Merge branch 'main' into houliston/priority-changes

Author: TrentHouliston

.github/workflows/gcc.yaml

@@ -92,8 +92,14 @@ 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: ${{ !cancelled() }}

.github/workflows/macos.yaml

@@ -60,8 +60,14 @@ 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: ${{ !cancelled() }}

.github/workflows/sonarcloud.yaml

@@ -33,9 +33,9 @@ jobs:
         uses: SonarSource/sonarcloud-github-c-cpp@v3
 
       - 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
@@ -45,14 +45,16 @@ 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_C_COMPILER_LAUNCHER=ccache \
             -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
-            -DBUILD_TESTS=ON \
             -DCMAKE_BUILD_TYPE=Debug \
+            -DBUILD_TESTS=ON \
             -DCI_BUILD=ON \
             -DENABLE_COVERAGE=ON \
             -DENABLE_CLANG_TIDY=OFF
@@ -63,12 +65,28 @@ jobs:
 
       - name: Run tests to generate coverage statistics
         timeout-minutes: 10
-        working-directory: build/tests
-        run: ctest --output-on-failure
+        working-directory: build
+        run: ninja run_all_tests -j1 -k 0
+
+      - name: Test Summary
+        if: ${{ !cancelled() }}
+        uses: test-summary/action@v2
+        with:
+          paths: "build/reports/tests/*.junit.xml"
 
       - name: Collect coverage into one XML report
         if: ${{ !cancelled() }}
-        run: gcovr --gcov-ignore-parse-errors=negative_hits.warn_once_per_file --exclude-unreachable-branches --exclude-noncode-lines --sonarqube > coverage.xml
+        run: |
+          gcovr \
+            --root . \
+            --object-directory build \
+            --force-color \
+            --no-markers \
+            --decisions \
+            --calls \
+            --exclude-noncode-lines \
+            --gcov-ignore-parse-errors negative_hits.warn \
+            --sonarqube "coverage.xml"
 
       - name: Upload coverage report
         if: ${{ !cancelled() }}
@@ -86,6 +104,10 @@ jobs:
           SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
         run: |
           sonar-scanner \
+            --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.coverageReportPaths=coverage.xml
 

.github/workflows/windows.yaml

@@ -81,8 +81,14 @@ 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: ${{ !cancelled() }}

CMakeLists.txt

@@ -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/TestRunner.cmake

@@ -0,0 +1,60 @@
+# 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(reports)
+foreach(target ${all_targets})
+
+  set(sonarqube_report_file "${PROJECT_BINARY_DIR}/reports/tests/${target}.sonarqube.xml")
+  set(junit_report_file "${PROJECT_BINARY_DIR}/reports/tests/${target}.junit.xml")
+  list(APPEND reports ${sonarqube_report_file} ${junit_report_file})
+  add_custom_command(
+    OUTPUT ${sonarqube_report_file} ${junit_report_file}
+    COMMAND $<TARGET_FILE:${target}> --reporter console --reporter SonarQube::out=${sonarqube_report_file} --reporter
+            JUnit::out=${junit_report_file}
+    WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
+    USES_TERMINAL
+    COMMENT "Running test ${target}"
+  )
+endforeach()
+
+# Create a custom target that depends on all test targets
+add_custom_target(
+  run_all_tests
+  DEPENDS ${reports}
+  COMMENT "Running all Catch2 tests"
+)

sonar-project.properties

@@ -37,12 +37,14 @@ target_link_libraries(nuclear ${CMAKE_THREAD_LIBS_INIT})
 set_target_properties(nuclear PROPERTIES POSITION_INDEPENDENT_CODE ON)
 target_compile_features(nuclear PUBLIC cxx_std_14)
 
-# When enabling coverage, just set it on the nuclear target so it doesn't end up on catch2
-option(ENABLE_COVERAGE "Enable coverage support" OFF)
+option(ENABLE_COVERAGE "Compile with coverage support enabled.")
 if(ENABLE_COVERAGE)
-  target_compile_options(nuclear PUBLIC "-fprofile-arcs" "-ftest-coverage" "-fprofile-abs-path")
-  target_link_options(nuclear PUBLIC "-fprofile-arcs" "-ftest-coverage" "-fprofile-abs-path")
-endif()
+  if(NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
+    message(WARNING "Coverage is enabled but not build in debug mode. Coverage results may be misleading.")
+  endif()
+  target_compile_options(nuclear PUBLIC -fprofile-arcs -ftest-coverage -fprofile-abs-path -fprofile-update=atomic)
+  target_link_options(nuclear PUBLIC -fprofile-arcs)
+endif(ENABLE_COVERAGE)
 
 # Enable warnings, and all warnings are errors
 if(MSVC)

src/CMakeLists.txt

@@ -23,8 +23,6 @@
 #ifndef NUCLEAR_DSL_STORE_THREADSTORE_HPP
 #define NUCLEAR_DSL_STORE_THREADSTORE_HPP
 
-#include "../../util/platform.hpp"
-
 namespace NUClear {
 namespace dsl {
     namespace store {
@@ -46,12 +44,12 @@ namespace dsl {
          */
         template <typename DataType, int Index = 0>
         struct ThreadStore {
-            static ATTRIBUTE_TLS DataType* value;  // NOLINT(cppcoreguidelines-avoid-non-const-global-variables)
+            static thread_local DataType* value;  // NOLINT(cppcoreguidelines-avoid-non-const-global-variables)
         };
 
         template <typename DataType, int index>
         // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
-        ATTRIBUTE_TLS DataType* ThreadStore<DataType, index>::value = nullptr;
+        thread_local DataType* ThreadStore<DataType, index>::value = nullptr;
 
     }  // namespace store
 }  // namespace dsl

src/dsl/store/ThreadStore.hpp

@@ -24,7 +24,6 @@
 
 #include "../../id.hpp"
 #include "../../threading/ReactionTask.hpp"
-#include "../../util/platform.hpp"
 
 namespace NUClear {
 namespace dsl {
@@ -93,12 +92,12 @@ namespace dsl {
         private:
             /// The current task id that is running
             // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
-            static ATTRIBUTE_TLS NUClear::id_t current_task_id;
+            static thread_local NUClear::id_t current_task_id;
         };
 
         // Initialise the current task id
         template <typename Group>  // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
-        ATTRIBUTE_TLS NUClear::id_t TaskScope<Group>::current_task_id{0};
+        thread_local NUClear::id_t TaskScope<Group>::current_task_id{0};
 
     }  // namespace word
 }  // namespace dsl