sonarcloud.yml

name: Sonarcloud on request

on:
  workflow_dispatch:

jobs:

  select_environment:
    name: 'Prepare Environment'
    runs-on: ubuntu-22.04
    outputs:
      timestamp: ${{ steps.select.outputs.timestamp }}
      repository_owner: ${{ steps.select.outputs.repository_owner }}
      repository_name: ${{ steps.select.outputs.repository_name }}
      repository: ${{ steps.select.outputs.repository }}
      ref: ${{ steps.select.outputs.ref }}
      environment: ${{ steps.select.outputs.environment }}
      sha: ${{ steps.select.outputs.sha }}
      head_ref: ${{ steps.select.outputs.head_ref }}
      base_ref: ${{ steps.select.outputs.base_ref }}
      pr_number: ${{ steps.select.outputs.pr_number }}
      yarp_version: ${{ steps.select.outputs.yarp_version }}
    steps:
    - name: "Set output variables"
      id: select
      run: |
        echo "timestamp=$(/bin/date -u +%Y%m%d-%H%M%S)" >> $GITHUB_OUTPUT

        echo "repository_owner=${{ github.repository_owner }}" >> $GITHUB_OUTPUT
        echo "repository_name=$(cat $GITHUB_EVENT_PATH | jq -r .repository.name)" >> $GITHUB_OUTPUT
        echo "repository=${{ github.repository }}" >> $GITHUB_OUTPUT

        if [[ "$GITHUB_EVENT_NAME" = "pull_request_target" ]]; then
          echo "environment=code-analysis_unsafe" >> $GITHUB_OUTPUT
          echo "ref=refs/pull/$(cat $GITHUB_EVENT_PATH | jq -r .number)/merge" >> $GITHUB_OUTPUT
        else
          echo "environment=code-analysis" >> $GITHUB_OUTPUT
          echo "ref=${{ github.ref }}" >> $GITHUB_OUTPUT
        fi
        if [[ "$GITHUB_EVENT_NAME" = "pull_request" || "$GITHUB_EVENT_NAME" == "pull_request_target" ]]; then
          echo "sha=${{ github.event.pull_request.head.sha }}" >> $GITHUB_OUTPUT
          echo "head_ref=${GITHUB_HEAD_REF}" >> $GITHUB_OUTPUT
          echo "base_ref=${GITHUB_BASE_REF}" >> $GITHUB_OUTPUT
          echo "pr_number=$(cat $GITHUB_EVENT_PATH | jq -r .number)" >> $GITHUB_OUTPUT
        else
          echo "sha=${{ github.sha }}" >> $GITHUB_OUTPUT
        fi

        # Get YARP Project Version
        if [[ "$GITHUB_EVENT_NAME" = "release" ]]; then
          echo "yarp_version=$(awk '/ VERSION /{print $2}' CMakeLists.txt)" >> $GITHUB_OUTPUT
        fi

    - name: 'Debug output variables'
      env:
        TIMESTAMP: ${{ steps.select.outputs.timestamp }}
        REPOSITORY_OWNER: ${{ steps.select.outputs.repository_owner }}
        REPOSITORY_NAME: ${{ steps.select.outputs.repository_name }}
        REPOSITORY: ${{ steps.select.outputs.repository }}
        REF: ${{ steps.select.outputs.ref }}
        ENVIRONMENT: ${{ steps.select.outputs.environment }}
        SHA: ${{ steps.select.outputs.sha }}
        HEAD_REF: ${{ steps.select.outputs.head_ref }}
        BASE_REF: ${{ steps.select.outputs.base_ref }}
        PR_NUMBER: ${{ steps.select.outputs.pr_number }}
        YARP_VERSION: ${{ steps.select.outputs.yarp_version }}
      run: |
        echo "TIMESTAMP = ${TIMESTAMP}"
        echo "REPOSITORY_OWNER = ${REPOSITORY_OWNER}"
        echo "REPOSITORY_NAME = ${REPOSITORY_NAME}"
        echo "REPOSITORY = ${REPOSITORY}"
        echo "REF = ${REF}"
        echo "ENVIRONMENT = ${ENVIRONMENT}"
        echo "SHA = ${SHA}"
        echo "HEAD_REF = ${HEAD_REF}"
        echo "BASE_REF = ${BASE_REF}"
        echo "PR_NUMBER = ${PR_NUMBER}"
        echo "YARP_VERSION = ${YARP_VERSION}"

    - name: "Print Environment"
      run: |
        env

    - name: "Print Event Json"
      run: |
        echo "::group::install jq"
        sudo apt-get update -qq
        sudo apt-get install -qq -y jq
        echo "::endgroup::"

        cat $GITHUB_EVENT_PATH | jq -C

  sonarcloud:
    environment: code-analysis
    name: 'SonarCloud'
    needs: [select_environment]
    runs-on: ubuntu-22.04
    steps:
    - name: Clone repository
      uses: actions/checkout@v3
      with:
        repository: ${{ needs.select_environment.outputs.repository }}
        ref: ${{ needs.select_environment.outputs.ref }}
        fetch-depth: 0  # Shallow clones should be disabled for a better relevancy of analysis

    - name: Get Sonar and Prepare Environment
      id: get_sonar
      env:
        SONAR_ORGANIZATION: ${{ needs.select_environment.outputs.repository_owner }}
        SONAR_PROJECT_KEY: ${{ needs.select_environment.outputs.repository_owner }}_${{ needs.select_environment.outputs.repository_name }}
        SONAR_PROJECT_NAME: ${{ needs.select_environment.outputs.repository_name }}
        SONAR_PROJECT_DESCRIPTION: 'Yet Another Robot Platform'
        SONAR_PROJECT_VERSION: ${{ needs.select_environment.outputs.yarp_version }}
        SONAR_LINKS_HOMEPAGE: 'https://www.yarp.it/'
        SONAR_SOURCES: 'src'
        SONAR_TESTS: 'tests'
        SONAR_CFAMILY_GCOV_REPORTSPATH: 'build/coverage.info'
        SONAR_CFAMILY_CACHE_ENABLED: true
        SONAR_SCANNER_VERSION: '5.0.1.3006'
        SONAR_THREADS: 2
      run: |
        # Internal variables
        SONAR_HOME_PATH=.sonar
        SONAR_CACHE_PATH=${SONAR_HOME_PATH}/cache
        SONAR_HOME=${HOME}/${SONAR_HOME_PATH}

        # project name from SonarCloud projet creation page -Dsonar.projectKey=XXXX
        echo "SONAR_PROJECT_KEY=${SONAR_PROJECT_KEY}" >> $GITHUB_ENV

        # project name from SonarCloud projet creation page -Dsonar.projectKey=XXXX
        echo "SONAR_PROJECT_NAME=${SONAR_PROJECT_NAME}" >> $GITHUB_ENV

        # project name from SonarCloud projet creation page -Dsonar.projectName=XXXX
        echo "SONAR_ORGANIZATION=${SONAR_ORGANIZATION}" >> $GITHUB_ENV

        # project version
        [[ ! -z "${SONAR_PROJECT_VERSION}" ]] && echo "SONAR_PROJECT_VERSION=${SONAR_PROJECT_VERSION}" >> $GITHUB_ENV

        # Links
        echo "SONAR_LINKS_HOMEPAGE=${SONAR_LINKS_HOMEPAGE:-https://github.com/${GITHUB_REPOSITORY}/}" >> $GITHUB_ENV
        echo "SONAR_LINKS_CI=${SONAR_LINKS_CI:-https://github.com/${GITHUB_REPOSITORY}/actions/}" >> $GITHUB_ENV
        echo "SONAR_LINKS_ISSUE=${SONAR_LINKS_ISSUE:-https://github.com/${GITHUB_REPOSITORY}/issues/}" >> $GITHUB_ENV
        echo "SONAR_LINKS_SCM=${SONAR_LINKS_SCM:-https://github.com/${GITHUB_REPOSITORY}/}" >> $GITHUB_ENV

        # Set default to SONAR_HOST_URL in not provided
        echo "SONAR_HOST_URL=${SONAR_HOST_URL:-https://sonarcloud.io}" >> $GITHUB_ENV

        echo "SONAR_SCANNER_VERSION=${SONAR_SCANNER_VERSION}" >> $GITHUB_ENV

        SONAR_SCANNER_HOME=${SONAR_HOME}/sonar-scanner-${SONAR_SCANNER_VERSION}-linux
        echo "SONAR_SCANNER_HOME=${SONAR_SCANNER_HOME}" >> $GITHUB_ENV

        echo "SONAR_SCANNER_OPTS=${SONAR_SCANNER_OPTS:--server}" >> $GITHUB_ENV
        echo "SONAR_SOURCES=${SONAR_SOURCES:-src}" >> $GITHUB_ENV
        [[ -v SONAR_TESTS ]] && echo "SONAR_TESTS=${SONAR_TESTS}" >> $GITHUB_ENV

        echo "SONAR_SOURCEENCODING=${SONAR_SOURCEENCODING:-UTF-8}" >> $GITHUB_ENV
        echo "SONAR_THREADS=${SONAR_THREADS:-1}" >> $GITHUB_ENV

        echo "SONAR_CFAMILY_CACHE_ENABLED=$([[ $SONAR_CFAMILY_CACHE_ENABLED = true ]] && echo true || echo false)" >> $GITHUB_ENV
        [[ $SONAR_CFAMILY_CACHE_ENABLED = true ]] && echo "SONAR_CFAMILY_CACHE_PATH=${SONAR_CACHE_PATH}" >> $GITHUB_ENV

        echo "PATH=${SONAR_HOME}/build-wrapper-linux-x86:${SONAR_SCANNER_HOME}/bin:${PATH}" >> $GITHUB_ENV

        mkdir -p ${SONAR_HOME}
        mkdir -p ${SONAR_CACHE_PATH}

        cat $GITHUB_ENV

        # Download sonar-scanner
        curl -sSLo ${SONAR_HOME}/sonar-scanner.zip https://binaries${SONAR_HOME_PATH}source.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-$SONAR_SCANNER_VERSION-linux.zip
        unzip -o ${SONAR_HOME}/sonar-scanner.zip -d ${SONAR_HOME}/

        # Download build-wrapper
        curl -sSLo ${SONAR_HOME}/build-wrapper-linux-x86.zip https://sonarcloud.io/static/cpp/build-wrapper-linux-x86.zip
        unzip -o ${SONAR_HOME}/build-wrapper-linux-x86.zip -d ${SONAR_HOME}/

        echo "sonar_path=${SONAR_HOME_PATH}" >> $GITHUB_OUTPUT
        echo "sonar_cache_path=${SONAR_CACHE_PATH}" >> $GITHUB_OUTPUT

    # This step is copied from the build step, please keep them in sync until we
    # find a better way to do it automatically
    - name: Dependencies [Linux]
      if: runner.os == 'Linux'
      shell: bash
      run: |
          # Install dep for gstreamer. It must be the first one.
          sudo apt-get update
          sudo apt-get install -y      libunwind-dev

          # Install Robotology dependencies from robotology ppa
          sudo apt-add-repository -y ppa:robotology/ppa
          sudo apt-get install -qq -y librobottestingframework-dev

          # Install cmake
          sudo apt-get install -qq -y cmake
          which cmake
          cmake --version
          /usr/bin/cmake --version

          # Install ycm
          wget -nv https://github.com/robotology/ycm/releases/download/v0.15.3/ycm-cmake-modules-0.15.3-all.deb
          sudo dpkg -i ycm-cmake-modules-0.15.3-all.deb

          # Install build tools
          sudo apt-get install -qq -y ccache \
                                      ninja-build \
                                      valgrind \
                                      openjdk-17-jdk \
                                      openjdk-17-jre

          sudo apt-get install -qq -y libace-dev \
                                      libsqlite3-dev \
                                      libtinyxml-dev \
                                      libedit-dev \
                                      qtbase5-dev \
                                      qtdeclarative5-dev \
                                      qtmultimedia5-dev \
                                      libqt5opengl5-dev \
                                      libqcustomplot-dev \
                                      libopencv-dev \
                                      libeigen3-dev \
                                      libgraphviz-dev \
                                      libgstreamer1.0-dev \
                                      libgstreamer-plugins-base1.0-dev \
                                      libpng-dev \
                                      libv4l-dev \
                                      libavcodec-dev \
                                      libavdevice-dev \
                                      libavformat-dev \
                                      libavutil-dev \
                                      portaudio19-dev \
                                      libsdl1.2-dev \
                                      libopenni2-dev \
                                      libftdi-dev \
                                      libi2c-dev \
                                      libjpeg-dev \
                                      libpcl-dev

          # Install SWIG and bindings dependencies
          sudo apt-get install -qq -y swig \
                                      mono-mcs \
                                      liblua5.3-dev \
                                      lua5.3 \
                                      tcl-dev \
                                      tk-dev \
                                      python3-dev \
                                      liboctave-dev \
                                      ruby-dev \
                                      ruby \
                                      perl

          # Other tools useful in github actions
          sudo apt-get install -qq -y jq \
                                      wget \
                                      curl \
                                      lcov \
                                      gcovr \
                                      wget \
                                      curl \
                                      xsltproc \
                                      libxml2-utils \
                                      source-highlight

          # Remove old packages from apt cache
          sudo apt-get autoclean -qq

    - name: Prepare ccache environment variables
      id: init_ccache
      run: |
        CCACHE_HOME_PATH=.ccache
        CCACHE_BASEDIR=$GITHUB_WORKSPACE

        echo "CCACHE_BASEDIR=${CCACHE_BASEDIR}" >> $GITHUB_ENV
        echo "CCACHE_HOME_PATH=.ccache" >> $GITHUB_ENV
        echo "CCACHE_DIR=${CCACHE_BASEDIR}/${CCACHE_HOME_PATH}" >> $GITHUB_ENV
        echo "CCACHE_COMPRESS=true" >> $GITHUB_ENV
        echo "CCACHE_COMPRESSLEVEL=6" >> $GITHUB_ENV
        echo "CCACHE_MAXSIZE=400M" >> $GITHUB_ENV
        echo "CCACHE_CPP2=yes" >> $GITHUB_ENV
        echo "PATH=/usr/lib/ccache::${PATH}" >> $GITHUB_ENV

        cat $GITHUB_ENV

        echo "ccache_path=${CCACHE_HOME_PATH}" >> $GITHUB_OUTPUT

    - name: Print info and reset stats before build
      run: |
        set -x

        which ccache
        ccache --version
        ccache -p


        ls -la --color=always /usr/lib/ccache

        # Reset ccache stats before starting
        ccache -z

        gcov --version
        gcovr --version

    - name: Handle cache
      uses: actions/cache@v3
      with:
        path: |
          ${{ steps.init_ccache.outputs.ccache_path }}
          ${{ steps.get_sonar.outputs.sonar_cache_path }}
        key: sonar-cache-${{ needs.select_environment.outputs.timestamp }}
        restore-keys: |
          sonar-cache-

    - name: Run CMake
      run: |
        export CLICOLOR_FORCE=1
        export YARP_COLORED_OUTPUT=1

        /usr/bin/cmake -S. -Bbuild \
          -C .ci/initial-cache.gh.linux.cmake \
          -DCMAKE_C_FLAGS=-fdiagnostics-color=always \
          -DCMAKE_CXX_FLAGS=-fdiagnostics-color=always \
          -DCMAKE_BUILD_TYPE=Profile \
          "-DCMAKE_C_FLAGS_PROFILE=-pg -g3 -ggdb -fno-inline -ftest-coverage -fprofile-arcs -DNDEBUG" \
          "-DCMAKE_CXX_FLAGS_PROFILE=-pg -g3 -ggdb -fno-inline -ftest-coverage -fprofile-arcs -DNDEBUG" \
          -DCMAKE_EXE_LINKER_FLAGS_PROFILE=-lgcov \
          -DCMAKE_MODULE_LINKER_FLAGS_PROFILE=-lgcov \
          -DCMAKE_SHARED_LINKER_FLAGS_PROFILE=-lgcov \
          -DCMAKE_STATIC_LINKER_FLAGS_PROFILE= \
          -DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=ON \
          -DYARP_NO_DEPRECATED:BOOL=ON \
          -DYARP_COMPILE_BINDINGS:BOOL=OFF

    - name: Link compile_commands.json in the source directory
      run: |
        ln -s build/compile_commands.json .

    - name: Build inside the build-wrapper
      run: |
        build-wrapper-linux-x86-64 --out-dir build_wrapper_output_directory cmake --build build --config Profile

    - name: Run tests
      run: |
        # Download CTest2JUnit.xsl
        wget https://raw.githubusercontent.com/zanata/zanata-tests/master/scripts/CTest2JUnit.xsl -O CTest2JUnit.xsl

        # -T Test produces the xml output with the results
        (cd build && ctest -T test --rerun-failed --output-on-failure --verbose)
        xsltproc CTest2JUnit.xsl build/Testing/$(head -n 1 < build/Testing/TAG)/Test.xml > build/JUnitTestResults.xml

    - name: Print tests results file
      run: |
        xmllint --format build/JUnitTestResults.xml | source-highlight -s xml --out-format=esc -o STDOUT

    - name: Print ccache stats after build
      run: |
        set -x

        # Print ccache stats
        ccache -s

    - name: Capture coverage info
      run: |
        (cd build && \
        gcovr --exclude="../extern/*" --sonarqube --branches --output coverage.xml --root .. .)

    - name: Print coverage info file
      run: |
        xmllint --format build/coverage.xml | source-highlight -s xml --out-format=esc -o STDOUT

    - name: Run sonar scanner
      env:
        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
        SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
      run: |

        # Run sonar scanner (here, arguments are passed through the command line but most of them can be written in the sonar-project.properties file)
        [[ -v SONAR_TOKEN ]] && SONAR_TOKEN_CMD_ARG="-Dsonar.login=${SONAR_TOKEN}"
        [[ -v SONAR_ORGANIZATION ]] && SONAR_ORGANIZATION_CMD_ARG="-Dsonar.organization=${SONAR_ORGANIZATION}"
        [[ -v SONAR_PROJECT_NAME ]] && SONAR_PROJECT_NAME_CMD_ARG="-Dsonar.projectName=${SONAR_PROJECT_NAME}"
        [[ -v SONAR_PROJECT_DESCRIPTION ]] && SONAR_PROJECT_DESCRIPTION_CMD_ARG="-Dsonar.projectDescription=${SONAR_PROJECT_DESCRIPTION}"
        [[ -v SONAR_PROJECT_VERSION ]] && SONAR_PROJECT_VERSION_CMD_ARG="-Dsonar.projectVersion=${SONAR_PROJECT_VERSION}"

        if [[ "$GITHUB_EVENT_NAME" = "pull_request" || "$GITHUB_EVENT_NAME" == "pull_request_target" ]]; then
          SONAR_PR_CMD_ARGS="\
            -Dsonar.pullrequest.provider=github \
            -Dsonar.pullrequest.github.repository=${SONAR_ORGANIZATION}/${SONAR_PROJECT_NAME} \
            -Dsonar.pullrequest.branch=${{ needs.select_environment.outputs.head_ref }} \
            -Dsonar.pullrequest.key=${{ needs.select_environment.outputs.pr_number }} \
            -Dsonar.pullrequest.base=${{ needs.select_environment.outputs.base_ref }} \
            -Dsonar.pullrequest.github.endpoint=https://api.github.com"
        fi

        # Paths to test files
        [[ -v SONAR_TESTS ]] && SONAR_TESTS_CMD_ARG="-Dsonar.tests=${SONAR_TESTS}"

        # Path to cache
        [[ -v SONAR_CFAMILY_CACHE_PATH ]] && SONAR_CFAMILY_CACHE_PATH_CMD_ARG="-Dsonar.cfamily.cache.path=${SONAR_CFAMILY_CACHE_PATH}"

        set -x

        sonar-scanner \
            -Dsonar.host.url="${SONAR_HOST_URL}" \
            -Dsonar.projectKey=${SONAR_PROJECT_KEY} \
            -Dsonar.language=c++ \
            -Dsonar.sources=${SONAR_SOURCES} \
            -Dsonar.links.homepage=${SONAR_LINKS_HOMEPAGE} \
            -Dsonar.links.ci=${SONAR_LINKS_CI} \
            -Dsonar.links.issue=${SONAR_LINKS_ISSUE} \
            -Dsonar.links.scm=${SONAR_LINKS_SCM} \
            -Dsonar.cfamily.build-wrapper-output=build_wrapper_output_directory \
            -Dsonar.sourceEncoding=${SONAR_SOURCEENCODING} \
            -Dsonar.cfamily.threads=${SONAR_THREADS} \
            -Dsonar.cfamily.cache.enabled=${SONAR_CFAMILY_CACHE_ENABLED} \
            -Dsonar.coverageReportPaths=build/coverage.xml \
            -Dsonar.junit.reportPaths=build/JUnitTestResults.xml \
            -Dsonar.exclusions="src/yarp*/**/* src/carriers/**/* src/devices/**/* src/idls/**/* src/libyarp*/**/* src/robottestingframework-plugins/**/* tests/**/*" \
            -Dsonar.coverage.exclusions="\
                 src/libYARP_dev/src/yarp/dev/tests/*,\
                 src/devices/*/tests/*,\
                 src/carriers/*/tests/*,\
                 src/portmonitors/*/tests/*,\
                 tests/**/*,\
                 src/yarp*/**/*,\
                 robottestingframework-plugins/**/*\
                 " \
            -Dsonar.branch.longLivedBranches.regex="^(master|yarp-.+)$" \
            ${SONAR_TESTS_CMD_ARG} \
            ${SONAR_PROJECT_NAME_CMD_ARG} \
            ${SONAR_PROJECT_DESCRIPTION_CMD_ARG} \
            ${SONAR_PROJECT_VERSION_CMD_ARG} \
            ${SONAR_PR_CMD_ARGS} \
            ${SONAR_TOKEN_CMD_ARG} \
            ${SONAR_ORGANIZATION_CMD_ARG} \
            ${SONAR_CFAMILY_CACHE_PATH_CMD_ARG}