Setting Up Visual Studio Code

A set of tools can be configured on Visual Studio Code to help adjusting your code to the Aerostack2 Code Style guidelines during the development proccess.

Install required Extensions

Install the following required extensions from the ‘Extensions’ tab in VSCode:

zachflower.uncrustify
mine.cpplint
ms-python.autopep8
ms-python.pylint

Modify ‘settings.json’

Open your settings.json file from VSCode and add the following content to it:

// cpp
"[cpp]": {
    "editor.defaultFormatter": "zachflower.uncrustify",
    "editor.codeActionsOnSave": {
        "source.fixAll": "explicit"
    },
    "editor.formatOnSave": true
},
"uncrustify.configPath.linux": "<path-to>/.uncrustify.cfg",

// cpplint
"cpplint.cpplintPath": "<path-to-bin>/cpplint",
"cpplint.lineLength": 100,
"cpplint.verbose": 0,
"cpplint.filters": [
    // header guards are user defined
    "-build/header_guard",
    // we do allow C++11
    "-build/c++11",
    // we consider passing non-const references to be ok
    "-runtime/references",
    // we wrap open curly braces for namespaces, classes and functions
    "-whitespace/braces",
    // we don't indent keywords like public, protected and private with one space
    "-whitespace/indent",
    // we allow closing parenthesis to be on the next line
    "-whitespace/parens",
    // we allow the developer to decide about whitespace after a semicolon
    "-whitespace/semicolon",
],

// python
"[python]": {
    "editor.defaultFormatter": "ms-python.autopep8",
    "editor.formatOnSave": true,
},
"autopep8.args": ["--max-line-length=99", "--ignore=''"],

// ROS2 HUMBLE uses as a linter flake8==4.0.1 (apt installation). Pip installation should be
// at the same version to avoid errors. pycodestyle==2.8.0 is also required.
// vscode flake8 extension requires at least flake8 v5.0.0. Pylint extension is used
// instead with identical configuration.
"pylint.args": ["--disable=B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202",
                "--max-line-length=99", "--import-order-style=google", "--show-source=true",
                "--statistics=true"],

Newer versions of ROS 2 include upgraded flake8 (in ament_flake8), so it is preferable to use flake8 from VSCode too instead of pylint. To do so, use, instead of the ‘pylint.args’ settings, the following settings:

// flake8
"flake8.args": ["--extend-ignore=B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202",
                "--import-order-style=google", "--max-line-length=99", "--show-source=true",
                "--statistics=true"],

Set Configuration Variables

Create ‘.uncrustify.config’ file

To set the ‘uncrustify.configPath.linux’ variable, go to any directory and create a file with the name .uncrustify.config and paste in it the content of the following file.

As a recommendation, the file can be created in the ‘Code’ folder that should be placed in the ‘.config’ directory (~/.config/Code).

Copy the path to the created file to the ‘uncrustify.configPath.linux’ variable in your ‘settings.json’ file.

Install and Set ‘cpplint’

Make sure you have installed cpplint. If not, install it by running:

pip install --user cpplint

Once it is installed, copy the path to the package binaries to the variable ‘cpplint.cpplintPath’ in your ‘settings.json’ file.