Add Linter

.editorconfig

@@ -0,0 +1,75 @@
+; see http://editorconfig.org/ for docs on this file
+; See https://github.com/dotnet/format for dotnet format
+
+root = true
+
+[*]
+ignore_if_in_header = This code was generated by a tool|<auto-generated>
+indent_style = space
+indent_size = 4
+; uncomment to help with sharing files across os's (i.e. network share or through local vm)
+#end_of_line = lf
+; avoid a bom, which causes endless problems with naive text tooling
+charset = utf-8
+trim_trailing_whitespace = true
+insert_final_newline = true
+; keeping auto-format enabled helps avoid merge hell for projects without CI-based format validation
+#disable_auto_format = true
+
+[*.cs]
+; uncomment to enable full formatting of c# files
+formatters = generic, uncrustify
+
+[*.asmdef]
+scrape_api = true
+
+[**/Tests/**.asmdef]
+scrape_api = false
+
+[*.Tests.asmdef]
+scrape_api = false
+
+[*.md]
+indent_size = 2
+; trailing whitespace is unfortunately significant in markdown
+trim_trailing_whitespace = false
+; uncomment to enable basic formatting of markdown files
+#formatters = generic
+
+[{Makefile,makefile}]
+; tab characters are part of the Makefile format
+indent_style = tab
+
+[*.asmdef]
+indent_size = 4
+
+[*.json]
+indent_size = 2
+
+[*.{vcproj,bat,cmd,xaml,tt,t4,ttinclude}]
+end_of_line = crlf
+
+; this VS-specific stuff is based on experiments to see how VS will modify a file after it has been manually edited.
+; the settings are meant to closely match what VS does to minimize unnecessary diffs.
+[*.{vcxproj,vcxproj.filters}]
+indent_style = space
+indent_size = 2
+end_of_line = crlf
+charset = utf-8-bom
+trim_trailing_whitespace = true
+insert_final_newline = false
+; must be broken out because of 51-char bug (https://github.com/editorconfig/editorconfig-visualstudio/issues/21)
+[*.{csproj,pyproj,props,targets}]
+indent_style = space
+indent_size = 2
+end_of_line = crlf
+charset = utf-8-bom
+trim_trailing_whitespace = true
+insert_final_newline = false
+[*.{sln,sln.template}]
+indent_style = tab
+indent_size = 4
+end_of_line = crlf
+charset = utf-8
+trim_trailing_whitespace = true
+insert_final_newline = false

.github/PULL_REQUEST_TEMPLATE.md

@@ -16,7 +16,7 @@ Provide any relevant links here.
 
 ## Testing and Verification
 
-Please describe the tests that you ran to verify your changes. Please also provide instructions, ROS packages, and Unity project files as appropriate so we can reproduce the test environment. 
+Please describe the tests that you ran to verify your changes. Please also provide instructions, ROS packages, and Unity project files as appropriate so we can reproduce the test environment.
 
 ### Test Configuration:
 - Unity Version: [e.g. Unity 2020.2.0f1]

.github/workflows/pre-commit.yml

@@ -0,0 +1,17 @@
+name: pre-commit
+
+on:
+    pull_request:
+
+jobs:
+    pre-commit:
+        runs-on: ubuntu-latest
+        steps:
+            - uses: actions/checkout@v2
+            - uses: actions/setup-python@v2
+              with:
+                  python-version: 3.7.x
+            - uses: actions/setup-dotnet@v1
+              with:
+                  dotnet-version: '3.1.x'
+            - uses: pre-commit/[email protected]

.pre-commit-config.yaml

@@ -0,0 +1,31 @@
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.0.1
+    hooks:
+        -   id: mixed-line-ending
+            exclude: >
+                (?x)^(
+                    .*cs.meta|
+                    .*.css|
+                    .*.meta|
+                    .*.mat|
+                    .*.preset|
+                    .*.lighting
+                )$
+            args: [--fix=lf]
+
+        -   id: trailing-whitespace
+            name: trailing-whitespace-markdown
+            types: [markdown]
+        -   id: check-merge-conflict
+            args: [--assume-in-merge]
+        -   id: check-yaml
+            # Won't handle the templating in yamato
+            exclude: \.yamato/.*
+
+
+- repo: https://github.com/dotnet/format
+  rev: "7e343070a0355c86f72bdee226b5e19ffcbac931"
+  hooks:
+      - id: dotnet-format
+        args: [--folder, --include]

CONTRIBUTING.md

@@ -1,7 +1,7 @@
 # Contribution Guidelines
 
-Thank you for your interest in contributing to Unity Robotics! To facilitate your 
-contributions, we've outlined a brief set of guidelines to ensure that your extensions 
+Thank you for your interest in contributing to Unity Robotics! To facilitate your
+contributions, we've outlined a brief set of guidelines to ensure that your extensions
 can be easily integrated.
 
 ## Communication
@@ -40,10 +40,10 @@ We run continuous integration on all PRs; all tests must be passing before the P
 
 All Python code should follow the [PEP 8 style guidelines](https://pep8.org/).
 
-All C# code should follow the [Microsoft C# Coding Conventions](https://docs.microsoft.com/en-us/dotnet/csharp/programming-guide/inside-a-program/coding-conventions). 
-Additionally, the [Unity Coding package](https://docs.unity3d.com/Packages/[email protected]/manual/index.html) 
-can be used to format, encode, and lint your code according to the standard Unity 
-development conventions. Be aware that these Unity conventions will supersede the 
+All C# code should follow the [Microsoft C# Coding Conventions](https://docs.microsoft.com/en-us/dotnet/csharp/programming-guide/inside-a-program/coding-conventions).
+Additionally, the [Unity Coding package](https://docs.unity3d.com/Packages/[email protected]/manual/index.html)
+can be used to format, encode, and lint your code according to the standard Unity
+development conventions. Be aware that these Unity conventions will supersede the
 Microsoft C# Coding Conventions where applicable.
 
 Please note that even if the code you are changing does not adhere to these guidelines,
@@ -60,5 +60,5 @@ email us at [[email protected]](mailto:[email protected]).
 
 ## Contribution review
 
-Once you have a change ready following the above ground rules, simply make a 
+Once you have a change ready following the above ground rules, simply make a
 pull request in GitHub.

MessageGeneration.md

@@ -1,13 +1,13 @@
-# Message Generation
-
-To work with a ROS message in Unity, you first need to generate the corresponding C# message class. Select the menu option "RosMessageGeneration->Browse..." to open the message browser.
-
-![](images~/MessageBrowser.png)
-
-Select your ROS message folder at the top, then you can navigate through the folder structure to find the .msg files. Click the "Build msg" button to build the messages you want.
-
-# Message importers
-
-For a more automated workflow, you may find it useful to simply drag an entire ROS module folder into your Unity project. Unity will automatically find any .msg and .srv files in the folder structure, and convert them into C# message classes for you. And the classes will be updated if the .msg or .srv files change on disk.
-
-NB: The message generation system looks for a ROS package.xml to determine what code to generate, so if you're working this way it's recommended to import an entire ROS module, rather than individual .msg files, into your Unity project.
+# Message Generation
+
+To work with a ROS message in Unity, you first need to generate the corresponding C# message class. Select the menu option "RosMessageGeneration->Browse..." to open the message browser.
+
+![](images~/MessageBrowser.png)
+
+Select your ROS message folder at the top, then you can navigate through the folder structure to find the .msg files. Click the "Build msg" button to build the messages you want.
+
+# Message importers
+
+For a more automated workflow, you may find it useful to simply drag an entire ROS module folder into your Unity project. Unity will automatically find any .msg and .srv files in the folder structure, and convert them into C# message classes for you. And the classes will be updated if the .msg or .srv files change on disk.
+
+NB: The message generation system looks for a ROS package.xml to determine what code to generate, so if you're working this way it's recommended to import an entire ROS module, rather than individual .msg files, into your Unity project.

README.md

@@ -3,14 +3,14 @@
 [![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 
 ## Installation
-1. Using Unity 2020.2 or later, open the package manager from `Window` -> `Package Manager` and select "Add package from git URL..."  
+1. Using Unity 2020.2 or later, open the package manager from `Window` -> `Package Manager` and select "Add package from git URL..."
 ![image](https://user-images.githubusercontent.com/29758400/110989310-8ea36180-8326-11eb-8318-f67ee200a23d.png)
 2. Enter the following URL. If you don't want to use the latest version, substitute your desired version tag where we've put `v0.3.0` in this example:
 `https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#v0.3.0`
 3. Click `Add`.
 
 
-## Tutorials 
+## Tutorials
 Scripts used to send [ROS](https://www.ros.org/) messages to an [TCP endpoint](https://github.com/Unity-Technologies/ROS_TCP_Endpoint) running as a ROS node.
 
 This Unity package provides three main features:
@@ -27,16 +27,16 @@ Special thanks to the Siemens [ROS# Project Team]( https://github.com/siemens/ro
 
 ## Community and Feedback
 
-The Unity Robotics projects are open-source and we encourage and welcome contributions. 
-If you wish to contribute, be sure to review our [contribution guidelines](CONTRIBUTING.md) 
+The Unity Robotics projects are open-source and we encourage and welcome contributions.
+If you wish to contribute, be sure to review our [contribution guidelines](CONTRIBUTING.md)
 and [code of conduct](CODE_OF_CONDUCT.md).
 
 ## Support
 For questions or discussions about Unity Robotics package installations or how to best set up and integrate your robotics projects, please create a new thread on the [Unity Robotics forum](https://forum.unity.com/forums/robotics.623/) and make sure to include as much detail as possible.
 
 For feature requests, bugs, or other issues, please file a [GitHub issue](https://github.com/Unity-Technologies/ROS-TCP-Connector/issues) using the provided templates and the Robotics team will investigate as soon as possible.
 
-For any other questions or feedback, connect directly with the 
+For any other questions or feedback, connect directly with the
 Robotics team at [[email protected]](mailto:[email protected]).
 
 ## License

ROSGeometry.md

@@ -1,56 +1,56 @@
-# ROSGeometry component
-
-In Unity, the X axis points right, Y up, and Z forward. ROS, on the other hand, supports various coordinate frames: in the most commonly-used one, X points forward, Y left, and Z up. In ROS terminology, this frame is called "FLU" (forward, left, up), whereas the Unity coordinate frame would be "RUF" (right, up, forward).
-
-The ROSGeometry namespace contains code to make it easier to work with these various coordinate frames - letting you be explicit about what coordinates a given value is in at compile time, and managing the conversions for you. It does this with two generic structs, `Vector3<C>` and `Quaternion<C>`. The type parameter C indicates the coordinate frame you're working in - either FLU, or RUF, or perhaps a more exotic frame such as NED (north, east, down) or ENU (east, north, up), commonly used in aviation.
-
-
-# Converting between frames:
-
-For example, if you need to convert an object's position into the FLU coordinate frame, you might write:
-
-    Vector3<FLU> rosPos = obj.transform.position.To<FLU>();
-   
-An explicit cast, or calling the constructor, would also produce the same result.
-
-    Vector3<FLU> rosPos2 = (Vector3<FLU>)obj.transform.position;
-    Vector3<FLU> rosPos3 = new Vector3<FLU>(obj.transform.position);
-
-To convert back, just access the "toUnity" property on the vector.
-
-    Vector3 unityPos = rosPos.toUnity;
-
-And the same functions apply for converting Quaternions.
-
-# Ros Message conversions:
-
-For convenience, `Vector3<C>` has an implicit conversion into all three of the main ROS position message types: Point, Point32 and Vector3. Similarly, `Quaternion<C>` has an implicit conversion to the ROS Quaternion message. Hence, writing 3d data into a message can often be as simple as writing:
-
-	Imu msg = new Imu();
-	msg.linear_acceleration = acceleration.To<FLU>();
-	msg.orientation = rigidbody.transform.rotation.To<FLU>();
-	msg.angular_velocity = rigidbody.angularVelocity.To<FLU>();
-	ros.Send("imu", msg);
-
-Note, the calls to `To<FLU>()` above are essential. Normal Unity Vector3s or Quaternions do NOT have these conversions. You need to explicitly select a coordinate frame before converting to a ROS message.
-
-Unity's standard Transform class also has a `To<C>()` extension method that returns a ROS Transform message. So sending a Transform message typically looks like:
-
-    ros.Send("topic", obj.transform.To<FLU>());
-
-# Converting incoming messages
-
-You can also convert Points, Point32s and Vector3s back into Unity coordinates. To convert a Point in coordinate space C directly into a Unity Vector3, you can write `From<C>`. For example:
-
-    void SubscriberCallback(Point p)
-	{
-	  transform.position = p.From<FLU>();
-	}
-
-Or, if you need to work with them in the FLU coordinate space for now, you can write:
-
-    Vector3<FLU> rosPos = p.As<FLU>();
-
-(Note that this does NOT do any coordinate conversion. It simply assumes the point is in the FLU coordinate frame already, and transfers it into an appropriate container.)
-
-And again, the same goes for converting a Quaternion message into a Unity Quaternion or `Quaternion<C>`.
+# ROSGeometry component
+
+In Unity, the X axis points right, Y up, and Z forward. ROS, on the other hand, supports various coordinate frames: in the most commonly-used one, X points forward, Y left, and Z up. In ROS terminology, this frame is called "FLU" (forward, left, up), whereas the Unity coordinate frame would be "RUF" (right, up, forward).
+
+The ROSGeometry namespace contains code to make it easier to work with these various coordinate frames - letting you be explicit about what coordinates a given value is in at compile time, and managing the conversions for you. It does this with two generic structs, `Vector3<C>` and `Quaternion<C>`. The type parameter C indicates the coordinate frame you're working in - either FLU, or RUF, or perhaps a more exotic frame such as NED (north, east, down) or ENU (east, north, up), commonly used in aviation.
+
+
+# Converting between frames:
+
+For example, if you need to convert an object's position into the FLU coordinate frame, you might write:
+
+    Vector3<FLU> rosPos = obj.transform.position.To<FLU>();
+
+An explicit cast, or calling the constructor, would also produce the same result.
+
+    Vector3<FLU> rosPos2 = (Vector3<FLU>)obj.transform.position;
+    Vector3<FLU> rosPos3 = new Vector3<FLU>(obj.transform.position);
+
+To convert back, just access the "toUnity" property on the vector.
+
+    Vector3 unityPos = rosPos.toUnity;
+
+And the same functions apply for converting Quaternions.
+
+# Ros Message conversions:
+
+For convenience, `Vector3<C>` has an implicit conversion into all three of the main ROS position message types: Point, Point32 and Vector3. Similarly, `Quaternion<C>` has an implicit conversion to the ROS Quaternion message. Hence, writing 3d data into a message can often be as simple as writing:
+
+	Imu msg = new Imu();
+	msg.linear_acceleration = acceleration.To<FLU>();
+	msg.orientation = rigidbody.transform.rotation.To<FLU>();
+	msg.angular_velocity = rigidbody.angularVelocity.To<FLU>();
+	ros.Send("imu", msg);
+
+Note, the calls to `To<FLU>()` above are essential. Normal Unity Vector3s or Quaternions do NOT have these conversions. You need to explicitly select a coordinate frame before converting to a ROS message.
+
+Unity's standard Transform class also has a `To<C>()` extension method that returns a ROS Transform message. So sending a Transform message typically looks like:
+
+    ros.Send("topic", obj.transform.To<FLU>());
+
+# Converting incoming messages
+
+You can also convert Points, Point32s and Vector3s back into Unity coordinates. To convert a Point in coordinate space C directly into a Unity Vector3, you can write `From<C>`. For example:
+
+    void SubscriberCallback(Point p)
+	{
+	  transform.position = p.From<FLU>();
+	}
+
+Or, if you need to work with them in the FLU coordinate space for now, you can write:
+
+    Vector3<FLU> rosPos = p.As<FLU>();
+
+(Note that this does NOT do any coordinate conversion. It simply assumes the point is in the FLU coordinate frame already, and transfers it into an appropriate container.)
+
+And again, the same goes for converting a Quaternion message into a Unity Quaternion or `Quaternion<C>`.

com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/MessageGenBrowser.cs

@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 using System.IO;
 using System.Linq;
 using Unity.Robotics.ROSTCPConnector.MessageGeneration;
@@ -269,7 +269,7 @@ CachedEntry CacheFolder(string path)
             if (numActions > 0)
                 buildStrings.Add(numActions + " action" + (numActions > 1 ? "s" : ""));
 
-            if(buildStrings.Count > 0)
+            if (buildStrings.Count > 0)
                 buildLabel = "Build " + string.Join(", ", buildStrings.Select(x => x.ToString()));
 
             return new CachedEntry()
@@ -294,7 +294,7 @@ CachedEntryStatus GetFileStatus(string path)
                 case ".action":
                     string[] builtActionPaths = ActionAutoGen.GetActionClassPaths(path, MessageGenBrowserSettings.Get().outputPath);
                     return builtActionPaths.All(file => File.Exists(file)) ? CachedEntryStatus.BuiltActionFile : CachedEntryStatus.UnbuiltActionFile;
-                  }
+            }
 
             return CachedEntryStatus.Ignored;
         }

com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/MessageGenBrowserSettings.cs

@@ -48,7 +48,7 @@ public static string ToRelativePath(string fullPath)
             if (!fullPath.StartsWith(dataPath))
                 return "";
 
-            return fullPath.Substring(dataPath.Length+1);
+            return fullPath.Substring(dataPath.Length + 1);
         }
     }
 }

com.unity.robotics.ros-tcp-connector/Editor/MessageGeneration/ScriptedMsgImporter.cs

@@ -15,15 +15,15 @@ public class ScriptedMsgImporter : ScriptedImporter
     {
         public override void OnImportAsset(AssetImportContext ctx)
         {
-            string inputPath =  Path.Combine(Directory.GetCurrentDirectory(), ctx.assetPath);
+            string inputPath = Path.Combine(Directory.GetCurrentDirectory(), ctx.assetPath);
             string outputPath = MessageGenBrowserSettings.Get().outputPath;
             MessageAutoGen.GenerateSingleMessage(inputPath, outputPath);
-        
+
             string builtPath = MessageAutoGen.GetMessageClassPath(inputPath, outputPath);
             string builtAssetPath = Path.Combine("Assets", MessageGenBrowserSettings.ToRelativePath(builtPath));
             AssetDatabase.ImportAsset(builtAssetPath);
             Object messageClass = AssetDatabase.LoadAssetAtPath(builtAssetPath, typeof(MonoScript));
-            if(messageClass != null)
+            if (messageClass != null)
                 ctx.AddObjectToAsset("messageClass", messageClass);
         }
     }