rtabmap/.github/workflows/coverage.yml

name: Coverage

on:
  push:
    branches:
      - master
  pull_request:
    branches:
      - '**'
  workflow_dispatch:

concurrency:
  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
  cancel-in-progress: ${{ github.event_name == 'pull_request' }}

permissions:
  contents: read
  id-token: write

env:
  BUILD_TYPE: Debug

jobs:
  coverage:
    name: Coverage (ubuntu-24.04)
    runs-on: ubuntu-24.04
    env:
      CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

    steps:
      - uses: actions/checkout@v4

      - name: Restore test data
        id: cache-testdata
        uses: actions/cache@v4
        with:
          # Same key as the other workflows so all of them share one entry.
          path: data/tests/*.db
          key: testdata-${{ hashFiles('data/tests/manifest.txt') }}

      - name: Fetch test data
        if: steps.cache-testdata.outputs.cache-hit != 'true'
        shell: bash
        run: bash scripts/fetch_test_data.sh

      - name: Install Linux dependencies
        run: |
          DEBIAN_FRONTEND=noninteractive
          sudo apt-get update
          sudo apt-get install -y \
            lcov \
            libopencv-dev \
            libpcl-dev \
            git \
            cmake \
            software-properties-common \
            libyaml-cpp-dev \
            libg2o-dev \
            libceres-dev \
            curl \
            gnupg \
            lsb-release

          # GTSAM and libpointmatcher are not in the Ubuntu archive, and
          # borglab's gtsam PPAs have no noble packages (gtsam-release-4.2 has
          # no noble suite; gtsam-develop's noble Packages index is empty). The
          # ROS 2 repo ships both for noble, which is also what the ROS CI jobs
          # test against, so take them from there.
          sudo curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
            -o /usr/share/keyrings/ros-archive-keyring.gpg
          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" \
            | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
          sudo apt-get update
          sudo apt-get install -y \
            ros-jazzy-gtsam \
            ros-jazzy-libpointmatcher

      - name: Configure CMake
        run: |
          cmake -B ${{ github.workspace }}/build \
            -DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} \
            -DENABLE_COVERAGE=ON \
            -DCMAKE_PREFIX_PATH=/opt/ros/jazzy \
            -DBUILD_TESTING=ON \
            -DBUILD_APP=OFF \
            -DBUILD_TOOLS=OFF \
            -DBUILD_EXAMPLES=OFF \
            -DWITH_QT=OFF \
            -DWITH_PYTHON=OFF \
            -DWITH_CERES=ON \
            -DWITH_G2O=ON \
            -DWITH_GTSAM=ON \
            -DWITH_MRPT=OFF \
            -DWITH_CVSBA=OFF \
            -DWITH_POINTMATCHER=ON \
            -DWITH_CCCORELIB=OFF \
            -DWITH_OPEN3D=OFF \
            -DWITH_LOAM=OFF \
            -DWITH_FLOAM=OFF \
            -DWITH_LIOSAM=OFF \
            -DWITH_FLYCAPTURE2=OFF \
            -DWITH_ZED=OFF \
            -DWITH_ZEDOC=OFF \
            -DWITH_REALSENSE=OFF

      - name: Build
        run: cmake --build ${{ github.workspace }}/build -j$(nproc)

      - name: Test
        working-directory: ${{ github.workspace }}/build
        run: |
          # The ROS packages are not on the default loader path. Both
          # directories are needed: GTSAM and libpointmatcher land in
          # /opt/ros/jazzy/lib, but gtsam's own libmetis-gtsam.so goes to the
          # multiarch subdirectory, and libgtsam.so carries no RUNPATH, so the
          # loader can only find it through LD_LIBRARY_PATH.
          ROS_LIB=/opt/ros/jazzy/lib
          export LD_LIBRARY_PATH="${{ github.workspace }}/build/bin:${ROS_LIB}:${ROS_LIB}/$(gcc -dumpmachine)${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}"
          find ${{ github.workspace }}/build -name '*.gcda' -delete
          # Unit tests only ("long" is the end-to-end replay suite).
          #
          # Two reasons. It costs ~90 min in this instrumented -O0 build, 94% of
          # the job's test time, for ~3 points of coverage. And running it on
          # some events but not others makes the numbers incomparable: Codecov
          # measures a pull request against master, so a unit-only PR report
          # against a full master report reads as a coverage regression on every
          # PR. Same scope everywhere keeps the comparison meaningful.
          #
          # The replays still run (and gate) in the cmake-linux / macos /
          # windows jobs; they are just not measured here.
          ctest -V -LE "long|performance"

      - name: Generate LCOV report
        run: |
          GCOV_VER="$(gcc -dumpversion | cut -d. -f1)"
          if command -v "gcov-${GCOV_VER}" >/dev/null 2>&1; then
            GCOV_TOOL="gcov-${GCOV_VER}"
          else
            GCOV_TOOL="gcov"
          fi
          LCOV_IGNORE=(--ignore-errors gcov,source,graph,mismatch,unused)

          lcov --gcov-tool "$GCOV_TOOL" "${LCOV_IGNORE[@]}" \
            --capture \
            --directory ${{ github.workspace }}/build/corelib/src \
            --directory ${{ github.workspace }}/build/utilite/src \
            --output-file lcov.info

          lcov "${LCOV_IGNORE[@]}" --extract lcov.info \
            '${{ github.workspace }}/*' \
            --output-file lcov.info
          # The test sources are the instrument, not the subject: a line in a
          # test counts as uncovered only when the test skipped it (a defensive
          # cleanup branch, a platform guard), which says nothing about the
          # library. They are also near-fully covered by construction, so
          # leaving them in inflates the overall number. Excluded here, before
          # the upload, so the HTML artifact, the summary below and Codecov all
          # report the same figure. Kept in sync with coverage-report.sh.
          lcov "${LCOV_IGNORE[@]}" --remove lcov.info \
            '*/sqlite3/*' \
            '*/rtflann/*' \
            '*/corelib/test/*' \
            '*/utilite/test/*' \
            --output-file lcov.info

          lcov --summary lcov.info

      - name: HTML coverage report
        run: genhtml --ignore-errors source,mismatch lcov.info --output-directory coverage-html --legend --demangle-cpp

      - name: Upload HTML coverage artifact
        uses: actions/upload-artifact@v4
        with:
          name: coverage-html
          path: coverage-html
          retention-days: 14

      - name: Upload to Codecov
        if: ${{ env.CODECOV_TOKEN != '' }}
        uses: codecov/codecov-action@v5
        with:
          files: lcov.info
          # Upload ONLY lcov.info. By default the CLI also searches the tree and
          # runs gcov over every .gcno it finds, uploading those .gcov files
          # alongside -- which re-introduced corelib/test and utilite/test on
          # Codecov even though the lcov --remove step had dropped them (the
          # HTML artifact, built from the same lcov.info, was correctly clean).
          disable_search: true
          plugins: noop
          token: ${{ env.CODECOV_TOKEN }}
          fail_ci_if_error: false