Adds scan build to Github Actions (#324)

.github/run_scan_build

@@ -0,0 +1,115 @@
+#!/usr/bin/python3
+# Copyright 2020 Toyota Research Institute
+
+import os
+import sys
+
+EXTRA_EXCLUDE_ARGS = " --exclude src/pybind11 --exclude /usr/include/eigen3 "
+
+def get_package_dependencies_names(packages_up_to = None):
+  '''
+  Returns a set of dependencies by name of all the `packages-up-to` argument.
+  When None is provided, all the packages are returned.
+  '''
+  stream = os.popen('colcon graph') if not packages_up_to else os.popen('colcon graph --packages-up-to ' + packages_up_to)
+
+  colcon_graph = stream.read().splitlines()
+  result = set()
+  for line in colcon_graph:
+    result.add(line[:line.find(' ')])
+  return result
+
+def get_exclusion_paths_from_file(filepath, store):
+  '''
+  Get the paths located in the `filepath` and save them in the `store` set.
+  '''
+  if(os.path.exists(filepath)):
+    with open(filepath) as fp:
+      for line in fp.readlines():
+          store.add(line.replace('\n', ' '))
+
+def convert_in_exclude_argument(paths):
+  '''
+  Convert a set of paths in a `--exclude`s arguments of scan-build command.
+  '''
+  final_string = ''
+  for path in paths:
+    final_string = final_string + " --exclude " + str(path)
+  return final_string
+
+def get_effective_key(args):
+  class Key:
+    def __init__(self, name):
+      self.name = name
+      self.counter = 0
+      self.index = 0
+
+  keys = [Key("--packages-select"), Key("--packages-up-to")]
+  for i, potential_key in enumerate(keys):
+    keys[i].counter = args.count(potential_key.name)
+    if (keys[i].counter > 0):
+      keys[i].index = args.index(potential_key.name)
+
+  if (keys[0].counter == 0 and keys[1].counter == 0):
+    return ''
+  elif (keys[0].counter == keys[1].counter):
+    #  When there are two keys present, it just cares about the first one as colcon does.
+    return keys[0].name if keys[0].index < keys[1].index else keys[1].name
+  else:
+    return keys[0].name if keys[0].counter else keys[1].name
+
+def is_colcon_option(arg):
+  return True if (arg[0:2] == '--') else False
+
+def get_packages_from_args(args):
+  key = get_effective_key(args)
+  if not key:
+    return set()
+  index_of_key = args.index(key)
+
+  packages = set()
+  indexer = 1
+  while (len(args) > (index_of_key + indexer)) and (not is_colcon_option(args[index_of_key + indexer])):
+    packages.add(args[index_of_key + indexer])
+    indexer += 1
+  return packages
+
+def get_packages_to_get_excludes_file_of(packages):
+  packages_to_get_exclude_file_of = set()
+  if not packages:
+    packages_to_get_exclude_file_of = packages_to_get_exclude_file_of.union(get_package_dependencies_names())
+  else:
+    for package_from_arg in packages:
+      packages_to_get_exclude_file_of = packages_to_get_exclude_file_of.union(get_package_dependencies_names(package_from_arg))
+  return packages_to_get_exclude_file_of
+
+
+def generate_exclude_args(argv):
+  packages_from_arg = get_packages_from_args(argv)
+  packages_to_get_exclude_file_of = get_packages_to_get_excludes_file_of(packages_from_arg)
+
+  exclusion_paths = set()
+  for package in packages_to_get_exclude_file_of:
+    package_path = os.popen('colcon list --packages-select ' + package + ' --paths-only')
+    command = 'find ' + package_path.read().splitlines()[0] + ' -name scan_build.supp'
+    find = os.popen(command)
+    supp_filepaths = find.read().splitlines()
+    for filepath in supp_filepaths:
+      get_exclusion_paths_from_file(filepath, exclusion_paths)
+  return convert_in_exclude_argument(exclusion_paths)
+
+def main(argv):
+  excludes_args = generate_exclude_args(argv)
+  excludes_args += EXTRA_EXCLUDE_ARGS
+
+  colcon_extra_build_args = " ".join(argv[1:]) if(len(argv) > 1) else ""
+  cmd = "scan-build-8 --status-bugs --use-cc=clang --use-c++=clang++ {} colcon build {} ".format(excludes_args, colcon_extra_build_args)
+  print("scan-build command...\n--> " + cmd)
+  return_code = os.system(cmd)
+  if return_code > 255 :
+    sys.exit(1)
+  else:
+    sys.exit(0)
+
+if __name__ == "__main__":
+  main(sys.argv)

.github/workflows/scan_build.yml

@@ -0,0 +1,125 @@
+name: scan_build
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+
+env:
+  PACKAGE_NAME: delphyne-gui
+  EXTRA_PACKAGE_NAME: delphyne-demos
+  ROS_DISTRO: dashing
+  ROS_WS: maliput_ws
+
+jobs:
+  static_analysis:
+    name: Static analysis
+    runs-on: ubuntu-18.04
+    container:
+      image: ubuntu:18.04
+    steps:
+    # setup-ros first since it installs git, which is needed to fetch all branches from actions/checkout
+    - uses: ros-tooling/[email protected]
+    # install git from ppa since git 2.18+ is needed to fetch all branches from actions/checkout
+    # this step can be removed on 20.04
+    - name: install git from ppa
+      shell: bash
+      run: |
+        apt update;
+        apt install -y software-properties-common;
+        add-apt-repository -y -u ppa:git-core/ppa;
+        apt install -y git;
+    - uses: actions/checkout@v2
+      with:
+        path: ${{ env.ROS_WS }}/src/${{ env.PACKAGE_NAME }}
+    # clone private dependencies
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/maliput
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/maliput
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/maliput-dragway
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/maliput_dragway
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/maliput-multilane
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/maliput_multilane
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/malidrive
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/malidrive
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/delphyne
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/delphyne
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/drake-vendor
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/drake_vendor
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/dsim-repos-index
+        fetch-depth: 0
+        path: dsim-repos-index
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - name: check if dependencies have a matching branch
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}/src
+      run: ./${PACKAGE_NAME}/.github/try_vcs_checkout ${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}} .
+    # install drake_vendor prereqs using dsim-repos-index/tools/prereqs.lib
+    - name: install drake_vendor prereqs
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}/src/drake_vendor
+      run: ${GITHUB_WORKSPACE}/dsim-repos-index/tools/prereqs-install -t drake .
+    # install delphyne prereqs using dsim-repos-index/tools/prereqs.lib
+    - name: install delphyne prereqs
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}/src/delphyne
+      run: ${GITHUB_WORKSPACE}/dsim-repos-index/tools/prereqs-install -t ignition .
+    # install delphyne-gui prereqs using dsim-repos-index/tools/prereqs.lib
+    - name: install delphyne-gui prereqs
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}/src/delphyne-gui
+      run: ${GITHUB_WORKSPACE}/dsim-repos-index/tools/prereqs-install -t ignition .
+    - name: clang 8 install
+      shell: bash
+      run: ${{ env.ROS_WS }}/src/${PACKAGE_NAME}/.github/clang_suite_installation.sh
+    # clone public dependencies
+    - name: vcs import
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}
+      run: vcs import src < src/${PACKAGE_NAME}/.github/dependencies.repos
+    - run: colcon graph
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}
+    - name: rosdep install
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}
+      run: |
+        rosdep update;
+        rosdep install  -i -y --rosdistro ${ROS_DISTRO} \
+          --skip-keys "ignition-transport5 ignition-msgs2 ignition-math6 ignition-common3 ignition-gui0 ignition-rendering2 libqt5multimedia5 pybind11" \
+          --from-paths src
+    - name: scan_build
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}
+      run: |
+        . /opt/ros/${ROS_DISTRO}/setup.bash;
+        ./src/${PACKAGE_NAME}/.github/run_scan_build \
+            --cmake-args -DCMAKE_LINKER=/usr/bin/llvm-ld \
+            --packages-up-to ${PACKAGE_NAME} ${EXTRA_PACKAGE_NAME} \
+            --event-handlers=console_direct+;