Merge remote-tracking branch 'origin/main' into houliston/newdocs

Author: TrentHouliston

.clang-tidy

@@ -34,6 +34,7 @@ Checks: >
   -readability-function-size,
   -readability-identifier-length,
   -readability-magic-numbers,
+  -readability-math-missing-parentheses,
   -readability-uppercase-literal-suffix,
   modernize-*,
   -modernize-use-trailing-return-type,
@@ -70,3 +71,5 @@ CheckOptions:
     value: google
   - key: readability-braces-around-statements.ShortStatementLines
     value: "1"
+  - key: misc-include-cleaner.IgnoreHeaders
+    value: "asm-generic/.*;bits/.*"

.github/workflows/gcc.yaml

@@ -36,7 +36,7 @@ jobs:
             version: "7"
 
     name: Linux GCC-${{ matrix.toolchain.version }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
     continue-on-error: true
 
     # Use the container for this specific version of gcc
@@ -92,11 +92,17 @@ jobs:
 
       - name: Test
         timeout-minutes: 2
-        working-directory: build/tests
-        run: ctest --output-on-failure -E "dsl/UDP"
+        working-directory: build
+        run: ninja run_all_tests -k 0
+
+      - name: Test Summary
+        if: ${{ !cancelled() }}
+        uses: test-summary/action@v2
+        with:
+          paths: "build/reports/tests/*.junit.xml"
 
       - name: Upload Traces
-        if: always()
+        if: ${{ !cancelled() }}
         uses: actions/upload-artifact@v4
         with:
           name: traces-gcc-${{ matrix.toolchain.version }}

.github/workflows/linting.yaml

@@ -20,19 +20,19 @@ concurrency:
 jobs:
   linux-clang-tidy:
     name: Linux Clang-Tidy
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
 
     steps:
       - name: Checkout Code
         uses: actions/checkout@v4
 
-      - name: Install clang-tidy-15
+      - name: Install clang-tidy
         run: |
           wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
-          echo "deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-15 main" | sudo tee /etc/apt/sources.list.d/llvm-15
-          echo "deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-15 main" | sudo tee -a /etc/apt/sources.list.d/llvm-15
+          echo "deb http://apt.llvm.org/noble/ llvm-toolchain-noble-19 main" | sudo tee /etc/apt/sources.list.d/llvm-19.list
+          echo "deb-src http://apt.llvm.org/noble/ llvm-toolchain-noble-19 main" | sudo tee -a /etc/apt/sources.list.d/llvm-19.list
           sudo apt-get update
-          sudo apt-get install -y clang-tidy-15
+          sudo apt-get install -y clang-tidy-19
 
       # Download and install cmake
       - name: Install CMake
@@ -62,7 +62,7 @@ jobs:
 
           mkdir -p ${{ github.workspace }}/.ctcache
 
-          echo CTCACHE_CLANG_TIDY='/usr/bin/clang-tidy-15' >> "$GITHUB_ENV"
+          echo CTCACHE_CLANG_TIDY='/usr/bin/clang-tidy-19' >> "$GITHUB_ENV"
           echo CTCACHE_LOCAL=1 >> "$GITHUB_ENV"
           echo CTCACHE_SAVE_OUTPUT=1 >> "$GITHUB_ENV"
           echo CTCACHE_DIR='${{github.workspace}}/.ctcache' >> "$GITHUB_ENV"

.github/workflows/macos.yaml

@@ -60,11 +60,17 @@ jobs:
 
       - name: Test
         timeout-minutes: 5
-        working-directory: build/tests
-        run: ctest --output-on-failure
+        working-directory: build
+        run: ninja run_all_tests -k 0
+
+      - name: Test Summary
+        if: ${{ !cancelled() }}
+        uses: test-summary/action@v2
+        with:
+          paths: "build/reports/tests/*.junit.xml"
 
       - name: Upload Traces
-        if: always()
+        if: ${{ !cancelled() }}
         uses: actions/upload-artifact@v4
         with:
           name: traces-macos

.github/workflows/sonarcloud.yaml

@@ -18,24 +18,26 @@ concurrency:
 jobs:
   sonarcloud:
     name: SonarCloud
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
+    container: silkeh/clang:18
     env:
       BUILD_WRAPPER_OUT_DIR: build_wrapper_output_directory # Directory where build-wrapper output will be placed
     steps:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0 # Shallow clones should be disabled for a better relevancy of analysis
 
-      - name: Install gcovr
-        run: pip install gcovr==7.2
-
-      - name: Install sonar-scanner and build-wrapper
-        uses: SonarSource/sonarcloud-github-c-cpp@v3
+      - name: Install Prerequisites
+        run: |
+          apt-get update
+          apt-get install -y \
+            ccache \
+            unzip
 
       - name: Install CMake
-        uses: lukka/get-cmake@latest
+        uses: lukka/get-cmake@v3.30.5
         with:
-          cmakeVersion: 3.27.1
+          cmakeVersion: 3.30.5
           ninjaVersion: 1.11.1
 
       - name: Setup CCache
@@ -45,43 +47,62 @@ jobs:
           max-size: 100M
 
       - name: Configure CMake
+        env:
+          CXXFLAGS: -DNUCLEAR_TEST_TIME_UNIT_DEN=10
         run: |
           cmake -E make_directory build
           cmake -S . -B build \
             -GNinja \
-            -DCMAKE_CXX_FLAGS="--coverage" \
             -DCMAKE_C_COMPILER_LAUNCHER=ccache \
             -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+            -DCMAKE_C_COMPILER=clang \
+            -DCMAKE_CXX_COMPILER=clang++ \
+            -DCMAKE_BUILD_TYPE=Release \
             -DBUILD_TESTS=ON \
-            -DCMAKE_BUILD_TYPE=Debug \
             -DCI_BUILD=ON \
+            -DENABLE_COVERAGE=ON \
             -DENABLE_CLANG_TIDY=OFF
 
-      - name: Build the code in debug mode
+      - name: Build the code
         timeout-minutes: 30
-        run: cmake --build build/ --config Debug
+        run: cmake --build build/ --config Release
 
       - name: Run tests to generate coverage statistics
         timeout-minutes: 10
-        working-directory: build/tests
-        run: ctest --output-on-failure
+        working-directory: build
+        run: ninja coverage -k 0
 
-      - name: Collect coverage into one XML report
-        if: always()
-        run: gcovr --gcov-ignore-parse-errors=negative_hits.warn_once_per_file --exclude-unreachable-branches --exclude-noncode-lines --sonarqube > coverage.xml
+      - name: Test Summary
+        if: ${{ !cancelled() }}
+        uses: test-summary/action@v2
+        with:
+          paths: "build/reports/tests/*.junit.xml"
 
-      - name: Run sonar-scanner
-        if: always()
+      - name: Upload coverage report
+        if: ${{ !cancelled() }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: coverage
+          path: build/reports/coverage.txt
+          retention-days: 1 # This sets the artifact TTL to 1 day (minimum is 1 day)
+          overwrite: true
+
+      - name: SonarQube Scan
+        uses: SonarSource/sonarqube-scan-action@v5
+        if: ${{ !cancelled() }}
         env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
           SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
-        run: |
-          sonar-scanner \
-            --define sonar.cfamily.compile-commands=build/compile_commands.json \
-            --define sonar.coverageReportPaths=coverage.xml
+        with:
+          args: >
+            --define sonar.projectKey=Fastcode_NUClear
+            --define sonar.organization=fastcode
+            --define sonar.sources=src
+            --define sonar.tests=tests
+            --define sonar.cfamily.compile-commands=build/compile_commands.json
+            --define sonar.cfamily.llvm-cov.reportPath=build/reports/coverage.txt
 
       - name: Upload Traces
-        if: always()
+        if: ${{ !cancelled() }}
         uses: actions/upload-artifact@v4
         with:
           name: traces-sonar

.github/workflows/windows.yaml

@@ -81,11 +81,17 @@ jobs:
 
       - name: Test
         timeout-minutes: 5
-        working-directory: build/tests
-        run: ctest --output-on-failure
+        working-directory: build
+        run: ninja run_all_tests -k 0
+
+      - name: Test Summary
+        if: ${{ !cancelled() }}
+        uses: test-summary/action@v2
+        with:
+          paths: "build/reports/tests/*.junit.xml"
 
       - name: Upload Traces
-        if: always()
+        if: ${{ !cancelled() }}
         uses: actions/upload-artifact@v4
         with:
           name: traces-windows-${{ matrix.toolchain.name }}

.gitignore

@@ -27,3 +27,4 @@ tags
 docs/doxygen
 docs/doxygen_sqlite3.db
 *.sublime-workspace
+.DS_Store

CMakeLists.txt

@@ -63,7 +63,7 @@ if(CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_SOURCE_DIR)
   set(MASTER_PROJECT ON)
 endif()
 
-# If this option is set we are building using continous integration
+# If this option is set we are building using continuous integration
 option(CI_BUILD "Enable build options for building in the CI server" OFF)
 
 # Include files to set up the compiler options
@@ -89,6 +89,7 @@ option(BUILD_TESTS "Builds all of the NUClear unit tests." ON)
 if(BUILD_TESTS)
   enable_testing()
   add_subdirectory(tests)
+  include(TestRunner)
 endif()
 
 # Add the documentation subdirectory

cmake/ClangTidy.cmake

@@ -1,10 +1,10 @@
 # Default not to run the clang-tidy checks, default to whatever our CI_BUILD is
 option(ENABLE_CLANG_TIDY "Enable building with clang-tidy checks.")
 if(ENABLE_CLANG_TIDY)
-  # Search for clang-tidy-15 first as this is the version installed in CI
-  find_program(CLANG_TIDY_EXECUTABLE NAMES clang-tidy-15 clang-tidy)
+  # Search for the same version of clang-tidy as is used in CI first
+  find_program(CLANG_TIDY_EXECUTABLE NAMES clang-tidy-19 clang-tidy)
   if(NOT CLANG_TIDY_EXECUTABLE)
-    message(FATAL_ERROR "clang-tidy-15 not found.")
+    message(FATAL_ERROR "clang-tidy not found.")
   endif()
 
   # Report clang-tidy executable details

cmake/TestRunner.cmake

@@ -0,0 +1,103 @@
+# Collect all currently added targets in all subdirectories
+#
+# Parameters:
+#  - _result the list containing all found targets
+#  - _dir root directory to start looking from
+function(get_all_catch_test_targets _result _dir)
+  get_property(
+    _subdirs
+    DIRECTORY "${_dir}"
+    PROPERTY SUBDIRECTORIES
+  )
+  foreach(_subdir IN LISTS _subdirs)
+    get_all_catch_test_targets(${_result} "${_subdir}")
+  endforeach()
+
+  unset(catch_targets)
+  get_directory_property(_sub_targets DIRECTORY "${_dir}" BUILDSYSTEM_TARGETS)
+  foreach(target ${_sub_targets})
+    get_target_property(target_type ${target} TYPE)
+    if(target_type STREQUAL "EXECUTABLE")
+      get_target_property(target_link_libraries ${target} INTERFACE_LINK_LIBRARIES)
+      if(target_link_libraries MATCHES "Catch2::Catch2")
+        list(APPEND catch_targets ${target})
+      endif()
+    endif()
+  endforeach()
+
+  set(${_result}
+      ${${_result}} ${catch_targets}
+      PARENT_SCOPE
+  )
+endfunction()
+
+# Find all executable targets that link to Catch2::Catch2WithMain || Catch2::Catch2
+get_all_catch_test_targets(all_targets ${PROJECT_SOURCE_DIR})
+
+# Create a custom command for each test target to run it
+# Make sure that coverage data is written with paths relative to the source directory
+unset(report_outputs)
+unset(coverage_reports)
+foreach(target ${all_targets})
+
+  unset(command_prefix)
+  if(ENABLE_COVERAGE AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+    # Extra output files for the profile data
+    set(raw_coverage "${PROJECT_BINARY_DIR}/reports/tests/${target}.profraw")
+    set(indexed_coverage "${PROJECT_BINARY_DIR}/reports/tests/${target}.profdata")
+    set(coverage_report "${PROJECT_BINARY_DIR}/reports/tests/${target}.txt")
+    set(command_prefix "cmake" "-E" "env" "LLVM_PROFILE_FILE=${raw_coverage}")
+    list(APPEND coverage_reports ${coverage_report})
+  endif()
+
+  set(junit_report_file "${PROJECT_BINARY_DIR}/reports/tests/${target}.junit.xml")
+  list(APPEND report_outputs ${junit_report_file})
+  add_custom_command(
+    OUTPUT ${junit_report_file} ${raw_coverage}
+    COMMAND ${command_prefix} $<TARGET_FILE:${target}> --reporter console --reporter JUnit::out=${junit_report_file}
+    WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
+    DEPENDS ${target}
+    USES_TERMINAL
+    COMMENT "Running test ${target}"
+  )
+
+  if(ENABLE_COVERAGE AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+    add_custom_command(
+      OUTPUT ${indexed_coverage}
+      COMMAND llvm-profdata merge -sparse ${raw_coverage} -o ${indexed_coverage}
+      DEPENDS ${raw_coverage}
+    )
+
+    add_custom_command(
+      OUTPUT ${coverage_report}
+      COMMAND llvm-cov show --show-branches=count -Xdemangler c++filt -instr-profile=${indexed_coverage}
+              $<TARGET_FILE:${target}> > ${coverage_report}
+      DEPENDS ${indexed_coverage}
+    )
+  endif()
+
+endforeach()
+
+# Create a custom target that depends on all test targets
+add_custom_target(
+  run_all_tests
+  DEPENDS ${report_outputs} ${all_targets}
+  COMMENT "Running all Catch2 tests"
+)
+
+# Concatenate all the coverage reports together
+if(ENABLE_COVERAGE AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+
+  add_custom_command(
+    OUTPUT ${PROJECT_BINARY_DIR}/reports/coverage.txt
+    COMMAND cat ${coverage_reports} > ${PROJECT_BINARY_DIR}/reports/coverage.txt
+    DEPENDS ${coverage_reports}
+  )
+
+  add_custom_target(
+    coverage
+    DEPENDS ${PROJECT_BINARY_DIR}/reports/coverage.txt
+    COMMENT "Running all Catch2 tests with coverage"
+  )
+
+endif()