[#47] Add clang-format and clang-tidy

.clang-format

@@ -0,0 +1,99 @@
+---
+BasedOnStyle: Google
+Language: Cpp
+
+ColumnLimit: 120
+IndentWidth: 2
+TabWidth: 2
+UseTab: Never
+MaxEmptyLinesToKeep: 1
+
+Standard: c++17
+
+# Pointers & References - ROS 2 style (spaces around * and &)
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReferenceAlignment: Middle
+
+# Spaces
+SpaceBeforeParens: ControlStatements
+SpacesInAngles: false
+SpaceAfterCStyleCast: false
+SpaceBeforeAssignmentOperators: true
+
+# Templates
+AlwaysBreakTemplateDeclarations: Yes
+
+# Binary/Ternary operators
+BreakBeforeBinaryOperators: None
+BreakBeforeTernaryOperators: true
+
+# Constructor initializers (modern syntax - replaces deprecated options)
+BreakConstructorInitializers: BeforeComma
+ConstructorInitializerIndentWidth: 2
+PackConstructorInitializers: NextLine
+
+# Short statements
+AllowShortBlocksOnASingleLine: Never
+AllowShortIfStatementsOnASingleLine: Never
+AllowShortLoopsOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortLambdasOnASingleLine: Empty
+
+# Braces
+InsertBraces: true
+BraceWrapping:
+  AfterCaseLabel: false
+  AfterClass: false
+  AfterControlStatement: Never
+  AfterEnum: false
+  AfterFunction: false
+  AfterNamespace: false
+  AfterStruct: false
+  AfterUnion: false
+  BeforeCatch: false
+  BeforeElse: false
+  IndentBraces: false
+  SplitEmptyFunction: false
+  SplitEmptyRecord: false
+  SplitEmptyNamespace: false
+
+# Comments
+AlignTrailingComments: true
+SpacesBeforeTrailingComments: 2
+ReflowComments: true
+
+# Includes - ROS 2 friendly
+SortIncludes: CaseSensitive
+IncludeBlocks: Preserve
+IncludeCategories:
+  - Regex: '^<.*>'
+    Priority: 1
+  - Regex: '^"rclcpp/.*"'
+    Priority: 2
+  - Regex: '^".*"'
+    Priority: 3
+
+# Qualifiers
+QualifierAlignment: Custom
+QualifierOrder: ['static', 'inline', 'constexpr', 'const', 'volatile', 'type']
+
+# Modern C++ options
+InsertNewlineAtEOF: true
+SeparateDefinitionBlocks: Leave
+EmptyLineAfterAccessModifier: Never
+EmptyLineBeforeAccessModifier: LogicalBlock
+
+# Alignment
+AlignAfterOpenBracket: Align
+AlignOperands: Align
+AlignEscapedNewlines: Left
+
+# Penalties (prefer breaking at certain places)
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 60

.clang-tidy

@@ -0,0 +1,35 @@
+---
+# Clang-tidy configuration for ROS 2 Medkit Gateway
+# ROS 2 uses snake_case convention for methods/functions, so we disable
+# identifier-naming rules that would conflict with ROS 2 style guidelines.
+Checks:          '-*,
+                  performance-*,
+                  -performance-enum-size,
+                  llvm-namespace-comment,
+                  modernize-redundant-void-arg,
+                  modernize-use-nullptr,
+                  modernize-use-default,
+                  modernize-use-override,
+                  modernize-loop-convert,
+                  modernize-make-shared,
+                  modernize-make-unique,
+                  modernize-avoid-bind,
+                  misc-unused-parameters,
+                  readability-braces-around-statements,
+                  readability-named-parameter,
+                  readability-redundant-smartptr-get,
+                  readability-redundant-string-cstr,
+                  readability-simplify-boolean-expr,
+                  readability-container-size-empty,
+                  readability-static-definition-in-anonymous-namespace,
+                  '
+HeaderFilterRegex: ''
+CheckOptions:
+  - key:             llvm-namespace-comment.ShortNamespaceLines
+    value:           '10'
+  - key:             llvm-namespace-comment.SpacesBeforeComments
+    value:           '2'
+  - key:             misc-unused-parameters.StrictMode
+    value:           '1'
+  - key:             readability-braces-around-statements.ShortStatementLines
+    value:           '2'

.devcontainer/Dockerfile

@@ -33,6 +33,7 @@ RUN DEBIAN_FRONTEND=noninteractive apt-get update && apt-get install -y \
     yq \
     ca-certificates \
     clang-format \
+    clang-tidy \
     graphviz \
     plantuml \
     && locale-gen en_US.UTF-8 \

.github/workflows/ci.yml

@@ -23,6 +23,7 @@ jobs:
       - name: Install dependencies
         run: |
           sudo apt-get update
+          sudo apt-get install -y clang-format clang-tidy
           rosdep update
           rosdep install --from-paths src --ignore-src -r -y
 
@@ -33,12 +34,21 @@ jobs:
             --cmake-args -DCMAKE_BUILD_TYPE=Release \
             --event-handlers console_direct+
 
-      - name: Run tests
+      - name: Run linters (clang-format, clang-tidy, etc.)
+        run: |
+          source /opt/ros/jazzy/setup.bash
+          source install/setup.bash
+          colcon test --return-code-on-test-failure \
+            --ctest-args -L linter \
+            --event-handlers console_direct+
+
+      - name: Run unit and integration tests
         timeout-minutes: 15
         run: |
           source /opt/ros/jazzy/setup.bash
           source install/setup.bash
           colcon test --return-code-on-test-failure \
+            --ctest-args -LE linter \
             --event-handlers console_direct+
 
       - name: Show test results

src/ros2_medkit_gateway/CMakeLists.txt

@@ -3,6 +3,7 @@ project(ros2_medkit_gateway)
 
 set(CMAKE_CXX_STANDARD 23)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
@@ -63,8 +64,13 @@ install(DIRECTORY launch config
 if(BUILD_TESTING)
   # Linting and code quality checks
   find_package(ament_lint_auto REQUIRED)
-  # Exclude uncrustify since we use clang-format
-  list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify)
+
+  # Use custom clang-format and clang-tidy configs from repo root
+  set(ament_cmake_clang_format_CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-format")
+  set(ament_cmake_clang_tidy_CONFIG_FILE "${CMAKE_CURRENT_SOURCE_DIR}/../../.clang-tidy")
+
+  # Exclude uncrustify (conflicts with clang-format) and cpplint (conflicts with clang-format include order)
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify ament_cmake_cpplint)
   ament_lint_auto_find_test_dependencies()
 
   # Add GTest

src/ros2_medkit_gateway/include/ros2_medkit_gateway/data_access_manager.hpp

@@ -15,66 +15,53 @@
 #pragma once
 
 #include <memory>
+#include <nlohmann/json.hpp>
+#include <rclcpp/rclcpp.hpp>
 #include <string>
 #include <vector>
 
-#include <rclcpp/rclcpp.hpp>
-#include <nlohmann/json.hpp>
-
-#include "ros2_medkit_gateway/ros2_cli_wrapper.hpp"
 #include "ros2_medkit_gateway/output_parser.hpp"
+#include "ros2_medkit_gateway/ros2_cli_wrapper.hpp"
 
 namespace ros2_medkit_gateway {
 
 using json = nlohmann::json;
 
 class DataAccessManager {
-public:
-    explicit DataAccessManager(rclcpp::Node* node);
+ public:
+  explicit DataAccessManager(rclcpp::Node * node);
 
-    /**
-     * @brief Get a single sample from a specific topic
-     */
-    json get_topic_sample(
-        const std::string& topic_name,
-        double timeout_sec = 3.0
-    );
+  /**
+   * @brief Get a single sample from a specific topic
+   */
+  json get_topic_sample(const std::string & topic_name, double timeout_sec = 3.0);
 
-    /**
-     * @brief Get all data from topics under a component's namespace
-     */
-    json get_component_data(
-        const std::string& component_namespace,
-        double timeout_sec = 3.0
-    );
+  /**
+   * @brief Get all data from topics under a component's namespace
+   */
+  json get_component_data(const std::string & component_namespace, double timeout_sec = 3.0);
 
-    /**
-     * @brief Publish data to a specific topic
-     * @param topic_path Full topic path (e.g., /chassis/brakes/command)
-     * @param msg_type ROS 2 message type (e.g., std_msgs/msg/Float32)
-     * @param data JSON data to publish
-     * @param timeout_sec Timeout for the publish operation
-     * @return JSON with publish status
-     */
-    json publish_to_topic(
-        const std::string& topic_path,
-        const std::string& msg_type,
-        const json& data,
-        double timeout_sec = 5.0
-    );
+  /**
+   * @brief Publish data to a specific topic
+   * @param topic_path Full topic path (e.g., /chassis/brakes/command)
+   * @param msg_type ROS 2 message type (e.g., std_msgs/msg/Float32)
+   * @param data JSON data to publish
+   * @param timeout_sec Timeout for the publish operation
+   * @return JSON with publish status
+   */
+  json publish_to_topic(const std::string & topic_path, const std::string & msg_type, const json & data,
+                        double timeout_sec = 5.0);
 
-private:
-    /**
-     * @brief Find all topics under a given namespace
-     */
-    std::vector<std::string> find_component_topics(
-        const std::string& component_namespace
-    );
+ private:
+  /**
+   * @brief Find all topics under a given namespace
+   */
+  std::vector<std::string> find_component_topics(const std::string & component_namespace);
 
-    rclcpp::Node* node_;
-    std::unique_ptr<ROS2CLIWrapper> cli_wrapper_;
-    std::unique_ptr<OutputParser> output_parser_;
-    int max_parallel_samples_;
+  rclcpp::Node * node_;
+  std::unique_ptr<ROS2CLIWrapper> cli_wrapper_;
+  std::unique_ptr<OutputParser> output_parser_;
+  int max_parallel_samples_;
 };
 
 }  // namespace ros2_medkit_gateway

src/ros2_medkit_gateway/include/ros2_medkit_gateway/discovery_manager.hpp

@@ -14,26 +14,25 @@
 
 #pragma once
 
+#include <rclcpp/rclcpp.hpp>
 #include <string>
 #include <vector>
 
-#include <rclcpp/rclcpp.hpp>
-
 #include "ros2_medkit_gateway/models.hpp"
 
 namespace ros2_medkit_gateway {
 
 class DiscoveryManager {
-public:
-    explicit DiscoveryManager(rclcpp::Node* node);
+ public:
+  explicit DiscoveryManager(rclcpp::Node * node);
 
-    std::vector<Area> discover_areas();
-    std::vector<Component> discover_components();
+  std::vector<Area> discover_areas();
+  std::vector<Component> discover_components();
 
-private:
-    std::string extract_area_from_namespace(const std::string& ns);
+ private:
+  std::string extract_area_from_namespace(const std::string & ns);
 
-    rclcpp::Node* node_;
+  rclcpp::Node * node_;
 };
 
 }  // namespace ros2_medkit_gateway

src/ros2_medkit_gateway/include/ros2_medkit_gateway/exceptions.hpp

@@ -21,26 +21,32 @@ namespace ros2_medkit_gateway {
 
 /// Exception thrown when a topic is not available or times out
 class TopicNotAvailableException : public std::runtime_error {
-public:
-    explicit TopicNotAvailableException(const std::string& topic)
-        : std::runtime_error("Topic not available: " + topic), topic_(topic) {}
+ public:
+  explicit TopicNotAvailableException(const std::string & topic)
+    : std::runtime_error("Topic not available: " + topic), topic_(topic) {
+  }
 
-    const std::string& topic() const noexcept { return topic_; }
+  const std::string & topic() const noexcept {
+    return topic_;
+  }
 
-private:
-    std::string topic_;
+ private:
+  std::string topic_;
 };
 
 /// Exception thrown when a required command (e.g., ros2 CLI) is not available
 class CommandNotAvailableException : public std::runtime_error {
-public:
-    explicit CommandNotAvailableException(const std::string& command)
-        : std::runtime_error("Command not available: " + command), command_(command) {}
+ public:
+  explicit CommandNotAvailableException(const std::string & command)
+    : std::runtime_error("Command not available: " + command), command_(command) {
+  }
 
-    const std::string& command() const noexcept { return command_; }
+  const std::string & command() const noexcept {
+    return command_;
+  }
 
-private:
-    std::string command_;
+ private:
+  std::string command_;
 };
 
 }  // namespace ros2_medkit_gateway