test

.github/workflows/clang-tidy.yaml

@@ -0,0 +1,77 @@
+name: clang-tidy and Test
+
+on: [push]
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04
+
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v4
+
+      - name: Install ROS 2 Humble
+        run: |
+          sudo apt update
+          sudo apt install -y curl gnupg lsb-release
+
+          # Add the ROS 2 GPG key
+          sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
+          # Add the ROS 2 repository
+          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+          sudo apt update
+
+          # Install ROS 2 Humble desktop version
+          sudo apt install -y ros-humble-desktop
+
+      - name: Install Build Tools and Dependencies
+        run: |
+          sudo apt install -y python3-colcon-common-extensions python3-rosdep
+
+          # Initialize rosdep
+          sudo rosdep init
+          rosdep update
+
+      - name: Set up ROS 2 Workspace
+        run: |
+          mkdir -p ~/ros2_ws/src
+          cd ~/ros2_ws/src
+
+          # Copy the repository code to the workspace src folder
+          mkdir vortex-auv
+          cd vortex-auv
+          cp -r $GITHUB_WORKSPACE/* .
+          cd ..
+
+          # Clone vortex-msgs repository
+          git clone https://github.com/vortexntnu/vortex-msgs.git
+
+          # Go back to workspace root
+          cd ~/ros2_ws
+
+      - name: Install Package Dependencies with rosdep
+        run: |
+          source /opt/ros/humble/setup.bash
+          cd ~/ros2_ws
+          rosdep install --from-paths src --ignore-src -r -y
+
+      - name: Build ROS 2 Workspace
+        run: |
+          source /opt/ros/humble/setup.bash
+          cd ~/ros2_ws
+          colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
+
+      - name: Make Clang-Tidy Script Executable
+        run: |
+          chmod +x ~/ros2_ws/src/vortex-auv/scripts/run_clang_tidy.sh
+
+      - name: Run Clang-Tidy
+        run: |
+          cd ~/ros2_ws
+          ./src/vortex-auv/scripts/run_clang_tidy.sh
+
+      - name: Final status
+        if: success()
+        run: echo "Pipeline completed successfully!"

acoustics/acoustics_data_record/CMakeLists.txt

@@ -7,11 +7,6 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 
 project(acoustics_data_record)
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()

acoustics/acoustics_interface/CMakeLists.txt

@@ -1,9 +1,7 @@
 cmake_minimum_required(VERSION 3.8)
 
+# Enable export of compile_commands.json for clang-tidy and other tools
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
 
 project(acoustics_interface)
 

auv_setup/CMakeLists.txt

@@ -1,12 +1,14 @@
 cmake_minimum_required(VERSION 3.8)
 
+# Enable export of compile_commands.json for clang-tidy and other tools
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
 
 project(auv_setup)
 
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()

mission/blackbox/CMakeLists.txt

@@ -1,12 +1,14 @@
 cmake_minimum_required(VERSION 3.8)
 
+# Enable export of compile_commands.json for clang-tidy and other tools
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
 
 project(blackbox)
 
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()

mission/internal_status_auv/CMakeLists.txt

@@ -1,12 +1,14 @@
 cmake_minimum_required(VERSION 3.8)
 
+# Enable export of compile_commands.json for clang-tidy and other tools
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
 
 project(internal_status_auv)
 
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()

mission/joystick_interface_auv/CMakeLists.txt

@@ -1,12 +1,14 @@
 cmake_minimum_required(VERSION 3.8)
 
+# Enable export of compile_commands.json for clang-tidy and other tools
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
 
 project(joystick_interface_auv)
 
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()

motion/thrust_allocator_auv/CMakeLists.txt

@@ -1,9 +1,7 @@
 cmake_minimum_required(VERSION 3.8)
 
+# Enable export of compile_commands.json for clang-tidy and other tools
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
 
 project(thrust_allocator_auv)
 

motion/thruster_interface_auv/CMakeLists.txt

@@ -1,12 +1,14 @@
 cmake_minimum_required(VERSION 3.8)
 
+# Enable export of compile_commands.json for clang-tidy and other tools
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
 
 project(thruster_interface_auv)
 
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()

scripts/run_clang_tidy.sh

@@ -0,0 +1,29 @@
+#!/bin/bash
+
+# Paths
+compile_commands_json="build/compile_commands.json"
+
+# Function to run clang-tidy on each file
+run_clang_tidy() {
+    local file=$1
+    echo "Running clang-tidy on $file with $compile_commands_json"
+
+    # Add -warnings-as-errors=* to treat all warnings as errors
+    clang-tidy "$file" \
+      --export-fixes=- \
+      -p "$compile_commands_json" \
+      --warnings-as-errors="*" \
+      --header-filter=".*" \
+      --quiet
+
+    # Check if clang-tidy returned a non-zero exit code, meaning it found an issue
+    if [ $? -ne 0 ]; then
+        echo "clang-tidy found issues in $file. Treating warnings as errors."
+        exit 1
+    fi
+}
+
+# Find all .cpp, .hpp, .c, and .h files recursively in the src directory
+find src -name '*.cpp' -o -name '*.c' | while read -r file; do
+    run_clang_tidy "$file"
+done