Cleanup GitHub Actions

.github/workflows/coverage.yml

@@ -56,29 +56,29 @@ jobs:
                   if [ -d "build" ]; then rm -Rf build; fi
                   mkdir build
                   cd build
-                  cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_TESTS_MODE=ON -DBUILD_CODE_COVERAGE=ON -DBUILD_VERBOSE_MODE=ON
+                  cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_TESTS_MODE=ON -DBUILD_CODE_COVERAGE=ON -DBUILD_COVERAGE_WATCH=OFF -DBUILD_VERBOSE_MODE=ON
                   make -j8
 
-            - name: Test
+            - name: Run Tests
               run: |
                   cd /opt/Autonomy_Software/build
-                  ctest --output-on-failure -T Test -T Coverage
-                  ctest --output-on-failure --output-junit Test.xml
-                  gcovr --root .. --xml-pretty --output Coverage.xml
-                  lcov -c -d . -o coverage.info
 
-            - name: Upload coverage to Codecov
-              uses: codecov/codecov-action@v4
+                  ctest --output-on-failure -T Test -T Coverage -R UTest --output-junit UTests.xml
+                  ctest --output-on-failure -T Test -T Coverage -R ITest --output-junit ITests.xml
+                  gcovr --root .. --xml-pretty --output AllCoverage.xml
+
+            - name: Upload Test Coverage to Codecov
+              uses: codecov/codecov-action@v5
               with:
                   token: ${{ secrets.CODECOV_TOKEN }}
                   root_dir: /opt/Autonomy_Software
                   working-directory: /opt/Autonomy_Software
                   verbose: true
-                  plugin: gcov
+                  plugins: gcov
                   directory: /opt/Autonomy_Software/build
-                  file: /opt/Autonomy_Software/build/Coverage.xml
-
-            - name: Upload test results to Codecov
+                  files: /opt/Autonomy_Software/build/AllCoverage.xml
+            
+            - name: Upload Test Results to Codecov
               if: ${{ !cancelled() }}
               uses: codecov/test-results-action@v1
               with:
@@ -87,7 +87,7 @@ jobs:
                   working-directory: /opt/Autonomy_Software/build
                   verbose: true
                   directory: /opt/Autonomy_Software/build/
-                  file: Test.xml
+                  files: UTests.xml, ITests.xml
 
             - name: Cleanup Action Environment
               if: always()

.github/workflows/tests.yml

@@ -166,4 +166,4 @@ jobs:
         if: always()
         run: |
           cd /opt
-          rm -rf /opt/Autonomy_Software
+          rm -rf /opt/Autonomy_Software

CMakeLists.txt

@@ -32,6 +32,9 @@ option(BUILD_SIM_MODE "Enable Simulation Mode" OFF)
 ## Enable or Disable Code Coverage Mode
 option(BUILD_CODE_COVERAGE "Enable Code Coverage Mode" OFF)
 
+## Enable or Disable Coverage Watch Mode
+option(BUILD_COVERAGE_WATCH "Enable Code Coverage Watch Mode" ON)
+
 ## Enable or Disable Verbose Makefile
 option(BUILD_VERBOSE_MODE "Enable Verbose Makefile" OFF)
 
@@ -77,18 +80,6 @@ if (BUILD_CODE_COVERAGE)
     set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O0 -g -fprofile-arcs -ftest-coverage --coverage")
     set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --coverage")
     set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} --coverage")
-
-    add_custom_target(run_coverage ALL
-        COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure
-        COMMAND gcovr --root ${CMAKE_SOURCE_DIR} --xml-pretty --output Coverage.xml
-        COMMAND lcov -c -d . -o coverage.info
-        WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
-        COMMENT "Running tests and generating coverage reports..."
-        VERBATIM
-    )
-
-    # Ensure dependencies for the run_coverage target. Tests must be built first.
-    add_dependencies(run_coverage ${EXE_NAME}_UnitTests ${EXE_NAME}_IntegrationTests)
 else()
     message("--   [ ]: Code Coverage: Disabled")
 endif()
@@ -343,33 +334,68 @@ endif()
 
 ## Tests Mode
 if (BUILD_TESTS_MODE)
-    file(GLOB_RECURSE UnitTests_SRC         CONFIGURE_DEPENDS  "tests/Unit/*.cc")
-    file(GLOB_RECURSE IntegrationTests_SRC  CONFIGURE_DEPENDS  "tests/Integration/*.cc")
+    ## Find Unit and Integration Tests
+    file(GLOB_RECURSE UTests_SRC            CONFIGURE_DEPENDS  "tests/Unit/src/*.cc")
+    file(GLOB_RECURSE ITests_SRC            CONFIGURE_DEPENDS  "tests/Integration/src/*.cc")
+    file(GLOB         Runner_SRC            CONFIGURE_DEPENDS  "tests/main.cc")
+
+    ## Find Source Files Required for Tests
     file(GLOB_RECURSE Algorithms_SRC        CONFIGURE_DEPENDS  "src/algorithms/*.cpp")
     file(GLOB_RECURSE Drivers_SRC           CONFIGURE_DEPENDS  "src/drivers/*.cpp")
     file(GLOB_RECURSE Vision_SRC            CONFIGURE_DEPENDS  "src/vision/*.cpp")
     file(GLOB         Network_SRC           CONFIGURE_DEPENDS  "src/AutonomyNetworking.cpp")
     file(GLOB         Logging_SRC           CONFIGURE_DEPENDS  "src/AutonomyLogging.cpp")
     file(GLOB         Globals_SRC           CONFIGURE_DEPENDS  "src/AutonomyGlobals.cpp")   
 
-    list(LENGTH UnitTests_SRC UnitTests_LEN)
-    list(LENGTH IntegrationTests_SRC IntegrationTests_LEN)
+    list(LENGTH UTests_SRC UnitTests_LEN)
+    list(LENGTH ITests_SRC IntegrationTests_LEN)
 
     if (UnitTests_LEN GREATER 0)
-        add_executable(${EXE_NAME}_UnitTests ${UnitTests_SRC} ${Algorithms_SRC} ${Drivers_SRC} ${Vision_SRC} ${Network_SRC} ${Logging_SRC} ${Globals_SRC})
+        add_executable(${EXE_NAME}_UnitTests ${Runner_SRC} ${UTests_SRC} ${Algorithms_SRC} ${Drivers_SRC} ${Vision_SRC} ${Network_SRC} ${Logging_SRC} ${Globals_SRC})
         target_link_libraries(${EXE_NAME}_UnitTests GTest::gtest GTest::gtest_main ${AUTONOMY_LIBRARIES})
-        add_test(Unit_Tests ${EXE_NAME}_UnitTests)
+
+        foreach(test_file ${UTests_SRC})
+            get_filename_component(test_name ${test_file} NAME_WE)
+            add_test(NAME UTest_${test_name} COMMAND ${EXE_NAME}_UnitTests --gtest_filter=${test_name}Test.*)
+        endforeach()
     else()
         message("No Unit Tests!")
     endif()
 
     if (IntegrationTests_LEN GREATER 0)
-        add_executable(${EXE_NAME}_IntegrationTests ${IntegrationTests_SRC} ${Algorithms_SRC} ${Drivers_SRC} ${Vision_SRC} ${Network_SRC} ${Logging_SRC} ${Globals_SRC})
+        add_executable(${EXE_NAME}_IntegrationTests ${Runner_SRC} ${ITests_SRC} ${Algorithms_SRC} ${Drivers_SRC} ${Vision_SRC} ${Network_SRC} ${Logging_SRC} ${Globals_SRC})
         target_link_libraries(${EXE_NAME}_IntegrationTests GTest::gtest GTest::gtest_main ${AUTONOMY_LIBRARIES})
-        add_test(Integration_Tests ${EXE_NAME}_IntegrationTests)
+
+        foreach(test_file ${ITests_SRC})
+            get_filename_component(test_name ${test_file} NAME_WE)
+            add_test(NAME ITest_${test_name} COMMAND ${EXE_NAME}_IntegrationTests --gtest_filter=${test_name}Test.*)
+        endforeach()
     else()
         message("No Integration Tests!")
     endif()
+
+    if (BUILD_CODE_COVERAGE AND BUILD_COVERAGE_WATCH)
+        add_custom_target(run_coverage ALL
+            COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure
+            COMMAND gcovr --root ${CMAKE_SOURCE_DIR} --xml-pretty --output Coverage.xml
+            COMMAND lcov -c -d . -o coverage.info
+            WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+            COMMENT "Running tests and generating coverage reports..."
+            VERBATIM
+        )
+
+        # Ensure dependencies for the run_coverage target. Tests must be built first.
+        if (UnitTests_LEN GREATER 0 AND IntegrationTests_LEN GREATER 0)
+            add_dependencies(run_coverage ${EXE_NAME}_UnitTests ${EXE_NAME}_IntegrationTests)
+        elseif (UnitTests_LEN GREATER 0)
+            add_dependencies(run_coverage ${EXE_NAME}_UnitTests)
+        elseif (IntegrationTests_LEN GREATER 0)
+            add_dependencies(run_coverage ${EXE_NAME}_IntegrationTests)
+        else()
+            message("No Tests to Run! run_coverage target will not be created.")
+            set_target_properties(run_coverage PROPERTIES EXCLUDE_FROM_ALL TRUE)
+        endif()
+    endif()
 endif()
 
 ####################################################################################################################

codecov.yml

@@ -6,9 +6,12 @@ coverage:
     project:
       default:
         target: auto
+        threshold: 5%
     patch:
       default:
         target: auto
+        informational: true
+        threshold: 5%
     changes: false
 
 ignore:
@@ -21,14 +24,6 @@ ignore:
   - "**/build/*"
   - "/usr/include/*"
 
-flags:
-  unit_tests:
-    paths:
-      - "tests/Unit/**"
-  integration_tests:
-    paths:
-      - "tests/Integration/**"
-
 component_management:
   individual_components:
     - component_id: algorithms
@@ -67,7 +62,7 @@ component_management:
         - src/*.cpp
 
 comment:
-  layout: "header, diff, flags, files, components"
+  layout: "header, diff, files, components"
   behavior: default
   require_changes: false
   require_base: false

data/Custom_Dictionaries/Autonomy-Dictionary.txt

@@ -40,6 +40,7 @@ bytem
 byteswap
 CAFFE
 CALIB
+carryforward
 CELLVOLTAGE
 charconv
 chromaprint

src/AutonomyLogging.cpp

@@ -9,6 +9,7 @@
  ******************************************************************************/
 
 #include "AutonomyLogging.h"
+#include "./util/TimeOperations.hpp"
 #include "AutonomyNetworking.h"
 
 /// \cond
@@ -57,28 +58,13 @@ namespace logging
      ******************************************************************************/
     void InitializeLoggers(std::string szLoggingOutputPath)
     {
-        // Retrieve the current time for the log file name
-        std::chrono::time_point<std::chrono::system_clock> tmCurrentTime = std::chrono::system_clock::now();
-        std::time_t tCurrentTime                                         = std::chrono::system_clock::to_time_t(tmCurrentTime);
-
-        // Convert time to local time
-        std::tm* tLocalTime = std::localtime(&tCurrentTime);
-
-        // Format the current time in a format that can be used as a file name.
-        std::array<char, 80> cCurrentTime;
-        size_t siTimeCharacters;
-        siTimeCharacters = std::strftime(cCurrentTime.data(), cCurrentTime.size(), "%Y%m%d-%H%M%S", tLocalTime);
-        if (siTimeCharacters == 0)
-        {
-            std::cerr << "Unable to format calendar date & time (exceeds string length)" << std::endl;
-        }
         // Store start time string in member variable.
-        g_szProgramStartTimeString = cCurrentTime.data();
+        g_szProgramStartTimeString = timeops::GetTimestamp();
 
         // Assemble filepath string.
         std::filesystem::path szFilePath;
         std::filesystem::path szFilename;
-        szFilePath = szLoggingOutputPath + "/";            // Main location for all recordings.
+        szFilePath = szLoggingOutputPath;                  // Main location for all recordings.
         szFilePath += g_szProgramStartTimeString + "/";    // Folder for each program run.
         szFilename = "console_output";                     // Base file name.
 

src/util/TimeOperations.hpp

@@ -0,0 +1,62 @@
+/******************************************************************************
+ * @brief Defines and implements functions related to operations on time and
+ *        date within the timeops namespace.
+ *
+ * @file TimeOperations.hpp
+ * @author Eli Byrd ([email protected])
+ * @date 2025-01-07
+ *
+ * @copyright Copyright Mars Rover Design Team 2025 - All Rights Reserved
+ ******************************************************************************/
+
+#ifndef TIME_OPERATIONS_HPP
+#define TIME_OPERATIONS_HPP
+
+/// \cond
+#include <chrono>
+#include <ctime>
+#include <iostream>
+
+/// \endcond
+
+/******************************************************************************
+ * @brief Namespace containing functions related to operations on time and
+ *        date related data types.
+ *
+ * @author Eli Byrd ([email protected])
+ * @date 2025-01-07
+ ******************************************************************************/
+namespace timeops
+{
+    /******************************************************************************
+     * @brief Accessor for getting the current time in a specified format.
+     *
+     * @param szFormat - The format to return the time in.
+     * @return std::string - The current time in the specified format.
+     *
+     * @author Eli Byrd ([email protected])
+     * @date 2025-01-07
+     ******************************************************************************/
+    inline std::string GetTimestamp(std::string szFormat = "%Y%m%d-%H%M%S")
+    {
+        // Retrieve the current time for the log file name
+        std::chrono::time_point<std::chrono::system_clock> tmCurrentTime = std::chrono::system_clock::now();
+        std::time_t tCurrentTime                                         = std::chrono::system_clock::to_time_t(tmCurrentTime);
+
+        // Convert time to local time
+        std::tm* tLocalTime = std::localtime(&tCurrentTime);
+
+        // Format the current time in a format that can be used as a file name.
+        std::array<char, 80> cCurrentTime;
+        size_t siTimeCharacters;
+        siTimeCharacters = std::strftime(cCurrentTime.data(), cCurrentTime.size(), szFormat.c_str(), tLocalTime);
+        if (siTimeCharacters == 0)
+        {
+            std::cerr << "Unable to format calendar date & time (exceeds string length)" << std::endl;
+        }
+
+        return cCurrentTime.data();
+    }
+}    // namespace timeops
+
+#endif    // TIME_OPERATIONS_HPP