Merge branch 'main' into pr-logger-small-flash

.github/workflows/clang-tidy.yml

@@ -16,9 +16,51 @@ permissions:
   contents: read
 
 jobs:
-  clang_tidy:
+  # Push-to-main: unchanged historical behavior. Single clang build dir
+  # with BUILD_TESTING=OFF. `make clang-tidy` builds and analyzes every
+  # TU in compile_commands.json. Test files are not in the DB and
+  # therefore never analyzed.
+  clang_tidy_push:
     name: Clang-Tidy
+    if: github.event_name != 'pull_request'
     runs-on: [runs-on, runner=16cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
+    container:
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+    permissions:
+      contents: read
+    steps:
+    - uses: runs-on/action@v2
+    - uses: actions/checkout@v6
+      with:
+        fetch-depth: 0
+        fetch-tags: true
+
+    - name: Configure Git Safe Directory
+      run: git config --system --add safe.directory '*'
+
+    - uses: ./.github/actions/setup-ccache
+      id: ccache
+      with:
+        cache-key-prefix: ccache-clang-tidy
+        max-size: 150M
+
+    - name: Build and Analyze - Clang-Tidy
+      run: make -j$(nproc) clang-tidy
+
+    - uses: ./.github/actions/save-ccache
+      if: always()
+      with:
+        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+
+  # Pull request: diff-based analysis with a second BUILD_TESTING=ON
+  # build dir so test files in the PR diff can be linted by
+  # clang-tidy-diff-18.py with resolved gtest/fuzztest includes.
+  # Results are uploaded as a `pr-review` artifact for the PR Review
+  # Poster workflow to post as inline comments.
+  clang_tidy_pr:
+    name: Clang-Tidy
+    if: github.event_name == 'pull_request'
+    runs-on: [runs-on, runner=8cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
     container:
       image: ghcr.io/px4/px4-dev:v1.17.0-rc2
     permissions:
@@ -30,6 +72,7 @@ jobs:
       with:
         fetch-depth: 0
         fetch-tags: true
+
     - name: Configure Git Safe Directory
       run: git config --system --add safe.directory '*'
 
@@ -39,35 +82,57 @@ jobs:
         cache-key-prefix: ccache-clang-tidy
         max-size: 150M
 
-    - name: Build - px4_sitl_default (Clang)
+    # fuzztest (enabled via BUILD_TESTING in the -test build dir) pulls
-      run: make -j16 px4_sitl_default-clang
+    # in abseil via FetchContent, and abseil runs a try_compile with
+    # fuzztest's -fsanitize=address flags. The px4-dev container ships
+    # clang but not the clang compiler-rt runtime, so that link fails
+    # and the configure reports a misleading "pthreads not found".
+    # libclang-rt-18-dev provides libclang_rt.asan and friends.
+    - name: Install clang compiler-rt
+      run: |
+        apt-get update
+        apt-get install -y --no-install-recommends libclang-rt-18-dev
+
+    # `make clang-ci` prepares both clang build directories:
+    #   - build/px4_sitl_default-clang:       full build, BUILD_TESTING=OFF
+    #     (used by run-clang-tidy-pr.py for whole-file analysis of
+    #      changed production code)
+    #   - build/px4_sitl_default-clang-test:  configure-only, BUILD_TESTING=ON
+    #     (used by clang-tidy-diff-18.py so test files are in the
+    #      compilation database with resolved gtest/fuzztest includes)
+    - name: Build clang SITL
+      run: make -j$(nproc) clang-ci
 
     - name: Run Clang-Tidy Analysis
-      id: clang_tidy
+      run: python3 Tools/ci/run-clang-tidy-pr.py origin/${{ github.base_ref }}
-      run: |
-        if [ "${{ github.event_name }}" != "pull_request" ]; then
-          make -j$(nproc) clang-tidy
-        else
-          python3 Tools/ci/run-clang-tidy-pr.py origin/${{ github.base_ref }}
-        fi
 
-    # On PRs, also produce a `pr-review` artifact for the PR Review Poster
+    # Produce a `pr-review` artifact for the PR Review Poster workflow
-    # workflow to consume. clang-tidy-diff-18 emits a unified fixes.yml that
+    # to consume. clang-tidy-diff-18 emits a unified fixes.yml that
     # the producer script translates into line-anchored review comments.
-    # Running this inside the same container as the build means there is no
-    # workspace-path rewriting and no cross-runner artifact handoff.
     - name: Export clang-tidy fixes for PR review
-      if: always() && github.event_name == 'pull_request'
+      if: always()
       run: |
         mkdir -p pr-review
-        git diff -U0 origin/${{ github.base_ref }}...HEAD -- ':!*/test/*' \
+        # Drop changed C/C++ source files that are not in
-          | clang-tidy-diff-18.py -p1 \
+        # compile_commands.json for the test-enabled build. Files not
-              -path build/px4_sitl_default-clang \
+        # in the DB are platform-specific sources, vendored code, or
-              -export-fixes pr-review/fixes.yml \
+        # submodule code we don't own. Feeding them to clang-tidy-diff
-              -j0 || true
+        # produces false positives from unresolved headers.
+        python3 Tools/ci/clang-tidy-diff-filter.py \
+          --build-dir build/px4_sitl_default-clang-test \
+          --base-ref origin/${{ github.base_ref }} \
+          --out pr-review/diff.patch
+        if [ -s pr-review/diff.patch ]; then
+          clang-tidy-diff-18.py -p1 \
+            -path build/px4_sitl_default-clang-test \
+            -export-fixes pr-review/fixes.yml \
+            -j0 < pr-review/diff.patch || true
+        else
+          echo "No analyzable files in diff; skipping clang-tidy-diff"
+        fi
 
     - name: Build pr-review artifact
-      if: always() && github.event_name == 'pull_request'
+      if: always()
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       run: |
@@ -81,7 +146,7 @@ jobs:
           --event COMMENT
 
     - name: Upload pr-review artifact
-      if: always() && github.event_name == 'pull_request'
+      if: always()
       uses: actions/upload-artifact@v7
       with:
         name: pr-review

.github/workflows/compile_ubuntu.yml

@@ -63,8 +63,11 @@ jobs:
           cache-key-prefix: ccache-ubuntu-${{ matrix.version }}
           max-size: 200M
 
-      - name: Make Quick Check
+      - name: Build px4_sitl_default
-        run: make quick_check
+        run: make px4_sitl_default
+
+      - name: Build px4_fmu-v5_default
+        run: make px4_fmu-v5_default
 
       - uses: ./.github/actions/save-ccache
         if: always()

.github/workflows/fuzzing.yml

@@ -14,17 +14,18 @@ jobs:
   Fuzzing:
     runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     container:
-      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
+      image: px4io/px4-dev:v1.16.0-rc2-4-gb67c65bfe6
     steps:
       - uses: runs-on/action@v2
 
       - uses: actions/checkout@v6
-        with:
-          fetch-depth: 1
 
       - name: Configure Git Safe Directory
         run: git config --system --add safe.directory '*'
 
+      - name: Install clang
+        run: apt-get update && apt-get install -y clang
+
       - uses: ./.github/actions/setup-ccache
         id: ccache
         with:

Makefile

@@ -494,7 +494,7 @@ python_coverage:
 
 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
-.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix
+.PHONY: scan-build px4_sitl_default-clang px4_sitl_default-clang-test clang-ci clang-tidy clang-tidy-fix
 .PHONY: cppcheck shellcheck_all validate_module_configs
 
 scan-build:
@@ -512,6 +512,26 @@ px4_sitl_default-clang:
 	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
 
+# Clang SITL configure with BUILD_TESTING=ON so test files land in
+# compile_commands.json with resolved gtest/fuzztest includes. Used by CI
+# to produce a compilation database for diff-based clang-tidy that can
+# lint test files. Configure only: we don't build the test binaries here,
+# just generate the database.
+px4_sitl_default-clang-test:
+	@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-clang-test
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang-test && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ -DCMAKE_TESTING=ON
+
+# CI-oriented target that prepares both clang build directories used by
+# the Static Analysis workflow:
+#   - px4_sitl_default-clang:       full build, BUILD_TESTING=OFF.
+#       Used by `make clang-tidy` (push-to-main) and run-clang-tidy-pr.py.
+#   - px4_sitl_default-clang-test:  configure-only, BUILD_TESTING=ON.
+#       Used by clang-tidy-diff-18.py so test files are in the
+#       compilation database with resolved gtest/fuzztest includes.
+# Running one target ensures both dirs exist before any clang-tidy
+# variant runs, and keeps the workflow free of raw cmake invocations.
+clang-ci: px4_sitl_default-clang px4_sitl_default-clang-test
+
 # Paths to exclude from clang-tidy (auto-generated from .gitmodules + manual additions):
 # - All submodules (external code we consume, not edit)
 # - Test code (allowed looser style)

Tools/ci/clang-tidy-diff-filter.py

@@ -0,0 +1,111 @@
+#!/usr/bin/env python3
+"""
+Filter a git diff for consumption by clang-tidy-diff.
+
+Produces a unified diff containing only files that clang-tidy can
+actually analyze against the current compilation database:
+
+  - C/C++ source files (.c, .cpp, .cc, .cxx, .m, .mm) must be present
+    in compile_commands.json. Files absent from the database are test
+    files, excluded code, or platform-specific sources that were not
+    compiled. Feeding them to clang-tidy-diff produces spurious
+    "header not found" errors (gtest/gtest.h in particular).
+
+  - Header files (.h, .hpp, .hxx) always pass through. clang-tidy
+    analyzes header changes via the TUs that include them; there is
+    no separate TU for a header to match against the database.
+
+  - All other files (CMakeLists.txt, .yml, .md, etc.) are dropped.
+
+Output is a unified diff suitable for piping into clang-tidy-diff.py.
+If nothing remains, the output file is empty.
+
+Used by .github/workflows/clang-tidy.yml as a pre-filter for the
+`pr-review` artifact producer. Python stdlib only.
+"""
+
+import argparse
+import json
+import os
+import subprocess
+import sys
+
+
+SOURCE_EXTS = {'.c', '.cpp', '.cc', '.cxx', '.m', '.mm'}
+HEADER_EXTS = {'.h', '.hpp', '.hxx'}
+
+
+def load_db_files(build_dir):
+    """Return the set of source paths (repo-relative) in compile_commands.json."""
+    path = os.path.join(build_dir, 'compile_commands.json')
+    with open(path) as f:
+        db = json.load(f)
+    root = os.path.abspath('.')
+    prefix = root + os.sep
+    paths = set()
+    for entry in db:
+        p = entry.get('file', '')
+        if p.startswith(prefix):
+            paths.add(p[len(prefix):])
+        else:
+            # Relative or external path; record as-is
+            paths.add(p)
+    return paths
+
+
+def changed_files(base_ref):
+    out = subprocess.check_output(
+        ['git', 'diff', '--name-only', '{}...HEAD'.format(base_ref)],
+        text=True,
+    )
+    return [line.strip() for line in out.splitlines() if line.strip()]
+
+
+def keep_file(path, db_files):
+    """Decide whether to keep this path in the filtered diff."""
+    ext = os.path.splitext(path)[1].lower()
+    if ext in HEADER_EXTS:
+        return True
+    if ext in SOURCE_EXTS:
+        return path in db_files
+    return False
+
+
+def filtered_diff(base_ref, keep_paths):
+    if not keep_paths:
+        return ''
+    cmd = ['git', 'diff', '-U0', '{}...HEAD'.format(base_ref), '--'] + sorted(keep_paths)
+    return subprocess.check_output(cmd, text=True)
+
+
+def main():
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument('--build-dir', required=True,
+                        help='CMake build dir containing compile_commands.json')
+    parser.add_argument('--base-ref', required=True,
+                        help='Git ref to diff against (e.g. origin/main)')
+    parser.add_argument('--out', required=True,
+                        help='Output path for the filtered unified diff')
+    args = parser.parse_args()
+
+    db_files = load_db_files(args.build_dir)
+    changed = changed_files(args.base_ref)
+
+    keep = [p for p in changed if keep_file(p, db_files)]
+    dropped = [p for p in changed if p not in keep]
+
+    print('clang-tidy-diff-filter: kept {} of {} changed files'.format(
+        len(keep), len(changed)))
+    if dropped:
+        print('  dropped (not in compile_commands.json or not source/header):')
+        for p in dropped:
+            print('    {}'.format(p))
+
+    diff = filtered_diff(args.base_ref, keep)
+    with open(args.out, 'w') as f:
+        f.write(diff)
+    return 0
+
+
+if __name__ == '__main__':
+    sys.exit(main())