Merge pull request #149 from usdot-fhwa-stol/release/lavida

Merge release/lavida (4.5.0) branch into master

.clang-format

@@ -1,67 +1,22 @@
 ---
-# Reference: https://github.com/PickNikRobotics/roscpp_code_format/blob/master/.clang-format
+# ROS 2 C++ style guidelines
+# Reference: https://github.com/ament/ament_lint/blob/rolling/ament_clang_format/ament_clang_format/configuration/.clang-format
 
+Language: Cpp
 BasedOnStyle: Google
-AccessModifierOffset: -2
-ConstructorInitializerIndentWidth: 2
-AlignEscapedNewlinesLeft: false
-AlignTrailingComments: true
-AllowAllParametersOfDeclarationOnNextLine: false
-AllowShortIfStatementsOnASingleLine: false
-AllowShortLoopsOnASingleLine: false
-AllowShortFunctionsOnASingleLine: None
-AlwaysBreakTemplateDeclarations: true
-AlwaysBreakBeforeMultilineStrings: true
-BreakBeforeBinaryOperators: false
-BreakBeforeTernaryOperators: false
-BreakConstructorInitializersBeforeComma: true
-BinPackParameters: true
-ColumnLimit: 120
-ConstructorInitializerAllOnOneLineOrOnePerLine: true
-DerivePointerBinding: false
-PointerBindsToType: true
-ExperimentalAutoDetectBinPacking: false
-IndentCaseLabels: true
-MaxEmptyLinesToKeep: 1
-NamespaceIndentation: None
-ObjCSpaceBeforeProtocolList: true
-PenaltyBreakBeforeFirstCallParameter: 19
-PenaltyBreakComment: 60
-PenaltyBreakString: 1
-PenaltyBreakFirstLessLess: 1000
-PenaltyExcessCharacter: 1000
-PenaltyReturnTypeOnItsOwnLine: 90
-SpacesBeforeTrailingComments: 2
-Cpp11BracedListStyle: false
-Standard: Auto
-IndentWidth: 2
-TabWidth: 2
-UseTab: Never
-IndentFunctionDeclarationAfterType: false
-SpacesInParentheses: false
-SpacesInAngles: false
-SpaceInEmptyParentheses: false
-SpacesInCStyleCastParentheses: false
-SpaceAfterControlStatementKeyword: true
-SpaceBeforeAssignmentOperators: true
-ContinuationIndentWidth: 4
-SortIncludes: false
-SpaceAfterCStyleCast: false
 
-# Configure each individual brace in BraceWrapping
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+  AfterEnum: true
 BreakBeforeBraces: Custom
-
-# Control of individual brace wrapping cases
-BraceWrapping: {
-    AfterClass: 'true'
-    AfterControlStatement: 'true'
-    AfterEnum : 'true'
-    AfterFunction : 'true'
-    AfterNamespace : 'true'
-    AfterStruct : 'true'
-    AfterUnion : 'true'
-    BeforeCatch : 'true'
-    BeforeElse : 'true'
-    IndentBraces : 'false'
-}
-...
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: false

.devcontainer/Dockerfile

@@ -1,32 +1,3 @@
-FROM mcr.microsoft.com/devcontainers/base:ubuntu-20.04
-
-RUN apt update \
-    && DEBIAN_FRONTEND=noninteractive apt install -y --no-install-recommends \
-        clang-format \
-        clang-tidy \
-        cmake \
-        g++ \
-        gcc \
-        gdb \
-        libboost-container-dev \
-        libgtest-dev \
-        make \
-    && rm -rf /var/lib/apt/lists/*
-
-# Install units library
-RUN git clone --depth 1 --branch v2.3.3 https://github.com/nholthaus/units.git /tmp/units \
-    && cd /tmp/units \
-    && cmake -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF -DBUILD_DOCS=OFF \
-    && cmake --build build \
-    && cmake --install build \
-    && cd / \
-    && rm -rf /tmp/units
-
-# Install Eigen3
-RUN git clone --depth 1 --branch 3.4.0 https://gitlab.com/libeigen/eigen.git /tmp/eigen \
-    && cd /tmp/eigen \
-    && cmake -B build -DCMAKE_BUILD_TYPE=Release -DEIGEN_BUILD_TESTING=OFF -DEIGEN_BUILD_DOC=OFF \
-    && cmake --build build \
-    && cmake --install build \
-    && cd / \
-    && rm -rf /tmp/eigen
+FROM ghcr.io/usdot-fhwa-stol/carma-builds-x64:carma-system-4.5.0-focal
+COPY . /home/multiple_object_tracking/
+RUN /home/multiple_object_tracking/scripts/install_dependencies.sh

.devcontainer/devcontainer.json

@@ -1,14 +1,16 @@
 {
     "name": "Ubuntu",
     "build": {
-        "dockerfile": "Dockerfile"
+        "dockerfile": "Dockerfile",
+        "context": "../"
     },
     "customizations": {
         "vscode": {
             "extensions": [
                 "ms-vscode.cpptools",
                 "ms-vscode.cpptools-extension-pack",
-                "streetsidesoftware.code-spell-checker"
+                "streetsidesoftware.code-spell-checker",
+                "ms-vscode-remote.remote-containers"
             ]
         }
     },
@@ -18,5 +20,10 @@
     "workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/workspace",
     // Uncomment for hosts that use SELinux (e.g., RHEL and Fedora)
     // "workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/workspace,Z",
-    "workspaceFolder": "/workspace"
+    "workspaceFolder": "/workspace",
+    "runArgs": [
+        "--cap-add=SYS_PTRACE",
+        "--security-opt",
+        "seccomp=unconfined"
+    ]
 }

.github/workflows/ci.yml

@@ -0,0 +1,70 @@
+name: CI
+on:
+  push:
+    branches: [develop, master]
+  pull_request:
+      types: [opened, synchronize, reopened]
+jobs:
+  build:  # Define a job named 'build'
+    defaults:  # Set default values for the job
+      run:
+        shell: bash
+        working-directory: "/opt/carma/"
+    runs-on: ubuntu-latest  # Run on the latest version of Ubuntu
+
+    container:  # Use a Docker container as the execution environment
+      image: ghcr.io/usdot-fhwa-stol/carma-builds-x64:carma-system-4.5.0-focal  # Docker image to use
+      env:  # Define environment variables for the container
+        BUILD_WRAPPER_OUT_DIR: "/opt/carma/src/multiple_object_tracking/build/bw-output"
+        TERM: xterm
+      options: "--user root"  # Additional Docker container options to set permissions
+
+    steps:  # Define a series of steps to execute in the job
+    - name: Checkout ${{ github.event.repository.name }}  # Checkout the repository
+      uses: actions/checkout@v3.3.0
+      with:
+        fetch-depth: 0  # Disable shallow clones for better analysis relevance
+        path: src/${{ github.event.repository.name }}  # Specify the destination path
+    - name: Move source code  # Move the source code to the desired location
+      run: mv $GITHUB_WORKSPACE/src/ /opt/carma/
+    - name: Install Dependencies  # Install Dependencies
+      run: |
+        /opt/carma/src/multiple_object_tracking/scripts/install_dependencies.sh
+    - name: Install Gcovr 5.0  # Install Gcovr 5.0
+      run: |
+        apt update
+        DEBIAN_FRONTEND=noninteractive apt install -y curl unzip python3 python3-pip
+        python3 -m pip install gcovr==5.0
+
+    - name: Set up JDK 17
+      uses: actions/setup-java@v3 # The setup-java action provides the functionality for GitHub Actions runners for Downloading and setting up a requested version of Java
+      with:
+        java-version: 17
+        distribution: "temurin"
+
+    - name: Install sonar-scanner and build-wrapper  # Install SonarScanner and build-wrapper
+      uses: SonarSource/sonarcloud-github-c-cpp@v2
+
+    - name: Build & Run Tests  # Build and run tests for multiple_object_tracking package and run gcovr before sonar scan.
+      run: |
+        chmod 755 -R /opt/carma/src
+        cd /opt/carma/src/multiple_object_tracking/
+        mkdir build
+        COVERAGE_FLAGS="-g --coverage -fprofile-arcs -ftest-coverage"
+        cmake -S . -B build -DCMAKE_CXX_FLAGS="${COVERAGE_FLAGS}" -DCMAKE_C_FLAGS="${COVERAGE_FLAGS}" -DCMAKE_BUILD_TYPE="Debug"
+        build-wrapper-linux-x86-64 --out-dir /opt/carma/src/multiple_object_tracking/build/bw-output cmake --build build/ --config Release
+        cd build
+        ctest --output-on-failure
+        cd ..
+        gcovr --sonarqube build/coverage.xml -k -s -r .
+
+    - name: Find coverage.xml  # Find the coverage.xml file
+      shell: bash
+      run: |
+        find "/opt/carma/src/multiple_object_tracking/build/" -name "coverage.xml"
+
+    - name: Run SonarScanner  # Run SonarScanner for code analysis
+      uses: usdot-fhwa-stol/actions/sonar-scanner@main
+      with:
+        sonar-token: ${{ secrets.SONAR_TOKEN }}
+        working-dir: "/opt/carma/src/${{ github.event.repository.name }}"

.sonarqube/sonar-scanner.properties

@@ -0,0 +1,32 @@
+#  Copyright (C) 2018-2024 LEIDOS.
+#
+#  Licensed under the Apache License, Version 2.0 (the "License"); you may not
+#  use this file except in compliance with the License. You may obtain a copy of
+#  the License at
+#
+#  http://www.apache.org/licenses/LICENSE-2.0
+#
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+#  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+#  License for the specific language governing permissions and limitations under
+#  the License.
+
+# Configuration file for Sonar Scanner used for CI
+sonar.projectKey=usdot-fhwa-stol_multiple-object-tracking
+sonar.organization=usdot-fhwa-stol
+sonar.host.url=https://sonarcloud.io
+sonar.sources=/opt/carma/src/multiple_object_tracking/src/, /opt/carma/src/multiple_object_tracking/include/
+sonar.tests=/opt/carma/src/multiple_object_tracking/test/
+sonar.cfamily.gcov.reportsPath=/opt/carma/src/multiple_object_tracking/build/
+sonar.coverageReportPaths=/opt/carma/src/multiple_object_tracking/build/coverage.xml
+sonar.sonar.projectBaseDir=/opt/carma/src/multiple_object_tracking/
+sonar.cfamily.build-wrapper-output=/opt/carma/src/multiple_object_tracking/build/bw-output
+sonar.cpp.file.suffixes=.cpp,.hpp,.tpp
+sonar.c.file.suffixes=-
+sonar.sourceEncoding=UTF-8
+
+# Set Git as SCM sensor
+sonar.scm.disabled=false
+sonar.scm.enabled=true
+sonar.scm.provider=git

.vscode/settings.json

@@ -1,7 +1,10 @@
 {
     "cSpell.words": [
         "cpptools",
-        "Ctrv"
+        "Ctra",
+        "Ctrv",
+        "Eigen",
+        "tparam"
     ],
     "editor.formatOnSave": true,
     "files.insertFinalNewline": true,