quality.yml

name: Quality

on:
  pull_request:
    branches: [main]
  push:
    branches: [main]

concurrency:
  group: quality-${{ github.head_ref || github.sha }}
  cancel-in-progress: true

permissions:
  contents: read

jobs:
  format-lint:
    runs-on: ubuntu-latest
    container:
      image: ubuntu:noble
    timeout-minutes: 45
    defaults:
      run:
        shell: bash

    steps:
      - name: Install Git
        run: |
          apt-get update
          apt-get install -y git

      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Set up ROS 2 Jazzy
        uses: ros-tooling/setup-ros@v0.7
        with:
          required-ros-distributions: jazzy

      - name: Install dependencies
        run: |
          apt-get update
          apt-get install -y clang-format ccache
          source /opt/ros/jazzy/setup.bash
          rosdep update
          rosdep install --from-paths src --ignore-src -y

      - name: Cache ccache
        uses: actions/cache@v4
        with:
          path: /root/.cache/ccache
          key: ccache-jazzy-lint-${{ github.sha }}
          restore-keys: |
            ccache-jazzy-lint-

      - name: Build (minimal, for ament test infrastructure)
        env:
          CCACHE_DIR: /root/.cache/ccache
          CCACHE_MAXSIZE: 500M
          CCACHE_SLOPPINESS: pch_defines,time_macros
        run: |
          source /opt/ros/jazzy/setup.bash
          colcon build --symlink-install \
            --cmake-args -DCMAKE_BUILD_TYPE=Release \
            --event-handlers console_direct+

      - name: Run format linters
        run: |
          source /opt/ros/jazzy/setup.bash
          source install/setup.bash
          colcon test --return-code-on-test-failure \
            --ctest-args -L linter -E clang_tidy \
            --event-handlers console_direct+

      - name: Show results
        if: always()
        run: colcon test-result --verbose

  clang-tidy:
    runs-on: ubuntu-latest
    container:
      image: ubuntu:noble
    timeout-minutes: 45
    defaults:
      run:
        shell: bash

    steps:
      - name: Install Git
        run: |
          apt-get update
          apt-get install -y git

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

      - name: Fix git safe directory
        run: git config --global --add safe.directory "$GITHUB_WORKSPACE"

      - name: Set up ROS 2 Jazzy
        uses: ros-tooling/setup-ros@v0.7
        with:
          required-ros-distributions: jazzy

      - name: Install ccache and clang-tidy
        run: apt-get install -y ccache clang-tidy

      - name: Cache ccache
        uses: actions/cache@v4
        with:
          path: /root/.cache/ccache
          key: ccache-jazzy-tidy-${{ github.sha }}
          restore-keys: |
            ccache-jazzy-tidy-

      - name: Install clang-tidy-cache (ctcache)
        run: |
          apt-get install -y python3-pip
          pip3 install --break-system-packages git+https://github.com/matus-chochlik/ctcache.git@3880541496c7ce0d2e2830d2f525375078fe0b1f
          printf '#!/bin/sh\nexec clang-tidy-cache /usr/bin/clang-tidy "$@"\n' > /usr/local/bin/ctcache-wrapper
          chmod +x /usr/local/bin/ctcache-wrapper

      - name: Cache ctcache results
        uses: actions/cache@v4
        with:
          path: /root/.ctcache
          key: ctcache-jazzy-${{ hashFiles('.clang-tidy') }}-${{ github.sha }}
          restore-keys: |
            ctcache-jazzy-${{ hashFiles('.clang-tidy') }}-

      - name: Install dependencies
        run: |
          apt-get update
          apt-get install -y ros-jazzy-test-msgs
          source /opt/ros/jazzy/setup.bash
          rosdep update
          rosdep install --from-paths src --ignore-src -y

      - name: Build (compile database only, no clang-tidy)
        env:
          CCACHE_DIR: /root/.cache/ccache
          CCACHE_MAXSIZE: 500M
          CCACHE_SLOPPINESS: pch_defines,time_macros
        run: |
          source /opt/ros/jazzy/setup.bash
          colcon build --symlink-install \
            --cmake-args -DCMAKE_BUILD_TYPE=Release \
              -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
              -DENABLE_CLANG_TIDY=OFF \
            --event-handlers console_direct+
          ccache -s

      - name: Merge compile databases
        run: |
          # Simple merge: combine per-package databases into build/compile_commands.json
          mkdir -p build
          python3 -c "
          import json, glob, sys
          entries = []
          for db in glob.glob('build/*/compile_commands.json'):
              with open(db) as f:
                  entries.extend(json.load(f))
          with open('build/compile_commands.json', 'w') as f:
              json.dump(entries, f, indent=2)
          print(f'Merged {len(entries)} entries from {len(glob.glob(\"build/*/compile_commands.json\"))} packages')
          "

      - name: Determine files to analyze
        id: files
        run: |
          if [ "${{ github.event_name }}" = "pull_request" ]; then
            # Incremental: only changed C++ files
            changed=$(git diff --name-only --diff-filter=ACMR origin/main...HEAD -- '*.cpp' '*.hpp' | tr '\n' ' ')
            if [ -z "$changed" ]; then
              echo "No C++ files changed - skipping clang-tidy"
              echo "skip=true" >> "$GITHUB_OUTPUT"
            else
              echo "Analyzing changed files: $changed"
              echo "skip=false" >> "$GITHUB_OUTPUT"
              echo "files=$changed" >> "$GITHUB_OUTPUT"
            fi
          else
            # Full: all source files
            echo "Full analysis on push to main"
            echo "skip=false" >> "$GITHUB_OUTPUT"
            echo "files=" >> "$GITHUB_OUTPUT"
          fi

      - name: Run clang-tidy
        if: steps.files.outputs.skip != 'true'
        env:
          CTCACHE_DIR: /root/.ctcache
          CHANGED_FILES: ${{ steps.files.outputs.files }}
        run: |
          mkdir -p /root/.ctcache
          source /opt/ros/jazzy/setup.bash
          source install/setup.bash
          if [ -n "$CHANGED_FILES" ]; then
            # Incremental: specific files
            run-clang-tidy -p build -clang-tidy-binary ctcache-wrapper \
              -header-filter='.*ros2_medkit.*' \
              $CHANGED_FILES
          else
            # Full: analyze all source files under src/ros2_medkit_*/src/
            # Intentionally excludes test/ directories (tested via sanitizer jobs)
            run-clang-tidy -p build -clang-tidy-binary ctcache-wrapper \
              -header-filter='.*ros2_medkit.*' \
              'src/ros2_medkit_.*/src/.*\.cpp$'
          fi

  sanitizer-asan:
    runs-on: ubuntu-latest
    container:
      image: ubuntu:noble
    timeout-minutes: 45
    defaults:
      run:
        shell: bash

    steps:
      - name: Free disk space
        run: |
          rm -rf /usr/local/lib/android /usr/share/dotnet /opt/ghc || true
          apt-get clean

      - name: Install Git
        run: |
          apt-get update
          apt-get install -y git

      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Set up ROS 2 Jazzy
        uses: ros-tooling/setup-ros@v0.7
        with:
          required-ros-distributions: jazzy

      - name: Install ccache
        run: apt-get install -y ccache

      - name: Cache ccache
        uses: actions/cache@v4
        with:
          path: /root/.cache/ccache
          key: ccache-jazzy-asan-${{ github.sha }}
          restore-keys: |
            ccache-jazzy-asan-

      - name: Install dependencies
        run: |
          apt-get update
          apt-get install -y ros-jazzy-test-msgs
          source /opt/ros/jazzy/setup.bash
          rosdep update
          rosdep install --from-paths src --ignore-src -y

      - name: Build with ASan + UBSan
        env:
          CCACHE_DIR: /root/.cache/ccache
          CCACHE_MAXSIZE: 500M
          CCACHE_SLOPPINESS: pch_defines,time_macros
        run: |
          source /opt/ros/jazzy/setup.bash
          colcon build --symlink-install \
            --cmake-args -DCMAKE_BUILD_TYPE=Debug -DSANITIZER=asan,ubsan \
            --event-handlers console_direct+
          ccache -s

      - name: Extend test timeouts for ASan overhead
        run: |
          find build/ -name "CTestTestfile.cmake" \
            -exec sed -i 's/TIMEOUT "60"/TIMEOUT "180"/g' {} + \
            -exec sed -i 's/TIMEOUT "120"/TIMEOUT "360"/g' {} +

      - name: Run unit + integration tests with ASan + UBSan
        timeout-minutes: 30
        env:
          # detect_leaks=0: FastDDS allocator leaks on shutdown (not our code)
          # new_delete_type_mismatch=0: ROS 2 DDS scalar/array new/delete mismatch
          ASAN_OPTIONS: halt_on_error=1:detect_leaks=0:new_delete_type_mismatch=0
          UBSAN_OPTIONS: halt_on_error=1:print_stacktrace=1
        run: |
          source /opt/ros/jazzy/setup.bash
          source install/setup.bash
          failed=0
          for pkg_dir in build/ros2_medkit_*/; do
            pkg=$(basename "$pkg_dir")
            echo "::group::Testing $pkg"
            (cd "$pkg_dir" && ctest -LE "linter" --output-on-failure) || failed=1
            echo "::endgroup::"
          done
          exit $failed

      - name: Show test results
        if: always()
        run: |
          for pkg_dir in build/ros2_medkit_*/; do
            colcon test-result --test-result-base "$pkg_dir" --verbose 2>/dev/null || true
          done

  sanitizer-tsan:
    runs-on: ubuntu-latest
    container:
      image: ubuntu:noble
    timeout-minutes: 45
    defaults:
      run:
        shell: bash

    steps:
      - name: Install Git
        run: |
          apt-get update
          apt-get install -y git

      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Set up ROS 2 Jazzy
        uses: ros-tooling/setup-ros@v0.7
        with:
          required-ros-distributions: jazzy

      - name: Install ccache
        run: apt-get install -y ccache

      - name: Cache ccache
        uses: actions/cache@v4
        with:
          path: /root/.cache/ccache
          key: ccache-jazzy-tsan-${{ github.sha }}
          restore-keys: |
            ccache-jazzy-tsan-

      - name: Install dependencies
        run: |
          apt-get update
          apt-get install -y ros-jazzy-test-msgs
          source /opt/ros/jazzy/setup.bash
          rosdep update
          rosdep install --from-paths src --ignore-src -y

      - name: Build with TSan
        env:
          CCACHE_DIR: /root/.cache/ccache
          CCACHE_MAXSIZE: 500M
          CCACHE_SLOPPINESS: pch_defines,time_macros
        run: |
          source /opt/ros/jazzy/setup.bash
          colcon build --symlink-install \
            --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DSANITIZER=tsan \
            --event-handlers console_direct+
          ccache -s

      - name: Extend test timeouts for TSan overhead
        run: |
          find build/ -name "CTestTestfile.cmake" \
            -exec sed -i 's/TIMEOUT "60"/TIMEOUT "180"/g' {} + \
            -exec sed -i 's/TIMEOUT "120"/TIMEOUT "360"/g' {} +

      - name: Run unit + integration tests with TSan
        timeout-minutes: 30
        run: |
          export TSAN_OPTIONS="halt_on_error=0:history_size=4:suppressions=$(pwd)/tsan_suppressions.txt"
          source /opt/ros/jazzy/setup.bash
          source install/setup.bash
          failed=0
          for pkg_dir in build/ros2_medkit_*/; do
            pkg=$(basename "$pkg_dir")
            echo "::group::Testing $pkg"
            (cd "$pkg_dir" && ctest -j1 -LE "linter" --output-on-failure) || failed=1
            echo "::endgroup::"
          done
          exit $failed

      - name: Show test results
        if: always()
        run: |
          for pkg_dir in build/ros2_medkit_*/; do
            colcon test-result --test-result-base "$pkg_dir" --verbose 2>/dev/null || true
          done