clang-tidy

moveit · Mar 24, 2021 · 8e886fd · 8e886fd
1 parent 3ffd736
commit 8e886fd
Show file tree

Hide file tree

Showing 3 changed files with 48 additions and 12 deletions.
diff --git a/.github/workflows/industrial_ci_action.yml b/.github/workflows/industrial_ci_action.yml
@@ -1,41 +1,67 @@
 # This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
 # For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
 
+# ros2 run industrial_ci rerun_ci ~/code/moveit2/ws_moveit2/src/moveit_calibration \
+#   DOCKER_IMAGE='moveit/moveit:melodic-source' \
+#   UPSTREAM_WORKSPACE='upstream.rosinstall' \
+#   BEFORE_INSTALL_UPSTREAM_DEPENDENCIES_EMBED='set +u && source /root/ws_moveit/install/setup.bash && set -u' \
+#   UNDERLAY='/root/ws_moveit' \
+#   TARGET_CMAKE_ARGS="-DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=1" \
+#   CCACHE_DIR=".ccache" \
+#   CLANG_TIDY=true \
+#   CLANG_TIDY_BASE_REF=master
+
 name: BuildAndTest
 
-on: [push, pull_request]
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - master
 
 jobs:
   industrial_ci:
     env:
       DOCKER_IMAGE: 'moveit/moveit:melodic-source'
       UPSTREAM_WORKSPACE: 'upstream.rosinstall'
       AFTER_RUN_TARGET_TEST: './.ci.prepare_codecov'
-      TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DCMAKE_C_FLAGS='--coverage' -DCMAKE_CXX_FLAGS='--coverage'"
+      TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DCMAKE_C_FLAGS='--coverage' -DCMAKE_CXX_FLAGS='--coverage' -DCMAKE_EXPORT_COMPILE_COMMANDS=1"
       ADDITIONAL_DEBS: 'lcov'
       CCACHE_DIR: "${{ github.workspace }}/.ccache"
       BASEDIR: ${{ github.workspace }}/.work
       UNDERLAY: /root/ws_moveit
+      CLANG_TIDY: true
+      CLANG_TIDY_BASE_REF: 'master'
 
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
-      - name: cache ccache
-        uses: actions/cache@v2
-        with:
-          path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ github.sha }}  
-          restore-keys: |
-            ccache-
       - name: cache upstream_ws
         uses: pat-s/always-upload-cache@v2.1.3
         with:
           path: ${{ env.BASEDIR }}/upstream_ws
-          key: upstream_ws-${{ hashFiles('upstream.rosinstall') }}-${{ github.run_id }}
+          key: upstream_ws-${{ hashFiles('upstream.repos') }}-${{ github.run_id }}
+          restore-keys: |
+            upstream_ws-${{ hashFiles('upstream.repos') }}
+      - name: cache target_ws
+        if: ${{ ! env.CCOV }}
+        uses: pat-s/always-upload-cache@v2.1.3
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: target_ws-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
+          restore-keys: |
+            target_ws-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
+      - name: cache ccache
+        uses: pat-s/always-upload-cache@v2.1.3
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ github.sha }}-${{ github.run_id }}
           restore-keys: |
-            upstream_ws-${{ hashFiles('upstream.rosinstall') }}
+            ccache-${{ github.sha }}
+            ccache
       - name: industrial_ci
-        uses: 'ros-industrial/industrial_ci@master'
+        uses: 'tylerjw/industrial_ci@clang-tidy-modified-filter'
       - name: upload test artifacts (on failure)
         uses: actions/upload-artifact@v2
         if: failure()
@@ -44,5 +70,13 @@ jobs:
           path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
       - name: upload codecov report
         uses: codecov/codecov-action@v1
+        if: ${{ env.CCOV }}
         with:
           files: ${{ env.BASEDIR }}/coverage.info
+      - name: prepare target_ws for cache
+        if: ${{ always() && ! env.CCOV }}
+        run: |
+          du -sh ${{ env.BASEDIR }}/target_ws
+          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
+          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
+          du -sh ${{ env.BASEDIR }}/target_ws
diff --git a/moveit_calibration_plugins/handeye_calibration_solver/src/handeye_solver_default.cpp b/moveit_calibration_plugins/handeye_calibration_solver/src/handeye_solver_default.cpp
@@ -44,6 +44,7 @@
 namespace moveit_handeye_calibration
 {
 const std::string LOGNAME = "handeye_solver_default";
+const std::string EXTRA_WORDS = "handeye_solver_default";
 
 void HandEyeSolverDefault::initialize()
 {

diff --git a/moveit_calibration_plugins/handeye_calibration_target/src/handeye_target_charuco.cpp b/moveit_calibration_plugins/handeye_calibration_target/src/handeye_target_charuco.cpp
@@ -80,6 +80,7 @@ bool HandEyeCharucoTarget::initialize()
   std::string dictionary_id;
   double board_size_meters;
   double marker_size_meters;
+  double not_used;
 
   target_params_ready_ =
       getParameter("squares, X", squares_x) && getParameter("squares, Y", squares_y) &&