Add linting

.github/workflows/lint-format.yml

@@ -0,0 +1,46 @@
+name: Lint and Format
+
+on:
+  # Run on pushes to main and pushed tags, and on pull requests against main
+  push:
+  pull_request:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  wpiformat:
+    name: "wpiformat"
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+      - name: Fetch all history and metadata
+        run: |
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f main origin/main
+      - uses: actions/setup-python@v4
+        with:
+          python-version: 3.11
+      - name: Install wpiformat
+        run: pip3 install wpiformat==2025.79
+      - name: Run
+        run: wpiformat
+      - name: Check output
+        run: |
+          set +e
+          git --no-pager diff --exit-code HEAD
+          exit_code=$?
+          if test "$exit_code" -ne "0"; then
+            echo "::error ::Linting failed. See https://docs.photonvision.org/en/latest/docs/contributing/linting.html"
+            exit $exit_code
+          fi
+      - name: Generate diff
+        run: git diff HEAD > wpiformat-fixes.patch
+        if: ${{ failure() }}
+      - uses: actions/upload-artifact@v4
+        with:
+          name: wpiformat fixes
+          path: wpiformat-fixes.patch
+        if: ${{ failure() }}

.styleguide → .wpiformat

@@ -19,6 +19,9 @@ modifiableFileExclude {
   \.webp$
   \.ico$
   gradlew
+  mrcal/
+  libdogleg/
+  vnlog/
 }
 
 includeProject {

CMakeLists.txt

@@ -9,10 +9,10 @@ set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
-set (WITH_ASAN OFF)
-if (WITH_ASAN)
+set(WITH_ASAN OFF)
+if(WITH_ASAN)
     add_compile_options(-fsanitize=address -g -Wall -fsanitize=undefined)
-endif ()
+endif()
 
 # Keep this in sync with build.gradle and with
 # https://github.com/PhotonVision/photonvision/blob/main/build.gradle
@@ -26,23 +26,26 @@ set(OPENCV_TYPE "")
 include(FetchContent)
 FetchContent_Declare(
     opencv_lib
-    URL https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/thirdparty/${OPENCV_YEAR}/opencv/opencv-cpp/${OPENCV_VERSION}/opencv-cpp-${OPENCV_VERSION}-${OPENCV_ARCH}${OPENCV_TYPE}.zip
+    URL
+        https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/thirdparty/${OPENCV_YEAR}/opencv/opencv-cpp/${OPENCV_VERSION}/opencv-cpp-${OPENCV_VERSION}-${OPENCV_ARCH}${OPENCV_TYPE}.zip
 )
 FetchContent_MakeAvailable(opencv_lib)
 
 # download OpenCV headers
 FetchContent_Declare(
     opencv_header
-    URL https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/thirdparty/${OPENCV_YEAR}/opencv/opencv-cpp/${OPENCV_VERSION}/opencv-cpp-${OPENCV_VERSION}-headers.zip
+    URL
+        https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/thirdparty/${OPENCV_YEAR}/opencv/opencv-cpp/${OPENCV_VERSION}/opencv-cpp-${OPENCV_VERSION}-headers.zip
 )
 FetchContent_MakeAvailable(opencv_header)
 
 # This probably doesn't work great with shared libraries, but I don't care about those right now
-file(GLOB_RECURSE OPENCV_LIB_PATH
-  "${opencv_lib_SOURCE_DIR}/**/*.lib"
-  "${opencv_lib_SOURCE_DIR}/**/*.so*"
+file(
+    GLOB_RECURSE OPENCV_LIB_PATH
+    "${opencv_lib_SOURCE_DIR}/**/*.lib"
+    "${opencv_lib_SOURCE_DIR}/**/*.so*"
 )
-SET(OPENCV_INCLUDE_PATH ${opencv_header_SOURCE_DIR})
+set(OPENCV_INCLUDE_PATH ${opencv_header_SOURCE_DIR})
 message("Depending on opencv ${OPENCV_LIB_PATH}")
 
 # Openblas/suitesparse/friends
@@ -64,13 +67,13 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 # Silence OpenBLAS/LAPACK warnings
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -w")
 set(BLA_VENDOR OpenBLAS)
-fetchcontent_declare(
+FetchContent_Declare(
     BLAS
     GIT_REPOSITORY https://github.com/OpenMathLib/OpenBLAS.git
     GIT_TAG v0.3.30
     OVERRIDE_FIND_PACKAGE
 )
-fetchcontent_makeavailable(BLAS)
+FetchContent_MakeAvailable(BLAS)
 
 if(TARGET openblas)
     set(OPENBLAS_TARGET openblas)
@@ -83,9 +86,10 @@ elseif(TARGET libopenblas)
     message(STATUS "Using libopenblas target")
 else()
     # Fallback: find the library file manually
-    find_library(OPENBLAS_LIB
+    find_library(
+        OPENBLAS_LIB
         NAMES openblas libopenblas
-        PATHS 
+        PATHS
             ${openblas_external_BINARY_DIR}
             ${openblas_external_BINARY_DIR}/lib
             ${openblas_external_BINARY_DIR}/lib/Release
@@ -94,7 +98,10 @@ else()
     )
     message(STATUS "Using OpenBLAS library file: ${OPENBLAS_LIB}")
     add_library(openblas_imported STATIC IMPORTED)
-    set_target_properties(openblas_imported PROPERTIES IMPORTED_LOCATION ${OPENBLAS_LIB})
+    set_target_properties(
+        openblas_imported
+        PROPERTIES IMPORTED_LOCATION ${OPENBLAS_LIB}
+    )
     set(OPENBLAS_TARGET openblas_imported)
 endif()
 
@@ -107,67 +114,80 @@ set(SUITESPARSE_USE_PYTHON OFF)
 set(CHOLMOD_GPL OFF)
 set(SUITESPARSE_USE_BLAS ON)
 
-fetchcontent_declare(
+FetchContent_Declare(
     SuiteSparse
     GIT_REPOSITORY https://github.com/DrTimothyAldenDavis/SuiteSparse.git
     GIT_TAG v7.11.0
     OVERRIDE_FIND_PACKAGE
 )
-fetchcontent_makeavailable(SuiteSparse)
+FetchContent_MakeAvailable(SuiteSparse)
 
-get_target_property(CHOLMOD_LIBS SuiteSparse::CHOLMOD_static INTERFACE_LINK_LIBRARIES)
+get_target_property(
+    CHOLMOD_LIBS
+    SuiteSparse::CHOLMOD_static
+    INTERFACE_LINK_LIBRARIES
+)
 message(STATUS "CHOLMOD links to: ${CHOLMOD_LIBS}")
 message(STATUS "BLAS is at: ${OPENBLAS_TARGET}")
 
 # And pull in JNI
 find_package(JNI)
-if (JNI_FOUND)
+if(JNI_FOUND)
     # Fixes odd AWT dependency
-    set (JNI_INCLUDE_DIRS ${JAVA_INCLUDE_PATH} ${JAVA_INCLUDE_PATH2})
-    message (STATUS "JNI_INCLUDE_DIRS=${JNI_INCLUDE_DIRS}")
+    set(JNI_INCLUDE_DIRS ${JAVA_INCLUDE_PATH} ${JAVA_INCLUDE_PATH2})
+    message(STATUS "JNI_INCLUDE_DIRS=${JNI_INCLUDE_DIRS}")
 endif()
 
 # headers and sources
-set(
-    INCLUDE_HPP
-)
+set(INCLUDE_HPP)
 
-set(
-    SRC_HPP
-)
-set(
-    SRC_CPP
+set(SRC_HPP)
+set(SRC_CPP
     src/mrcal_jni.h
     src/mrcal_wrapper.cpp
     src/mrcal_jni.cpp
     libdogleg/dogleg.c
-    mrcal/mrcal.c mrcal/cahvore.cc mrcal/poseutils-opencv.c mrcal/poseutils-uses-autodiff.cc mrcal/poseutils.c mrcal/poseutils-opencv.c mrcal/mrcal-opencv.c mrcal/triangulation.cc
+    mrcal/mrcal.c
+    mrcal/cahvore.cc
+    mrcal/poseutils-opencv.c
+    mrcal/poseutils-uses-autodiff.cc
+    mrcal/poseutils.c
+    mrcal/poseutils-opencv.c
+    mrcal/mrcal-opencv.c
+    mrcal/triangulation.cc
 )
 
-
 # ignore opencv spam
 # set(CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} -Wall -Werror -Wno-deprecated-enum-enum-conversion")
 
-
 # Gennerate minimath
-find_package( Perl REQUIRED )
+find_package(Perl REQUIRED)
 add_custom_target(
- generate_minimath ALL
- COMMAND ${PERL_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/mrcal/minimath/minimath_generate.pl > ${CMAKE_CURRENT_SOURCE_DIR}/mrcal/minimath/minimath_generated.h
- WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
- BYPRODUCTS ${CMAKE_CURRENT_SOURCE_DIR}/mrcal/minimath/minimath_generated.h
- COMMENT "Generating minimath"
+    generate_minimath
+    ALL
+    COMMAND
+        ${PERL_EXECUTABLE}
+        ${CMAKE_CURRENT_SOURCE_DIR}/mrcal/minimath/minimath_generate.pl >
+        ${CMAKE_CURRENT_SOURCE_DIR}/mrcal/minimath/minimath_generated.h
+    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+    BYPRODUCTS ${CMAKE_CURRENT_SOURCE_DIR}/mrcal/minimath/minimath_generated.h
+    COMMENT "Generating minimath"
 )
 
-set( CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin )
-set( CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib )
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
 
 # Create shared library
 add_library(mrcal_jni SHARED ${INCLUDE_HPP} ${SRC_HPP} ${SRC_CPP})
-target_include_directories(mrcal_jni SYSTEM PUBLIC ${JNI_INCLUDE_DIRS} ${OPENCV_INCLUDE_PATH} mrcal libdogleg)
+target_include_directories(
+    mrcal_jni
+    SYSTEM
+    PUBLIC ${JNI_INCLUDE_DIRS} ${OPENCV_INCLUDE_PATH} mrcal libdogleg
+)
 add_dependencies(mrcal_jni generate_minimath)
 
-target_link_libraries(mrcal_jni 
+target_link_libraries(
+    mrcal_jni
     ${OPENCV_LIB_PATH}
     SuiteSparse::CHOLMOD_static
     SuiteSparse::SuiteSparseConfig_static
@@ -178,15 +198,22 @@ target_link_libraries(mrcal_jni
 # Test script for checking our linker
 add_executable(mrcal_jni_test src/mrcal_test.cpp)
 target_link_libraries(mrcal_jni_test PUBLIC mrcal_jni)
-target_include_directories(mrcal_jni_test SYSTEM PRIVATE ${PROJECT_SOURCE_DIR}/vnlog)
+target_include_directories(
+    mrcal_jni_test
+    SYSTEM
+    PRIVATE ${PROJECT_SOURCE_DIR}/vnlog
+)
 # add_dependencies(mrcal_jni_test )
-target_link_libraries(mrcal_jni_test PRIVATE
-    ${OpenCV_LIBS}
-    ${PROJECT_SOURCE_DIR}/vnlog/libvnlog.so
+target_link_libraries(
+    mrcal_jni_test
+    PRIVATE ${OpenCV_LIBS} ${PROJECT_SOURCE_DIR}/vnlog/libvnlog.so
 )
 
-if (WITH_ASAN)
-    target_link_libraries(mrcal_jni_test PRIVATE -fsanitize=address -fsanitize=undefined)
-endif ()
+if(WITH_ASAN)
+    target_link_libraries(
+        mrcal_jni_test
+        PRIVATE -fsanitize=address -fsanitize=undefined
+    )
+endif()
 
 unset(OPENCV_ARCH CACHE) # Set by Actions usually

src/mrcal_jni.cpp

@@ -20,9 +20,11 @@
 #include <algorithm>
 #include <cstdio>
 #include <exception>
+#include <iostream>
 #include <span>
 #include <sstream>
 #include <stdexcept>
+#include <string>
 #include <vector>
 
 #include "mrcal_wrapper.h"
@@ -54,10 +56,12 @@ static constexpr std::string_view JNI_DOUBLE{"D"};
 static constexpr std::string_view JNI_DOUBLEARR{"[D"};
 static constexpr std::string_view JNI_BOOLARR{"[Z"};
 
-template<typename... Args>
-constexpr std::string jni_make_method_sig(std::string_view retval, Args&&... args) {
+template <typename... Args>
+constexpr std::string jni_make_method_sig(std::string_view retval,
+                                          Args &&...args) {
   std::string result = "(";
-  ((result += std::string_view(args)), ...);  // Ensure args are converted to string_view
+  ((result += std::string_view(args)),
+   ...); // Ensure args are converted to string_view
   result += ")";
   result += retval;
   return result;

src/mrcal_test.cpp

@@ -21,8 +21,11 @@
 #include <algorithm>
 #include <chrono>
 #include <cstdio>
+#include <iostream>
+#include <map>
 #include <span>
 #include <stdexcept>
+#include <string>
 #include <vector>
 
 #include "mrcal_jni.h"

src/mrcal_wrapper.cpp

@@ -1,3 +1,20 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
 /*
  * Copyright (C) Photon Vision.
  *
@@ -21,6 +38,8 @@
 #include <algorithm>
 #include <chrono>
 #include <cstdio>
+#include <iostream>
+#include <memory>
 #include <random>
 #include <span>
 #include <stdexcept>
@@ -338,9 +357,7 @@ mrcal_pose_t getSeedPose(const mrcal_point3_t *c_observations_board_pool,
                       .t = {.x = tvec(0), .y = tvec(1), .z = tvec(2)}};
 }
 
-mrcal_result::~mrcal_result() {
-  return;
-}
+mrcal_result::~mrcal_result() { return; }
 
 // Code taken from mrcal, license:
 // Copyright (c) 2017-2023 California Institute of Technology ("Caltech"). U.S.

src/mrcal_wrapper.h

@@ -1,3 +1,20 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
 /*
  * Copyright (C) Photon Vision.
  *