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PX4 · Aug 2, 2023 · c86c9f6 · c86c9f6
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diff --git a/.clang-format b/.clang-format
@@ -0,0 +1,173 @@
+---
+Language:        Cpp
+# BasedOnStyle:  Google
+AccessModifierOffset: -1
+AlignAfterOpenBracket: Align
+AlignConsecutiveMacros: false
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Left
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllArgumentsOnNextLine: true
+AllowAllConstructorInitializersOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: Never
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: InlineOnly
+AllowShortLambdasOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: WithoutElse
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: Yes
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:
+  AfterCaseLabel:  false
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   true
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  AfterExternBlock: false
+  BeforeCatch:     false
+  BeforeElse:      false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Custom
+BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     100
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DeriveLineEnding: true
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks:   Regroup
+IncludeCategories:
+  - Regex:           '^<ext/.*\.h>'
+    Priority:        2
+    SortPriority:    0
+  - Regex:           '^<.*\.h>'
+    Priority:        1
+    SortPriority:    0
+  - Regex:           '^<.*'
+    Priority:        2
+    SortPriority:    0
+  - Regex:           '.*'
+    Priority:        3
+    SortPriority:    0
+IncludeIsMainRegex: '([-_](test|unittest))?$'
+IncludeIsMainSourceRegex: ''
+IndentCaseLabels: true
+IndentGotoLabels: true
+IndentPPDirectives: None
+IndentWidth:     2
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Never
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+RawStringFormats:
+  - Language:        Cpp
+    Delimiters:
+      - cc
+      - CC
+      - cpp
+      - Cpp
+      - CPP
+      - 'c++'
+      - 'C++'
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+  - Language:        TextProto
+    Delimiters:
+      - pb
+      - PB
+      - proto
+      - PROTO
+    EnclosingFunctions:
+      - EqualsProto
+      - EquivToProto
+      - PARSE_PARTIAL_TEXT_PROTO
+      - PARSE_TEST_PROTO
+      - PARSE_TEXT_PROTO
+      - ParseTextOrDie
+      - ParseTextProtoOrDie
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+ReflowComments:  true
+SortIncludes:    true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyBlock: false
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles:  false
+SpacesInConditionalStatement: false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+SpaceBeforeSquareBrackets: false
+Standard:        Latest
+StatementMacros:
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TabWidth:        8
+UseCRLF:         false
+UseTab:          Never
+---
+Language:        Json
+BasedOnStyle:    llvm
+---
+Language:        JavaScript
+BasedOnStyle:    Google
+ColumnLimit:     100
+...
diff --git a/.clang-tidy b/.clang-tidy
@@ -0,0 +1,89 @@
+---
+Checks: >
+  -*,
+  bugprone-*,
+  google-*,
+  misc-*,
+  modernize-*,
+  performance-*,
+  portability-*,
+  readability-*,
+  -google-readability-braces-around-statements,
+  -google-readability-todo,
+  -google-readability-namespace-comments,
+  -google-runtime-references,
+  -misc-non-private-member-variables-in-classes,
+  -misc-unused-parameters,
+  -misc-no-recursion,
+  -misc-confusable-identifiers,
+  -modernize-return-braced-init-list,
+  -modernize-use-trailing-return-type,
+  -modernize-avoid-c-arrays,
+  -modernize-use-auto,
+  -modernize-use-nodiscard,
+  -performance-move-const-arg,
+  -readability-braces-around-statements,
+  -readability-identifier-length,
+  -readability-implicit-bool-conversion,
+  -readability-magic-numbers,
+  -readability-named-parameter,
+  -readability-redundant-declaration,
+  -readability-function-cognitive-complexity,
+  -readability-convert-member-functions-to-static,
+  -readability-make-member-function-const,
+  -bugprone-narrowing-conversions,
+  -bugprone-easily-swappable-parameters,
+  -bugprone-exception-escape,
+  -bugprone-implicit-widening-of-multiplication-result
+WarningsAsErrors: '*'
+HeaderFilterRegex: ''
+FormatStyle:     google
+CheckOptions:
+  - key:             readability-identifier-naming.ClassCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.ClassMemberCase
+    value:           lower_case
+  - key:             readability-identifier-naming.ConstexprVariableCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.ConstexprVariablePrefix
+    value:           k
+  - key:             readability-identifier-naming.EnumCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.EnumConstantCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.FunctionCase
+    value:           camelBack
+  - key:             readability-identifier-naming.GlobalConstantCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.GlobalConstantPrefix
+    value:           k
+  - key:             readability-identifier-naming.StaticConstantCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.StaticConstantPrefix
+    value:           k
+  - key:             readability-identifier-naming.StaticVariableCase
+    value:           lower_case
+  - key:             readability-identifier-naming.MacroDefinitionCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.MacroDefinitionIgnoredRegexp
+    value:           '^[A-Z]+(_[A-Z]+)*_$'
+  - key:             readability-identifier-naming.MemberCase
+    value:           lower_case
+  - key:             readability-identifier-naming.PrivateMemberPrefix
+    value:           _
+  - key:             readability-identifier-naming.ProtectedMemberPrefix
+    value:           _
+  - key:             readability-identifier-naming.PublicMemberPrefix
+    value:           ''
+  - key:             readability-identifier-naming.NamespaceCase
+    value:           lower_case
+  - key:             readability-identifier-naming.ParameterCase
+    value:           lower_case
+  - key:             readability-identifier-naming.TypeAliasCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.TypedefCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.VariableCase
+    value:           lower_case
+  - key:             readability-identifier-naming.IgnoreMainLikeFunctions
+    value:           1
diff --git a/.clang-tidy-ignore b/.clang-tidy-ignore
@@ -0,0 +1 @@
+*/_deps/*
diff --git a/.cppcheck-suppress b/.cppcheck-suppress
@@ -0,0 +1,7 @@
+unmatchedSuppression
+missingIncludeSystem
+unusedFunction
+useStlAlgorithm
+noExplicitConstructor
+unusedStructMember
+*:*_deps/*
diff --git a/.github/workflows/clang-tidy.yml b/.github/workflows/clang-tidy.yml
@@ -0,0 +1,27 @@
+name: clang-tidy
+on:
+  push:
+    branches:
+    - 'main'
+    - 'release/*'
+  pull_request:
+    branches:
+    - '**'
+
+jobs:
+  clang_tidy:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+          submodules: true
+
+      - name: Setup python
+        uses: actions/setup-python@v4
+
+      - name: Run clang-tidy
+        run: |
+          mkdir build
+          cmake -B build
+          make -C build clang-tidy
diff --git a/.github/workflows/default.yml b/.github/workflows/default.yml
@@ -0,0 +1,51 @@
+name: CI
+on:
+  push:
+    branches:
+    - 'main'
+    - 'release/*'
+  pull_request:
+    branches:
+    - '**'
+
+jobs:
+  build_and_lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+          submodules: true
+
+      - name: Setup python
+        uses: actions/setup-python@v4
+
+      - name: Install deps
+        run: sudo apt install cppcheck ccache
+
+      - uses: actions/[email protected]
+        id: ccache-persistence
+        with:
+          path: ~/.ccache
+          key: ccache-ccpp
+          restore-keys: |
+            ccache-ccpp
+      - name: setup ccache
+        run: mkdir -p ~/.ccache && echo "max_size = 300M" > ~/.ccache/ccache.conf && ccache -z && ccache -s
+
+      - name: Build
+        run: |
+          mkdir build
+          cmake -B build
+          make -C build -j2
+
+      - name: Run pre-commit
+        uses: pre-commit/[email protected]
+
+      - name: Run tests
+        run: |
+          make -C build run-unit-tests
+
+      - name: ccache post-run
+        run: ccache -s && ccache -z
+