python support improved

Dockerfile

@@ -28,9 +28,11 @@ RUN apt-get update \
     byobu \
     xmlstarlet \
     clang-format \
-    && pip3 install yapf \
+    && python3 -m pip install yapf \
     rope \
     flake8 \
+    pylint \
+    jedi \
     && groupadd --gid $USER_GID $USERNAME \
     && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
     && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
@@ -47,20 +49,22 @@ RUN sh -c "$(wget -O- https://github.com/deluan/zsh-in-docker/releases/download/
     -a 'fpath+=$HOME/.zsh/pure' \
     -a 'autoload -U promptinit; promptinit' \
     -a 'prompt pure' \
+    -a 'PATH=$PATH:$HOME/.local/bin' \
     && mkdir -p "$HOME/.zsh" \
     && git clone https://github.com/sindresorhus/pure.git "$HOME/.zsh/pure" \
     && echo "source /opt/ros/$ROS_DISTR/setup.zsh" >> /home/$USERNAME/.zshrc
 
 ADD vimrc /home/$USERNAME/.vimrc
+ADD ycm_extra_conf.py /home/$USERNAME/.ycm_extra_conf.py
 RUN git clone https://github.com/VundleVim/Vundle.vim.git /home/$USERNAME/.vim/bundle/Vundle.vim
 RUN vim +PluginInstall +qall
 RUN cd /home/$USERNAME/.vim/bundle/YouCompleteMe \
-    && python3 install.py --clang-completer
+    && python3 install.py --clangd-completer
 USER root
 RUN chown -R $USERNAME /home/$USERNAME/
 USER ${USERNAME}
 WORKDIR /home/$USERNAME
-RUN wget https://raw.githubusercontent.com/llvm-mirror/clang/master/tools/clang-format/clang-format.py
+RUN wget https://raw.githubusercontent.com/llvm/llvm-project/main/clang/tools/clang-format/clang-format.py
 # Switch back to dialog for any ad-hoc use of apt-get
 ENV DEBIAN_FRONTEND=dialog
 CMD [ "/usr/bin/zsh"]

vimrc

@@ -37,7 +37,23 @@ inoremap jj <ESC>
 set t_Co=256
 set background=dark
 silent! colorscheme PaperColor
+:set colorcolumn=81,121
 
 let g:clang_format_fallback_style="Google"
-map <C-I> :py3f $HOME/clang-format.py<CR>
+let g:ycm_autoclose_preview_window_after_completion=1
-imap <C-I> :py3f $HOME/clang-format.py<CR>
+let g:ycm_confirm_extra_conf=0
+
+let mapleader=","
+
+autocmd FileType c,cpp nnoremap <leader><F> :py3f $HOME/clang-format.py<CR>
+autocmd FileType c,cpp vnoremap <leader><F> :py3f $HOME/clang-format.py<CR>
+" autocmd FileType python nnoremap <leader><F> :0,$!yapf<CR><C-o> 
+let g:ale_linters={"python": ["pylint"]}
+let g:ale_fixers = ["yapf"]
+let g:ale_open_list=1
+let g:ale_set_quickfix=1
+let g:ale_set_loclist=0
+" does not seem to work due to os.fspath called by config_initialization of
+" pylint?
+" let g:ale_python_pylint_options='--rcfile $HOME/uuv/ros2/.pylintrc'
+silent! autocmd FileType python nnoremap <leader>f <Plug>(ale_fix)

ycm_extra_conf.py

@@ -1,210 +1,17 @@
-# Copyright 2021 Chen Bainian
-# Copyright 2015 Gaël Ecorchard
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-#
-# Reference:
-#   Gist link: https://gist.github.com/galou/92a2d05dd772778f86f2
-#   Author: Gaël Ecorchard (2015)
-#   License: CC0
-
 import os
-import ycm_core
+import shlex
-
+import subprocess
-# These are the compilation flags that will be used in case there's no
-# compilation database set (by default, one is not set).
-# CHANGE THIS LIST OF FLAGS. YES, THIS IS THE DROID YOU HAVE BEEN LOOKING FOR.
-# You can get CMake to generate the compilation_commands.json file for you by
-# adding:
-#   set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
-# to your CMakeLists.txt file or by once entering
-#   catkin config --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
-# or
-#   colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
-# in your shell.
-
-DEFAULT_FLAGS = [
-    '-Wall',
-    '-Wextra',
-    '-Werror',
-    # '-Wc++98-compat',
-    '-Wno-long-long',
-    '-Wno-variadic-macros',
-    '-fexceptions',
-    '-DNDEBUG',
-    # THIS IS IMPORTANT! Without a "-std=<something>" flag, clang won't know
-    # which language to use when compiling headers. So it will guess. Badly. So
-    # C++ headers will be compiled as C headers. You don't want that so ALWAYS
-    # specify a "-std=<something>".
-    # For a C project, you would set this to something like 'c99' instead of
-    # 'c++11'.
-    '-std=c++14',
-    # ...and the same thing goes for the magic -x option which specifies the
-    # language that the files to be compiled are written in. This is mostly
-    # relevant for c++ headers.
-    # For a C project, you would set this to 'c' instead of 'c++'.
-    '-x',
-    'c++',
-    '-I',
-    '.',
-    # include third party libraries
-    # '-isystem',
-    # '/some/path/include',
-]
 
 
-def GetWorkspaceDir():
+def find_ros_python_packages():
-    """
+    ros_ws = os.environ['ROS_WORKSPACE']
-    Get the ROS workspace directory path.
+    cmd = shlex.split(
-    Return this script directory is ROS_WORKSPACE is not set.
+        f'bash -c "source {ros_ws}/install/setup.bash && echo $PYTHONPATH"')
-    """
+    p = subprocess.Popen(cmd, stdout=subprocess.PIPE, universal_newlines=True)
-    ws_dir = os.environ.get('ROS_WORKSPACE')
+    for line in p.stdout:
-    return os.path.dirname(os.path.abspath(__file__)) if ws_dir is None else ws_dir
+        paths = line.rstrip().split(':')
-
+    p.communicate()
-
+    return paths
-def GetDefaultRosIncludePaths():
-    """
-    Return a list of potential include directories.
-    The directories are looked for in ros workspace.
-    This doesn't work well with the ROS 1 build configured with install.
-    """
-    ros_ver = os.environ.get('ROS_VERSION')
-    includes = []
-    # ROS 1
-    if ros_ver == '1':
-        try:
-            from rospkg import RosPack
-        except ImportError:
-            return []
-        rospack = RosPack()
-        devel_includes_path = os.path.join(GetWorkspaceDir(),
-                                           'devel', 'include')
-        if os.path.exists(devel_includes_path):
-            includes.append(devel_includes_path)
-
-        for p in rospack.list():
-            if os.path.exists(rospack.get_path(p) + '/include'):
-                includes.append(rospack.get_path(p) + '/include')
-
-        includes.append('/opt/ros/' + os.environ.get('ROS_DISTRO') + '/include')
-
-    # ROS 2
-    elif ros_ver == '2':
-        try:
-            from ros2pkg.api import get_package_names
-            from ament_index_python import get_package_prefix
-        except ImportError:
-            return []
-        for package_name in get_package_names():
-            include_path = os.path.join(get_package_prefix(package_name), 'include')
-            if os.path.exists(include_path) and include_path not in includes:
-                includes.append(include_path)
-
-    return includes
-
-
-def GetDefaultFlags():
-    includes = GetDefaultRosIncludePaths()
-    flags = DEFAULT_FLAGS
-    for include in includes:
-        flags.append('-isystem')
-        flags.append(include)
-    return flags
-
-
-def GetCompileCommandsPath(filename):
-    """
-    Return the directory potentially containing `compilation_commands.json`.
-    Return the absolute path to the folder (NOT the file!) containing the
-    compile_commands.json file to use that instead of 'flags'. See here for
-    more details: http://clang.llvm.org/docs/JSONCompilationDatabase.html.
-    The compilation_commands.json for the given file is returned by getting
-    the package the file belongs to.
-    """
-    # Find the corresponding ROS package name for the file.
-    # This function works in both ROS1 and ROS2
-    try:
-        from rospkg import get_package_name
-    except ImportError:
-        return ''
-    pkg_name = get_package_name(filename)
-    if not pkg_name:
-        return ''
-
-    return os.path.join(GetWorkspaceDir(), 'build', pkg_name)
-
-
-def GetDatabase(compilation_database_folder):
-    if os.path.exists(compilation_database_folder):
-        return ycm_core.CompilationDatabase(compilation_database_folder)
-    return None
-
-
-def MakeRelativePathsInFlagsAbsolute(flags, working_directory):
-    if not working_directory:
-        return list(flags)
-    new_flags = []
-    make_next_absolute = False
-    path_flags = ['-isystem', '-I', '-iquote', '--sysroot=']
-    for flag in flags:
-        new_flag = flag
-
-        if make_next_absolute:
-            make_next_absolute = False
-            if not flag.startswith('/'):
-                new_flag = os.path.join(working_directory, flag)
-
-        for path_flag in path_flags:
-            if flag == path_flag:
-                make_next_absolute = True
-                break
-
-            if flag.startswith(path_flag):
-                path = flag[len(path_flag):]
-                new_flag = path_flag + os.path.join(working_directory, path)
-                break
-
-        if new_flag:
-            new_flags.append(new_flag)
-    return new_flags
-
 
 def Settings(**kwargs):
-    if kwargs['language'] != 'cfamily':
+    return {'sys_path': find_ros_python_packages()}
-        return {}
-
-    filename = kwargs['filename']
-    flags = []
-    database_dir = GetCompileCommandsPath(filename)
-
-    if os.path.exists(database_dir):
-        # Load the compile_commands.json file
-        database = ycm_core.CompilationDatabase(database_dir)
-        if database:
-            # Bear in mind that compilation_info.compiler_flags_ does NOT return a
-            # python list, but a "list-like" StringVec object
-            compilation_info = database.GetCompilationInfoForFile(filename)
-            if not compilation_info:
-                flags = GetDefaultFlags()  # Use default flags if there are any loading error.
-            else:
-                flags = MakeRelativePathsInFlagsAbsolute(
-                    compilation_info.compiler_flags_,
-                    compilation_info.compiler_working_dir_)
-    if not flags:
-        flags = GetDefaultFlags()  # Use default flags if there is no flags defined.
-
-    return {
-        'flags': flags,
-        'do_cache': True
-    }
-