PX4-Autopilot/.github/workflows/clang-tidy.yml

name: Static Analysis

on:
  push:
    branches:
    - 'main'
    paths-ignore:
      - 'docs/**'
  pull_request:
    branches:
      - '**'
    paths-ignore:
      - 'docs/**'

permissions:
  contents: read

jobs:
  # 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:
      contents: read
      pull-requests: 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

    # fuzztest (enabled via BUILD_TESTING in the -test build dir) pulls
    # 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
      run: python3 Tools/ci/run-clang-tidy-pr.py origin/${{ github.base_ref }}

    # Produce a `pr-review` artifact for the PR Review Poster workflow
    # to consume. clang-tidy-diff-18 emits a unified fixes.yml that
    # the producer script translates into line-anchored review comments.
    - name: Export clang-tidy fixes for PR review
      if: always()
      run: |
        mkdir -p pr-review
        # Drop changed C/C++ source files that are not in
        # compile_commands.json for the test-enabled build. Files not
        # in the DB are platform-specific sources, vendored code, or
        # submodule code we don't own. Feeding them to clang-tidy-diff
        # 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()
      env:
        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
      run: |
        python3 Tools/ci/clang-tidy-fixes-to-review.py \
          --fixes pr-review/fixes.yml \
          --repo-root "$GITHUB_WORKSPACE" \
          --repo "$GITHUB_REPOSITORY" \
          --pr-number "${{ github.event.pull_request.number }}" \
          --commit-sha "${{ github.event.pull_request.head.sha }}" \
          --out-dir pr-review \
          --event COMMENT

    - name: Upload pr-review artifact
      if: always()
      uses: actions/upload-artifact@v7
      with:
        name: pr-review
        path: |
          pr-review/manifest.json
          pr-review/comments.json
        retention-days: 1

    - uses: ./.github/actions/save-ccache
      if: always()
      with:
        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}