Move to Clang 17 (#146)

# Description Move to Clang 17, this is needed due to llvm/llvm-project#106204 and llvm/llvm-project#96210 (comment). In addition, we install `ssh` package. --------- Co-authored-by: Filippo Brizzi <[email protected]>
olympus-robotics · Aug 29, 2024 · 793115b · 793115b
1 parent 86a17a1
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diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -5,12 +5,12 @@ FROM ${BASE_IMAGE}
 ENV DEBIAN_FRONTEND=noninteractive
 
 RUN apt update && \
-    apt install -y --no-install-recommends x11-apps g++ mesa-utils make cmake-curses-gui ninja-build git gdb vim htop \
+    apt install -y --no-install-recommends x11-apps g++ mesa-utils make cmake-curses-gui ninja-build git gdb vim htop ssh \
     curl zlib1g-dev libffi-dev libssl-dev libbz2-dev libsqlite3-dev iproute2 tk-dev texlive-latex-extra texlive-fonts-recommended dvipng cm-super libnotify-bin \
     pkg-config gpg wget ca-certificates git-lfs curl ccache ninja-build doxygen graphviz linux-generic python3-dev python3-pip iproute2 python-is-python3 \
     net-tools iftop htop lsb-release software-properties-common gnupg bash-completion psmisc less tree && \
     rm -rf /var/lib/apt/lists/*
-RUN python3 -m pip install cmakelang
+RUN python3 -m pip install cmakelang six
 
 RUN wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null && \
     echo "deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/kitware.list >/dev/null && \
@@ -19,7 +19,7 @@ RUN wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/nul
     apt install -y kitware-archive-keyring cmake && \
     rm -rf /var/lib/apt/lists/*
 
-ENV CLANG_VERSION=18
+ENV CLANG_VERSION=17
 RUN wget https://apt.llvm.org/llvm.sh && \
     sed -i "s/add-apt-repository \"${REPO_NAME}\"/add-apt-repository \"${REPO_NAME}\" -y/g" llvm.sh && \
     chmod +x llvm.sh && \

diff --git a/docker/version.sh b/docker/version.sh
@@ -1,6 +1,6 @@
 HOST=ghcr.io/olympus-robotics
-VERSION=1.0.7
+VERSION=1.0.9
 IMAGE=hephaestus-dev
 
 # This is the version of the dep image. Increase this number everytime you change `external/CMakeLists.txt`
-DEPS_VERSION=1.0.25
+DEPS_VERSION=1.0.26
diff --git a/modules/bag/src/writer.cpp b/modules/bag/src/writer.cpp
@@ -4,7 +4,6 @@
 
 #include "hephaestus/bag/writer.h"
 
-#include <cctype>
 #include <cstddef>
 #include <cstdint>
 #include <memory>

diff --git a/modules/bag/tests/tests.cpp b/modules/bag/tests/tests.cpp
@@ -2,8 +2,10 @@
 // Copyright (C) 2023-2024 HEPHAESTUS Contributors
 //=================================================================================================
 
+#include <chrono>
 #include <cstddef>
 #include <memory>
+#include <string>
 #include <tuple>
 #include <unordered_map>
 #include <utility>
@@ -36,8 +38,8 @@ constexpr auto SENDER_ID = "bag_tester";
 constexpr auto ROBOT_TOPIC = "robot";
 constexpr auto FLEET_TOPIC = "fleet";
 
-[[nodiscard]] auto
-createBag() -> std::tuple<utils::filesystem::ScopedPath, std::vector<Robot>, std::vector<Fleet>> {
+[[nodiscard]] auto createBag()
+    -> std::tuple<utils::filesystem::ScopedPath, std::vector<Robot>, std::vector<Fleet>> {
   auto scoped_path = utils::filesystem::ScopedPath::createFile();
   auto mcap_writer = createMcapWriter({ scoped_path });
 

diff --git a/modules/cli/examples/example.cpp b/modules/cli/examples/example.cpp
@@ -5,6 +5,7 @@
 #include <cstdio>
 #include <cstdlib>
 #include <exception>
+#include <string>
 #include <tuple>
 #include <utility>
 

diff --git a/modules/cli/include/hephaestus/cli/program_options.h b/modules/cli/include/hephaestus/cli/program_options.h
@@ -86,8 +86,8 @@ class ProgramDescription {
   /// @param description A brief text describing the option
   /// @return Reference to the object. Enables daisy-chained calls
   template <StringStreamable T>
-  auto defineOption(const std::string& key, char short_key,
-                    const std::string& description) -> ProgramDescription&;
+  auto defineOption(const std::string& key, char short_key, const std::string& description)
+      -> ProgramDescription&;
 
   /// @brief Defines a command line option (--key=value) that is optional
   /// @tparam T Value type
@@ -96,8 +96,8 @@ class ProgramDescription {
   /// @param default_value Default value to use if the option is not specified on the command line
   /// @return Reference to the object. Enables daisy-chained calls
   template <StringStreamable T>
-  auto defineOption(const std::string& key, const std::string& description,
-                    const T& default_value) -> ProgramDescription&;
+  auto defineOption(const std::string& key, const std::string& description, const T& default_value)
+      -> ProgramDescription&;
 
   /// @brief Defines a command line option (--key=value) that is optional
   /// @tparam T Value type
@@ -116,8 +116,8 @@ class ProgramDescription {
   /// @param short_key Single char (can be used as alias for --key)
   /// @param description A brief text describing the option
   /// @return Reference to the object. Enables daisy-chained calls
-  auto defineFlag(const std::string& key, char short_key,
-                  const std::string& description) -> ProgramDescription&;
+  auto defineFlag(const std::string& key, char short_key, const std::string& description)
+      -> ProgramDescription&;
 
   /// @brief Defines a boolean option (flag) (--key=value) on the command line. If the flag is
   /// passed the value of the option is true, false otherwise.
@@ -156,14 +156,14 @@ class ProgramDescription {
 };
 
 template <StringStreamable T>
-auto ProgramDescription::defineOption(const std::string& key,
-                                      const std::string& description) -> ProgramDescription& {
+auto ProgramDescription::defineOption(const std::string& key, const std::string& description)
+    -> ProgramDescription& {
   return defineOption<T>(key, '\0', description);
 }
 
 template <StringStreamable T>
-auto ProgramDescription::defineOption(const std::string& key, char short_key,
-                                      const std::string& description) -> ProgramDescription& {
+auto ProgramDescription::defineOption(const std::string& key, char short_key, const std::string& description)
+    -> ProgramDescription& {
   checkOptionAlreadyExists(key, short_key);
 
   options_.emplace_back(key, short_key, description, utils::getTypeName<T>(), "", true, false);

diff --git a/modules/cli/src/program_options.cpp b/modules/cli/src/program_options.cpp
@@ -57,16 +57,16 @@ void ProgramDescription::checkOptionAlreadyExists(const std::string& key, char k
       fmt::format("Attempted redefinition of short key '{}' for option '{}'", k, key));
 }
 
-auto ProgramDescription::defineFlag(const std::string& key, char short_key,
-                                    const std::string& description) -> ProgramDescription& {
+auto ProgramDescription::defineFlag(const std::string& key, char short_key, const std::string& description)
+    -> ProgramDescription& {
   checkOptionAlreadyExists(key, short_key);
 
   options_.emplace_back(key, short_key, description, utils::getTypeName<bool>(), "false", false, false);
   return *this;
 }
 
-auto ProgramDescription::defineFlag(const std::string& key,
-                                    const std::string& description) -> ProgramDescription& {
+auto ProgramDescription::defineFlag(const std::string& key, const std::string& description)
+    -> ProgramDescription& {
   return defineFlag(key, '\0', description);
 }
 

diff --git a/modules/cli/tests/program_options_tests.cpp b/modules/cli/tests/program_options_tests.cpp
@@ -1,6 +1,7 @@
 //=================================================================================================
 // Copyright (C) 2023-2024 HEPHAESTUS Contributors
 //=================================================================================================
+#include <string>
 #include <utility>
 
 #include <gtest/gtest.h>

diff --git a/modules/containers/examples/blocking_queue_example.cpp b/modules/containers/examples/blocking_queue_example.cpp
@@ -2,7 +2,6 @@
 // Copyright (C) 2023-2024 HEPHAESTUS Contributors
 //=================================================================================================
 
-#include <cstdlib>
 #include <exception>
 #include <string>
 #include <utility>

diff --git a/modules/examples/examples/mcap_reader.cpp b/modules/examples/examples/mcap_reader.cpp
@@ -2,6 +2,7 @@
 // Copyright (C) 2023-2024 HEPHAESTUS Contributors
 //=================================================================================================
 
+#include <cstdio>
 #include <cstdlib>
 #include <exception>
 #include <filesystem>

diff --git a/modules/examples/examples/mcap_writer.cpp b/modules/examples/examples/mcap_writer.cpp
@@ -4,6 +4,7 @@
 
 #include <chrono>
 #include <cstdint>
+#include <cstdio>
 #include <cstdlib>
 #include <exception>
 #include <filesystem>
@@ -39,7 +40,7 @@ auto main(int argc, const char* argv[]) -> int {
       auto frame_time = start_time + i * INTERVAL;
 
       heph::examples::types::Pose pose;
-      pose.position = Eigen::Vector3d{ static_cast<double>(i), 2, 3 };
+      pose.position = Eigen::Vector3d{ static_cast<double>(i), 2, 3 };  // NOLINT
       const auto data = heph::serdes::serialize(pose);
       const heph::ipc::MessageMetadata metadata{
         .sender_id = "myself", .topic = "pose", .timestamp = frame_time, .sequence_id = i

diff --git a/modules/examples/examples/serdes_examples.cpp b/modules/examples/examples/serdes_examples.cpp
@@ -17,9 +17,8 @@ auto main(int argc, const char* argv[]) -> int {
   (void)argv;
   try {
     heph::examples::types::Pose pose;
-    pose.position = Eigen::Vector3d{ 1, 2, 3 };
-    pose.orientation =
-        Eigen::Quaterniond{ 1., 0.1, 0.2, 0.3 };  // NOLINT(cppcoreguidelines-avoid-magic-numbers)
+    pose.position = Eigen::Vector3d{ 1, 2, 3 };                  // NOLINT
+    pose.orientation = Eigen::Quaterniond{ 1., 0.1, 0.2, 0.3 };  // NOLINT
 
     const auto json_string = heph::serdes::serializeToJSON(pose);
     fmt::print("Pose serialized to JSON:\n{}\n", json_string);

diff --git a/modules/examples/examples/zenoh_action_server.cpp b/modules/examples/examples/zenoh_action_server.cpp
@@ -5,6 +5,7 @@
 #include <atomic>
 #include <chrono>
 #include <cstddef>
+#include <cstdio>
 #include <cstdlib>
 #include <exception>
 #include <functional>

diff --git a/modules/examples/examples/zenoh_action_server_client.cpp b/modules/examples/examples/zenoh_action_server_client.cpp
@@ -3,6 +3,7 @@
 //=================================================================================================
 
 #include <cstddef>
+#include <cstdio>
 #include <cstdlib>
 #include <exception>
 #include <functional>

diff --git a/modules/examples/examples/zenoh_program_options.h b/modules/examples/examples/zenoh_program_options.h
@@ -8,8 +8,8 @@
 
 enum class ExampleType : uint8_t { PUBSUB, SERVICE, ACTION_SERVER };
 
-[[nodiscard]] inline auto getProgramDescription(const std::string& description,
-                                                const ExampleType type) -> heph::cli::ProgramDescription {
+[[nodiscard]] inline auto getProgramDescription(const std::string& description, const ExampleType type)
+    -> heph::cli::ProgramDescription {
   static constexpr auto DEFAULT_PUBSUB_KEY = "hephaestus/ipc/example/zenoh/put";
   static constexpr auto DEFAULT_SERVICE_KEY = "hephaestus/ipc/example/zenoh/service";
   static constexpr auto DEFAULT_ACTION_SERVER_KEY = "hephaestus/ipc/example/zenoh/action_server";
@@ -38,8 +38,8 @@ enum class ExampleType : uint8_t { PUBSUB, SERVICE, ACTION_SERVER };
   return desc;
 }
 
-[[nodiscard]] inline auto
-parseArgs(const heph::cli::ProgramOptions& args) -> std::pair<heph::ipc::Config, heph::ipc::TopicConfig> {
+[[nodiscard]] inline auto parseArgs(const heph::cli::ProgramOptions& args)
+    -> std::pair<heph::ipc::Config, heph::ipc::TopicConfig> {
   heph::ipc::TopicConfig topic_config{ .name = args.getOption<std::string>("topic") };
 
   heph::ipc::Config config;

diff --git a/modules/examples/examples/zenoh_pub.cpp b/modules/examples/examples/zenoh_pub.cpp
@@ -3,7 +3,6 @@
 //=================================================================================================
 
 #include <chrono>
-#include <csignal>
 #include <cstdio>
 #include <cstdlib>
 #include <exception>
@@ -47,9 +46,8 @@ auto main(int argc, const char* argv[]) -> int {
     double count = 0;
     while (!heph::utils::TerminationBlocker::stopRequested()) {
       heph::examples::types::Pose pose;
-      pose.position = Eigen::Vector3d{ 1, 2, count++ };
-      pose.orientation =
-          Eigen::Quaterniond{ 1., 0.1, 0.2, 0.3 };  // NOLINT(cppcoreguidelines-avoid-magic-numbers)
+      pose.position = Eigen::Vector3d{ 1, 2, count++ };            // NOLINT
+      pose.orientation = Eigen::Quaterniond{ 1., 0.1, 0.2, 0.3 };  // NOLINT
 
       fmt::println("Publishing Data ('{} : {})", topic_config.name, pose);
       auto res = publisher.publish(pose);

diff --git a/modules/examples/examples/zenoh_service_client.cpp b/modules/examples/examples/zenoh_service_client.cpp
@@ -7,6 +7,7 @@
 #include <cstdio>
 #include <cstdlib>
 #include <exception>
+#include <string>
 #include <tuple>
 #include <utility>
 
@@ -34,7 +35,7 @@ auto main(int argc, const char* argv[]) -> int {
     static constexpr auto K_TIMEOUT = std::chrono::seconds(10);
     const auto query =
         heph::examples::types::Pose{ .orientation = Eigen::Quaterniond{ 1., 0.3, 0.2, 0.1 },  // NOLINT
-                                     .position = Eigen::Vector3d{ 3, 2, 1 } };
+                                     .position = Eigen::Vector3d{ 3, 2, 1 } };                // NOLINT
     LOG(INFO) << fmt::format("Calling service on topic: {} with {}.", topic_config.name, query);
     const auto replies =
         heph::ipc::zenoh::callService<heph::examples::types::Pose, heph::examples::types::Pose>(

diff --git a/modules/examples/examples/zenoh_service_server.cpp b/modules/examples/examples/zenoh_service_server.cpp
@@ -2,7 +2,6 @@
 // Copyright (C) 2023-2024 HEPHAESTUS Contributors
 //=================================================================================================
 
-#include <csignal>
 #include <cstdio>
 #include <cstdlib>
 #include <exception>
@@ -34,7 +33,7 @@ auto main(int argc, const char* argv[]) -> int {
       LOG(INFO) << fmt::format("Received query: {}", sample);
       heph::examples::types::Pose sample_reply{
         .orientation = Eigen::Quaterniond{ 1., 0.1, 0.2, 0.3 },  // NOLINT
-        .position = Eigen::Vector3d{ 1, 2, 3 },
+        .position = Eigen::Vector3d{ 1, 2, 3 },                  // NOLINT
       };
       return sample_reply;
     };

diff --git a/modules/examples/examples/zenoh_string_service_client.cpp b/modules/examples/examples/zenoh_string_service_client.cpp
@@ -7,6 +7,7 @@
 #include <cstdio>
 #include <cstdlib>
 #include <exception>
+#include <string>
 #include <tuple>
 #include <utility>
 

diff --git a/modules/examples/examples/zenoh_string_service_server.cpp b/modules/examples/examples/zenoh_string_service_server.cpp
@@ -2,7 +2,6 @@
 // Copyright (C) 2023-2024 HEPHAESTUS Contributors
 //=================================================================================================
 
-#include <csignal>
 #include <cstdio>
 #include <cstdlib>
 #include <exception>

diff --git a/modules/examples/examples/zenoh_sub.cpp b/modules/examples/examples/zenoh_sub.cpp
@@ -3,7 +3,6 @@
 //=================================================================================================
 
 #include <chrono>
-#include <csignal>
 #include <cstdio>
 #include <cstdlib>
 #include <exception>

diff --git a/modules/ipc/include/hephaestus/ipc/program_options.h b/modules/ipc/include/hephaestus/ipc/program_options.h
@@ -10,7 +10,7 @@ namespace heph::ipc {
 
 void appendIPCProgramOption(cli::ProgramDescription& program_description);
 
-[[nodiscard]] auto
-parseIPCProgramOptions(const heph::cli::ProgramOptions& args) -> std::pair<Config, TopicConfig>;
+[[nodiscard]] auto parseIPCProgramOptions(const heph::cli::ProgramOptions& args)
+    -> std::pair<Config, TopicConfig>;
 
 }  // namespace heph::ipc
diff --git a/modules/ipc/include/hephaestus/ipc/topic_database.h b/modules/ipc/include/hephaestus/ipc/topic_database.h
@@ -22,7 +22,7 @@ namespace zenoh {
 struct Session;
 }
 
-[[nodiscard]] auto
-createZenohTopicDatabase(std::shared_ptr<zenoh::Session> session) -> std::unique_ptr<ITopicDatabase>;
+[[nodiscard]] auto createZenohTopicDatabase(std::shared_ptr<zenoh::Session> session)
+    -> std::unique_ptr<ITopicDatabase>;
 
 }  // namespace heph::ipc
diff --git a/modules/ipc/include/hephaestus/ipc/zenoh/action_server/action_server.h b/modules/ipc/include/hephaestus/ipc/zenoh/action_server/action_server.h
@@ -109,8 +109,8 @@ template <typename RequestT, typename StatusT, typename ReplyT>
     -> std::future<Response<ReplyT>>;
 
 /// Request the action server to stop.
-[[nodiscard]] auto requestActionServerToStopExecution(Session& session,
-                                                      const TopicConfig& topic_config) -> bool;
+[[nodiscard]] auto requestActionServerToStopExecution(Session& session, const TopicConfig& topic_config)
+    -> bool;
 
 // TODO: add a function to get notified when the server is idle again.
 

diff --git a/modules/ipc/src/zenoh/action_server/action_server.cpp b/modules/ipc/src/zenoh/action_server/action_server.cpp
@@ -4,6 +4,7 @@
 
 #include "hephaestus/ipc/zenoh/action_server/action_server.h"
 
+#include <chrono>
 #include <string>
 
 #include <absl/log/log.h>

diff --git a/modules/ipc/src/zenoh/liveliness.cpp b/modules/ipc/src/zenoh/liveliness.cpp
@@ -19,6 +19,7 @@
 #include <zenoh/api/enums.hxx>
 #include <zenoh/api/keyexpr.hxx>
 #include <zenoh/api/reply.hxx>
+#include <zenoh/api/sample.hxx>
 #include <zenoh/api/subscriber.hxx>
 
 #include "hephaestus/ipc/common.h"

diff --git a/modules/ipc/src/zenoh/publisher.cpp b/modules/ipc/src/zenoh/publisher.cpp
@@ -41,8 +41,8 @@ inline void zenohOnMatchingStatus(const ::zc_matching_status_t* matching_status,
 }
 
 template <typename C, typename D>
-[[nodiscard]] auto createZenohcClosureMatchingStatus(C&& on_matching_status,
-                                                     D&& on_drop) -> zc_owned_closure_matching_status_t {
+[[nodiscard]] auto createZenohcClosureMatchingStatus(C&& on_matching_status, D&& on_drop)
+    -> zc_owned_closure_matching_status_t {
   zc_owned_closure_matching_status_t c_closure;
   using Cval = std::remove_reference_t<C>;
   using Dval = std::remove_reference_t<D>;

diff --git a/modules/ipc/src/zenoh/scout.cpp b/modules/ipc/src/zenoh/scout.cpp
@@ -32,8 +32,8 @@ namespace heph::ipc::zenoh {
 
 namespace {
 
-[[nodiscard]] inline auto
-toStringVector(const std::vector<std::string_view>& str_vec) -> std::vector<std::string> {
+[[nodiscard]] inline auto toStringVector(const std::vector<std::string_view>& str_vec)
+    -> std::vector<std::string> {
   std::vector<std::string> output_vec;
   output_vec.reserve(str_vec.size());
   for (const auto& str : str_vec) {
@@ -102,7 +102,8 @@ auto getListOfNodes() -> std::vector<NodeInfo> {
   ScoutDataManager manager;
 
   auto config = ::zenoh::Config::create_default();
-  ::zenoh::scout(std::move(config), [&manager](const auto& hello) { manager.onDiscovery(hello); }, []() {});
+  ::zenoh::scout(
+      std::move(config), [&manager](const auto& hello) { manager.onDiscovery(hello); }, []() {});
 
   auto nodes = manager.getNodesInfo();