # saving the previous top of nesting stack. + # + # We could save the full stack, but we only need the top. Copying + # the full nesting stack would slow down cpplint by ~10%. + self.previous_stack_top = [] + + # Stack of _PreprocessorInfo objects. + self.pp_stack = [] + + def SeenOpenBrace(self): + """Check if we have seen the opening brace for the innermost block. + + Returns: + True if we have seen the opening brace, False if the innermost + block is still expecting an opening brace. + """ + return (not self.stack) or self.stack[-1].seen_open_brace + + def InNamespaceBody(self): + """Check if we are currently one level inside a namespace body. + + Returns: + True if top of the stack is a namespace block, False otherwise. + """ + return self.stack and isinstance(self.stack[-1], _NamespaceInfo) + + def InExternC(self): + """Check if we are currently one level inside an 'extern "C"' block. + + Returns: + True if top of the stack is an extern block, False otherwise. + """ + return self.stack and isinstance(self.stack[-1], _ExternCInfo) + + def InClassDeclaration(self): + """Check if we are currently one level inside a class or struct declaration. + + Returns: + True if top of the stack is a class/struct, False otherwise. + """ + return self.stack and isinstance(self.stack[-1], _ClassInfo) + + def InAsmBlock(self): + """Check if we are currently one level inside an inline ASM block. + + Returns: + True if the top of the stack is a block containing inline ASM. + """ + return self.stack and self.stack[-1].inline_asm != _NO_ASM + + def InTemplateArgumentList(self, clean_lines, linenum, pos): + """Check if current position is inside template argument list. + + Args: + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + pos: position just after the suspected template argument. + Returns: + True if (linenum, pos) is inside template arguments. + """ + while linenum < clean_lines.NumLines(): + # Find the earliest character that might indicate a template argument + line = clean_lines.elided[linenum] + match = Match(r'^[^{};=\[\]\.<>]*(.)', line[pos:]) + if not match: + linenum += 1 + pos = 0 + continue + token = match.group(1) + pos += len(match.group(0)) + + # These things do not look like template argument list: + # class Suspect { + # class Suspect x; } + if token in ('{', '}', ';'): return False + + # These things look like template argument list: + # template + # template + # template + # template + if token in ('>', '=', '[', ']', '.'): return True + + # Check if token is an unmatched '<'. + # If not, move on to the next character. + if token != '<': + pos += 1 + if pos >= len(line): + linenum += 1 + pos = 0 + continue + + # We can't be sure if we just find a single '<', and need to + # find the matching '>'. + (_, end_line, end_pos) = CloseExpression(clean_lines, linenum, pos - 1) + if end_pos < 0: + # Not sure if template argument list or syntax error in file + return False + linenum = end_line + pos = end_pos + return False + + def UpdatePreprocessor(self, line): + """Update preprocessor stack. + + We need to handle preprocessors due to classes like this: + #ifdef SWIG + struct ResultDetailsPageElementExtensionPoint { + #else + struct ResultDetailsPageElementExtensionPoint : public Extension { + #endif + + We make the following assumptions (good enough for most files): + - Preprocessor condition evaluates to true from #if up to first + #else/#elif/#endif. + + - Preprocessor condition evaluates to false from #else/#elif up + to #endif. We still perform lint checks on these lines, but + these do not affect nesting stack. + + Args: + line: current line to check. + """ + if Match(r'^\s*#\s*(if|ifdef|ifndef)\b', line): + # Beginning of #if block, save the nesting stack here. The saved + # stack will allow us to restore the parsing state in the #else case. + self.pp_stack.append(_PreprocessorInfo(copy.deepcopy(self.stack))) + elif Match(r'^\s*#\s*(else|elif)\b', line): + # Beginning of #else block + if self.pp_stack: + if not self.pp_stack[-1].seen_else: + # This is the first #else or #elif block. Remember the + # whole nesting stack up to this point. This is what we + # keep after the #endif. + self.pp_stack[-1].seen_else = True + self.pp_stack[-1].stack_before_else = copy.deepcopy(self.stack) + + # Restore the stack to how it was before the #if + self.stack = copy.deepcopy(self.pp_stack[-1].stack_before_if) + else: + # TODO(unknown): unexpected #else, issue warning? + pass + elif Match(r'^\s*#\s*endif\b', line): + # End of #if or #else blocks. + if self.pp_stack: + # If we saw an #else, we will need to restore the nesting + # stack to its former state before the #else, otherwise we + # will just continue from where we left off. + if self.pp_stack[-1].seen_else: + # Here we can just use a shallow copy since we are the last + # reference to it. + self.stack = self.pp_stack[-1].stack_before_else + # Drop the corresponding #if + self.pp_stack.pop() + else: + # TODO(unknown): unexpected #endif, issue warning? + pass + + # TODO(unknown): Update() is too long, but we will refactor later. + def Update(self, filename, clean_lines, linenum, error): + """Update nesting state with current line. + + Args: + filename: The name of the current file. + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + error: The function to call with any errors found. + """ + line = clean_lines.elided[linenum] + + # Remember top of the previous nesting stack. + # + # The stack is always pushed/popped and not modified in place, so + # we can just do a shallow copy instead of copy.deepcopy. Using + # deepcopy would slow down cpplint by ~28%. + if self.stack: + self.previous_stack_top = self.stack[-1] + else: + self.previous_stack_top = None + + # Update pp_stack + self.UpdatePreprocessor(line) + + # Count parentheses. This is to avoid adding struct arguments to + # the nesting stack. + if self.stack: + inner_block = self.stack[-1] + depth_change = line.count('(') - line.count(')') + inner_block.open_parentheses += depth_change + + # Also check if we are starting or ending an inline assembly block. + if inner_block.inline_asm in (_NO_ASM, _END_ASM): + if (depth_change != 0 and + inner_block.open_parentheses == 1 and + _MATCH_ASM.match(line)): + # Enter assembly block + inner_block.inline_asm = _INSIDE_ASM + else: + # Not entering assembly block. If previous line was _END_ASM, + # we will now shift to _NO_ASM state. + inner_block.inline_asm = _NO_ASM + elif (inner_block.inline_asm == _INSIDE_ASM and + inner_block.open_parentheses == 0): + # Exit assembly block + inner_block.inline_asm = _END_ASM + + # Consume namespace declaration at the beginning of the line. Do + # this in a loop so that we catch same line declarations like this: + # namespace proto2 { namespace bridge { class MessageSet; } } + while True: + # Match start of namespace. The "\b\s*" below catches namespace + # declarations even if it weren't followed by a whitespace, this + # is so that we don't confuse our namespace checker. The + # missing spaces will be flagged by CheckSpacing. + namespace_decl_match = Match(r'^\s*namespace\b\s*([:\w]+)?(.*)$', line) + if not namespace_decl_match: + break + + new_namespace = _NamespaceInfo(namespace_decl_match.group(1), linenum) + self.stack.append(new_namespace) + + line = namespace_decl_match.group(2) + if line.find('{') != -1: + new_namespace.seen_open_brace = True + line = line[line.find('{') + 1:] + + # Look for a class declaration in whatever is left of the line + # after parsing namespaces. The regexp accounts for decorated classes + # such as in: + # class LOCKABLE API Object { + # }; + class_decl_match = Match( + r'^(\s*(?:template\s*<[\w\s<>,:=]*>\s*)?' + r'(class|struct)\s+(?:[a-zA-Z0-9_]+\s+)*(\w+(?:::\w+)*))' + r'(.*)$', line) + if (class_decl_match and + (not self.stack or self.stack[-1].open_parentheses == 0)): + # We do not want to accept classes that are actually template arguments: + # template , + # template class Ignore3> + # void Function() {}; + # + # To avoid template argument cases, we scan forward and look for + # an unmatched '>'. If we see one, assume we are inside a + # template argument list. + end_declaration = len(class_decl_match.group(1)) + if not self.InTemplateArgumentList(clean_lines, linenum, end_declaration): + self.stack.append(_ClassInfo( + class_decl_match.group(3), class_decl_match.group(2), + clean_lines, linenum)) + line = class_decl_match.group(4) + + # If we have not yet seen the opening brace for the innermost block, + # run checks here. + if not self.SeenOpenBrace(): + self.stack[-1].CheckBegin(filename, clean_lines, linenum, error) + + # Update access control if we are inside a class/struct + if self.stack and isinstance(self.stack[-1], _ClassInfo): + classinfo = self.stack[-1] + access_match = Match( + r'^(.*)\b(public|private|protected|signals)(\s+(?:slots\s*)?)?' + r':(?:[^:]|$)', + line) + if access_match: + classinfo.access = access_match.group(2) + + # Check that access keywords are indented +1 space. Skip this + # check if the keywords are not preceded by whitespaces. + indent = access_match.group(1) + if (len(indent) != classinfo.class_indent + 1 and + Match(r'^\s*$', indent)): + if classinfo.is_struct: + parent = 'struct ' + classinfo.name + else: + parent = 'class ' + classinfo.name + slots = '' + if access_match.group(3): + slots = access_match.group(3) + error(filename, linenum, 'whitespace/indent', 3, + '%s%s: should be indented +1 space inside %s' % ( + access_match.group(2), slots, parent)) + + # Consume braces or semicolons from what's left of the line + while True: + # Match first brace, semicolon, or closed parenthesis. + matched = Match(r'^[^{;)}]*([{;)}])(.*)$', line) + if not matched: + break + + token = matched.group(1) + if token == '{': + # If namespace or class hasn't seen a opening brace yet, mark + # namespace/class head as complete. Push a new block onto the + # stack otherwise. + if not self.SeenOpenBrace(): + self.stack[-1].seen_open_brace = True + elif Match(r'^extern\s*"[^"]*"\s*\{', line): + self.stack.append(_ExternCInfo(linenum)) + else: + self.stack.append(_BlockInfo(linenum, True)) + if _MATCH_ASM.match(line): + self.stack[-1].inline_asm = _BLOCK_ASM + + elif token == ';' or token == ')': + # If we haven't seen an opening brace yet, but we already saw + # a semicolon, this is probably a forward declaration. Pop + # the stack for these. + # + # Similarly, if we haven't seen an opening brace yet, but we + # already saw a closing parenthesis, then these are probably + # function arguments with extra "class" or "struct" keywords. + # Also pop these stack for these. + if not self.SeenOpenBrace(): + self.stack.pop() + else: # token == '}' + # Perform end of block checks and pop the stack. + if self.stack: + self.stack[-1].CheckEnd(filename, clean_lines, linenum, error) + self.stack.pop() + line = matched.group(2) + + def InnermostClass(self): + """Get class info on the top of the stack. + + Returns: + A _ClassInfo object if we are inside a class, or None otherwise. + """ + for i in range(len(self.stack), 0, -1): + classinfo = self.stack[i - 1] + if isinstance(classinfo, _ClassInfo): + return classinfo + return None - def CheckFinished(self, filename, error): - """Checks that all classes have been completely parsed. + def CheckCompletedBlocks(self, filename, error): + """Checks that all classes and namespaces have been completely parsed. Call this when all lines in a file have been processed. Args: filename: The name of the current file. error: The function to call with any errors found. """ - if self.classinfo_stack: - # Note: This test can result in false positives if #ifdef constructs - # get in the way of brace matching. See the testBuildClass test in - # cpplint_unittest.py for an example of this. - error(filename, self.classinfo_stack[0].linenum, 'build/class', 5, - 'Failed to find complete declaration of class %s' % - self.classinfo_stack[0].name) + # Note: This test can result in false positives if #ifdef constructs + # get in the way of brace matching. See the testBuildClass test in + # cpplint_unittest.py for an example of this. + for obj in self.stack: + if isinstance(obj, _ClassInfo): + error(filename, obj.starting_linenum, 'build/class', 5, + 'Failed to find complete declaration of class %s' % + obj.name) + elif isinstance(obj, _NamespaceInfo): + error(filename, obj.starting_linenum, 'build/namespaces', 5, + 'Failed to find complete declaration of namespace %s' % + obj.name) def CheckForNonStandardConstructs(filename, clean_lines, linenum, - class_state, error): - """Logs an error if we see certain non-ANSI constructs ignored by gcc-2. + nesting_state, error): + r"""Logs an error if we see certain non-ANSI constructs ignored by gcc-2. Complain about several constructs which gcc-2 accepts, but which are not standard C++. Warning about these in lint is one way to ease the @@ -1314,8 +3300,6 @@ def CheckForNonStandardConstructs(filename, clean_lines, linenum, - text after #endif is not allowed. - invalid inner-style forward declaration. - >? and ?= and ,:]*>\s*)?' - '(class|struct)\s+([A-Z_]+\s+)*(\w+(::\w+)*)', line) - if class_decl_match: - classinfo_stack.append(_ClassInfo( - class_decl_match.group(4), clean_lines, linenum)) - - # Everything else in this function uses the top of the stack if it's - # not empty. - if not classinfo_stack: + # Everything else in this function operates on class declarations. + # Return early if the top of the nesting stack is not a class, or if + # the class head is not completed yet. + classinfo = nesting_state.InnermostClass() + if not classinfo or not classinfo.seen_open_brace: return - classinfo = classinfo_stack[-1] - - # If the opening brace hasn't been seen look for it and also - # parent class declarations. - if not classinfo.seen_open_brace: - # If the line has a ';' in it, assume it's a forward declaration or - # a single-line class declaration, which we won't process. - if line.find(';') != -1: - classinfo_stack.pop() - return - classinfo.seen_open_brace = (line.find('{') != -1) - # Look for a bare ':' - if Search('(^|[^:]):($|[^:])', line): - classinfo.is_derived = True - if not classinfo.seen_open_brace: - return # Everything else in this function is for after open brace - # The class may have been declared with namespace or classname qualifiers. # The constructor and destructor will not have those qualifiers. base_classname = classinfo.name.split('::')[-1] # Look for single-argument constructors that aren't marked explicit. # Technically a valid construct, but against style. - args = Match(r'\s+(?:inline\s+)?%s\s*\(([^,()]+)\)' - % re.escape(base_classname), - line) - if (args and - args.group(1) != 'void' and - not Match(r'(const\s+)?%s\s*(?:<\w+>\s*)?&' % re.escape(base_classname), - args.group(1).strip())): - error(filename, linenum, 'runtime/explicit', 5, - 'Single-argument constructors should be marked explicit.') - - # Look for methods declared virtual. - if Search(r'\bvirtual\b', line): - classinfo.virtual_method_linenumber = linenum - # Only look for a destructor declaration on the same line. It would - # be extremely unlikely for the destructor declaration to occupy - # more than one line. - if Search(r'~%s\s*\(' % base_classname, line): - classinfo.has_virtual_destructor = True - - # Look for class end. - brace_depth = classinfo.brace_depth - brace_depth = brace_depth + line.count('{') - line.count('}') - if brace_depth <= 0: - classinfo = classinfo_stack.pop() - # Try to detect missing virtual destructor declarations. - # For now, only warn if a non-derived class with virtual methods lacks - # a virtual destructor. This is to make it less likely that people will - # declare derived virtual destructors without declaring the base - # destructor virtual. - if ((classinfo.virtual_method_linenumber is not None) and - (not classinfo.has_virtual_destructor) and - (not classinfo.is_derived)): # Only warn for base classes - error(filename, classinfo.linenum, 'runtime/virtual', 4, - 'The class %s probably needs a virtual destructor due to ' - 'having virtual method(s), one declared at line %d.' - % (classinfo.name, classinfo.virtual_method_linenumber)) - else: - classinfo.brace_depth = brace_depth + explicit_constructor_match = Match( + r'\s+(?:(?:inline|constexpr)\s+)*(explicit\s+)?' + r'(?:(?:inline|constexpr)\s+)*%s\s*' + r'\(((?:[^()]|\([^()]*\))*)\)' + % re.escape(base_classname), + line) + + if explicit_constructor_match: + is_marked_explicit = explicit_constructor_match.group(1) + if not explicit_constructor_match.group(2): + constructor_args = [] + else: + constructor_args = explicit_constructor_match.group(2).split(',') + + # collapse arguments so that commas in template parameter lists and function + # argument parameter lists don't split arguments in two + i = 0 + while i < len(constructor_args): + constructor_arg = constructor_args[i] + while (constructor_arg.count('<') > constructor_arg.count('>') or + constructor_arg.count('(') > constructor_arg.count(')')): + constructor_arg += ',' + constructor_args[i + 1] + del constructor_args[i + 1] + constructor_args[i] = constructor_arg + i += 1 + + variadic_args = [arg for arg in constructor_args if '&&...' in arg] + defaulted_args = [arg for arg in constructor_args if '=' in arg] + noarg_constructor = (not constructor_args or # empty arg list + # 'void' arg specifier + (len(constructor_args) == 1 and + constructor_args[0].strip() == 'void')) + onearg_constructor = ((len(constructor_args) == 1 and # exactly one arg + not noarg_constructor) or + # all but at most one arg defaulted + (len(constructor_args) >= 1 and + not noarg_constructor and + len(defaulted_args) >= len(constructor_args) - 1) or + # variadic arguments with zero or one argument + (len(constructor_args) <= 2 and + len(variadic_args) >= 1)) + initializer_list_constructor = bool( + onearg_constructor and + Search(r'\bstd\s*::\s*initializer_list\b', constructor_args[0])) + copy_constructor = bool( + onearg_constructor and + Match(r'((const\s+(volatile\s+)?)?|(volatile\s+(const\s+)?))?' + r'%s(\s*<[^>]*>)?(\s+const)?\s*(?:<\w+>\s*)?&' + % re.escape(base_classname), constructor_args[0].strip())) + + if (not is_marked_explicit and + onearg_constructor and + not initializer_list_constructor and + not copy_constructor): + if defaulted_args or variadic_args: + error(filename, linenum, 'runtime/explicit', 5, + 'Constructors callable with one argument ' + 'should be marked explicit.') + else: + error(filename, linenum, 'runtime/explicit', 5, + 'Single-parameter constructors should be marked explicit.') + elif is_marked_explicit and not onearg_constructor: + if noarg_constructor: + error(filename, linenum, 'runtime/explicit', 5, + 'Zero-parameter constructors should not be marked explicit.') -def CheckSpacingForFunctionCall(filename, line, linenum, error): + +def CheckSpacingForFunctionCall(filename, clean_lines, linenum, error): """Checks for the correctness of various spacing around function calls. Args: filename: The name of the current file. - line: The text of the line to check. + clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ + line = clean_lines.elided[linenum] # Since function calls often occur inside if/for/while/switch # expressions - which have their own, more liberal conventions - we @@ -1508,7 +3490,8 @@ def CheckSpacingForFunctionCall(filename, line, linenum, error): # Note that we assume the contents of [] to be short enough that # they'll never need to wrap. if ( # Ignore control structures. - not Search(r'\b(if|for|while|switch|return|delete)\b', fncall) and + not Search(r'\b(if|for|while|switch|return|new|delete|catch|sizeof)\b', + fncall) and # Ignore pointers/references to functions. not Search(r' \([^)]+\)\([^)]*(\)|,$)', fncall) and # Ignore pointers/references to arrays. @@ -1520,10 +3503,18 @@ def CheckSpacingForFunctionCall(filename, line, linenum, error): error(filename, linenum, 'whitespace/parens', 2, 'Extra space after (') if (Search(r'\w\s+\(', fncall) and - not Search(r'#\s*define|typedef', fncall) and - not Search(r'<.*',fncall)): - error(filename, linenum, 'whitespace/parens', 4, - 'Extra space before ( in function call') + not Search(r'_{0,2}asm_{0,2}\s+_{0,2}volatile_{0,2}\s+\(', fncall) and + not Search(r'#\s*define|typedef|using\s+\w+\s*=', fncall) and + not Search(r'\w\s+\((\w+::)*\*\w+\)\(', fncall) and + not Search(r'\bcase\s+\(', fncall)): + # TODO(unknown): Space after an operator function seem to be a common + # error, silence those for now by restricting them to highest verbosity. + if Search(r'\boperator_*\b', line): + error(filename, linenum, 'whitespace/parens', 0, + 'Extra space before ( in function call') + else: + error(filename, linenum, 'whitespace/parens', 4, + 'Extra space before ( in function call') # If the ) is followed only by a newline or a { + newline, assume it's # part of a control statement (if/while/etc), and don't complain if Search(r'[^)]\s+\)\s*[^{\s]', fncall): @@ -1552,12 +3543,26 @@ def IsBlankLine(line): return not line or line.isspace() +def CheckForNamespaceIndentation(filename, nesting_state, clean_lines, line, + error): + is_namespace_indent_item = ( + len(nesting_state.stack) > 1 and + nesting_state.stack[-1].check_namespace_indentation and + isinstance(nesting_state.previous_stack_top, _NamespaceInfo) and + nesting_state.previous_stack_top == nesting_state.stack[-2]) + + if ShouldCheckNamespaceIndentation(nesting_state, is_namespace_indent_item, + clean_lines.elided, line): + CheckItemIndentationInNamespace(filename, clean_lines.elided, + line, error) + + def CheckForFunctionLengths(filename, clean_lines, linenum, function_state, error): """Reports for long function bodies. For an overview why this is done, see: - http://google-styleguide.googlecode.com/svn/trunk/cppguide.xml#Write_Short_Functions + https://google-styleguide.googlecode.com/svn/trunk/cppguide.xml#Write_Short_Functions Uses a simplistic algorithm assuming other style guidelines (especially spacing) are followed. @@ -1577,8 +3582,6 @@ def CheckForFunctionLengths(filename, clean_lines, linenum, """ lines = clean_lines.lines line = lines[linenum] - raw = clean_lines.raw_lines - raw_line = raw[linenum] joined_line = '' starting_func = False @@ -1600,7 +3603,7 @@ def CheckForFunctionLengths(filename, clean_lines, linenum, if Search(r'(;|})', start_line): # Declarations and trivial functions body_found = True break # ... ignore - elif Search(r'{', start_line): + if Search(r'{', start_line): body_found = True function = Search(r'((\w|:)*)\(', line).group(1) if Match(r'TEST', function): # Handle TEST... macros @@ -1625,37 +3628,61 @@ def CheckForFunctionLengths(filename, clean_lines, linenum, _RE_PATTERN_TODO = re.compile(r'^//(\s*)TODO(\(.+?\))?:?(\s|$)?') -def CheckComment(comment, filename, linenum, error): - """Checks for common mistakes in TODO comments. +def CheckComment(line, filename, linenum, next_line_start, error): + """Checks for common mistakes in comments. Args: - comment: The text of the comment from the line in question. + line: The line in question. filename: The name of the current file. linenum: The number of the line to check. + next_line_start: The first non-whitespace column of the next line. error: The function to call with any errors found. """ - match = _RE_PATTERN_TODO.match(comment) - if match: - # One whitespace is correct; zero whitespace is handled elsewhere. - leading_whitespace = match.group(1) - if len(leading_whitespace) > 1: - error(filename, linenum, 'whitespace/todo', 2, - 'Too many spaces before TODO') - - #username = match.group(2) - #if not username: - # error(filename, linenum, 'readability/todo', 2, - # 'Missing username in TODO; it should look like ' - # '"// TODO(my_username): Stuff."') - - middle_whitespace = match.group(3) - # Comparisons made explicit for correctness -- pylint: disable-msg=C6403 - if middle_whitespace != ' ' and middle_whitespace != '': - error(filename, linenum, 'whitespace/todo', 2, - 'TODO(my_username) should be followed by a space') - - -def CheckSpacing(filename, clean_lines, linenum, error): + commentpos = line.find('//') + if commentpos != -1: + # Check if the // may be in quotes. If so, ignore it + if re.sub(r'\\.', '', line[0:commentpos]).count('"') % 2 == 0: + # Allow one space for new scopes, two spaces otherwise: + if (not (Match(r'^.*{ *//', line) and next_line_start == commentpos) and + ((commentpos >= 1 and + line[commentpos-1] not in string.whitespace) or + (commentpos >= 2 and + line[commentpos-2] not in string.whitespace))): + error(filename, linenum, 'whitespace/comments', 2, + 'At least two spaces is best between code and comments') + + # Checks for common mistakes in TODO comments. + comment = line[commentpos:] + match = _RE_PATTERN_TODO.match(comment) + if match: + # One whitespace is correct; zero whitespace is handled elsewhere. + leading_whitespace = match.group(1) + if len(leading_whitespace) > 1: + error(filename, linenum, 'whitespace/todo', 2, + 'Too many spaces before TODO') + + username = match.group(2) + if not username: + error(filename, linenum, 'readability/todo', 2, + 'Missing username in TODO; it should look like ' + '"// TODO(my_username): Stuff."') + + middle_whitespace = match.group(3) + # Comparisons made explicit for correctness -- pylint: disable=g-explicit-bool-comparison + if middle_whitespace != ' ' and middle_whitespace != '': + error(filename, linenum, 'whitespace/todo', 2, + 'TODO(my_username) should be followed by a space') + + # If the comment contains an alphanumeric character, there + # should be a space somewhere between it and the // unless + # it's a /// or //! Doxygen comment. + if (Match(r'//[^ ]*\w', comment) and + not Match(r'(///|//\!)(\s+|$)', comment)): + error(filename, linenum, 'whitespace/comments', 4, + 'Should have a space between // and comment') + + +def CheckSpacing(filename, clean_lines, linenum, nesting_state, error): """Checks for the correctness of various spacing issues in the code. Things we check for: spaces around operators, spaces after @@ -1668,16 +3695,35 @@ def CheckSpacing(filename, clean_lines, linenum, error): filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. + nesting_state: A NestingState instance which maintains information about + the current stack of nested blocks being parsed. error: The function to call with any errors found. """ - raw = clean_lines.raw_lines + # Don't use "elided" lines here, otherwise we can't check commented lines. + # Don't want to use "raw" either, because we don't want to check inside C++11 + # raw strings, + raw = clean_lines.lines_without_raw_strings line = raw[linenum] # Before nixing comments, check if the line is blank for no good # reason. This includes the first line after a block is opened, and # blank lines at the end of a function (ie, right before a line like '}' - if IsBlankLine(line): + # + # Skip all the blank line checks if we are immediately inside a + # namespace body. In other words, don't issue blank line warnings + # for this block: + # namespace { + # + # } + # + # A warning about missing end of namespace comments will be issued instead. + # + # Also skip blank line checks for 'extern "C"' blocks, which are formatted + # like namespaces. + if (IsBlankLine(line) and + not nesting_state.InNamespaceBody() and + not nesting_state.InExternC()): elided = clean_lines.elided prev_line = elided[linenum - 1] prevbrace = prev_line.rfind('{') @@ -1685,8 +3731,7 @@ def CheckSpacing(filename, clean_lines, linenum, error): # both start with alnums and are indented the same amount. # This ignores whitespace at the start of a namespace block # because those are not usually indented. - if (prevbrace != -1 and prev_line[prevbrace:].find('}') == -1 - and prev_line[:prevbrace].find('namespace') == -1): + if prevbrace != -1 and prev_line[prevbrace:].find('}') == -1: # OK, we have a blank line at the start of a code block. Before we # complain, we check if it is an exception to the rule: The previous # non-empty line has the parameters of a function header that are indented @@ -1717,13 +3762,9 @@ def CheckSpacing(filename, clean_lines, linenum, error): if not exception: error(filename, linenum, 'whitespace/blank_line', 2, - 'Blank line at the start of a code block. Is this needed?') - # This doesn't ignore whitespace at the end of a namespace block - # because that is too hard without pairing open/close braces; - # however, a special exception is made for namespace closing - # brackets which have a comment containing "namespace". - # - # Also, ignore blank lines at the end of a block in a long if-else + 'Redundant blank line at the start of a code block ' + 'should be deleted.') + # Ignore blank lines at the end of a block in a long if-else # chain, like this: # if (condition1) { # // Something followed by a blank line @@ -1735,59 +3776,75 @@ def CheckSpacing(filename, clean_lines, linenum, error): next_line = raw[linenum + 1] if (next_line and Match(r'\s*}', next_line) - and next_line.find('namespace') == -1 and next_line.find('} else ') == -1): error(filename, linenum, 'whitespace/blank_line', 3, - 'Blank line at the end of a code block. Is this needed?') + 'Redundant blank line at the end of a code block ' + 'should be deleted.') - #matched = Match(r'\s*(public|protected|private):', prev_line) - #if matched: - # error(filename, linenum, 'whitespace/blank_line', 3, - # 'Do not leave a blank line after "%s:"' % matched.group(1)) + matched = Match(r'\s*(public|protected|private):', prev_line) + if matched: + error(filename, linenum, 'whitespace/blank_line', 3, + 'Do not leave a blank line after "%s:"' % matched.group(1)) - # Next, we complain if there's a comment too near the text - commentpos = line.find('//') - if commentpos != -1: - # Check if the // may be in quotes. If so, ignore it - # Comparisons made explicit for clarity -- pylint: disable-msg=C6403 - if (line.count('"', 0, commentpos) - - line.count('\\"', 0, commentpos)) % 2 == 0: # not in quotes - # Allow one space for new scopes, two spaces otherwise: - if (not Match(r'^\s*{ //', line) and - ((commentpos >= 1 and - line[commentpos-1] not in string.whitespace) or - (commentpos >= 2 and - line[commentpos-2] not in string.whitespace))): - error(filename, linenum, 'whitespace/comments', 2, - 'At least two spaces is best between code and comments') - # There should always be a space between the // and the comment - commentend = commentpos + 2 - if commentend < len(line) and not line[commentend] == ' ': - # but some lines are exceptions -- e.g. if they're big - # comment delimiters like: - # //---------------------------------------------------------- - # or are an empty C++ style Doxygen comment, like: - # /// - # or they begin with multiple slashes followed by a space: - # //////// Header comment - match = (Search(r'[=/-]{4,}\s*$', line[commentend:]) or - Search(r'^/$', line[commentend:]) or - Search(r'^/+ ', line[commentend:])) - if not match: - error(filename, linenum, 'whitespace/comments', 4, - 'Should have a space between // and comment') - CheckComment(line[commentpos:], filename, linenum, error) - - line = clean_lines.elided[linenum] # get rid of comments and strings - - # Don't try to do spacing checks for operator methods - line = re.sub(r'operator(==|!=|<|<<|<=|>=|>>|>)\(', 'operator\(', line) + # Next, check comments + next_line_start = 0 + if linenum + 1 < clean_lines.NumLines(): + next_line = raw[linenum + 1] + next_line_start = len(next_line) - len(next_line.lstrip()) + CheckComment(line, filename, linenum, next_line_start, error) + + # get rid of comments and strings + line = clean_lines.elided[linenum] + + # You shouldn't have spaces before your brackets, except for C++11 attributes + # or maybe after 'delete []', 'return []() {};', or 'auto [abc, ...] = ...;'. + if (Search(r'\w\s+\[(?!\[)', line) and + not Search(r'(?:auto&?|delete|return)\s+\[', line)): + error(filename, linenum, 'whitespace/braces', 5, + 'Extra space before [') + + # In range-based for, we wanted spaces before and after the colon, but + # not around "::" tokens that might appear. + if (Search(r'for *\(.*[^:]:[^: ]', line) or + Search(r'for *\(.*[^: ]:[^:]', line)): + error(filename, linenum, 'whitespace/forcolon', 2, + 'Missing space around colon in range-based for loop') + + +def CheckOperatorSpacing(filename, clean_lines, linenum, error): + """Checks for horizontal spacing around operators. + + Args: + filename: The name of the current file. + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + error: The function to call with any errors found. + """ + line = clean_lines.elided[linenum] + + # Don't try to do spacing checks for operator methods. Do this by + # replacing the troublesome characters with something else, + # preserving column position for all other characters. + # + # The replacement is done repeatedly to avoid false positives from + # operators that call operators. + while True: + match = Match(r'^(.*\boperator\b)(\S+)(\s*\(.*)$', line) + if match: + line = match.group(1) + ('_' * len(match.group(2))) + match.group(3) + else: + break # We allow no-spaces around = within an if: "if ( (a=Foo()) == 0 )". # Otherwise not. Note we only check for non-spaces on *both* sides; # sometimes people put non-spaces on one side when aligning ='s among # many lines (not that this is behavior that I approve of...) - if Search(r'[\w.]=[\w.]', line) and not Search(r'\b(if|while) ', line): + if ((Search(r'[\w.]=', line) or + Search(r'=[\w.]', line)) + and not Search(r'\b(if|while|for) ', line) + # Operators taken from [lex.operators] in C++11 standard. + and not Search(r'(>=|<=|==|!=|&=|\^=|\|=|\+=|\*=|\/=|\%=)', line) + and not Search(r'operator=', line)): error(filename, linenum, 'whitespace/operators', 4, 'Missing spaces around =') @@ -1796,26 +3853,71 @@ def CheckSpacing(filename, clean_lines, linenum, error): # though, so we punt on this one for now. TODO. # You should always have whitespace around binary operators. - # Alas, we can't test < or > because they're legitimately used sans spaces - # (a->b, vector a). The only time we can tell is a < with no >, and - # only if it's not template params list spilling into the next line. - match = Search(r'[^<>=!\s](==|!=|<=|>=)[^<>=!\s]', line) - if not match: - # Note that while it seems that the '<[^<]*' term in the following - # regexp could be simplified to '<.*', which would indeed match - # the same class of strings, the [^<] means that searching for the - # regexp takes linear rather than quadratic time. - if not Search(r'<[^<]*,\s*$', line): # template params spill - match = Search(r'[^<>=!\s](<)[^<>=!\s]([^>]|->)*$', line) + # + # Check <= and >= first to avoid false positives with < and >, then + # check non-include lines for spacing around < and >. + # + # If the operator is followed by a comma, assume it's be used in a + # macro context and don't do any checks. This avoids false + # positives. + # + # Note that && is not included here. This is because there are too + # many false positives due to RValue references. + match = Search(r'[^<>=!\s](==|!=|<=|>=|\|\|)[^<>=!\s,;\)]', line) if match: error(filename, linenum, 'whitespace/operators', 3, 'Missing spaces around %s' % match.group(1)) - # We allow no-spaces around << and >> when used like this: 10<<20, but + elif not Match(r'#.*include', line): + # Look for < that is not surrounded by spaces. This is only + # triggered if both sides are missing spaces, even though + # technically should should flag if at least one side is missing a + # space. This is done to avoid some false positives with shifts. + match = Match(r'^(.*[^\s<])<[^\s=<,]', line) + if match: + (_, _, end_pos) = CloseExpression( + clean_lines, linenum, len(match.group(1))) + if end_pos <= -1: + error(filename, linenum, 'whitespace/operators', 3, + 'Missing spaces around <') + + # Look for > that is not surrounded by spaces. Similar to the + # above, we only trigger if both sides are missing spaces to avoid + # false positives with shifts. + match = Match(r'^(.*[^-\s>])>[^\s=>,]', line) + if match: + (_, _, start_pos) = ReverseCloseExpression( + clean_lines, linenum, len(match.group(1))) + if start_pos <= -1: + error(filename, linenum, 'whitespace/operators', 3, + 'Missing spaces around >') + + # We allow no-spaces around << when used like this: 10<<20, but # not otherwise (particularly, not when used as streams) - match = Search(r'[^0-9\s](<<|>>)[^0-9\s]', line) + # + # We also allow operators following an opening parenthesis, since + # those tend to be macros that deal with operators. + match = Search(r'(operator|[^\s(<])(?:L|UL|LL|ULL|l|ul|ll|ull)?<<([^\s,=<])', line) + if (match and not (match.group(1).isdigit() and match.group(2).isdigit()) and + not (match.group(1) == 'operator' and match.group(2) == ';')): + error(filename, linenum, 'whitespace/operators', 3, + 'Missing spaces around <<') + + # We allow no-spaces around >> for almost anything. This is because + # C++11 allows ">>" to close nested templates, which accounts for + # most cases when ">>" is not followed by a space. + # + # We still warn on ">>" followed by alpha character, because that is + # likely due to ">>" being used for right shifts, e.g.: + # value >> alpha + # + # When ">>" is used to close templates, the alphanumeric letter that + # follows would be part of an identifier, and there should still be + # a space separating the template type and the identifier. + # type> alpha + match = Search(r'>>[a-zA-Z_]', line) if match: error(filename, linenum, 'whitespace/operators', 3, - 'Missing spaces around %s' % match.group(1)) + 'Missing spaces around >>') # There shouldn't be space around unary operators match = Search(r'(!\s|~\s|[\s]--[\s;]|[\s]\+\+[\s;])', line) @@ -1823,7 +3925,19 @@ def CheckSpacing(filename, clean_lines, linenum, error): error(filename, linenum, 'whitespace/operators', 4, 'Extra space for operator %s' % match.group(1)) - # A pet peeve of mine: no spaces after an if, while, switch, or for + +def CheckParenthesisSpacing(filename, clean_lines, linenum, error): + """Checks for horizontal spacing around parentheses. + + Args: + filename: The name of the current file. + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + error: The function to call with any errors found. + """ + line = clean_lines.elided[linenum] + + # No spaces after an if, while, switch, or for match = Search(r' (if\(|for\(|while\(|switch\()', line) if match: error(filename, linenum, 'whitespace/parens', 5, @@ -1844,13 +3958,36 @@ def CheckSpacing(filename, clean_lines, linenum, error): not match.group(2) and Search(r'\bfor\s*\(.*; \)', line)): error(filename, linenum, 'whitespace/parens', 5, 'Mismatching spaces inside () in %s' % match.group(1)) - if not len(match.group(2)) in [0, 1]: + if len(match.group(2)) not in [0, 1]: error(filename, linenum, 'whitespace/parens', 5, 'Should have zero or one spaces inside ( and ) in %s' % match.group(1)) + +def CheckCommaSpacing(filename, clean_lines, linenum, error): + """Checks for horizontal spacing near commas and semicolons. + + Args: + filename: The name of the current file. + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + error: The function to call with any errors found. + """ + raw = clean_lines.lines_without_raw_strings + line = clean_lines.elided[linenum] + # You should always have a space after a comma (either as fn arg or operator) - if Search(r',[^\s]', line): + # + # This does not apply when the non-space character following the + # comma is another comma, since the only time when that happens is + # for empty macro arguments. + # + # We run this check in two passes: first pass on elided lines to + # verify that lines contain missing whitespaces, second pass on raw + # lines to confirm that those missing whitespaces are not due to + # elided comments. + if (Search(r',[^,\s]', ReplaceAll(r'\boperator\s*,\s*\(', 'F(', line)) and + Search(r',[^,\s]', raw[linenum])): error(filename, linenum, 'whitespace/comma', 3, 'Missing space after ,') @@ -1862,44 +3999,175 @@ def CheckSpacing(filename, clean_lines, linenum, error): error(filename, linenum, 'whitespace/semicolon', 3, 'Missing space after ;') - # Next we will look for issues with function calls. - CheckSpacingForFunctionCall(filename, line, linenum, error) - # Except after an opening paren, or after another opening brace (in case of - # an initializer list, for instance), you should have spaces before your - # braces. And since you should never have braces at the beginning of a line, - # this is an easy test. - # if Search(r'[^ ({]{', line): - # error(filename, linenum, 'whitespace/braces', 5, - # 'Missing space before {') +def _IsType(clean_lines, nesting_state, expr): + """Check if expression looks like a type name, returns true if so. - # Make sure '} else {' has spaces. - if Search(r'}else', line): - error(filename, linenum, 'whitespace/braces', 5, - 'Missing space before else') + Args: + clean_lines: A CleansedLines instance containing the file. + nesting_state: A NestingState instance which maintains information about + the current stack of nested blocks being parsed. + expr: The expression to check. + Returns: + True, if token looks like a type. + """ + # Keep only the last token in the expression + last_word = Match(r'^.*(\b\S+)$', expr) + if last_word: + token = last_word.group(1) + else: + token = expr - # You shouldn't have spaces before your brackets, except maybe after - # 'delete []' or 'new char * []'. - if Search(r'\w\s+\[', line) and not Search(r'delete\s+\[', line): - error(filename, linenum, 'whitespace/braces', 5, - 'Extra space before [') + # Match native types and stdint types + if _TYPES.match(token): + return True - # You shouldn't have a space before a semicolon at the end of the line. - # There's a special case for "for" since the style guide allows space before - # the semicolon there. - if Search(r':\s*;\s*$', line): - error(filename, linenum, 'whitespace/semicolon', 5, - 'Semicolon defining empty statement. Use { } instead.') - elif Search(r'^\s*;\s*$', line): - error(filename, linenum, 'whitespace/semicolon', 5, - 'Line contains only semicolon. If this should be an empty statement, ' - 'use { } instead.') - elif (Search(r'\s+;\s*$', line) and - not Search(r'\bfor\b', line)): + # Try a bit harder to match templated types. Walk up the nesting + # stack until we find something that resembles a typename + # declaration for what we are looking for. + typename_pattern = (r'\b(?:typename|class|struct)\s+' + re.escape(token) + + r'\b') + block_index = len(nesting_state.stack) - 1 + while block_index >= 0: + if isinstance(nesting_state.stack[block_index], _NamespaceInfo): + return False + + # Found where the opening brace is. We want to scan from this + # line up to the beginning of the function, minus a few lines. + # template + # class C + # : public ... { // start scanning here + last_line = nesting_state.stack[block_index].starting_linenum + + next_block_start = 0 + if block_index > 0: + next_block_start = nesting_state.stack[block_index - 1].starting_linenum + first_line = last_line + while first_line >= next_block_start: + if clean_lines.elided[first_line].find('template') >= 0: + break + first_line -= 1 + if first_line < next_block_start: + # Didn't find any "template" keyword before reaching the next block, + # there are probably no template things to check for this block + block_index -= 1 + continue + + # Look for typename in the specified range + for i in xrange(first_line, last_line + 1, 1): + if Search(typename_pattern, clean_lines.elided[i]): + return True + block_index -= 1 + + return False + + +def CheckBracesSpacing(filename, clean_lines, linenum, nesting_state, error): + """Checks for horizontal spacing near commas. + + Args: + filename: The name of the current file. + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + nesting_state: A NestingState instance which maintains information about + the current stack of nested blocks being parsed. + error: The function to call with any errors found. + """ + line = clean_lines.elided[linenum] + + # Except after an opening paren, or after another opening brace (in case of + # an initializer list, for instance), you should have spaces before your + # braces when they are delimiting blocks, classes, namespaces etc. + # And since you should never have braces at the beginning of a line, + # this is an easy test. Except that braces used for initialization don't + # follow the same rule; we often don't want spaces before those. + match = Match(r'^(.*[^ ({>]){', line) + + if match: + # Try a bit harder to check for brace initialization. This + # happens in one of the following forms: + # Constructor() : initializer_list_{} { ... } + # Constructor{}.MemberFunction() + # Type variable{}; + # FunctionCall(type{}, ...); + # LastArgument(..., type{}); + # LOG(INFO) << type{} << " ..."; + # map_of_type[{...}] = ...; + # ternary = expr ? new type{} : nullptr; + # OuterTemplate{}> + # + # We check for the character following the closing brace, and + # silence the warning if it's one of those listed above, i.e. + # "{.;,)<>]:". + # + # To account for nested initializer list, we allow any number of + # closing braces up to "{;,)<". We can't simply silence the + # warning on first sight of closing brace, because that would + # cause false negatives for things that are not initializer lists. + # Silence this: But not this: + # Outer{ if (...) { + # Inner{...} if (...){ // Missing space before { + # }; } + # + # There is a false negative with this approach if people inserted + # spurious semicolons, e.g. "if (cond){};", but we will catch the + # spurious semicolon with a separate check. + leading_text = match.group(1) + (endline, endlinenum, endpos) = CloseExpression( + clean_lines, linenum, len(match.group(1))) + trailing_text = '' + if endpos > -1: + trailing_text = endline[endpos:] + for offset in xrange(endlinenum + 1, + min(endlinenum + 3, clean_lines.NumLines() - 1)): + trailing_text += clean_lines.elided[offset] + # We also suppress warnings for `uint64_t{expression}` etc., as the style + # guide recommends brace initialization for integral types to avoid + # overflow/truncation. + if (not Match(r'^[\s}]*[{.;,)<>\]:]', trailing_text) + and not _IsType(clean_lines, nesting_state, leading_text)): + error(filename, linenum, 'whitespace/braces', 5, + 'Missing space before {') + + # Make sure '} else {' has spaces. + if Search(r'}else', line): + error(filename, linenum, 'whitespace/braces', 5, + 'Missing space before else') + + # You shouldn't have a space before a semicolon at the end of the line. + # There's a special case for "for" since the style guide allows space before + # the semicolon there. + if Search(r':\s*;\s*$', line): + error(filename, linenum, 'whitespace/semicolon', 5, + 'Semicolon defining empty statement. Use {} instead.') + elif Search(r'^\s*;\s*$', line): + error(filename, linenum, 'whitespace/semicolon', 5, + 'Line contains only semicolon. If this should be an empty statement, ' + 'use {} instead.') + elif (Search(r'\s+;\s*$', line) and + not Search(r'\bfor\b', line)): error(filename, linenum, 'whitespace/semicolon', 5, 'Extra space before last semicolon. If this should be an empty ' - 'statement, use { } instead.') + 'statement, use {} instead.') + + +def IsDecltype(clean_lines, linenum, column): + """Check if the token ending on (linenum, column) is decltype(). + Args: + clean_lines: A CleansedLines instance containing the file. + linenum: the number of the line to check. + column: end column of the token to check. + Returns: + True if this token is decltype() expression, False otherwise. + """ + (text, _, start_col) = ReverseCloseExpression(clean_lines, linenum, column) + if start_col < 0: + return False + if Search(r'\bdecltype\s*$', text[0:start_col]): + return True + return False def CheckSectionSpacing(filename, clean_lines, class_info, linenum, error): """Checks for additional blank line issues related to sections. @@ -1924,8 +4192,8 @@ def CheckSectionSpacing(filename, clean_lines, class_info, linenum, error): # # If we didn't find the end of the class, last_line would be zero, # and the check will be skipped by the first condition. - if (class_info.last_line - class_info.linenum <= 24 or - linenum <= class_info.linenum): + if (class_info.last_line - class_info.starting_linenum <= 24 or + linenum <= class_info.starting_linenum): return matched = Match(r'\s*(public|protected|private):', clean_lines.lines[linenum]) @@ -1936,15 +4204,18 @@ def CheckSectionSpacing(filename, clean_lines, class_info, linenum, error): # - We are at the beginning of the class. # - We are forward-declaring an inner class that is semantically # private, but needed to be public for implementation reasons. + # Also ignores cases where the previous line ends with a backslash as can be + # common when defining classes in C macros. prev_line = clean_lines.lines[linenum - 1] if (not IsBlankLine(prev_line) and - not Search(r'\b(class|struct)\b', prev_line)): + not Search(r'\b(class|struct)\b', prev_line) and + not Search(r'\\$', prev_line)): # Try a bit harder to find the beginning of the class. This is to # account for multi-line base-specifier lists, e.g.: # class Derived # : public Base { - end_class_head = class_info.linenum - for i in range(class_info.linenum, linenum): + end_class_head = class_info.starting_linenum + for i in range(class_info.starting_linenum, linenum): if Search(r'\{\s*$', clean_lines.lines[i]): end_class_head = i break @@ -1987,34 +4258,47 @@ def CheckBraces(filename, clean_lines, linenum, error): """ line = clean_lines.elided[linenum] # get rid of comments and strings - if Search(r'[\);:}]\s*{\s*$', line): - error(filename, linenum, 'whitespace/braces', 4, - '{ should never be at the end of the previous line') - # An else clause should be on the same line as the preceding closing brace. - if Match(r'\s*}\s*else\s*', line): - error(filename, linenum, 'whitespace/newline', 4, - 'An else should not appear on the same line as the previous }') + if Match(r'\s*{\s*$', line): + # We allow an open brace to start a line in the case where someone is using + # braces in a block to explicitly create a new scope, which is commonly used + # to control the lifetime of stack-allocated variables. Braces are also + # used for brace initializers inside function calls. We don't detect this + # perfectly: we just don't complain if the last non-whitespace character on + # the previous non-blank line is ',', ';', ':', '(', '{', or '}', or if the + # previous line starts a preprocessor block. We also allow a brace on the + # following line if it is part of an array initialization and would not fit + # within the 80 character limit of the preceding line. + prevline = GetPreviousNonBlankLine(clean_lines, linenum)[0] + if (not Search(r'[,;:}{(]\s*$', prevline) and + not Match(r'\s*#', prevline) and + not (GetLineWidth(prevline) > _line_length - 2 and '[]' in prevline)): + error(filename, linenum, 'whitespace/braces', 4, + '{ should almost always be at the end of the previous line') - if Match(r'\s*else\s*{', line): - error(filename, linenum, 'whitespace/newline', 4, - 'An else should not appear on the same line as the next {') + # An else clause should be on the same line as the preceding closing brace. + if Match(r'\s*else\b\s*(?:if\b|\{|$)', line): + prevline = GetPreviousNonBlankLine(clean_lines, linenum)[0] + if Match(r'\s*}\s*$', prevline): + error(filename, linenum, 'whitespace/newline', 4, + 'An else should appear on the same line as the preceding }') # If braces come on one side of an else, they should be on both. # However, we have to worry about "else if" that spans multiple lines! - if Search(r'}\s*else[^{]*$', line) or Match(r'[^}]*else\s*{', line): - if Search(r'}\s*else if([^{]*)$', line): # could be multi-line if - # find the ( after the if - pos = line.find('else if') - pos = line.find('(', pos) - if pos > 0: - (endline, _, endpos) = CloseExpression(clean_lines, linenum, pos) - if endline[endpos:].find('{') == -1: # must be brace after if - error(filename, linenum, 'readability/braces', 5, - 'If an else has a brace on one side, it should have it on both') - else: # common case: else not followed by a multi-line if - error(filename, linenum, 'readability/braces', 5, - 'If an else has a brace on one side, it should have it on both') + if Search(r'else if\s*\(', line): # could be multi-line if + brace_on_left = bool(Search(r'}\s*else if\s*\(', line)) + # find the ( after the if + pos = line.find('else if') + pos = line.find('(', pos) + if pos > 0: + (endline, _, endpos) = CloseExpression(clean_lines, linenum, pos) + brace_on_right = endline[endpos:].find('{') != -1 + if brace_on_left != brace_on_right: # must be brace after if + error(filename, linenum, 'readability/braces', 5, + 'If an else has a brace on one side, it should have it on both') + elif Search(r'}\s*else[^{]*$', line) or Match(r'[^}]*else\s*{', line): + error(filename, linenum, 'readability/braces', 5, + 'If an else has a brace on one side, it should have it on both') # Likewise, an else should never have the else clause on the same line if Search(r'\belse [^\s{]', line) and not Search(r'\belse if\b', line): @@ -2026,56 +4310,334 @@ def CheckBraces(filename, clean_lines, linenum, error): error(filename, linenum, 'whitespace/newline', 4, 'do/while clauses should not be on a single line') - # Braces shouldn't be followed by a ; unless they're defining a struct - # or initializing an array. - # We can't tell in general, but we can for some common cases. - prevlinenum = linenum - while True: - (prevline, prevlinenum) = GetPreviousNonBlankLine(clean_lines, prevlinenum) - if Match(r'\s+{.*}\s*;', line) and not prevline.count(';'): - line = prevline + line - else: - break - # if (Search(r'{.*}\s*;', line) and - # line.count('{') == line.count('}') and - # not Search(r'struct|class|enum|\s*=\s*{', line)): - # error(filename, linenum, 'readability/braces', 4, - # "You don't need a ; after a }") + # Check single-line if/else bodies. The style guide says 'curly braces are not + # required for single-line statements'. We additionally allow multi-line, + # single statements, but we reject anything with more than one semicolon in + # it. This means that the first semicolon after the if should be at the end of + # its line, and the line after that should have an indent level equal to or + # lower than the if. We also check for ambiguous if/else nesting without + # braces. + if_else_match = Search(r'\b(if\s*(|constexpr)\s*\(|else\b)', line) + if if_else_match and not Match(r'\s*#', line): + if_indent = GetIndentLevel(line) + endline, endlinenum, endpos = line, linenum, if_else_match.end() + if_match = Search(r'\bif\s*(|constexpr)\s*\(', line) + if if_match: + # This could be a multiline if condition, so find the end first. + pos = if_match.end() - 1 + (endline, endlinenum, endpos) = CloseExpression(clean_lines, linenum, pos) + # Check for an opening brace, either directly after the if or on the next + # line. If found, this isn't a single-statement conditional. + if (not Match(r'\s*{', endline[endpos:]) + and not (Match(r'\s*$', endline[endpos:]) + and endlinenum < (len(clean_lines.elided) - 1) + and Match(r'\s*{', clean_lines.elided[endlinenum + 1]))): + while (endlinenum < len(clean_lines.elided) + and ';' not in clean_lines.elided[endlinenum][endpos:]): + endlinenum += 1 + endpos = 0 + if endlinenum < len(clean_lines.elided): + endline = clean_lines.elided[endlinenum] + # We allow a mix of whitespace and closing braces (e.g. for one-liner + # methods) and a single \ after the semicolon (for macros) + endpos = endline.find(';') + if not Match(r';[\s}]*(\\?)$', endline[endpos:]): + # Semicolon isn't the last character, there's something trailing. + # Output a warning if the semicolon is not contained inside + # a lambda expression. + if not Match(r'^[^{};]*\[[^\[\]]*\][^{}]*\{[^{}]*\}\s*\)*[;,]\s*$', + endline): + error(filename, linenum, 'readability/braces', 4, + 'If/else bodies with multiple statements require braces') + elif endlinenum < len(clean_lines.elided) - 1: + # Make sure the next line is dedented + next_line = clean_lines.elided[endlinenum + 1] + next_indent = GetIndentLevel(next_line) + # With ambiguous nested if statements, this will error out on the + # if that *doesn't* match the else, regardless of whether it's the + # inner one or outer one. + if (if_match and Match(r'\s*else\b', next_line) + and next_indent != if_indent): + error(filename, linenum, 'readability/braces', 4, + 'Else clause should be indented at the same level as if. ' + 'Ambiguous nested if/else chains require braces.') + elif next_indent > if_indent: + error(filename, linenum, 'readability/braces', 4, + 'If/else bodies with multiple statements require braces') + + +def CheckTrailingSemicolon(filename, clean_lines, linenum, error): + """Looks for redundant trailing semicolon. + Args: + filename: The name of the current file. + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + error: The function to call with any errors found. + """ -def ReplaceableCheck(operator, macro, line): - """Determine whether a basic CHECK can be replaced with a more specific one. + line = clean_lines.elided[linenum] - For example suggest using CHECK_EQ instead of CHECK(a == b) and - similarly for CHECK_GE, CHECK_GT, CHECK_LE, CHECK_LT, CHECK_NE. + # Block bodies should not be followed by a semicolon. Due to C++11 + # brace initialization, there are more places where semicolons are + # required than not, so we explicitly list the allowed rules rather + # than listing the disallowed ones. These are the places where "};" + # should be replaced by just "}": + # 1. Some flavor of block following closing parenthesis: + # for (;;) {}; + # while (...) {}; + # switch (...) {}; + # Function(...) {}; + # if (...) {}; + # if (...) else if (...) {}; + # + # 2. else block: + # if (...) else {}; + # + # 3. const member function: + # Function(...) const {}; + # + # 4. Block following some statement: + # x = 42; + # {}; + # + # 5. Block at the beginning of a function: + # Function(...) { + # {}; + # } + # + # Note that naively checking for the preceding "{" will also match + # braces inside multi-dimensional arrays, but this is fine since + # that expression will not contain semicolons. + # + # 6. Block following another block: + # while (true) {} + # {}; + # + # 7. End of namespaces: + # namespace {}; + # + # These semicolons seems far more common than other kinds of + # redundant semicolons, possibly due to people converting classes + # to namespaces. For now we do not warn for this case. + # + # Try matching case 1 first. + match = Match(r'^(.*\)\s*)\{', line) + if match: + # Matched closing parenthesis (case 1). Check the token before the + # matching opening parenthesis, and don't warn if it looks like a + # macro. This avoids these false positives: + # - macro that defines a base class + # - multi-line macro that defines a base class + # - macro that defines the whole class-head + # + # But we still issue warnings for macros that we know are safe to + # warn, specifically: + # - TEST, TEST_F, TEST_P, MATCHER, MATCHER_P + # - TYPED_TEST + # - INTERFACE_DEF + # - EXCLUSIVE_LOCKS_REQUIRED, SHARED_LOCKS_REQUIRED, LOCKS_EXCLUDED: + # + # We implement a list of safe macros instead of a list of + # unsafe macros, even though the latter appears less frequently in + # google code and would have been easier to implement. This is because + # the downside for getting the allowed checks wrong means some extra + # semicolons, while the downside for getting disallowed checks wrong + # would result in compile errors. + # + # In addition to macros, we also don't want to warn on + # - Compound literals + # - Lambdas + # - alignas specifier with anonymous structs + # - decltype + closing_brace_pos = match.group(1).rfind(')') + opening_parenthesis = ReverseCloseExpression( + clean_lines, linenum, closing_brace_pos) + if opening_parenthesis[2] > -1: + line_prefix = opening_parenthesis[0][0:opening_parenthesis[2]] + macro = Search(r'\b([A-Z_][A-Z0-9_]*)\s*$', line_prefix) + func = Match(r'^(.*\])\s*$', line_prefix) + if ((macro and + macro.group(1) not in ( + 'TEST', 'TEST_F', 'MATCHER', 'MATCHER_P', 'TYPED_TEST', + 'EXCLUSIVE_LOCKS_REQUIRED', 'SHARED_LOCKS_REQUIRED', + 'LOCKS_EXCLUDED', 'INTERFACE_DEF')) or + (func and not Search(r'\boperator\s*\[\s*\]', func.group(1))) or + Search(r'\b(?:struct|union)\s+alignas\s*$', line_prefix) or + Search(r'\bdecltype$', line_prefix) or + Search(r'\s+=\s*$', line_prefix)): + match = None + if (match and + opening_parenthesis[1] > 1 and + Search(r'\]\s*$', clean_lines.elided[opening_parenthesis[1] - 1])): + # Multi-line lambda-expression + match = None - Args: - operator: The C++ operator used in the CHECK. - macro: The CHECK or EXPECT macro being called. - line: The current source line. + else: + # Try matching cases 2-3. + match = Match(r'^(.*(?:else|\)\s*const)\s*)\{', line) + if not match: + # Try matching cases 4-6. These are always matched on separate lines. + # + # Note that we can't simply concatenate the previous line to the + # current line and do a single match, otherwise we may output + # duplicate warnings for the blank line case: + # if (cond) { + # // blank line + # } + prevline = GetPreviousNonBlankLine(clean_lines, linenum)[0] + if prevline and Search(r'[;{}]\s*$', prevline): + match = Match(r'^(\s*)\{', line) + + # Check matching closing brace + if match: + (endline, endlinenum, endpos) = CloseExpression( + clean_lines, linenum, len(match.group(1))) + if endpos > -1 and Match(r'^\s*;', endline[endpos:]): + # Current {} pair is eligible for semicolon check, and we have found + # the redundant semicolon, output warning here. + # + # Note: because we are scanning forward for opening braces, and + # outputting warnings for the matching closing brace, if there are + # nested blocks with trailing semicolons, we will get the error + # messages in reversed order. - Returns: - True if the CHECK can be replaced with a more specific one. + # We need to check the line forward for NOLINT + raw_lines = clean_lines.raw_lines + ParseNolintSuppressions(filename, raw_lines[endlinenum-1], endlinenum-1, + error) + ParseNolintSuppressions(filename, raw_lines[endlinenum], endlinenum, + error) + + error(filename, endlinenum, 'readability/braces', 4, + "You don't need a ; after a }") + + +def CheckEmptyBlockBody(filename, clean_lines, linenum, error): + """Look for empty loop/conditional body with only a single semicolon. + + Args: + filename: The name of the current file. + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + error: The function to call with any errors found. """ - # This matches decimal and hex integers, strings, and chars (in that order). - match_constant = r'([-+]?(\d+|0[xX][0-9a-fA-F]+)[lLuU]{0,3}|".*"|\'.*\')' + # Search for loop keywords at the beginning of the line. Because only + # whitespaces are allowed before the keywords, this will also ignore most + # do-while-loops, since those lines should start with closing brace. + # + # We also check "if" blocks here, since an empty conditional block + # is likely an error. + line = clean_lines.elided[linenum] + matched = Match(r'\s*(for|while|if)\s*\(', line) + if matched: + # Find the end of the conditional expression. + (end_line, end_linenum, end_pos) = CloseExpression( + clean_lines, linenum, line.find('(')) + + # Output warning if what follows the condition expression is a semicolon. + # No warning for all other cases, including whitespace or newline, since we + # have a separate check for semicolons preceded by whitespace. + if end_pos >= 0 and Match(r';', end_line[end_pos:]): + if matched.group(1) == 'if': + error(filename, end_linenum, 'whitespace/empty_conditional_body', 5, + 'Empty conditional bodies should use {}') + else: + error(filename, end_linenum, 'whitespace/empty_loop_body', 5, + 'Empty loop bodies should use {} or continue') + + # Check for if statements that have completely empty bodies (no comments) + # and no else clauses. + if end_pos >= 0 and matched.group(1) == 'if': + # Find the position of the opening { for the if statement. + # Return without logging an error if it has no brackets. + opening_linenum = end_linenum + opening_line_fragment = end_line[end_pos:] + # Loop until EOF or find anything that's not whitespace or opening {. + while not Search(r'^\s*\{', opening_line_fragment): + if Search(r'^(?!\s*$)', opening_line_fragment): + # Conditional has no brackets. + return + opening_linenum += 1 + if opening_linenum == len(clean_lines.elided): + # Couldn't find conditional's opening { or any code before EOF. + return + opening_line_fragment = clean_lines.elided[opening_linenum] + # Set opening_line (opening_line_fragment may not be entire opening line). + opening_line = clean_lines.elided[opening_linenum] + + # Find the position of the closing }. + opening_pos = opening_line_fragment.find('{') + if opening_linenum == end_linenum: + # We need to make opening_pos relative to the start of the entire line. + opening_pos += end_pos + (closing_line, closing_linenum, closing_pos) = CloseExpression( + clean_lines, opening_linenum, opening_pos) + if closing_pos < 0: + return + + # Now construct the body of the conditional. This consists of the portion + # of the opening line after the {, all lines until the closing line, + # and the portion of the closing line before the }. + if (clean_lines.raw_lines[opening_linenum] != + CleanseComments(clean_lines.raw_lines[opening_linenum])): + # Opening line ends with a comment, so conditional isn't empty. + return + if closing_linenum > opening_linenum: + # Opening line after the {. Ignore comments here since we checked above. + bodylist = list(opening_line[opening_pos+1:]) + # All lines until closing line, excluding closing line, with comments. + bodylist.extend(clean_lines.raw_lines[opening_linenum+1:closing_linenum]) + # Closing line before the }. Won't (and can't) have comments. + bodylist.append(clean_lines.elided[closing_linenum][:closing_pos-1]) + body = '\n'.join(bodylist) + else: + # If statement has brackets and fits on a single line. + body = opening_line[opening_pos+1:closing_pos-1] + + # Check if the body is empty + if not _EMPTY_CONDITIONAL_BODY_PATTERN.search(body): + return + # The body is empty. Now make sure there's not an else clause. + current_linenum = closing_linenum + current_line_fragment = closing_line[closing_pos:] + # Loop until EOF or find anything that's not whitespace or else clause. + while Search(r'^\s*$|^(?=\s*else)', current_line_fragment): + if Search(r'^(?=\s*else)', current_line_fragment): + # Found an else clause, so don't log an error. + return + current_linenum += 1 + if current_linenum == len(clean_lines.elided): + break + current_line_fragment = clean_lines.elided[current_linenum] + + # The body is empty and there's no else clause until EOF or other code. + error(filename, end_linenum, 'whitespace/empty_if_body', 4, + ('If statement had no body and no else clause')) + - # Expression to match two sides of the operator with something that - # looks like a literal, since CHECK(x == iterator) won't compile. - # This means we can't catch all the cases where a more specific - # CHECK is possible, but it's less annoying than dealing with - # extraneous warnings. - match_this = (r'\s*' + macro + r'\((\s*' + - match_constant + r'\s*' + operator + r'[^<>].*|' - r'.*[^<>]' + operator + r'\s*' + match_constant + - r'\s*\))') +def FindCheckMacro(line): + """Find a replaceable CHECK-like macro. - # Don't complain about CHECK(x == NULL) or similar because - # CHECK_EQ(x, NULL) won't compile (requires a cast). - # Also, don't complain about more complex boolean expressions - # involving && or || such as CHECK(a == b || c == d). - return Match(match_this, line) and not Search(r'NULL|&&|\|\|', line) + Args: + line: line to search on. + Returns: + (macro name, start position), or (None, -1) if no replaceable + macro is found. + """ + for macro in _CHECK_MACROS: + i = line.find(macro) + if i >= 0: + # Find opening parenthesis. Do a regular expression match here + # to make sure that we are matching the expected CHECK macro, as + # opposed to some other macro that happens to contain the CHECK + # substring. + matched = Match(r'^(.*\b' + macro + r'\s*)\(', line) + if not matched: + continue + return (macro, len(matched.group(1))) + return (None, -1) def CheckCheck(filename, clean_lines, linenum, error): @@ -2089,26 +4651,143 @@ def CheckCheck(filename, clean_lines, linenum, error): """ # Decide the set of replacement macros that should be suggested - raw_lines = clean_lines.raw_lines - current_macro = '' - for macro in _CHECK_MACROS: - if raw_lines[linenum].find(macro) >= 0: - current_macro = macro - break - if not current_macro: - # Don't waste time here if line doesn't contain 'CHECK' or 'EXPECT' + lines = clean_lines.elided + (check_macro, start_pos) = FindCheckMacro(lines[linenum]) + if not check_macro: return - line = clean_lines.elided[linenum] # get rid of comments and strings + # Find end of the boolean expression by matching parentheses + (last_line, end_line, end_pos) = CloseExpression( + clean_lines, linenum, start_pos) + if end_pos < 0: + return - # Encourage replacing plain CHECKs with CHECK_EQ/CHECK_NE/etc. - for operator in ['==', '!=', '>=', '>', '<=', '<']: - if ReplaceableCheck(operator, current_macro, line): - error(filename, linenum, 'readability/check', 2, - 'Consider using %s instead of %s(a %s b)' % ( - _CHECK_REPLACEMENT[current_macro][operator], - current_macro, operator)) - break + # If the check macro is followed by something other than a + # semicolon, assume users will log their own custom error messages + # and don't suggest any replacements. + if not Match(r'\s*;', last_line[end_pos:]): + return + + if linenum == end_line: + expression = lines[linenum][start_pos + 1:end_pos - 1] + else: + expression = lines[linenum][start_pos + 1:] + for i in xrange(linenum + 1, end_line): + expression += lines[i] + expression += last_line[0:end_pos - 1] + + # Parse expression so that we can take parentheses into account. + # This avoids false positives for inputs like "CHECK((a < 4) == b)", + # which is not replaceable by CHECK_LE. + lhs = '' + rhs = '' + operator = None + while expression: + matched = Match(r'^\s*(<<|<<=|>>|>>=|->\*|->|&&|\|\||' + r'==|!=|>=|>|<=|<|\()(.*)$', expression) + if matched: + token = matched.group(1) + if token == '(': + # Parenthesized operand + expression = matched.group(2) + (end, _) = FindEndOfExpressionInLine(expression, 0, ['(']) + if end < 0: + return # Unmatched parenthesis + lhs += '(' + expression[0:end] + expression = expression[end:] + elif token in ('&&', '||'): + # Logical and/or operators. This means the expression + # contains more than one term, for example: + # CHECK(42 < a && a < b); + # + # These are not replaceable with CHECK_LE, so bail out early. + return + elif token in ('<<', '<<=', '>>', '>>=', '->*', '->'): + # Non-relational operator + lhs += token + expression = matched.group(2) + else: + # Relational operator + operator = token + rhs = matched.group(2) + break + else: + # Unparenthesized operand. Instead of appending to lhs one character + # at a time, we do another regular expression match to consume several + # characters at once if possible. Trivial benchmark shows that this + # is more efficient when the operands are longer than a single + # character, which is generally the case. + matched = Match(r'^([^-=!<>()&|]+)(.*)$', expression) + if not matched: + matched = Match(r'^(\s*\S)(.*)$', expression) + if not matched: + break + lhs += matched.group(1) + expression = matched.group(2) + + # Only apply checks if we got all parts of the boolean expression + if not (lhs and operator and rhs): + return + + # Check that rhs do not contain logical operators. We already know + # that lhs is fine since the loop above parses out && and ||. + if rhs.find('&&') > -1 or rhs.find('||') > -1: + return + + # At least one of the operands must be a constant literal. This is + # to avoid suggesting replacements for unprintable things like + # CHECK(variable != iterator) + # + # The following pattern matches decimal, hex integers, strings, and + # characters (in that order). + lhs = lhs.strip() + rhs = rhs.strip() + match_constant = r'^([-+]?(\d+|0[xX][0-9a-fA-F]+)[lLuU]{0,3}|".*"|\'.*\')$' + if Match(match_constant, lhs) or Match(match_constant, rhs): + # Note: since we know both lhs and rhs, we can provide a more + # descriptive error message like: + # Consider using CHECK_EQ(x, 42) instead of CHECK(x == 42) + # Instead of: + # Consider using CHECK_EQ instead of CHECK(a == b) + # + # We are still keeping the less descriptive message because if lhs + # or rhs gets long, the error message might become unreadable. + error(filename, linenum, 'readability/check', 2, + 'Consider using %s instead of %s(a %s b)' % ( + _CHECK_REPLACEMENT[check_macro][operator], + check_macro, operator)) + + +def CheckAltTokens(filename, clean_lines, linenum, error): + """Check alternative keywords being used in boolean expressions. + + Args: + filename: The name of the current file. + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + error: The function to call with any errors found. + """ + line = clean_lines.elided[linenum] + + # Avoid preprocessor lines + if Match(r'^\s*#', line): + return + + # Last ditch effort to avoid multi-line comments. This will not help + # if the comment started before the current line or ended after the + # current line, but it catches most of the false positives. At least, + # it provides a way to workaround this warning for people who use + # multi-line comments in preprocessor macros. + # + # TODO(unknown): remove this once cpplint has better support for + # multi-line comments. + if line.find('/*') >= 0 or line.find('*/') >= 0: + return + + for match in _ALT_TOKEN_REPLACEMENT_PATTERN.finditer(line): + error(filename, linenum, 'readability/alt_tokens', 2, + 'Use operator %s instead of %s' % ( + _ALT_TOKEN_REPLACEMENT[match.group(1)], match.group(1))) def GetLineWidth(line): @@ -2127,13 +4806,23 @@ def GetLineWidth(line): if unicodedata.east_asian_width(uc) in ('W', 'F'): width += 2 elif not unicodedata.combining(uc): + # Issue 337 + # https://mail.python.org/pipermail/python-list/2012-August/628809.html + if (sys.version_info.major, sys.version_info.minor) <= (3, 2): + # https://github.com/python/cpython/blob/2.7/Include/unicodeobject.h#L81 + is_wide_build = sysconfig.get_config_var("Py_UNICODE_SIZE") >= 4 + # https://github.com/python/cpython/blob/2.7/Objects/unicodeobject.c#L564 + is_low_surrogate = 0xDC00 <= ord(uc) <= 0xDFFF + if not is_wide_build and is_low_surrogate: + width -= 1 + width += 1 return width else: return len(line) -def CheckStyle(filename, clean_lines, linenum, file_extension, class_state, +def CheckStyle(filename, clean_lines, linenum, file_extension, nesting_state, error): """Checks rules from the 'C++ style rules' section of cppguide.html. @@ -2146,11 +4835,17 @@ def CheckStyle(filename, clean_lines, linenum, file_extension, class_state, clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. file_extension: The extension (without the dot) of the filename. + nesting_state: A NestingState instance which maintains information about + the current stack of nested blocks being parsed. error: The function to call with any errors found. """ - raw_lines = clean_lines.raw_lines + # Don't use "elided" lines here, otherwise we can't check commented lines. + # Don't want to use "raw" either, because we don't want to check inside C++11 + # raw strings, + raw_lines = clean_lines.lines_without_raw_strings line = raw_lines[linenum] + prev = raw_lines[linenum - 1] if linenum > 0 else '' if line.find('\t') != -1: error(filename, linenum, 'whitespace/tab', 1, @@ -2168,32 +4863,33 @@ def CheckStyle(filename, clean_lines, linenum, file_extension, class_state, # if(match($0, " <<")) complain = 0; # if(match(prev, " +for \\(")) complain = 0; # if(prevodd && match(prevprev, " +for \\(")) complain = 0; + scope_or_label_pattern = r'\s*(?:public|private|protected|signals)(?:\s+(?:slots\s*)?)?:\s*\\?$' + classinfo = nesting_state.InnermostClass() initial_spaces = 0 cleansed_line = clean_lines.elided[linenum] while initial_spaces < len(line) and line[initial_spaces] == ' ': initial_spaces += 1 - if line and line[-1].isspace(): - error(filename, linenum, 'whitespace/end_of_line', 4, - 'Line ends in whitespace. Consider deleting these extra spaces.') - # There are certain situations we allow one space, notably for labels - elif ((initial_spaces == 1 or initial_spaces == 3) and - not Match(r'\s*\w+\s*:\s*$', cleansed_line)): + # There are certain situations we allow one space, notably for + # section labels, and also lines containing multi-line raw strings. + # We also don't check for lines that look like continuation lines + # (of lines ending in double quotes, commas, equals, or angle brackets) + # because the rules for how to indent those are non-trivial. + if (not Search(r'[",=><] *$', prev) and + (initial_spaces == 1 or initial_spaces == 3) and + not Match(scope_or_label_pattern, cleansed_line) and + not (clean_lines.raw_lines[linenum] != line and + Match(r'^\s*""', line))): error(filename, linenum, 'whitespace/indent', 3, 'Weird number of spaces at line-start. ' 'Are you using a 2-space indent?') - # Labels should always be indented at least one space. - elif not initial_spaces and line[:2] != '//' and Search(r'[^:]:\s*$', - line): - error(filename, linenum, 'whitespace/labels', 4, - 'Labels should always be indented at least one space. ' - 'If this is a member-initializer list in a constructor or ' - 'the base class list in a class definition, the colon should ' - 'be on the following line.') + if line and line[-1].isspace(): + error(filename, linenum, 'whitespace/end_of_line', 4, + 'Line ends in whitespace. Consider deleting these extra spaces.') # Check if the line is a header guard. is_header_guard = False - if file_extension == 'h': + if IsHeaderExtension(file_extension): cppvar = GetHeaderGuardCPPVariable(filename) if (line.startswith('#ifndef %s' % cppvar) or line.startswith('#define %s' % cppvar) or @@ -2207,18 +4903,23 @@ def CheckStyle(filename, clean_lines, linenum, file_extension, class_state, # # The "$Id:...$" comment may also get very long without it being the # developers fault. + # + # Doxygen documentation copying can get pretty long when using an overloaded + # function declaration if (not line.startswith('#include') and not is_header_guard and not Match(r'^\s*//.*http(s?)://\S*$', line) and - not Match(r'^// \$Id:.*#[0-9]+ \$$', line)): + not Match(r'^\s*//\s*[^\s]*$', line) and + not Match(r'^// \$Id:.*#[0-9]+ \$$', line) and + not Match(r'^\s*/// [@\\](copydoc|copydetails|copybrief) .*$', line)): line_width = GetLineWidth(line) - if line_width > 100: - error(filename, linenum, 'whitespace/line_length', 4, - 'Lines should very rarely be longer than 100 characters') - elif line_width > 80: + if line_width > _line_length: error(filename, linenum, 'whitespace/line_length', 2, - 'Lines should be <= 80 characters long') + 'Lines should be <= %i characters long' % _line_length) if (cleansed_line.count(';') > 1 and + # allow simple single line lambdas + not Match(r'^[^{};]*\[[^\[\]]*\][^{}]*\{[^{}\n\r]*\}', + line) and # for loops are allowed two ;'s (and may run over two lines). cleansed_line.find('for') == -1 and (GetPreviousNonBlankLine(clean_lines, linenum)[0].find('for') == -1 or @@ -2227,19 +4928,26 @@ def CheckStyle(filename, clean_lines, linenum, file_extension, class_state, not ((cleansed_line.find('case ') != -1 or cleansed_line.find('default:') != -1) and cleansed_line.find('break;') != -1)): - error(filename, linenum, 'whitespace/newline', 4, + error(filename, linenum, 'whitespace/newline', 0, 'More than one command on the same line') # Some more style checks CheckBraces(filename, clean_lines, linenum, error) - CheckSpacing(filename, clean_lines, linenum, error) + CheckTrailingSemicolon(filename, clean_lines, linenum, error) + CheckEmptyBlockBody(filename, clean_lines, linenum, error) + CheckSpacing(filename, clean_lines, linenum, nesting_state, error) + CheckOperatorSpacing(filename, clean_lines, linenum, error) + CheckParenthesisSpacing(filename, clean_lines, linenum, error) + CheckCommaSpacing(filename, clean_lines, linenum, error) + CheckBracesSpacing(filename, clean_lines, linenum, nesting_state, error) + CheckSpacingForFunctionCall(filename, clean_lines, linenum, error) CheckCheck(filename, clean_lines, linenum, error) - if class_state and class_state.classinfo_stack: - CheckSectionSpacing(filename, clean_lines, - class_state.classinfo_stack[-1], linenum, error) + CheckAltTokens(filename, clean_lines, linenum, error) + classinfo = nesting_state.InnermostClass() + if classinfo: + CheckSectionSpacing(filename, clean_lines, classinfo, linenum, error) -_RE_PATTERN_INCLUDE_NEW_STYLE = re.compile(r'#include +"[^/]+\.h"') _RE_PATTERN_INCLUDE = re.compile(r'^\s*#\s*include\s*([<"])([^>"]*)[>"].*$') # Matches the first component of a filename delimited by -s and _s. That is: # _RE_FIRST_COMPONENT.match('foo').group(0) == 'foo' @@ -2268,38 +4976,25 @@ def _DropCommonSuffixes(filename): Returns: The filename with the common suffix removed. """ - for suffix in ('test.cc', 'regtest.cc', 'unittest.cc', - 'inl.h', 'impl.h', 'internal.h'): + for suffix in itertools.chain( + ('%s.%s' % (test_suffix.lstrip('_'), ext) + for test_suffix, ext in itertools.product(_test_suffixes, GetNonHeaderExtensions())), + ('%s.%s' % (suffix, ext) + for suffix, ext in itertools.product(['inl', 'imp', 'internal'], GetHeaderExtensions()))): if (filename.endswith(suffix) and len(filename) > len(suffix) and filename[-len(suffix) - 1] in ('-', '_')): return filename[:-len(suffix) - 1] return os.path.splitext(filename)[0] -def _IsTestFilename(filename): - """Determines if the given filename has a suffix that identifies it as a test. - - Args: - filename: The input filename. - - Returns: - True if 'filename' looks like a test, False otherwise. - """ - if (filename.endswith('_test.cc') or - filename.endswith('_unittest.cc') or - filename.endswith('_regtest.cc')): - return True - else: - return False - - -def _ClassifyInclude(fileinfo, include, is_system): +def _ClassifyInclude(fileinfo, include, used_angle_brackets, include_order="default"): """Figures out what kind of header 'include' is. Args: fileinfo: The current file cpplint is running over. A FileInfo instance. include: The path to a #included file. - is_system: True if the #include used <> rather than "". + used_angle_brackets: True if the #include used <> rather than "". + include_order: "default" or other value allowed in program arguments Returns: One of the _XXX_HEADER constants. @@ -2309,6 +5004,8 @@ def _ClassifyInclude(fileinfo, include, is_system): _C_SYS_HEADER >>> _ClassifyInclude(FileInfo('foo/foo.cc'), 'string', True) _CPP_SYS_HEADER + >>> _ClassifyInclude(FileInfo('foo/foo.cc'), 'foo/foo.h', True, "standardcfirst") + _OTHER_SYS_HEADER >>> _ClassifyInclude(FileInfo('foo/foo.cc'), 'foo/foo.h', False) _LIKELY_MY_HEADER >>> _ClassifyInclude(FileInfo('foo/foo_unknown_extension.cc'), @@ -2319,14 +5016,23 @@ def _ClassifyInclude(fileinfo, include, is_system): """ # This is a list of all standard c++ header files, except # those already checked for above. - is_stl_h = include in _STL_HEADERS - is_cpp_h = is_stl_h or include in _CPP_HEADERS or include.find(".hpp") or include.find(".hh") > 0 + is_cpp_header = include in _CPP_HEADERS + + # Mark include as C header if in list or in a known folder for standard-ish C headers. + is_std_c_header = (include_order == "default") or (include in _C_HEADERS + # additional linux glibc header folders + or Search(r'(?:%s)\/.*\.h' % "|".join(C_STANDARD_HEADER_FOLDERS), include)) + + # Headers with C++ extensions shouldn't be considered C system headers + is_system = used_angle_brackets and not os.path.splitext(include)[1] in ['.hpp', '.hxx', '.h++'] if is_system: - if is_cpp_h: + if is_cpp_header: return _CPP_SYS_HEADER - else: + if is_std_c_header: return _C_SYS_HEADER + else: + return _OTHER_SYS_HEADER # If the target file and the include we're checking share a # basename when we drop common extensions, and the include @@ -2334,9 +5040,11 @@ def _ClassifyInclude(fileinfo, include, is_system): target_dir, target_base = ( os.path.split(_DropCommonSuffixes(fileinfo.RepositoryName()))) include_dir, include_base = os.path.split(_DropCommonSuffixes(include)) + target_dir_pub = os.path.normpath(target_dir + '/../public') + target_dir_pub = target_dir_pub.replace('\\', '/') if target_base == include_base and ( include_dir == target_dir or - include_dir == os.path.normpath(target_dir + '/../public')): + include_dir == target_dir_pub): return _LIKELY_MY_HEADER # If the target and include share some initial basename @@ -2369,13 +5077,19 @@ def CheckIncludeLine(filename, clean_lines, linenum, include_state, error): error: The function to call with any errors found. """ fileinfo = FileInfo(filename) - line = clean_lines.lines[linenum] # "include" should use the new style "foo/bar.h" instead of just "bar.h" - #if _RE_PATTERN_INCLUDE_NEW_STYLE.search(line): - # error(filename, linenum, 'build/include', 4, - # 'Include the directory when naming .h files') + # Only do this check if the included header follows google naming + # conventions. If not, assume that it's a 3rd party API that + # requires special include conventions. + # + # We also make an exception for Lua headers, which follow google + # naming convention but not the include convention. + match = Match(r'#include\s*"([^/]+\.h)"', line) + if match and not _THIRD_PARTY_HEADERS_PATTERN.match(match.group(1)): + error(filename, linenum, 'build/include_subdir', 4, + 'Include the directory when naming .h files') # we shouldn't include a file more than once. actually, there are a # handful of instances where doing so is okay, but in general it's @@ -2383,13 +5097,35 @@ def CheckIncludeLine(filename, clean_lines, linenum, include_state, error): match = _RE_PATTERN_INCLUDE.search(line) if match: include = match.group(2) - is_system = (match.group(1) == '<') - if include in include_state: + used_angle_brackets = (match.group(1) == '<') + duplicate_line = include_state.FindHeader(include) + if duplicate_line >= 0: error(filename, linenum, 'build/include', 4, '"%s" already included at %s:%s' % - (include, filename, include_state[include])) - else: - include_state[include] = linenum + (include, filename, duplicate_line)) + return + + for extension in GetNonHeaderExtensions(): + if (include.endswith('.' + extension) and + os.path.dirname(fileinfo.RepositoryName()) != os.path.dirname(include)): + error(filename, linenum, 'build/include', 4, + 'Do not include .' + extension + ' files from other packages') + return + + # We DO want to include a 3rd party looking header if it matches the + # filename. Otherwise we get an erroneous error "...should include its + # header" error later. + third_src_header = False + for ext in GetHeaderExtensions(): + basefilename = filename[0:len(filename) - len(fileinfo.Extension())] + headerfile = basefilename + '.' + ext + headername = FileInfo(headerfile).RepositoryName() + if headername in include or include in headername: + third_src_header = True + break + + if third_src_header or not _THIRD_PARTY_HEADERS_PATTERN.match(include): + include_state.include_list[-1].append((include, linenum)) # We want to ensure that headers appear in the right order: # 1) for foo.cc, foo.h (preferred location) @@ -2403,28 +5139,22 @@ def CheckIncludeLine(filename, clean_lines, linenum, include_state, error): # track of the highest type seen, and complains if we see a # lower type after that. error_message = include_state.CheckNextIncludeOrder( - _ClassifyInclude(fileinfo, include, is_system)) + _ClassifyInclude(fileinfo, include, used_angle_brackets, _include_order)) if error_message: error(filename, linenum, 'build/include_order', 4, - '%s. Should be: c system, c++ system, other, %s.h .' % + '%s. Should be: %s.h, c system, c++ system, other.' % (error_message, fileinfo.BaseName())) - if not include_state.IsInAlphabeticalOrder(include): + canonical_include = include_state.CanonicalizeAlphabeticalOrder(include) + if not include_state.IsInAlphabeticalOrder( + clean_lines, linenum, canonical_include): error(filename, linenum, 'build/include_alpha', 4, 'Include "%s" not in alphabetical order' % include) + include_state.SetLastHeader(canonical_include) - # Look for any of the stream classes that are part of standard C++. - #match = _RE_PATTERN_INCLUDE.match(line) - #if match: - # include = match.group(2) - # if Match(r'(f|ind|io|i|o|parse|pf|stdio|str|)?stream$', include): - # # Many unit tests use cout, so we exempt them. - # if not _IsTestFilename(filename): - # error(filename, linenum, 'readability/streams', 3, - # 'Streams are highly discouraged.') def _GetTextInside(text, start_pattern): - """Retrieves all the text between matching open and close parentheses. + r"""Retrieves all the text between matching open and close parentheses. Given a string of lines and a regular expression string, retrieve all the text following the expression and between opening punctuation symbols like @@ -2443,12 +5173,12 @@ def _GetTextInside(text, start_pattern): The extracted text. None if either the opening string or ending punctuation could not be found. """ - # TODO(sugawarayu): Audit cpplint.py to see what places could be profitably + # TODO(unknown): Audit cpplint.py to see what places could be profitably # rewritten to use _GetTextInside (and use inferior regexp matching today). # Give opening punctuations to get the matching close-punctuations. matching_punctuation = {'(': ')', '{': '}', '[': ']'} - closing_punctuation = set(matching_punctuation.itervalues()) + closing_punctuation = set(itervalues(matching_punctuation)) # Find the position to start extracting text. match = re.search(start_pattern, text, re.M) @@ -2479,8 +5209,37 @@ def _GetTextInside(text, start_pattern): return text[start_position:position - 1] -def CheckLanguage(filename, clean_lines, linenum, file_extension, include_state, - error): +# Patterns for matching call-by-reference parameters. +# +# Supports nested templates up to 2 levels deep using this messy pattern: +# < (?: < (?: < [^<>]* +# > +# | [^<>] )* +# > +# | [^<>] )* +# > +_RE_PATTERN_IDENT = r'[_a-zA-Z]\w*' # =~ [[:alpha:]][[:alnum:]]* +_RE_PATTERN_TYPE = ( + r'(?:const\s+)?(?:typename\s+|class\s+|struct\s+|union\s+|enum\s+)?' + r'(?:\w|' + r'\s*<(?:<(?:<[^<>]*>|[^<>])*>|[^<>])*>|' + r'::)+') +# A call-by-reference parameter ends with '& identifier'. +_RE_PATTERN_REF_PARAM = re.compile( + r'(' + _RE_PATTERN_TYPE + r'(?:\s*(?:\bconst\b|[*]))*\s*' + r'&\s*' + _RE_PATTERN_IDENT + r')\s*(?:=[^,()]+)?[,)]') +# A call-by-const-reference parameter either ends with 'const& identifier' +# or looks like 'const type& identifier' when 'type' is atomic. +_RE_PATTERN_CONST_REF_PARAM = ( + r'(?:.*\s*\bconst\s*&\s*' + _RE_PATTERN_IDENT + + r'|const\s+' + _RE_PATTERN_TYPE + r'\s*&\s*' + _RE_PATTERN_IDENT + r')') +# Stream types. +_RE_PATTERN_REF_STREAM_PARAM = ( + r'(?:.*stream\s*&\s*' + _RE_PATTERN_IDENT + r')') + + +def CheckLanguage(filename, clean_lines, linenum, file_extension, + include_state, nesting_state, error): """Checks rules from the 'C++ language rules' section of cppguide.html. Some of these rules are hard to test (function overloading, using @@ -2492,6 +5251,8 @@ def CheckLanguage(filename, clean_lines, linenum, file_extension, include_state, linenum: The number of the line to check. file_extension: The extension (without the dot) of the filename. include_state: An _IncludeState instance in which the headers are inserted. + nesting_state: A NestingState instance which maintains information about + the current stack of nested blocks being parsed. error: The function to call with any errors found. """ # If the line is empty or consists of entirely a comment, no need to @@ -2505,121 +5266,23 @@ def CheckLanguage(filename, clean_lines, linenum, file_extension, include_state, CheckIncludeLine(filename, clean_lines, linenum, include_state, error) return - # Create an extended_line, which is the concatenation of the current and - # next lines, for more effective checking of code that may span more than one - # line. - if linenum + 1 < clean_lines.NumLines(): - extended_line = line + clean_lines.elided[linenum + 1] - else: - extended_line = line - - # Make Windows paths like Unix. - fullname = os.path.abspath(filename).replace('\\', '/') - - # TODO(unknown): figure out if they're using default arguments in fn proto. - - # Check for non-const references in functions. This is tricky because & - # is also used to take the address of something. We allow <> for templates, - # (ignoring whatever is between the braces) and : for classes. - # These are complicated re's. They try to capture the following: - # paren (for fn-prototype start), typename, &, varname. For the const - # version, we're willing for const to be before typename or after - # Don't check the implementation on same line. - #fnline = line.split('{', 1)[0] - #if (len(re.findall(r'\([^()]*\b(?:[\w:]|<[^()]*>)+(\s?&|&\s?)\w+', fnline)) > - # len(re.findall(r'\([^()]*\bconst\s+(?:typename\s+)?(?:struct\s+)?' - # r'(?:[\w:]|<[^()]*>)+(\s?&|&\s?)\w+', fnline)) + - # len(re.findall(r'\([^()]*\b(?:[\w:]|<[^()]*>)+\s+const(\s?&|&\s?)[\w]+', - # fnline))): - - # # We allow non-const references in a few standard places, like functions - # # called "swap()" or iostream operators like "<<" or ">>". - # if not Search( - # r'(swap|Swap|operator[<>][<>])\s*\(\s*(?:[\w:]|<.*>)+\s*&', - # fnline): - # error(filename, linenum, 'runtime/references', 2, - # 'Is this a non-const reference? ' - # 'If so, make const or use a pointer.') - - # Check to see if they're using an conversion function cast. - # I just try to capture the most common basic types, though there are more. - # Parameterless conversion functions, such as bool(), are allowed as they are - # probably a member operator declaration or default constructor. - match = Search( - r'(\bnew\s+)?\b' # Grab 'new' operator, if it's there - r'(int|float|double|bool|char|int32|uint32|int64|uint64)\([^)]', line) + # Reset include state across preprocessor directives. This is meant + # to silence warnings for conditional includes. + match = Match(r'^\s*#\s*(if|ifdef|ifndef|elif|else|endif)\b', line) if match: - # gMock methods are defined using some variant of MOCK_METHODx(name, type) - # where type may be float(), int(string), etc. Without context they are - # virtually indistinguishable from int(x) casts. Likewise, gMock's - # MockCallback takes a template parameter of the form return_type(arg_type), - # which looks much like the cast we're trying to detect. - if (match.group(1) is None and # If new operator, then this isn't a cast - not (Match(r'^\s*MOCK_(CONST_)?METHOD\d+(_T)?\(', line) or - Match(r'^\s*MockCallback<.*>', line))): - error(filename, linenum, 'readability/casting', 4, - 'Using deprecated casting style. ' - 'Use static_cast<%s>(...) instead' % - match.group(2)) + include_state.ResetSection(match.group(1)) - CheckCStyleCast(filename, linenum, line, clean_lines.raw_lines[linenum], - 'static_cast', - r'\((int|float|double|bool|char|u?int(16|32|64))\)', error) - # This doesn't catch all cases. Consider (const char * const)"hello". - # - # (char *) "foo" should always be a const_cast (reinterpret_cast won't - # compile). - if CheckCStyleCast(filename, linenum, line, clean_lines.raw_lines[linenum], - 'const_cast', r'\((char\s?\*+\s?)\)\s*"', error): - pass - else: - # Check pointer casts for other than string constants - CheckCStyleCast(filename, linenum, line, clean_lines.raw_lines[linenum], - 'reinterpret_cast', r'\((\w+\s?\*+\s?)\)', error) - - # In addition, we look for people taking the address of a cast. This - # is dangerous -- casts can assign to temporaries, so the pointer doesn't - # point where you think. - if Search( - r'(&\([^)]+\)[\w(])|(&(static|dynamic|reinterpret)_cast\b)', line): - error(filename, linenum, 'runtime/casting', 4, - ('Are you taking an address of a cast? ' - 'This is dangerous: could be a temp var. ' - 'Take the address before doing the cast, rather than after')) - - # Check for people declaring static/global STL strings at the top level. - # This is dangerous because the C++ language does not guarantee that - # globals with constructors are initialized before the first access. - match = Match( - r'((?:|static +)(?:|const +))string +([a-zA-Z0-9_:]+)\b(.*)', - line) - # Make sure it's not a function. - # Function template specialization looks like: "string foo(...". - # Class template definitions look like: "string Foo::Method(...". - if match and not Match(r'\s*(<.*>)?(::[a-zA-Z0-9_]+)?\s*\(([^"]|$)', - match.group(3)): - error(filename, linenum, 'runtime/string', 4, - 'For a static/global string constant, use a C style string instead: ' - '"%schar %s[]".' % - (match.group(1), match.group(2))) - - # Check that we're not using RTTI outside of testing code. - #if Search(r'\bdynamic_cast<', line) and not _IsTestFilename(filename): - # error(filename, linenum, 'runtime/rtti', 5, - # 'Do not use dynamic_cast<>. If you need to cast within a class ' - # "hierarchy, use static_cast<> to upcast. Google doesn't support " - # 'RTTI.') - - if Search(r'\b([A-Za-z0-9_]*_)\(\1\)', line): - error(filename, linenum, 'runtime/init', 4, - 'You seem to be initializing a member variable with itself.') + # Perform other checks now that we are sure that this is not an include line + CheckCasts(filename, clean_lines, linenum, error) + CheckGlobalStatic(filename, clean_lines, linenum, error) + CheckPrintf(filename, clean_lines, linenum, error) - if file_extension == 'h': + if IsHeaderExtension(file_extension): # TODO(unknown): check that 1-arg constructors are explicit. # How to tell it's a constructor? # (handled in CheckForNonStandardConstructs for now) - # TODO(unknown): check that classes have DISALLOW_EVIL_CONSTRUCTORS + # TODO(unknown): check that classes declare or disable copy/assign # (level 1 error) pass @@ -2635,27 +5298,6 @@ def CheckLanguage(filename, clean_lines, linenum, file_extension, include_state, error(filename, linenum, 'runtime/int', 4, 'Use int16/int64/etc, rather than the C type %s' % match.group(1)) - # When snprintf is used, the second argument shouldn't be a literal. - match = Search(r'snprintf\s*\(([^,]*),\s*([0-9]*)\s*,', line) - if match and match.group(2) != '0': - # If 2nd arg is zero, snprintf is used to calculate size. - error(filename, linenum, 'runtime/printf', 3, - 'If you can, use sizeof(%s) instead of %s as the 2nd arg ' - 'to snprintf.' % (match.group(1), match.group(2))) - - # Check if some verboten C functions are being used. - if Search(r'\bsprintf\b', line): - error(filename, linenum, 'runtime/printf', 5, - 'Never use sprintf. Use snprintf instead.') - match = Search(r'\b(strcpy|strcat)\b', line) - if match: - error(filename, linenum, 'runtime/printf', 4, - 'Almost always, snprintf is better than %s' % match.group(1)) - - #if Search(r'\bsscanf\b', line): - # error(filename, linenum, 'runtime/printf', 1, - # 'sscanf can be ok, but is slow and can overflow buffers.') - # Check if some verboten operator overloading is going on # TODO(unknown): catch out-of-line unary operator&: # class X {}; @@ -2675,114 +5317,523 @@ def CheckLanguage(filename, clean_lines, linenum, file_extension, include_state, # Check for potential format string bugs like printf(foo). # We constrain the pattern not to pick things like DocidForPrintf(foo). # Not perfect but it can catch printf(foo.c_str()) and printf(foo->c_str()) - # TODO(sugawarayu): Catch the following case. Need to change the calling + # TODO(unknown): Catch the following case. Need to change the calling # convention of the whole function to process multiple line to handle it. # printf( # boy_this_is_a_really_long_variable_that_cannot_fit_on_the_prev_line); printf_args = _GetTextInside(line, r'(?i)\b(string)?printf\s*\(') if printf_args: match = Match(r'([\w.\->()]+)$', printf_args) - if match: + if match and match.group(1) != '__VA_ARGS__': function_name = re.search(r'\b((?:string)?printf)\s*\(', line, re.I).group(1) error(filename, linenum, 'runtime/printf', 4, 'Potential format string bug. Do %s("%%s", %s) instead.' % (function_name, match.group(1))) - # Check for potential memset bugs like memset(buf, sizeof(buf), 0). - match = Search(r'memset\s*\(([^,]*),\s*([^,]*),\s*0\s*\)', line) - if match and not Match(r"^''|-?[0-9]+|0x[0-9A-Fa-f]$", match.group(2)): - error(filename, linenum, 'runtime/memset', 4, - 'Did you mean "memset(%s, 0, %s)"?' - % (match.group(1), match.group(2))) + # Check for potential memset bugs like memset(buf, sizeof(buf), 0). + match = Search(r'memset\s*\(([^,]*),\s*([^,]*),\s*0\s*\)', line) + if match and not Match(r"^''|-?[0-9]+|0x[0-9A-Fa-f]$", match.group(2)): + error(filename, linenum, 'runtime/memset', 4, + 'Did you mean "memset(%s, 0, %s)"?' + % (match.group(1), match.group(2))) + + if Search(r'\busing namespace\b', line): + if Search(r'\bliterals\b', line): + error(filename, linenum, 'build/namespaces_literals', 5, + 'Do not use namespace using-directives. ' + 'Use using-declarations instead.') + else: + error(filename, linenum, 'build/namespaces', 5, + 'Do not use namespace using-directives. ' + 'Use using-declarations instead.') + + # Detect variable-length arrays. + match = Match(r'\s*(.+::)?(\w+) [a-z]\w*\[(.+)];', line) + if (match and match.group(2) != 'return' and match.group(2) != 'delete' and + match.group(3).find(']') == -1): + # Split the size using space and arithmetic operators as delimiters. + # If any of the resulting tokens are not compile time constants then + # report the error. + tokens = re.split(r'\s|\+|\-|\*|\/|<<|>>]', match.group(3)) + is_const = True + skip_next = False + for tok in tokens: + if skip_next: + skip_next = False + continue + + if Search(r'sizeof\(.+\)', tok): continue + if Search(r'arraysize\(\w+\)', tok): continue + + tok = tok.lstrip('(') + tok = tok.rstrip(')') + if not tok: continue + if Match(r'\d+', tok): continue + if Match(r'0[xX][0-9a-fA-F]+', tok): continue + if Match(r'k[A-Z0-9]\w*', tok): continue + if Match(r'(.+::)?k[A-Z0-9]\w*', tok): continue + if Match(r'(.+::)?[A-Z][A-Z0-9_]*', tok): continue + # A catch all for tricky sizeof cases, including 'sizeof expression', + # 'sizeof(*type)', 'sizeof(const type)', 'sizeof(struct StructName)' + # requires skipping the next token because we split on ' ' and '*'. + if tok.startswith('sizeof'): + skip_next = True + continue + is_const = False + break + if not is_const: + error(filename, linenum, 'runtime/arrays', 1, + 'Do not use variable-length arrays. Use an appropriately named ' + "('k' followed by CamelCase) compile-time constant for the size.") + + # Check for use of unnamed namespaces in header files. Registration + # macros are typically OK, so we allow use of "namespace {" on lines + # that end with backslashes. + if (IsHeaderExtension(file_extension) + and Search(r'\bnamespace\s*{', line) + and line[-1] != '\\'): + error(filename, linenum, 'build/namespaces_headers', 4, + 'Do not use unnamed namespaces in header files. See ' + 'https://google-styleguide.googlecode.com/svn/trunk/cppguide.xml#Namespaces' + ' for more information.') + + +def CheckGlobalStatic(filename, clean_lines, linenum, error): + """Check for unsafe global or static objects. + + Args: + filename: The name of the current file. + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + error: The function to call with any errors found. + """ + line = clean_lines.elided[linenum] + + # Match two lines at a time to support multiline declarations + if linenum + 1 < clean_lines.NumLines() and not Search(r'[;({]', line): + line += clean_lines.elided[linenum + 1].strip() + + # Check for people declaring static/global STL strings at the top level. + # This is dangerous because the C++ language does not guarantee that + # globals with constructors are initialized before the first access, and + # also because globals can be destroyed when some threads are still running. + # TODO(unknown): Generalize this to also find static unique_ptr instances. + # TODO(unknown): File bugs for clang-tidy to find these. + match = Match( + r'((?:|static +)(?:|const +))(?::*std::)?string( +const)? +' + r'([a-zA-Z0-9_:]+)\b(.*)', + line) + + # Remove false positives: + # - String pointers (as opposed to values). + # string *pointer + # const string *pointer + # string const *pointer + # string *const pointer + # + # - Functions and template specializations. + # string Function(... + # string Class::Method(... + # + # - Operators. These are matched separately because operator names + # cross non-word boundaries, and trying to match both operators + # and functions at the same time would decrease accuracy of + # matching identifiers. + # string Class::operator*() + if (match and + not Search(r'\bstring\b(\s+const)?\s*[\*\&]\s*(const\s+)?\w', line) and + not Search(r'\boperator\W', line) and + not Match(r'\s*(<.*>)?(::[a-zA-Z0-9_]+)*\s*\(([^"]|$)', match.group(4))): + if Search(r'\bconst\b', line): + error(filename, linenum, 'runtime/string', 4, + 'For a static/global string constant, use a C style string ' + 'instead: "%schar%s %s[]".' % + (match.group(1), match.group(2) or '', match.group(3))) + else: + error(filename, linenum, 'runtime/string', 4, + 'Static/global string variables are not permitted.') + + if (Search(r'\b([A-Za-z0-9_]*_)\(\1\)', line) or + Search(r'\b([A-Za-z0-9_]*_)\(CHECK_NOTNULL\(\1\)\)', line)): + error(filename, linenum, 'runtime/init', 4, + 'You seem to be initializing a member variable with itself.') + + +def CheckPrintf(filename, clean_lines, linenum, error): + """Check for printf related issues. + + Args: + filename: The name of the current file. + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + error: The function to call with any errors found. + """ + line = clean_lines.elided[linenum] + + # When snprintf is used, the second argument shouldn't be a literal. + match = Search(r'snprintf\s*\(([^,]*),\s*([0-9]*)\s*,', line) + if match and match.group(2) != '0': + # If 2nd arg is zero, snprintf is used to calculate size. + error(filename, linenum, 'runtime/printf', 3, + 'If you can, use sizeof(%s) instead of %s as the 2nd arg ' + 'to snprintf.' % (match.group(1), match.group(2))) + + # Check if some verboten C functions are being used. + if Search(r'\bsprintf\s*\(', line): + error(filename, linenum, 'runtime/printf', 5, + 'Never use sprintf. Use snprintf instead.') + match = Search(r'\b(strcpy|strcat)\s*\(', line) + if match: + error(filename, linenum, 'runtime/printf', 4, + 'Almost always, snprintf is better than %s' % match.group(1)) + + +def IsDerivedFunction(clean_lines, linenum): + """Check if current line contains an inherited function. + + Args: + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + Returns: + True if current line contains a function with "override" + virt-specifier. + """ + # Scan back a few lines for start of current function + for i in xrange(linenum, max(-1, linenum - 10), -1): + match = Match(r'^([^()]*\w+)\(', clean_lines.elided[i]) + if match: + # Look for "override" after the matching closing parenthesis + line, _, closing_paren = CloseExpression( + clean_lines, i, len(match.group(1))) + return (closing_paren >= 0 and + Search(r'\boverride\b', line[closing_paren:])) + return False + + +def IsOutOfLineMethodDefinition(clean_lines, linenum): + """Check if current line contains an out-of-line method definition. + + Args: + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + Returns: + True if current line contains an out-of-line method definition. + """ + # Scan back a few lines for start of current function + for i in xrange(linenum, max(-1, linenum - 10), -1): + if Match(r'^([^()]*\w+)\(', clean_lines.elided[i]): + return Match(r'^[^()]*\w+::\w+\(', clean_lines.elided[i]) is not None + return False + + +def IsInitializerList(clean_lines, linenum): + """Check if current line is inside constructor initializer list. + + Args: + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + Returns: + True if current line appears to be inside constructor initializer + list, False otherwise. + """ + for i in xrange(linenum, 1, -1): + line = clean_lines.elided[i] + if i == linenum: + remove_function_body = Match(r'^(.*)\{\s*$', line) + if remove_function_body: + line = remove_function_body.group(1) + + if Search(r'\s:\s*\w+[({]', line): + # A lone colon tend to indicate the start of a constructor + # initializer list. It could also be a ternary operator, which + # also tend to appear in constructor initializer lists as + # opposed to parameter lists. + return True + if Search(r'\}\s*,\s*$', line): + # A closing brace followed by a comma is probably the end of a + # brace-initialized member in constructor initializer list. + return True + if Search(r'[{};]\s*$', line): + # Found one of the following: + # - A closing brace or semicolon, probably the end of the previous + # function. + # - An opening brace, probably the start of current class or namespace. + # + # Current line is probably not inside an initializer list since + # we saw one of those things without seeing the starting colon. + return False + + # Got to the beginning of the file without seeing the start of + # constructor initializer list. + return False + + +def CheckForNonConstReference(filename, clean_lines, linenum, + nesting_state, error): + """Check for non-const references. + + Separate from CheckLanguage since it scans backwards from current + line, instead of scanning forward. + + Args: + filename: The name of the current file. + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + nesting_state: A NestingState instance which maintains information about + the current stack of nested blocks being parsed. + error: The function to call with any errors found. + """ + # Do nothing if there is no '&' on current line. + line = clean_lines.elided[linenum] + if '&' not in line: + return + + # If a function is inherited, current function doesn't have much of + # a choice, so any non-const references should not be blamed on + # derived function. + if IsDerivedFunction(clean_lines, linenum): + return + + # Don't warn on out-of-line method definitions, as we would warn on the + # in-line declaration, if it isn't marked with 'override'. + if IsOutOfLineMethodDefinition(clean_lines, linenum): + return + + # Long type names may be broken across multiple lines, usually in one + # of these forms: + # LongType + # ::LongTypeContinued &identifier + # LongType:: + # LongTypeContinued &identifier + # LongType< + # ...>::LongTypeContinued &identifier + # + # If we detected a type split across two lines, join the previous + # line to current line so that we can match const references + # accordingly. + # + # Note that this only scans back one line, since scanning back + # arbitrary number of lines would be expensive. If you have a type + # that spans more than 2 lines, please use a typedef. + if linenum > 1: + previous = None + if Match(r'\s*::(?:[\w<>]|::)+\s*&\s*\S', line): + # previous_line\n + ::current_line + previous = Search(r'\b((?:const\s*)?(?:[\w<>]|::)+[\w<>])\s*$', + clean_lines.elided[linenum - 1]) + elif Match(r'\s*[a-zA-Z_]([\w<>]|::)+\s*&\s*\S', line): + # previous_line::\n + current_line + previous = Search(r'\b((?:const\s*)?(?:[\w<>]|::)+::)\s*$', + clean_lines.elided[linenum - 1]) + if previous: + line = previous.group(1) + line.lstrip() + else: + # Check for templated parameter that is split across multiple lines + endpos = line.rfind('>') + if endpos > -1: + (_, startline, startpos) = ReverseCloseExpression( + clean_lines, linenum, endpos) + if startpos > -1 and startline < linenum: + # Found the matching < on an earlier line, collect all + # pieces up to current line. + line = '' + for i in xrange(startline, linenum + 1): + line += clean_lines.elided[i].strip() + + # Check for non-const references in function parameters. A single '&' may + # found in the following places: + # inside expression: binary & for bitwise AND + # inside expression: unary & for taking the address of something + # inside declarators: reference parameter + # We will exclude the first two cases by checking that we are not inside a + # function body, including one that was just introduced by a trailing '{'. + # TODO(unknown): Doesn't account for 'catch(Exception& e)' [rare]. + if (nesting_state.previous_stack_top and + not (isinstance(nesting_state.previous_stack_top, _ClassInfo) or + isinstance(nesting_state.previous_stack_top, _NamespaceInfo))): + # Not at toplevel, not within a class, and not within a namespace + return + + # Avoid initializer lists. We only need to scan back from the + # current line for something that starts with ':'. + # + # We don't need to check the current line, since the '&' would + # appear inside the second set of parentheses on the current line as + # opposed to the first set. + if linenum > 0: + for i in xrange(linenum - 1, max(0, linenum - 10), -1): + previous_line = clean_lines.elided[i] + if not Search(r'[),]\s*$', previous_line): + break + if Match(r'^\s*:\s+\S', previous_line): + return + + # Avoid preprocessors + if Search(r'\\\s*$', line): + return + + # Avoid constructor initializer lists + if IsInitializerList(clean_lines, linenum): + return + + # We allow non-const references in a few standard places, like functions + # called "swap()" or iostream operators like "<<" or ">>". Do not check + # those function parameters. + # + # We also accept & in static_assert, which looks like a function but + # it's actually a declaration expression. + allowed_functions = (r'(?:[sS]wap(?:<\w:+>)?|' + r'operator\s*[<>][<>]|' + r'static_assert|COMPILE_ASSERT' + r')\s*\(') + if Search(allowed_functions, line): + return + elif not Search(r'\S+\([^)]*$', line): + # Don't see an allowed function on this line. Actually we + # didn't see any function name on this line, so this is likely a + # multi-line parameter list. Try a bit harder to catch this case. + for i in xrange(2): + if (linenum > i and + Search(allowed_functions, clean_lines.elided[linenum - i - 1])): + return + + decls = ReplaceAll(r'{[^}]*}', ' ', line) # exclude function body + for parameter in re.findall(_RE_PATTERN_REF_PARAM, decls): + if (not Match(_RE_PATTERN_CONST_REF_PARAM, parameter) and + not Match(_RE_PATTERN_REF_STREAM_PARAM, parameter)): + error(filename, linenum, 'runtime/references', 2, + 'Is this a non-const reference? ' + 'If so, make const or use a pointer: ' + + ReplaceAll(' *<', '<', parameter)) + + +def CheckCasts(filename, clean_lines, linenum, error): + """Various cast related checks. - #if Search(r'\busing namespace\b', line): - # error(filename, linenum, 'build/namespaces', 5, - # 'Do not use namespace using-directives. ' - # 'Use using-declarations instead.') + Args: + filename: The name of the current file. + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + error: The function to call with any errors found. + """ + line = clean_lines.elided[linenum] - # Detect variable-length arrays. - match = Match(r'\s*(.+::)?(\w+) [a-z]\w*\[(.+)];', line) - if (match and match.group(2) != 'return' and match.group(2) != 'delete' and - match.group(3).find(']') == -1): - # Split the size using space and arithmetic operators as delimiters. - # If any of the resulting tokens are not compile time constants then - # report the error. - tokens = re.split(r'\s|\+|\-|\*|\/|<<|>>]', match.group(3)) - is_const = True - skip_next = False - for tok in tokens: - if skip_next: - skip_next = False - continue + # Check to see if they're using an conversion function cast. + # I just try to capture the most common basic types, though there are more. + # Parameterless conversion functions, such as bool(), are allowed as they are + # probably a member operator declaration or default constructor. + match = Search( + r'(\bnew\s+(?:const\s+)?|\S<\s*(?:const\s+)?)?\b' + r'(int|float|double|bool|char|int32|uint32|int64|uint64)' + r'(\([^)].*)', line) + expecting_function = ExpectingFunctionArgs(clean_lines, linenum) + if match and not expecting_function: + matched_type = match.group(2) + + # matched_new_or_template is used to silence two false positives: + # - New operators + # - Template arguments with function types + # + # For template arguments, we match on types immediately following + # an opening bracket without any spaces. This is a fast way to + # silence the common case where the function type is the first + # template argument. False negative with less-than comparison is + # avoided because those operators are usually followed by a space. + # + # function // bracket + no space = false positive + # value < double(42) // bracket + space = true positive + matched_new_or_template = match.group(1) - if Search(r'sizeof\(.+\)', tok): continue - if Search(r'arraysize\(\w+\)', tok): continue + # Avoid arrays by looking for brackets that come after the closing + # parenthesis. + if Match(r'\([^()]+\)\s*\[', match.group(3)): + return - tok = tok.lstrip('(') - tok = tok.rstrip(')') - if not tok: continue - if Match(r'\d+', tok): continue - if Match(r'0[xX][0-9a-fA-F]+', tok): continue - if Match(r'k[A-Z0-9]\w*', tok): continue - if Match(r'(.+::)?k[A-Z0-9]\w*', tok): continue - if Match(r'(.+::)?[A-Z][A-Z0-9_]*', tok): continue - # A catch all for tricky sizeof cases, including 'sizeof expression', - # 'sizeof(*type)', 'sizeof(const type)', 'sizeof(struct StructName)' - # requires skipping the next token because we split on ' ' and '*'. - if tok.startswith('sizeof'): - skip_next = True - continue - is_const = False - break - if not is_const: - error(filename, linenum, 'runtime/arrays', 1, - 'Do not use variable-length arrays. Use an appropriately named ' - "('k' followed by CamelCase) compile-time constant for the size.") + # Other things to ignore: + # - Function pointers + # - Casts to pointer types + # - Placement new + # - Alias declarations + matched_funcptr = match.group(3) + if (matched_new_or_template is None and + not (matched_funcptr and + (Match(r'\((?:[^() ]+::\s*\*\s*)?[^() ]+\)\s*\(', + matched_funcptr) or + matched_funcptr.startswith('(*)'))) and + not Match(r'\s*using\s+\S+\s*=\s*' + matched_type, line) and + not Search(r'new\(\S+\)\s*' + matched_type, line)): + error(filename, linenum, 'readability/casting', 4, + 'Using deprecated casting style. ' + 'Use static_cast<%s>(...) instead' % + matched_type) - # If DISALLOW_EVIL_CONSTRUCTORS, DISALLOW_COPY_AND_ASSIGN, or - # DISALLOW_IMPLICIT_CONSTRUCTORS is present, then it should be the last thing - # in the class declaration. - match = Match( - (r'\s*' - r'(DISALLOW_(EVIL_CONSTRUCTORS|COPY_AND_ASSIGN|IMPLICIT_CONSTRUCTORS))' - r'\(.*\);$'), - line) - if match and linenum + 1 < clean_lines.NumLines(): - next_line = clean_lines.elided[linenum + 1] - # We allow some, but not all, declarations of variables to be present - # in the statement that defines the class. The [\w\*,\s]* fragment of - # the regular expression below allows users to declare instances of - # the class or pointers to instances, but not less common types such - # as function pointers or arrays. It's a tradeoff between allowing - # reasonable code and avoiding trying to parse more C++ using regexps. - if not Search(r'^\s*}[\w\*,\s]*;', next_line): - error(filename, linenum, 'readability/constructors', 3, - match.group(1) + ' should be the last thing in the class') + if not expecting_function: + CheckCStyleCast(filename, clean_lines, linenum, 'static_cast', + r'\((int|float|double|bool|char|u?int(16|32|64))\)', error) - # Check for use of unnamed namespaces in header files. Registration - # macros are typically OK, so we allow use of "namespace {" on lines - # that end with backslashes. - if (file_extension == 'h' - and Search(r'\bnamespace\s*{', line) - and line[-1] != '\\'): - error(filename, linenum, 'build/namespaces', 4, - 'Do not use unnamed namespaces in header files. See ' - 'http://google-styleguide.googlecode.com/svn/trunk/cppguide.xml#Namespaces' - ' for more information.') + # This doesn't catch all cases. Consider (const char * const)"hello". + # + # (char *) "foo" should always be a const_cast (reinterpret_cast won't + # compile). + if CheckCStyleCast(filename, clean_lines, linenum, 'const_cast', + r'\((char\s?\*+\s?)\)\s*"', error): + pass + else: + # Check pointer casts for other than string constants + CheckCStyleCast(filename, clean_lines, linenum, 'reinterpret_cast', + r'\((\w+\s?\*+\s?)\)', error) + + # In addition, we look for people taking the address of a cast. This + # is dangerous -- casts can assign to temporaries, so the pointer doesn't + # point where you think. + # + # Some non-identifier character is required before the '&' for the + # expression to be recognized as a cast. These are casts: + # expression = &static_cast(temporary()); + # function(&(int*)(temporary())); + # + # This is not a cast: + # reference_type&(int* function_param); + match = Search( + r'(?:[^\w]&\(([^)*][^)]*)\)[\w(])|' + r'(?:[^\w]&(static|dynamic|down|reinterpret)_cast\b)', line) + if match: + # Try a better error message when the & is bound to something + # dereferenced by the casted pointer, as opposed to the casted + # pointer itself. + parenthesis_error = False + match = Match(r'^(.*&(?:static|dynamic|down|reinterpret)_cast\b)<', line) + if match: + _, y1, x1 = CloseExpression(clean_lines, linenum, len(match.group(1))) + if x1 >= 0 and clean_lines.elided[y1][x1] == '(': + _, y2, x2 = CloseExpression(clean_lines, y1, x1) + if x2 >= 0: + extended_line = clean_lines.elided[y2][x2:] + if y2 < clean_lines.NumLines() - 1: + extended_line += clean_lines.elided[y2 + 1] + if Match(r'\s*(?:->|\[)', extended_line): + parenthesis_error = True + + if parenthesis_error: + error(filename, linenum, 'readability/casting', 4, + ('Are you taking an address of something dereferenced ' + 'from a cast? Wrapping the dereferenced expression in ' + 'parentheses will make the binding more obvious')) + else: + error(filename, linenum, 'runtime/casting', 4, + ('Are you taking an address of a cast? ' + 'This is dangerous: could be a temp var. ' + 'Take the address before doing the cast, rather than after')) -def CheckCStyleCast(filename, linenum, line, raw_line, cast_type, pattern, - error): +def CheckCStyleCast(filename, clean_lines, linenum, cast_type, pattern, error): """Checks for a C-style cast by looking for the pattern. - This also handles sizeof(type) warnings, due to similarity of content. - Args: filename: The name of the current file. + clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. - line: The line of code to check. - raw_line: The raw line of code to check, with comments. cast_type: The string for the C++ cast to recommend. This is either reinterpret_cast, static_cast, or const_cast, depending. pattern: The regular expression used to find C-style casts. @@ -2792,56 +5843,65 @@ def CheckCStyleCast(filename, linenum, line, raw_line, cast_type, pattern, True if an error was emitted. False otherwise. """ + line = clean_lines.elided[linenum] match = Search(pattern, line) if not match: return False - # e.g., sizeof(int) - sizeof_match = Match(r'.*sizeof\s*$', line[0:match.start(1) - 1]) - if sizeof_match: - error(filename, linenum, 'runtime/sizeof', 1, - 'Using sizeof(type). Use sizeof(varname) instead if possible') - return True + # Exclude lines with keywords that tend to look like casts + context = line[0:match.start(1) - 1] + if Match(r'.*\b(?:sizeof|alignof|alignas|[_A-Z][_A-Z0-9]*)\s*$', context): + return False - typeid_match = Match(r'.*typeid\s*$',line[0:match.start(1) - 1]) - if typeid_match: - return True + # Try expanding current context to see if we one level of + # parentheses inside a macro. + if linenum > 0: + for i in xrange(linenum - 1, max(0, linenum - 5), -1): + context = clean_lines.elided[i] + context + if Match(r'.*\b[_A-Z][_A-Z0-9]*\s*\((?:\([^()]*\)|[^()])*$', context): + return False - remainder = line[match.end(0):] + # operator++(int) and operator--(int) + if context.endswith(' operator++') or context.endswith(' operator--'): + return False - # The close paren is for function pointers as arguments to a function. - # eg, void foo(void (*bar)(int)); - # The semicolon check is a more basic function check; also possibly a - # function pointer typedef. - # eg, void foo(int); or void foo(int) const; - # The equals check is for function pointer assignment. - # eg, void *(*foo)(int) = ... - # The > is for MockCallback<...> ... - # - # Right now, this will only catch cases where there's a single argument, and - # it's unnamed. It should probably be expanded to check for multiple - # arguments with some unnamed. - function_match = Match(r'\s*(\)|=|(const)?\s*(;|\{|throw\(\)|>))', remainder) - #print "Remainder[%s]" % remainder - if function_match: - if ('SIGNAL' not in raw_line and 'SLOT' not in raw_line and - (not function_match.group(3) or - function_match.group(3) == ';' or - ('<' not in raw_line and - '/*' not in raw_line))): - error(filename, linenum, 'readability/function', 3, - 'All parameters should be named in a function') - return True + # A single unnamed argument for a function tends to look like old style cast. + # If we see those, don't issue warnings for deprecated casts. + remainder = line[match.end(0):] + if Match(r'^\s*(?:;|const\b|throw\b|final\b|override\b|[=>{),]|->)', + remainder): + return False # At this point, all that should be left is actual casts. - if len(remainder) > 0 and 'public: ' not in raw_line and 'private:' not in raw_line and 'protected: ' not in raw_line and remainder != ' const' and '::' not in raw_line: - error(filename, linenum, 'readability/casting', 4, + error(filename, linenum, 'readability/casting', 4, 'Using C-style cast. Use %s<%s>(...) instead' % (cast_type, match.group(1))) return True +def ExpectingFunctionArgs(clean_lines, linenum): + """Checks whether where function type arguments are expected. + + Args: + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + + Returns: + True if the line at 'linenum' is inside something that expects arguments + of function types. + """ + line = clean_lines.elided[linenum] + return (Match(r'^\s*MOCK_(CONST_)?METHOD\d+(_T)?\(', line) or + (linenum >= 2 and + (Match(r'^\s*MOCK_(?:CONST_)?METHOD\d+(?:_T)?\((?:\S+,)?\s*$', + clean_lines.elided[linenum - 1]) or + Match(r'^\s*MOCK_(?:CONST_)?METHOD\d+(?:_T)?\(\s*$', + clean_lines.elided[linenum - 2]) or + Search(r'\bstd::m?function\s*\<\s*$', + clean_lines.elided[linenum - 1])))) + + _HEADERS_CONTAINING_TEMPLATES = ( ('', ('deque',)), ('', ('unary_function', 'binary_function', @@ -2863,12 +5923,16 @@ def CheckCStyleCast(filename, linenum, line, raw_line, cast_type, pattern, )), ('', ('numeric_limits',)), ('', ('list',)), - ('', ('map', 'multimap',)), - ('', ('allocator',)), + ('', ('multimap',)), + ('', ('allocator', 'make_shared', 'make_unique', 'shared_ptr', + 'unique_ptr', 'weak_ptr')), ('', ('queue', 'priority_queue',)), - ('', ('set', 'multiset',)), + ('', ('multiset',)), ('', ('stack',)), ('', ('char_traits', 'basic_string',)), + ('', ('tuple',)), + ('', ('unordered_map', 'unordered_multimap')), + ('', ('unordered_set', 'unordered_multiset')), ('', ('pair',)), ('', ('vector',)), @@ -2879,18 +5943,36 @@ def CheckCStyleCast(filename, linenum, line, raw_line, cast_type, pattern, ('', ('slist',)), ) -_RE_PATTERN_STRING = re.compile(r'\bstring\b') +_HEADERS_MAYBE_TEMPLATES = ( + ('', ('copy', 'max', 'min', 'min_element', 'sort', + 'transform', + )), + ('', ('forward', 'make_pair', 'move', 'swap')), + ) -_re_pattern_algorithm_header = [] -for _template in ('copy', 'max', 'min', 'min_element', 'sort', 'swap', - 'transform'): - # Match max(..., ...), max(..., ...), but not foo->max, foo.max or - # type::max(). - _re_pattern_algorithm_header.append( - (re.compile(r'[^>.]\b' + _template + r'(<.*?>)?\([^\)]'), - _template, - '')) +_RE_PATTERN_STRING = re.compile(r'\bstring\b') +_re_pattern_headers_maybe_templates = [] +for _header, _templates in _HEADERS_MAYBE_TEMPLATES: + for _template in _templates: + # Match max(..., ...), max(..., ...), but not foo->max, foo.max or + # 'type::max()'. + _re_pattern_headers_maybe_templates.append( + (re.compile(r'[^>.]\b' + _template + r'(<.*?>)?\([^\)]'), + _template, + _header)) +# Match set, but not foo->set, foo.set +_re_pattern_headers_maybe_templates.append( + (re.compile(r'[^>.]\bset\s*\<'), + 'set<>', + '')) +# Match 'map var' and 'std::map(...)', but not 'map(...)'' +_re_pattern_headers_maybe_templates.append( + (re.compile(r'(std\b::\bmap\s*\<)|(^(std\b::\b)map\b\(\s*\<)'), + 'map<>', + '')) + +# Other scripts may reach in and modify this pattern. _re_pattern_templates = [] for _header, _templates in _HEADERS_CONTAINING_TEMPLATES: for _template in _templates: @@ -2921,7 +6003,7 @@ def FilesBelongToSameModule(filename_cc, filename_h): some false positives. This should be sufficiently rare in practice. Args: - filename_cc: is the path for the .cc file + filename_cc: is the path for the source (e.g. .cc) file filename_h: is the path for the header path Returns: @@ -2929,20 +6011,23 @@ def FilesBelongToSameModule(filename_cc, filename_h): bool: True if filename_cc and filename_h belong to the same module. string: the additional prefix needed to open the header file. """ + fileinfo_cc = FileInfo(filename_cc) + if not fileinfo_cc.Extension().lstrip('.') in GetNonHeaderExtensions(): + return (False, '') - if not filename_cc.endswith('.cc'): + fileinfo_h = FileInfo(filename_h) + if not IsHeaderExtension(fileinfo_h.Extension().lstrip('.')): return (False, '') - filename_cc = filename_cc[:-len('.cc')] - if filename_cc.endswith('_unittest'): - filename_cc = filename_cc[:-len('_unittest')] - elif filename_cc.endswith('_test'): - filename_cc = filename_cc[:-len('_test')] + + filename_cc = filename_cc[:-(len(fileinfo_cc.Extension()))] + matched_test_suffix = Search(_TEST_FILE_SUFFIX, fileinfo_cc.BaseName()) + if matched_test_suffix: + filename_cc = filename_cc[:-len(matched_test_suffix.group(1))] + filename_cc = filename_cc.replace('/public/', '/') filename_cc = filename_cc.replace('/internal/', '/') - if not filename_h.endswith('.h'): - return (False, '') - filename_h = filename_h[:-len('.h')] + filename_h = filename_h[:-(len(fileinfo_h.Extension()))] if filename_h.endswith('-inl'): filename_h = filename_h[:-len('-inl')] filename_h = filename_h.replace('/public/', '/') @@ -2955,33 +6040,32 @@ def FilesBelongToSameModule(filename_cc, filename_h): return files_belong_to_same_module, common_path -def UpdateIncludeState(filename, include_state, io=codecs): - """Fill up the include_state with new includes found from the file. +def UpdateIncludeState(filename, include_dict, io=codecs): + """Fill up the include_dict with new includes found from the file. Args: filename: the name of the header to read. - include_state: an _IncludeState instance in which the headers are inserted. + include_dict: a dictionary in which the headers are inserted. io: The io factory to use to read the file. Provided for testability. Returns: - True if a header was succesfully added. False otherwise. + True if a header was successfully added. False otherwise. """ headerfile = None try: - headerfile = io.open(filename, 'r', 'utf8', 'replace') + with io.open(filename, 'r', 'utf8', 'replace') as headerfile: + linenum = 0 + for line in headerfile: + linenum += 1 + clean_line = CleanseComments(line) + match = _RE_PATTERN_INCLUDE.search(clean_line) + if match: + include = match.group(2) + include_dict.setdefault(include, linenum) + return True except IOError: return False - linenum = 0 - for line in headerfile: - linenum += 1 - clean_line = CleanseComments(line) - match = _RE_PATTERN_INCLUDE.search(clean_line) - if match: - include = match.group(2) - # The value formatting is cute, but not really used right now. - # What matters here is that the key is in include_state. - include_state.setdefault(include, '%s:%d' % (filename, linenum)) - return True + def CheckForIncludeWhatYouUse(filename, clean_lines, include_state, error, @@ -3019,7 +6103,7 @@ def CheckForIncludeWhatYouUse(filename, clean_lines, include_state, error, if prefix.endswith('std::') or not prefix.endswith('::'): required[''] = (linenum, 'string') - for pattern, template, header in _re_pattern_algorithm_header: + for pattern, template, header in _re_pattern_headers_maybe_templates: if pattern.search(line): required[header] = (linenum, template) @@ -3028,19 +6112,25 @@ def CheckForIncludeWhatYouUse(filename, clean_lines, include_state, error, continue for pattern, template, header in _re_pattern_templates: - if pattern.search(line): - required[header] = (linenum, template) + matched = pattern.search(line) + if matched: + # Don't warn about IWYU in non-STL namespaces: + # (We check only the first match per line; good enough.) + prefix = line[:matched.start()] + if prefix.endswith('std::') or not prefix.endswith('::'): + required[header] = (linenum, template) # The policy is that if you #include something in foo.h you don't need to # include it again in foo.cc. Here, we will look at possible includes. - # Let's copy the include_state so it is only messed up within this function. - include_state = include_state.copy() + # Let's flatten the include_state include_list and copy it into a dictionary. + include_dict = dict([item for sublist in include_state.include_list + for item in sublist]) - # Did we find the header for this file (if any) and succesfully load it? + # Did we find the header for this file (if any) and successfully load it? header_found = False # Use the absolute path so that matching works properly. - abs_filename = os.path.abspath(filename) + abs_filename = FileInfo(filename).FullName() # For Emacs's flymake. # If cpplint is invoked from Emacs's flymake, a temporary file is generated @@ -3051,13 +6141,13 @@ def CheckForIncludeWhatYouUse(filename, clean_lines, include_state, error, # instead of 'foo_flymake.h' abs_filename = re.sub(r'_flymake\.cc$', '.cc', abs_filename) - # include_state is modified during iteration, so we iterate over a copy of + # include_dict is modified during iteration, so we iterate over a copy of # the keys. - header_keys = include_state.keys() + header_keys = list(include_dict.keys()) for header in header_keys: (same_module, common_path) = FilesBelongToSameModule(abs_filename, header) fullpath = common_path + header - if same_module and UpdateIncludeState(fullpath, include_state, io): + if same_module and UpdateIncludeState(fullpath, include_dict, io): header_found = True # If we can't find the header file for a .cc, assume it's because we don't @@ -3065,13 +6155,15 @@ def CheckForIncludeWhatYouUse(filename, clean_lines, include_state, error, # didn't include it in the .h file. # TODO(unknown): Do a better job of finding .h files so we are confident that # not having the .h file means there isn't one. - if filename.endswith('.cc') and not header_found: - return + if not header_found: + for extension in GetNonHeaderExtensions(): + if filename.endswith('.' + extension): + return # All the lines have been processed, report the errors found. - for required_header_unstripped in required: + for required_header_unstripped in sorted(required, key=required.__getitem__): template = required[required_header_unstripped][1] - if required_header_unstripped.strip('<>"') not in include_state: + if required_header_unstripped.strip('<>"') not in include_dict: error(filename, required[required_header_unstripped][0], 'build/include_what_you_use', 4, 'Add #include ' + required_header_unstripped + ' for ' + template) @@ -3083,7 +6175,7 @@ def CheckForIncludeWhatYouUse(filename, clean_lines, include_state, error, def CheckMakePairUsesDeduction(filename, clean_lines, linenum, error): """Check that make_pair's template arguments are deduced. - G++ 4.6 in C++0x mode fails badly if make_pair's template arguments are + G++ 4.6 in C++11 mode fails badly if make_pair's template arguments are specified explicitly, and such use isn't intended in any case. Args: @@ -3092,19 +6184,175 @@ def CheckMakePairUsesDeduction(filename, clean_lines, linenum, error): linenum: The number of the line to check. error: The function to call with any errors found. """ - raw = clean_lines.raw_lines - line = raw[linenum] + line = clean_lines.elided[linenum] match = _RE_PATTERN_EXPLICIT_MAKEPAIR.search(line) if match: error(filename, linenum, 'build/explicit_make_pair', 4, # 4 = high confidence - 'Omit template arguments from make_pair OR use pair directly OR' - ' if appropriate, construct a pair directly') + 'For C++11-compatibility, omit template arguments from make_pair' + ' OR use pair directly OR if appropriate, construct a pair directly') + + +def CheckRedundantVirtual(filename, clean_lines, linenum, error): + """Check if line contains a redundant "virtual" function-specifier. + + Args: + filename: The name of the current file. + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + error: The function to call with any errors found. + """ + # Look for "virtual" on current line. + line = clean_lines.elided[linenum] + virtual = Match(r'^(.*)(\bvirtual\b)(.*)$', line) + if not virtual: return + + # Ignore "virtual" keywords that are near access-specifiers. These + # are only used in class base-specifier and do not apply to member + # functions. + if (Search(r'\b(public|protected|private)\s+$', virtual.group(1)) or + Match(r'^\s+(public|protected|private)\b', virtual.group(3))): + return + + # Ignore the "virtual" keyword from virtual base classes. Usually + # there is a column on the same line in these cases (virtual base + # classes are rare in google3 because multiple inheritance is rare). + if Match(r'^.*[^:]:[^:].*$', line): return + + # Look for the next opening parenthesis. This is the start of the + # parameter list (possibly on the next line shortly after virtual). + # TODO(unknown): doesn't work if there are virtual functions with + # decltype() or other things that use parentheses, but csearch suggests + # that this is rare. + end_col = -1 + end_line = -1 + start_col = len(virtual.group(2)) + for start_line in xrange(linenum, min(linenum + 3, clean_lines.NumLines())): + line = clean_lines.elided[start_line][start_col:] + parameter_list = Match(r'^([^(]*)\(', line) + if parameter_list: + # Match parentheses to find the end of the parameter list + (_, end_line, end_col) = CloseExpression( + clean_lines, start_line, start_col + len(parameter_list.group(1))) + break + start_col = 0 + + if end_col < 0: + return # Couldn't find end of parameter list, give up + + # Look for "override" or "final" after the parameter list + # (possibly on the next few lines). + for i in xrange(end_line, min(end_line + 3, clean_lines.NumLines())): + line = clean_lines.elided[i][end_col:] + match = Search(r'\b(override|final)\b', line) + if match: + error(filename, linenum, 'readability/inheritance', 4, + ('"virtual" is redundant since function is ' + 'already declared as "%s"' % match.group(1))) + + # Set end_col to check whole lines after we are done with the + # first line. + end_col = 0 + if Search(r'[^\w]\s*$', line): + break + + +def CheckRedundantOverrideOrFinal(filename, clean_lines, linenum, error): + """Check if line contains a redundant "override" or "final" virt-specifier. + + Args: + filename: The name of the current file. + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + error: The function to call with any errors found. + """ + # Look for closing parenthesis nearby. We need one to confirm where + # the declarator ends and where the virt-specifier starts to avoid + # false positives. + line = clean_lines.elided[linenum] + declarator_end = line.rfind(')') + if declarator_end >= 0: + fragment = line[declarator_end:] + else: + if linenum > 1 and clean_lines.elided[linenum - 1].rfind(')') >= 0: + fragment = line + else: + return + + # Check that at most one of "override" or "final" is present, not both + if Search(r'\boverride\b', fragment) and Search(r'\bfinal\b', fragment): + error(filename, linenum, 'readability/inheritance', 4, + ('"override" is redundant since function is ' + 'already declared as "final"')) + + + + +# Returns true if we are at a new block, and it is directly +# inside of a namespace. +def IsBlockInNameSpace(nesting_state, is_forward_declaration): + """Checks that the new block is directly in a namespace. + + Args: + nesting_state: The _NestingState object that contains info about our state. + is_forward_declaration: If the class is a forward declared class. + Returns: + Whether or not the new block is directly in a namespace. + """ + if is_forward_declaration: + return len(nesting_state.stack) >= 1 and ( + isinstance(nesting_state.stack[-1], _NamespaceInfo)) + + + return (len(nesting_state.stack) > 1 and + nesting_state.stack[-1].check_namespace_indentation and + isinstance(nesting_state.stack[-2], _NamespaceInfo)) + + +def ShouldCheckNamespaceIndentation(nesting_state, is_namespace_indent_item, + raw_lines_no_comments, linenum): + """This method determines if we should apply our namespace indentation check. + + Args: + nesting_state: The current nesting state. + is_namespace_indent_item: If we just put a new class on the stack, True. + If the top of the stack is not a class, or we did not recently + add the class, False. + raw_lines_no_comments: The lines without the comments. + linenum: The current line number we are processing. + Returns: + True if we should apply our namespace indentation check. Currently, it + only works for classes and namespaces inside of a namespace. + """ + + is_forward_declaration = IsForwardClassDeclaration(raw_lines_no_comments, + linenum) + + if not (is_namespace_indent_item or is_forward_declaration): + return False + + # If we are in a macro, we do not want to check the namespace indentation. + if IsMacroDefinition(raw_lines_no_comments, linenum): + return False + + return IsBlockInNameSpace(nesting_state, is_forward_declaration) -def ProcessLine(filename, file_extension, - clean_lines, line, include_state, function_state, - class_state, error, extra_check_functions=[]): + +# Call this method if the line is directly inside of a namespace. +# If the line above is blank (excluding comments) or the start of +# an inner namespace, it cannot be indented. +def CheckItemIndentationInNamespace(filename, raw_lines_no_comments, linenum, + error): + line = raw_lines_no_comments[linenum] + if Match(r'^\s+', line): + error(filename, linenum, 'runtime/indentation_namespace', 4, + 'Do not indent within a namespace') + + +def ProcessLine(filename, file_extension, clean_lines, line, + include_state, function_state, nesting_state, error, + extra_check_functions=None): """Processes a single line in the file. Args: @@ -3115,8 +6363,8 @@ def ProcessLine(filename, file_extension, line: Number of line being processed. include_state: An _IncludeState instance in which the headers are inserted. function_state: A _FunctionState instance which counts function lines, etc. - class_state: A _ClassState instance which maintains information about - the current stack of nested class declarations being parsed. + nesting_state: A NestingState instance which maintains information about + the current stack of nested blocks being parsed. error: A callable to which errors are reported, which takes 4 arguments: filename, line number, error level, and message extra_check_functions: An array of additional check functions that will be @@ -3125,21 +6373,101 @@ def ProcessLine(filename, file_extension, """ raw_lines = clean_lines.raw_lines ParseNolintSuppressions(filename, raw_lines[line], line, error) + nesting_state.Update(filename, clean_lines, line, error) + CheckForNamespaceIndentation(filename, nesting_state, clean_lines, line, + error) + if nesting_state.InAsmBlock(): return CheckForFunctionLengths(filename, clean_lines, line, function_state, error) CheckForMultilineCommentsAndStrings(filename, clean_lines, line, error) - CheckStyle(filename, clean_lines, line, file_extension, class_state, error) + CheckStyle(filename, clean_lines, line, file_extension, nesting_state, error) CheckLanguage(filename, clean_lines, line, file_extension, include_state, - error) + nesting_state, error) + CheckForNonConstReference(filename, clean_lines, line, nesting_state, error) CheckForNonStandardConstructs(filename, clean_lines, line, - class_state, error) + nesting_state, error) + CheckVlogArguments(filename, clean_lines, line, error) CheckPosixThreading(filename, clean_lines, line, error) CheckInvalidIncrement(filename, clean_lines, line, error) CheckMakePairUsesDeduction(filename, clean_lines, line, error) - for check_fn in extra_check_functions: - check_fn(filename, clean_lines, line, error) + CheckRedundantVirtual(filename, clean_lines, line, error) + CheckRedundantOverrideOrFinal(filename, clean_lines, line, error) + if extra_check_functions: + for check_fn in extra_check_functions: + check_fn(filename, clean_lines, line, error) + +def FlagCxx11Features(filename, clean_lines, linenum, error): + """Flag those c++11 features that we only allow in certain places. + + Args: + filename: The name of the current file. + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + error: The function to call with any errors found. + """ + line = clean_lines.elided[linenum] + + include = Match(r'\s*#\s*include\s+[<"]([^<"]+)[">]', line) + + # Flag unapproved C++ TR1 headers. + if include and include.group(1).startswith('tr1/'): + error(filename, linenum, 'build/c++tr1', 5, + ('C++ TR1 headers such as <%s> are unapproved.') % include.group(1)) + + # Flag unapproved C++11 headers. + if include and include.group(1) in ('cfenv', + 'condition_variable', + 'fenv.h', + 'future', + 'mutex', + 'thread', + 'chrono', + 'ratio', + 'regex', + 'system_error', + ): + error(filename, linenum, 'build/c++11', 5, + ('<%s> is an unapproved C++11 header.') % include.group(1)) + + # The only place where we need to worry about C++11 keywords and library + # features in preprocessor directives is in macro definitions. + if Match(r'\s*#', line) and not Match(r'\s*#\s*define\b', line): return + + # These are classes and free functions. The classes are always + # mentioned as std::*, but we only catch the free functions if + # they're not found by ADL. They're alphabetical by header. + for top_name in ( + # type_traits + 'alignment_of', + 'aligned_union', + ): + if Search(r'\bstd::%s\b' % top_name, line): + error(filename, linenum, 'build/c++11', 5, + ('std::%s is an unapproved C++11 class or function. Send c-style ' + 'an example of where it would make your code more readable, and ' + 'they may let you use it.') % top_name) + + +def FlagCxx14Features(filename, clean_lines, linenum, error): + """Flag those C++14 features that we restrict. + + Args: + filename: The name of the current file. + clean_lines: A CleansedLines instance containing the file. + linenum: The number of the line to check. + error: The function to call with any errors found. + """ + line = clean_lines.elided[linenum] + + include = Match(r'\s*#\s*include\s+[<"]([^<"]+)[">]', line) + + # Flag unapproved C++14 headers. + if include and include.group(1) in ('scoped_allocator', 'shared_mutex'): + error(filename, linenum, 'build/c++14', 5, + ('<%s> is an unapproved C++14 header.') % include.group(1)) + def ProcessFileData(filename, file_extension, lines, error, - extra_check_functions=[]): + extra_check_functions=None): """Performs lint checks and reports any errors to the given error function. Args: @@ -3158,32 +6486,127 @@ def ProcessFileData(filename, file_extension, lines, error, include_state = _IncludeState() function_state = _FunctionState() - class_state = _ClassState() + nesting_state = NestingState() ResetNolintSuppressions() CheckForCopyright(filename, lines, error) - - if file_extension == 'h': - CheckForHeaderGuard(filename, lines, error) - + ProcessGlobalSuppresions(lines) RemoveMultiLineComments(filename, lines, error) clean_lines = CleansedLines(lines) + + if IsHeaderExtension(file_extension): + CheckForHeaderGuard(filename, clean_lines, error) + for line in xrange(clean_lines.NumLines()): ProcessLine(filename, file_extension, clean_lines, line, - include_state, function_state, class_state, error, + include_state, function_state, nesting_state, error, extra_check_functions) - class_state.CheckFinished(filename, error) + FlagCxx11Features(filename, clean_lines, line, error) + nesting_state.CheckCompletedBlocks(filename, error) CheckForIncludeWhatYouUse(filename, clean_lines, include_state, error) + # Check that the .cc file has included its header if it exists. + if _IsSourceExtension(file_extension): + CheckHeaderFileIncluded(filename, include_state, error) + # We check here rather than inside ProcessLine so that we see raw # lines rather than "cleaned" lines. - CheckForUnicodeReplacementCharacters(filename, lines, error) + CheckForBadCharacters(filename, lines, error) CheckForNewlineAtEOF(filename, lines, error) -def ProcessFile(filename, vlevel, extra_check_functions=[]): +def ProcessConfigOverrides(filename): + """ Loads the configuration files and processes the config overrides. + + Args: + filename: The name of the file being processed by the linter. + + Returns: + False if the current |filename| should not be processed further. + """ + + abs_filename = os.path.abspath(filename) + cfg_filters = [] + keep_looking = True + while keep_looking: + abs_path, base_name = os.path.split(abs_filename) + if not base_name: + break # Reached the root directory. + + cfg_file = os.path.join(abs_path, "CPPLINT.cfg") + abs_filename = abs_path + if not os.path.isfile(cfg_file): + continue + + try: + with open(cfg_file) as file_handle: + for line in file_handle: + line, _, _ = line.partition('#') # Remove comments. + if not line.strip(): + continue + + name, _, val = line.partition('=') + name = name.strip() + val = val.strip() + if name == 'set noparent': + keep_looking = False + elif name == 'filter': + cfg_filters.append(val) + elif name == 'exclude_files': + # When matching exclude_files pattern, use the base_name of + # the current file name or the directory name we are processing. + # For example, if we are checking for lint errors in /foo/bar/baz.cc + # and we found the .cfg file at /foo/CPPLINT.cfg, then the config + # file's "exclude_files" filter is meant to be checked against "bar" + # and not "baz" nor "bar/baz.cc". + if base_name: + pattern = re.compile(val) + if pattern.match(base_name): + if _cpplint_state.quiet: + # Suppress "Ignoring file" warning when using --quiet. + return False + _cpplint_state.PrintInfo('Ignoring "%s": file excluded by "%s". ' + 'File path component "%s" matches ' + 'pattern "%s"\n' % + (filename, cfg_file, base_name, val)) + return False + elif name == 'linelength': + global _line_length + try: + _line_length = int(val) + except ValueError: + _cpplint_state.PrintError('Line length must be numeric.') + elif name == 'extensions': + ProcessExtensionsOption(val) + elif name == 'root': + global _root + # root directories are specified relative to CPPLINT.cfg dir. + _root = os.path.join(os.path.dirname(cfg_file), val) + elif name == 'headers': + ProcessHppHeadersOption(val) + elif name == 'includeorder': + ProcessIncludeOrderOption(val) + else: + _cpplint_state.PrintError( + 'Invalid configuration option (%s) in file %s\n' % + (name, cfg_file)) + + except IOError: + _cpplint_state.PrintError( + "Skipping config file '%s': Can't open for reading\n" % cfg_file) + keep_looking = False + + # Apply all the accumulated filters in reverse order (top-level directory + # config options having the least priority). + for cfg_filter in reversed(cfg_filters): + _AddFilters(cfg_filter) + + return True + + +def ProcessFile(filename, vlevel, extra_check_functions=None): """Does google-lint on a single file. Args: @@ -3198,7 +6621,15 @@ def ProcessFile(filename, vlevel, extra_check_functions=[]): """ _SetVerboseLevel(vlevel) + _BackupFilters() + old_errors = _cpplint_state.error_count + + if not ProcessConfigOverrides(filename): + _RestoreFilters() + return + lf_lines = [] + crlf_lines = [] try: # Support the UNIX convention of using "-" for stdin. Note that # we are not opening the file with universal newline support @@ -3206,28 +6637,29 @@ def ProcessFile(filename, vlevel, extra_check_functions=[]): # contain trailing '\r' characters if we are reading a file that # has CRLF endings. # If after the split a trailing '\r' is present, it is removed - # below. If it is not expected to be present (i.e. os.linesep != - # '\r\n' as in Windows), a warning is issued below if this file - # is processed. - + # below. if filename == '-': lines = codecs.StreamReaderWriter(sys.stdin, codecs.getreader('utf8'), codecs.getwriter('utf8'), 'replace').read().split('\n') else: - lines = codecs.open(filename, 'r', 'utf8', 'replace').read().split('\n') + with codecs.open(filename, 'r', 'utf8', 'replace') as target_file: + lines = target_file.read().split('\n') - carriage_return_found = False # Remove trailing '\r'. - for linenum in range(len(lines)): + # The -1 accounts for the extra trailing blank line we get from split() + for linenum in range(len(lines) - 1): if lines[linenum].endswith('\r'): lines[linenum] = lines[linenum].rstrip('\r') - carriage_return_found = True + crlf_lines.append(linenum + 1) + else: + lf_lines.append(linenum + 1) except IOError: - #sys.stderr.write( - # "Skipping input '%s': Can't open for reading\n" % filename) + _cpplint_state.PrintError( + "Skipping input '%s': Can't open for reading\n" % filename) + _RestoreFilters() return # Note, if no dot is found, this will give the entire filename as the ext. @@ -3235,23 +6667,40 @@ def ProcessFile(filename, vlevel, extra_check_functions=[]): # When reading from stdin, the extension is unknown, so no cpplint tests # should rely on the extension. - if (filename != '-' and file_extension != 'cc' and file_extension != 'h' - and file_extension != 'cpp' and file_extension != 'hh'): - if (filename != "CMakeLists.txt" and file_extension != "in" - and file_extension != "proto" and file_extension != "sdf"): - pass - #sys.stderr.write('Ignoring %s; not a .cc or .h file\n' % filename) + if filename != '-' and file_extension not in GetAllExtensions(): + pass + # Ignition: never print this + # _cpplint_state.PrintError('Ignoring %s; not a valid file name ' + # '(%s)\n' % (filename, ', '.join(GetAllExtensions()))) else: ProcessFileData(filename, file_extension, lines, Error, extra_check_functions) - if carriage_return_found and os.linesep != '\r\n': - # Use 0 for linenum since outputting only one error for potentially - # several lines. - Error(filename, 0, 'whitespace/newline', 1, - 'One or more unexpected \\r (^M) found;' - 'better to use only a \\n') - #sys.stderr.write('Done processing %s\n' % filename) + # If end-of-line sequences are a mix of LF and CR-LF, issue + # warnings on the lines with CR. + # + # Don't issue any warnings if all lines are uniformly LF or CR-LF, + # since critique can handle these just fine, and the style guide + # doesn't dictate a particular end of line sequence. + # + # We can't depend on os.linesep to determine what the desired + # end-of-line sequence should be, since that will return the + # server-side end-of-line sequence. + if lf_lines and crlf_lines: + # Warn on every line with CR. An alternative approach might be to + # check whether the file is mostly CRLF or just LF, and warn on the + # minority, we bias toward LF here since most tools prefer LF. + for linenum in crlf_lines: + Error(filename, linenum, 'whitespace/newline', 1, + 'Unexpected \\r (^M) found; better to use only \\n') + + # Suppress printing anything if --quiet was passed unless the error + # count has increased after processing this file. + if not _cpplint_state.quiet or old_errors != _cpplint_state.error_count: + pass + # Ignition: never print "Done Processing" + # _cpplint_state.PrintInfo('Done processing %s\n' % filename) + _RestoreFilters() def PrintUsage(message): @@ -3260,12 +6709,21 @@ def PrintUsage(message): Args: message: The optional error message. """ - sys.stderr.write(_USAGE) + sys.stderr.write(_USAGE % (list(GetAllExtensions()), + ','.join(list(GetAllExtensions())), + GetHeaderExtensions(), + ','.join(GetHeaderExtensions()))) + if message: sys.exit('\nFATAL ERROR: ' + message) else: - sys.exit(1) + sys.exit(0) +def PrintVersion(): + sys.stdout.write('Cpplint fork (https://github.com/cpplint/cpplint)\n') + sys.stdout.write('cpplint ' + __VERSION__ + '\n') + sys.stdout.write('Python ' + sys.version + '\n') + sys.exit(0) def PrintCategories(): """Prints a list of all the error-categories used by error messages. @@ -3289,24 +6747,42 @@ def ParseArguments(args): """ try: (opts, filenames) = getopt.getopt(args, '', ['help', 'output=', 'verbose=', + 'v=', + 'version', 'counting=', - 'filter=']) + 'filter=', + 'root=', + 'repository=', + 'linelength=', + 'extensions=', + 'exclude=', + 'recursive', + 'headers=', + 'includeorder=', + 'quiet']) except getopt.GetoptError: PrintUsage('Invalid arguments.') verbosity = _VerboseLevel() output_format = _OutputFormat() filters = '' + quiet = _Quiet() counting_style = '' + recursive = False for (opt, val) in opts: if opt == '--help': PrintUsage(None) + if opt == '--version': + PrintVersion() elif opt == '--output': - if not val in ('emacs', 'vs7'): - PrintUsage('The only allowed output formats are emacs and vs7.') + if val not in ('emacs', 'vs7', 'eclipse', 'junit', 'sed', 'gsed'): + PrintUsage('The only allowed output formats are emacs, vs7, eclipse ' + 'sed, gsed and junit.') output_format = val - elif opt == '--verbose': + elif opt == '--quiet': + quiet = True + elif opt == '--verbose' or opt == '--v': verbosity = int(val) elif opt == '--filter': filters = val @@ -3316,33 +6792,129 @@ def ParseArguments(args): if val not in ('total', 'toplevel', 'detailed'): PrintUsage('Valid counting options are total, toplevel, and detailed') counting_style = val + elif opt == '--root': + global _root + _root = val + elif opt == '--repository': + global _repository + _repository = val + elif opt == '--linelength': + global _line_length + try: + _line_length = int(val) + except ValueError: + PrintUsage('Line length must be digits.') + elif opt == '--exclude': + global _excludes + if not _excludes: + _excludes = set() + _excludes.update(glob.glob(val)) + elif opt == '--extensions': + ProcessExtensionsOption(val) + elif opt == '--headers': + ProcessHppHeadersOption(val) + elif opt == '--recursive': + recursive = True + elif opt == '--includeorder': + ProcessIncludeOrderOption(val) if not filenames: PrintUsage('No files were specified.') + if recursive: + filenames = _ExpandDirectories(filenames) + + if _excludes: + filenames = _FilterExcludedFiles(filenames) + _SetOutputFormat(output_format) + _SetQuiet(quiet) _SetVerboseLevel(verbosity) _SetFilters(filters) _SetCountingStyle(counting_style) + filenames.sort() return filenames +def _ExpandDirectories(filenames): + """Searches a list of filenames and replaces directories in the list with + all files descending from those directories. Files with extensions not in + the valid extensions list are excluded. + + Args: + filenames: A list of files or directories + + Returns: + A list of all files that are members of filenames or descended from a + directory in filenames + """ + expanded = set() + for filename in filenames: + if not os.path.isdir(filename): + expanded.add(filename) + continue + + for root, _, files in os.walk(filename): + for loopfile in files: + fullname = os.path.join(root, loopfile) + if fullname.startswith('.' + os.path.sep): + fullname = fullname[len('.' + os.path.sep):] + expanded.add(fullname) + + filtered = [] + for filename in expanded: + if os.path.splitext(filename)[1][1:] in GetAllExtensions(): + filtered.append(filename) + return filtered + +def _FilterExcludedFiles(fnames): + """Filters out files listed in the --exclude command line switch. File paths + in the switch are evaluated relative to the current working directory + """ + exclude_paths = [os.path.abspath(f) for f in _excludes] + # because globbing does not work recursively, exclude all subpath of all excluded entries + return [f for f in fnames + if not any(e for e in exclude_paths + if _IsParentOrSame(e, os.path.abspath(f)))] + +def _IsParentOrSame(parent, child): + """Return true if child is subdirectory of parent. + Assumes both paths are absolute and don't contain symlinks. + """ + parent = os.path.normpath(parent) + child = os.path.normpath(child) + if parent == child: + return True + + prefix = os.path.commonprefix([parent, child]) + if prefix != parent: + return False + # Note: os.path.commonprefix operates on character basis, so + # take extra care of situations like '/foo/ba' and '/foo/bar/baz' + child_suffix = child[len(prefix):] + child_suffix = child_suffix.lstrip(os.sep) + return child == os.path.join(prefix, child_suffix) def main(): filenames = ParseArguments(sys.argv[1:]) + backup_err = sys.stderr + try: + # Change stderr to write with replacement characters so we don't die + # if we try to print something containing non-ASCII characters. + sys.stderr = codecs.StreamReader(sys.stderr, 'replace') - # Change stderr to write with replacement characters so we don't die - # if we try to print something containing non-ASCII characters. - sys.stderr = codecs.StreamReaderWriter(sys.stderr, - codecs.getreader('utf8'), - codecs.getwriter('utf8'), - 'replace') - - _cpplint_state.ResetErrorCounts() - for filename in filenames: - if filename != "./gazebo/rendering/cegui.h": + _cpplint_state.ResetErrorCounts() + for filename in filenames: ProcessFile(filename, _cpplint_state.verbose_level) - _cpplint_state.PrintErrorCounts() + # If --quiet is passed, suppress printing error count unless there are errors. + if not _cpplint_state.quiet or _cpplint_state.error_count > 0: + _cpplint_state.PrintErrorCounts() + + if _cpplint_state.output_format == 'junit': + sys.stderr.write(_cpplint_state.FormatJUnitXML()) + + finally: + sys.stderr = backup_err sys.exit(_cpplint_state.error_count > 0)