cpp-coverage.yml

name: C++ Coverage

on:
  push:
    branches:
      - master
      - develop
  pull_request:
    branches:
      - master
      - develop

permissions:
  contents: read

jobs:
  cpp-coverage:
    name: C++ Coverage Analysis
    runs-on: ubuntu-24.04
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4
        with:
          submodules: true
          lfs: false

      - name: Pull LFS files (via .lfsconfig endpoint)
        run: git lfs pull

      - name: Set up Python
        uses: actions/setup-python@v5
        with:
          python-version: '3.12'

      - name: Install uv
        uses: astral-sh/setup-uv@v4

      - name: Install system dependencies
        run: |
          sudo apt-get update
          sudo apt-get install -y --no-install-recommends \
            build-essential \
            clang \
            llvm \
            g++-12 \
            capnproto \
            libcapnp-dev \
            libzmq3-dev \
            libssl-dev \
            libbz2-dev \
            libeigen3-dev \
            libffi-dev \
            libsqlite3-dev \
            libzstd-dev \
            portaudio19-dev \
            libcurl4-openssl-dev \
            libjpeg-dev \
            libusb-1.0-0-dev \
            libncurses5-dev \
            opencl-headers \
            ocl-icd-libopencl1 \
            ocl-icd-opencl-dev \
            qt5-qmake \
            qtbase5-dev \
            libqt5charts5-dev \
            libqt5serialbus5-dev \
            libqt5svg5-dev \
            libqt5x11extras5-dev \
            libqt5opengl5-dev \
            libgles2-mesa-dev \
            libglfw3-dev \
            ffmpeg \
            libavformat-dev \
            libavcodec-dev \
            libavdevice-dev \
            libavutil-dev \
            libavfilter-dev

      - name: Install Python dependencies
        run: uv sync --frozen --all-extras

      - name: Build C++ with coverage
        run: |
          source .venv/bin/activate
          # Build all C++ test directories with coverage instrumentation
          scons -u -j$(nproc) --coverage \
            openpilot/common/tests/ \
            openpilot/system/loggerd/tests/ \
            openpilot/system/camerad/test/ \
            openpilot/selfdrive/pandad/tests/ \
            openpilot/tools/cabana/tests/ \
            openpilot/tools/replay/tests/

      - name: Run C++ tests
        run: |
          export LLVM_PROFILE_FILE="default_%p.profraw"
          # Core tests
          ./openpilot/common/tests/test_common || true
          ./openpilot/system/loggerd/tests/test_logger || true
          ./openpilot/system/camerad/test/test_ae_gray || true
          ./openpilot/selfdrive/pandad/tests/test_pandad_usbprotocol || true
          # Tools tests
          ./openpilot/tools/cabana/tests/test_cabana || true
          ./openpilot/tools/replay/tests/test_replay || true

      - name: Generate coverage reports
        run: |
          # Find llvm tools
          LLVM_PROFDATA=$(command -v llvm-profdata-18 || command -v llvm-profdata)
          LLVM_COV=$(command -v llvm-cov-18 || command -v llvm-cov)

          # Merge profraw files
          $LLVM_PROFDATA merge -sparse *.profraw -o coverage.profdata

          # Define all test binaries
          CORE_BINARIES=""
          TOOLS_BINARIES=""
          ALL_BINARIES=""

          # Core binaries (openpilot common, system, pandad)
          for bin in openpilot/common/tests/test_common openpilot/system/loggerd/tests/test_logger openpilot/system/camerad/test/test_ae_gray openpilot/selfdrive/pandad/tests/test_pandad_usbprotocol; do
            if [[ -f "$bin" ]]; then
              CORE_BINARIES="$CORE_BINARIES -object=$bin"
              ALL_BINARIES="$ALL_BINARIES -object=$bin"
            fi
          done

          # Tools binaries (tools/cabana, tools/replay)
          for bin in openpilot/tools/cabana/tests/test_cabana openpilot/tools/replay/tests/test_replay; do
            if [[ -f "$bin" ]]; then
              TOOLS_BINARIES="$TOOLS_BINARIES -object=$bin"
              ALL_BINARIES="$ALL_BINARIES -object=$bin"
            fi
          done

          IGNORE_REGEX='third_party|msgq_repo|opendbc_repo|tinygrad_repo|rednose_repo|cereal'

          # Generate combined lcov report
          $LLVM_COV export $ALL_BINARIES -instr-profile=coverage.profdata \
            -ignore-filename-regex="$IGNORE_REGEX" \
            -format=lcov > cpp-coverage.lcov

          # Generate component-level reports for Codecov
          if [[ -n "$CORE_BINARIES" ]]; then
            $LLVM_COV export $CORE_BINARIES -instr-profile=coverage.profdata \
              -ignore-filename-regex="$IGNORE_REGEX" \
              -format=lcov > cpp-core-coverage.lcov
          fi

          if [[ -n "$TOOLS_BINARIES" ]]; then
            $LLVM_COV export $TOOLS_BINARIES -instr-profile=coverage.profdata \
              -ignore-filename-regex="$IGNORE_REGEX" \
              -format=lcov > cpp-tools-coverage.lcov
          fi

          # Print summary
          echo "## C++ Coverage Summary" >> $GITHUB_STEP_SUMMARY
          $LLVM_COV report $ALL_BINARIES -instr-profile=coverage.profdata \
            -ignore-filename-regex="$IGNORE_REGEX" | tee coverage-report.txt >> $GITHUB_STEP_SUMMARY

          # Extract line coverage percentage
          LINE_COV=$(grep "TOTAL" coverage-report.txt | awk '{print $10}' | tr -d '%')
          echo "Line coverage: ${LINE_COV}%"
          echo "cpp_line_coverage=${LINE_COV}" >> $GITHUB_OUTPUT

      - name: Check coverage threshold
        run: |
          LINE_COV=$(grep "TOTAL" coverage-report.txt | awk '{print $10}' | tr -d '%')
          # Threshold set to 15% - current coverage is ~18%
          # Target: 80% (see openspec/specs/code-quality/spec.md)
          # TODO: Raise threshold as more C++ tests are added
          THRESHOLD=15
          echo "C++ line coverage: ${LINE_COV}% (threshold: ${THRESHOLD}%)"
          if (( $(echo "$LINE_COV < $THRESHOLD" | bc -l) )); then
            echo "::error::C++ coverage ${LINE_COV}% is below threshold ${THRESHOLD}%"
            exit 1
          fi
          echo "::notice::C++ coverage ${LINE_COV}% meets threshold ${THRESHOLD}%"

      - name: Upload core coverage to Codecov
        uses: codecov/codecov-action@v4
        with:
          files: cpp-core-coverage.lcov
          flags: cpp-core
          name: cpp-core-coverage
          fail_ci_if_error: false
        env:
          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

      - name: Upload tools coverage to Codecov
        uses: codecov/codecov-action@v4
        with:
          files: cpp-tools-coverage.lcov
          flags: cpp-tools
          name: cpp-tools-coverage
          fail_ci_if_error: false
        env:
          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

      - name: Upload combined coverage to Codecov
        uses: codecov/codecov-action@v4
        with:
          files: cpp-coverage.lcov
          flags: cpp
          name: cpp-coverage
          fail_ci_if_error: false
        env:
          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

      - name: Upload coverage artifact
        uses: actions/upload-artifact@v4
        with:
          name: cpp-coverage-report
          path: |
            cpp-coverage.lcov
            cpp-core-coverage.lcov
            cpp-tools-coverage.lcov
            coverage.profdata
            coverage-report.txt
          retention-days: 7