sonar.yaml

# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)

name: SonarScan

on:
  push:

jobs:
  default:
    env:
      ROS_DISTRO: rolling
      CXXFLAGS: >-
        -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
      CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
      DOCKER_IMAGE: moveit/moveit2:rolling-ci
      UPSTREAM_WORKSPACE: >
        moveit2.repos
        $(f="moveit2_$(sed 's/-.*$//' <<< "rolling-ci").repos"; test -r $f && echo $f)
      # Pull any updates to the upstream workspace (after restoring it from cache)
      AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
      AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src
      # Clear the ccache stats before and log the stats after the build
      AFTER_SETUP_CCACHE: ccache --zero-stats --max-size=10.0G
      BEFORE_BUILD_UPSTREAM_WORKSPACE: ccache -z
      AFTER_BUILD_TARGET_WORKSPACE: ccache -s
      TARGET_CMAKE_ARGS: >
        --no-warn-unused-cli
        -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
        -DCMAKE_EXE_LINKER_FLAGS=-fuse-ld=lld
        -DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld
        -DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=lld
        -DCMAKE_BUILD_TYPE='Debug'
        -DCMAKE_CXX_FLAGS="-Werror $CXXFLAGS --coverage -O2 -fno-omit-frame-pointer"
      UPSTREAM_CMAKE_ARGS: "-DCMAKE_CXX_FLAGS=''"
      DOWNSTREAM_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-Wall -Wextra"
      CCACHE_DIR: ${{ github.workspace }}/.ccache
      BASEDIR: ${{ github.workspace }}/.work
      ADDITIONAL_DEBS: lld

    name: rolling-ci-ccov-sonar
    runs-on: ubuntu-latest
    steps:
      - name: "Free up disk space"
        if: matrix.env.CCOV
        run: |
          sudo apt-get -qq purge "ghc*"
          sudo apt-get clean
          # cleanup docker images not used by us
          docker system prune -af
          # shift ccache folder to /mnt on a separate disk
          sudo mkdir /mnt/ccache
          mkdir ${{ env.CCACHE_DIR }}
          sudo mount --bind ${{ env.CCACHE_DIR }} /mnt/ccache
          # free up a lot of stuff from /usr/local
          sudo rm -rf /usr/local
          df -h
      - uses: actions/checkout@v4
# Testspace disabled temporarily: https://github.com/moveit/moveit2/issues/2852
#      - uses: testspace-com/setup-testspace@v1
#        if: github.repository == 'moveit/moveit2'
#        with:
#          domain: ros-planning
      - name: Get latest release date for rosdistro
        id: rosdistro_release_date
        uses: JafarAbdi/latest-rosdistro-release-date-action@main
        with:
          rosdistro: ${{ env.ROS_DISTRO }}
      - name: Get latest timestamp repos file has been edited
        id: repos_edit_timestamp
        uses: vatanaksoytezer/latest-file-edit-timestamp-action@main
        with:
          file: moveit2.repos
      - name: Cache upstream workspace
        uses: actions/cache@v4
        with:
          path: ${{ env.BASEDIR }}/upstream_ws
          key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
          restore-keys: ${{ env.CACHE_PREFIX }}
          save-always: true
        env:
          CACHE_PREFIX: ${{ steps.rosdistro_release_date.outputs.date }}-upstream_ws-${{ steps.repos_edit_timestamp.outputs.timestamp }}-rolling-ci-${{ hashFiles('moveit2*.repos', '.github/workflows/ci.yaml') }}
      - name: Cache ccache
        uses: actions/cache@v4
        with:
          path: ${{ env.CCACHE_DIR }}
          key: ccache-rolling-ci-ccov-${{ github.sha }}-${{ github.run_id }}
          restore-keys: |
            ccache-rolling-ci-ccov-${{ github.sha }}
            ccache-rolling-ci-ccov
          save-always: true
      - name: Configure ccache
        run: |
          mkdir -p ${{ env.CCACHE_DIR }}
          cp .github/ccache.conf ${{ env.CCACHE_DIR }}/ccache.conf
      - id: ici
        name: Run industrial_ci
        uses: ros-industrial/industrial_ci@master
      - name: Generate codecov report
        uses: rhaschke/lcov-action@main
        if: steps.ici.outputs.target_test_results == '0'
        with:
          docker: $DOCKER_IMAGE
          workdir: ${{ env.BASEDIR }}/target_ws
          ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"'
      - name: Install ccache
        run: sudo apt install ccache build-essential
      - name: Print coverage.info
        if: steps.ici.outputs.target_test_results == '0'
        run: cat ${{ github.workspace }}/.work/target_ws/coverage.info
      - name: Install sonar-scanner
        if: steps.ici.outputs.target_test_results == '0'
        uses: SonarSource/sonarcloud-github-c-cpp@v3
      - name: Run sonar-scanner
        if: steps.ici.outputs.target_test_results == '0'
        env:
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
          SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
        run: sonar-scanner -X --define project.settings=.work/target_ws/src/moveit2/sonar-project.properties
        working-directory: ${{ github.workspace }}