Merge branch 'dev' into feature_OBCStateM

.dockerignore

@@ -3,8 +3,5 @@
 build
 docs
 install
-scripts
 plugins
-gui/controlpanel/node_modules
-gui/controlpanel/package-lock.json
 Dockerfile

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,35 @@
+---
+name: Bug report
+about: File a bug report
+title: ''
+labels: bug
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Go to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Branch or release information (please complete the following information):**
+ - Branch/release name: [eg. main, dev or version 1.0.0]
+
+**Desktop (please complete the following information):**
+ - OS: [e.g. ubuntu, arch]
+ - Browser [e.g. chrome, safari]
+ - Version [e.g. 22]
+
+**Additional context**
+Add any other context about the problem here.

.github/workflows/build.yaml

@@ -1,25 +1,39 @@
 name: Docker Image CI
 
-on:
-  push:
-    branches: [ "dev*" ]
+on: workflow_call
 
 jobs:
-  build_dockerImage:
+  build:
     runs-on: ubuntu-latest
+    container: ros:humble
     steps:
-    - name: Set up Docker Buildx
-      uses: docker/setup-buildx-action@v2
-
-    - name: Checkout 
-      uses: actions/checkout@v3
+    - name: Check out repository
+      uses: actions/checkout@v4
       with:
         submodules: recursive
+    - run: git config --system --add safe.directory "$PWD"
+
+    - name: Restore build cache
+      id: cache-build
+      uses: actions/cache@v4
+      with:
+        path: |
+          /github/home/atos_ws/build
+          /github/home/atos_ws/install
+        key: ${{ runner.os }}-build
+
+    - name: Install ATOS
+      run: |
+        ./setup_atos.sh
+      shell: bash
+
+    - name: Print build folder
+      run: |
+        ls -R /github/home/atos_ws/build
+      shell: bash
 
-    - name: Build Docker image
-      uses: docker/build-push-action@v4
+    - name: Upload build folder
+      uses: actions/upload-artifact@v4
       with:
-        context: .
-        file: Dockerfile
-        cache-from: type=gha
-        cache-to: type=gha,mode=max
+        name: build-folder
+        path: /github/home/atos_ws/build

.github/workflows/build_and_test.yaml

@@ -0,0 +1,44 @@
+name: Docker Image CI
+
+on:
+  push:
+    branches: [ "dev*", "master" ]
+  pull_request:
+    branches: [ "dev" ]
+
+concurrency:
+    group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+    cancel-in-progress: true
+
+env:
+  TEST_TAG: astazero/atos_docker_env:test
+
+jobs:
+  build_and_test_docker_image:
+    runs-on: ubuntu-latest
+    steps:
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v3
+
+    - name: Checkout 
+      uses: actions/checkout@v4
+      with:
+        submodules: recursive
+
+    - name: Build Docker image
+      uses: docker/build-push-action@v5
+      with:
+        context: .
+        file: Dockerfile
+        load: true
+        tags: ${{ env.TEST_TAG }}
+        cache-from: type=gha
+        cache-to: type=gha,mode=max
+
+    - name: Run colcon test on docker image
+      run: |
+        docker run --rm ${{ env.TEST_TAG }} bash -c "colcon test --return-code-on-test-failure --event-handlers console_cohesion+"
+
+    - name: Run scenario integration test
+      run: |
+        docker compose -f docker-compose-test.yml up --abort-on-container-exit

.github/workflows/clang-format.yaml

@@ -0,0 +1,45 @@
+name: clang-tidy-review
+
+# You can be more specific, but it currently only works on pull requests
+on: 
+  workflow_call:
+    inputs:
+      target_files: 
+        description: 'The list of files to be checked by clang-tidy'
+        required: true
+        default: ''
+        type: string
+
+jobs:
+  clang-format:
+    runs-on: ubuntu-latest
+    container: ros:humble
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Install clang-format
+        run: |
+          sudo apt-get -yqq update
+          sudo apt-get -yqq install clang-format
+        shell: bash
+
+      - name: Run clang-format style check.
+        id: clang-format
+        env: 
+          ALL_CHANGED_FILES: ${{ inputs.target_files }}
+        run: |
+          mkdir /tmp/clang-format-result
+          for file_path in ${ALL_CHANGED_FILES}; do
+            folder_name="${file_path%/*}/"
+            mkdir -p /tmp/clang-format-result/$folder_name
+            clang-format ${file_path} > /tmp/clang-format-result/${file_path} || true
+          done
+  
+      - name: Upload clang-format result
+        uses: actions/upload-artifact@v4
+        with:
+          name: clang-format-result
+          path: /tmp/clang-format-result/

.github/workflows/clang-tidy.yaml

@@ -0,0 +1,65 @@
+name: clang-tidy-review
+
+# You can be more specific, but it currently only works on pull requests
+on: 
+  workflow_call:
+    inputs:
+      target_files: 
+        description: 'The list of files to be checked by clang-tidy'
+        required: true
+        default: ''
+        type: string
+
+jobs:
+  clang-tidy:
+    runs-on: ubuntu-latest
+    container: ros:humble
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Prepare atos workspace
+        run: |
+          mkdir -p $HOME/atos_ws/src
+          ln -s $GITHUB_WORKSPACE $HOME/atos_ws/src/atos
+
+      - name: Download build folder
+        uses: actions/download-artifact@v4
+        with:
+          name: build-folder
+          path: /github/home/atos_ws/build
+
+      - name: Install Clang-Tidy
+        run: |
+          sudo apt-get -yqq update
+          sudo apt-get -yqq install clang-tidy libomp-dev
+        shell: bash
+
+      - name: Run clang-tidy linter
+        if: ${{ inputs.target_files != '' }}
+        env: 
+          ALL_CHANGED_FILES: ${{ inputs.target_files }}
+        run: |
+          echo "running clang-tidy on $ALL_CHANGED_FILES"
+          ls $HOME/atos_ws/build/
+          mkdir /tmp/clang-tidy-result
+          clang-tidy -p $HOME/atos_ws/build/ -export-fixes /tmp/clang-tidy-result/fixes.yaml --checks=cppcoreguidelines-*,clang-analyzer-* ${ALL_CHANGED_FILES} || true
+          echo "${{ github.event.number }}" > /tmp/clang-tidy-result/pr-id.txt
+          echo "${{ github.event.pull_request.head.repo.full_name }}" > /tmp/clang-tidy-result/pr-head-repo.txt
+          echo "${{ github.event.pull_request.head.ref }}" > /tmp/clang-tidy-result/pr-head-ref.txt
+        shell: bash
+
+      - name: Check if the fixes.yaml file exists
+        id: check-fixes-yaml-existence
+        uses: autowarefoundation/autoware-github-actions/check-file-existence@v1
+        with:
+          files: /tmp/clang-tidy-result/fixes.yaml
+
+      - name: Upload clang-tidy result
+        if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: clang-tidy-result
+          path: /tmp/clang-tidy-result/

.github/workflows/code-checks.yaml

@@ -0,0 +1,63 @@
+name: Clang
+
+on: [pull_request]
+
+jobs:
+    build:
+        uses: ./.github/workflows/build.yaml
+
+    file-changes:
+      runs-on: ubuntu-latest
+      outputs: 
+        all: ${{ steps.changed-files.outputs.all }}
+        cpp: ${{ steps.cpp-files.outputs.CPP }}
+      steps:
+        - name: Check out repository
+          uses: actions/checkout@v4
+          with:
+            submodules: recursive
+
+        - name: Get changed files
+          id: changed-files
+          uses: jitterbit/get-changed-files@v1
+
+        - name: Filter on only cpp, hpp, c, and h files
+          id: cpp-files
+          run: |
+            input_files=(${{ steps.changed-files.outputs.all }})
+            echo "Input files: $input_files"
+            cpp_files=""
+            for f in "${input_files[@]}"; do
+              if [[ $f == *.cpp || $f == *.hpp || $f == *.c || $f == *.h ]]; then
+                echo "File ending correct: $f"
+                cpp_files+="$f "
+              else
+                echo "File ending incorrect: $f"
+              fi
+            done
+            echo "Target files: $cpp_files"
+
+            { 
+              echo 'CPP<<EOF'
+              echo "$cpp_files"
+              echo EOF
+            } >> $GITHUB_OUTPUT
+          
+        - name: Print all files
+          run: |
+            echo ${{ steps.cpp-files.outputs.CPP }}
+
+    clang-tidy:
+        uses: ./.github/workflows/clang-tidy.yaml
+        needs: [build, file-changes]
+        with:
+            target_files: ${{ needs.file-changes.outputs.cpp }}
+
+    clang-format:
+        uses: ./.github/workflows/clang-format.yaml
+        needs: [file-changes]
+        with:
+            target_files: ${{ needs.file-changes.outputs.cpp }}
+
+    cppcheck:
+        uses: ./.github/workflows/cppcheck.yaml

.github/workflows/cppcheck.yaml

@@ -0,0 +1,48 @@
+name: cppcheck
+
+on: workflow_call
+
+jobs:
+  cppcheck:
+    runs-on: ubuntu-latest
+    container: ros:humble
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Install cppcheck
+        run: |
+          sudo apt-get -yqq update
+          sudo apt-get -yqq install cppcheck
+        shell: bash
+
+      - name: Run cppcheck.
+        id: cppcheck
+        run: |
+          mkdir /tmp/cppcheck-result
+          cppcheck --output-file=/tmp/cppcheck-result/cppcheck-result.txt .
+
+      - name: Check if the cppcheck-result.txt file is empty
+        id: check-cppcheck-result-empty
+        run: |
+          if [ -s /tmp/cppcheck-result/cppcheck-result.txt ]; then
+            echo "empty=false" >> "$GITHUB_OUTPUT"
+          else
+            echo "empty=true" >> "$GITHUB_OUTPUT"
+          fi
+        shell: bash
+
+      - name: Upload cppcheck result
+        if: ${{ steps.check-cppcheck-result-empty.outputs.empty == 'false' }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: cppcheck-result
+          path: /tmp/cppcheck-result/
+
+      - name: Mark the workflow as failed if the cppcheck-results.txt file contains errors
+        if: ${{ steps.check-cppcheck-result-empty.outputs.empty == 'false' }}
+        run: |
+          exit 1
+        shell: bash