unit-tests-cpp.yml

# =============================================================================
# C++ Unit Tests with Coverage Workflow for Axon
# =============================================================================
# Runs unit tests with coverage for standalone C++ libraries:
#   - axon_mcap
#   - axon_uploader
#   - axon_logging
#
# These libraries don't require ROS and can run in a simpler environment.
# Coverage is uploaded to Codecov with the "cpp" flag.
# =============================================================================

name: C++ Unit Tests

on:
  # Called by ci.yml orchestrator
  workflow_call:
  # Allow standalone runs
  workflow_dispatch:

jobs:
  # ===========================================================================
  # Run unit tests with coverage for each library in PARALLEL
  # ===========================================================================
  cpp-unit-tests:
    name: ${{ matrix.library }}
    runs-on: ubuntu-22.04
    strategy:
      fail-fast: false
      matrix:
        include:
          - library: axon_mcap
            cmake_flag: AXON_MCAP
            extra_packages: ""
            needs_aws_sdk: false
          - library: axon_uploader
            cmake_flag: AXON_UPLOADER
            extra_packages: "libsqlite3-dev libcurl4-openssl-dev"
            needs_aws_sdk: true
          - library: axon_logging
            cmake_flag: AXON_LOGGING
            extra_packages: ""
            needs_aws_sdk: false

    steps:
      - name: Checkout repository
        uses: actions/checkout@v4
        with:
          fetch-depth: 0

      - name: Cache apt packages
        uses: awalsh128/cache-apt-pkgs-action@latest
        with:
          packages: build-essential cmake pkg-config ccache libgtest-dev libgmock-dev libyaml-cpp-dev liblz4-dev libzstd-dev libre2-dev libturbojpeg0-dev libboost-dev libboost-system-dev libboost-log-dev libboost-thread-dev libboost-filesystem-dev libcurl4-openssl-dev libssl-dev lcov
          version: 1.1

      - name: Install extra packages for ${{ matrix.library }}
        if: matrix.extra_packages != ''
        run: |
          sudo apt-get update
          sudo apt-get install -y ${{ matrix.extra_packages }}

      # =========================================================================
      # AWS SDK for C++ (built from source - no apt packages available)
      # =========================================================================
      - name: Cache AWS SDK
        if: matrix.needs_aws_sdk
        uses: actions/cache@v4
        id: aws-sdk-cache
        with:
          path: ~/aws-sdk-cpp-install
          key: aws-sdk-cpp-1.11.458-ubuntu22-s3-transfer-v1

      - name: Build AWS SDK from source
        if: matrix.needs_aws_sdk && steps.aws-sdk-cache.outputs.cache-hit != 'true'
        run: |
          echo "Building AWS SDK from source (this will be cached for future runs)..."
          git clone --recurse-submodules --depth 1 --branch 1.11.458 \
            https://github.com/aws/aws-sdk-cpp.git ~/aws-sdk-cpp-src
          cd ~/aws-sdk-cpp-src
          cmake -B build \
            -DCMAKE_BUILD_TYPE=Release \
            -DCMAKE_INSTALL_PREFIX=~/aws-sdk-cpp-install \
            -DBUILD_ONLY="s3;transfer" \
            -DENABLE_TESTING=OFF \
            -DAUTORUN_UNIT_TESTS=OFF \
            -DBUILD_SHARED_LIBS=ON
          cmake --build build -j$(nproc)
          cmake --install build
          # Cleanup source to save space
          rm -rf ~/aws-sdk-cpp-src

      - name: Cache ccache
        uses: actions/cache@v4
        with:
          path: ~/.ccache
          key: ccache-coverage-${{ matrix.library }}-${{ runner.os }}-${{ hashFiles('core/**/*.cpp', 'core/**/*.hpp') }}
          restore-keys: |
            ccache-coverage-${{ matrix.library }}-${{ runner.os }}-
            ccache-cpp-${{ runner.os }}-

      - name: Configure ccache
        run: |
          ccache --set-config=max_size=500M
          ccache --set-config=compression=true
          ccache -z

      - name: Build GTest from source
        run: |
          if [ -d /usr/src/googletest ]; then
            cd /usr/src/googletest
            sudo cmake -B build
            sudo cmake --build build
            sudo cmake --install build
          fi

      - name: Build and test with coverage
        run: |
          # Set ccache for faster builds
          export CCACHE_DIR=~/.ccache
          ccache -z

          # Build with make
          if [ "${{ matrix.library }}" = "axon_uploader" ]; then
            make build-uploader \
              BUILD_TYPE=Debug \
              AXON_ENABLE_COVERAGE=ON \
              AXON_BUILD_UPLOADER=ON \
              CMAKE_PREFIX_PATH=~/aws-sdk-cpp-install
          elif [ "${{ matrix.library }}" = "axon_mcap" ]; then
            make build-mcap \
              BUILD_TYPE=Debug \
              AXON_ENABLE_COVERAGE=ON
          elif [ "${{ matrix.library }}" = "axon_logging" ]; then
            make build-logging \
              BUILD_TYPE=Debug \
              AXON_ENABLE_COVERAGE=ON
          fi

          # Run tests
          if [ "${{ matrix.library }}" = "axon_uploader" ]; then
            cd build/axon_uploader && ctest --output-on-failure
          elif [ "${{ matrix.library }}" = "axon_mcap" ]; then
            cd build/axon_mcap && ctest --output-on-failure
          elif [ "${{ matrix.library }}" = "axon_logging" ]; then
            cd build/axon_logging && ctest --output-on-failure
          fi

          ccache -s

      - name: Generate coverage report
        run: |
          if [ "${{ matrix.library }}" = "axon_uploader" ]; then
            cd build/axon_uploader
          elif [ "${{ matrix.library }}" = "axon_mcap" ]; then
            cd build/axon_mcap
          elif [ "${{ matrix.library }}" = "axon_logging" ]; then
            cd build/axon_logging
          fi
          
          # Detect lcov version for compatibility flags
          LCOV_VERSION=$(lcov --version 2>&1 | grep -oP 'LCOV version \K[0-9.]+' || echo "1.0")
          LCOV_MAJOR=$(echo "${LCOV_VERSION}" | cut -d. -f1)
          echo "lcov version: ${LCOV_VERSION}"
          
          # Error types to ignore (lcov 2.0+):
          #   mismatch - mismatched exception tags (C++ std lib differences)
          #   unused   - unused coverage data
          #   negative - negative branch counts (compiler/gcov compatibility issue)
          #   gcov     - unexecuted blocks on non-branch lines
          LCOV_IGNORE_FLAGS=""
          if [ "${LCOV_MAJOR}" -ge 2 ]; then
            LCOV_IGNORE_FLAGS="--ignore-errors mismatch,unused,negative,gcov"
          fi
          
          # Generate coverage (filtering only - path normalization done in merge step)
          lcov --capture --directory . --output-file coverage_raw.info \
            --rc lcov_branch_coverage=1 ${LCOV_IGNORE_FLAGS} || {
            echo "Warning: lcov capture had issues, trying with more permissive flags..."
            if [ "${LCOV_MAJOR}" -ge 2 ]; then
              lcov --capture --directory . --output-file coverage_raw.info \
                --rc lcov_branch_coverage=1 --ignore-errors mismatch,unused,negative,gcov,source || true
            else
              lcov --capture --directory . --output-file coverage_raw.info \
                --rc lcov_branch_coverage=1 || true
            fi
          }
          lcov --remove coverage_raw.info \
            '/usr/*' '/opt/*' '*/_deps/*' '*/test/*' '*/c++/*' \
            --output-file coverage.info --rc lcov_branch_coverage=1 ${LCOV_IGNORE_FLAGS} || {
            echo "Warning: lcov filtering had issues, using raw coverage..."
            cp coverage_raw.info coverage.info
          }
          
          # Debug: show sample paths before normalization
          echo "Sample paths in coverage file (before normalization):"
          grep "^SF:" coverage.info | head -5 || true

      - name: Normalize coverage paths
        run: |
          cd build/${{ matrix.library }}
          chmod +x ${{ github.workspace }}/.github/scripts/normalize_coverage_paths.sh
          ${{ github.workspace }}/.github/scripts/normalize_coverage_paths.sh coverage.info
          echo "Sample paths after normalization:"
          grep "^SF:" coverage.info | head -5 || true

      - name: Copy coverage to root for artifact upload
        run: cp build/${{ matrix.library }}/coverage.info coverage.info

      - name: Upload coverage to Codecov with flag
        uses: codecov/codecov-action@v5
        with:
          token: ${{ secrets.CODECOV_TOKEN }}
          files: coverage.info
          flags: cpp-unit
          name: cpp-unit-${{ matrix.library }}
          fail_ci_if_error: false
          verbose: true
          disable_search: true
          disable_file_fixes: true
          override_commit: ${{ github.event.pull_request.head.sha || github.sha }}
          override_branch: ${{ github.head_ref || github.ref_name }}
          override_build: ${{ github.run_id }}
          override_pr: ${{ github.event.pull_request.number }}

      - name: Upload coverage artifact
        uses: actions/upload-artifact@v4
        with:
          name: coverage-cpp-${{ matrix.library }}
          path: coverage.info
          retention-days: 7