Use gcovr to enforce code coverage everywhere

Signed-off-by: Michel Hidalgo <[email protected]>

.github/workflows/ci_pipeline.yml

@@ -48,6 +48,7 @@ jobs:
       - name: Install debian packages
         run: >-
           sudo apt-get update && sudo apt-get install -y \
+            gcovr \
             git \
             lcov \
             python3-colcon-common-extensions \
@@ -101,6 +102,10 @@ jobs:
         working-directory: ${{ github.workspace }}
         run: ./src/beluga/tools/run-clang-tidy.sh
 
+      - name: Enforce code coverage
+        working-directory: ${{ github.workspace }}
+        run: ./src/beluga/tools/check-code-coverage.sh
+
       - name: Upload code coverage report
         uses: codecov/codecov-action@v3
         with:
@@ -109,7 +114,7 @@ jobs:
           name: codecov-umbrella
           fail_ci_if_error: true
           verbose: true
-        if: ${{ matrix.upload_artifacts }}
+        if: ${{ matrix.upload_artifacts && !github.event.pull_request.head.repo.fork }}
 
   build-docs:
     needs: build-test

tools/build-and-test.sh

@@ -60,24 +60,24 @@ colcon build \
     --cmake-force-configure
 echo ::endgroup::
 
+LCOV_CONFIG_PATH=${SCRIPT_PATH}/../.lcovrc
+
 echo ::group::Test
-colcon lcov-result --initial
+colcon lcov-result \
+    --initial \
+    --lcov-config-file ${LCOV_CONFIG_PATH}
 colcon test \
     --packages-select ${ROS_PACKAGES} \
     --event-handlers console_cohesion+ \
     --return-code-on-test-failure \
     --mixin coverage-pytest
 echo ::endgroup::
 
-LCOV_CONFIG_PATH=${SCRIPT_PATH}/../.lcovrc
-
 echo ::group::Generate code coverage results
 colcon lcov-result \
     --packages-select ${ROS_PACKAGES} \
-    --lcov-config-file ${LCOV_CONFIG_PATH} \
-    --verbose
+    --lcov-config-file ${LCOV_CONFIG_PATH}
 colcon coveragepy-result \
     --packages-select ${ROS_PACKAGES} \
-    --coverage-report-args -m \
-    --verbose
+    --coverage-report-args -m
 echo ::endgroup::

tools/check-code-coverage.sh

@@ -0,0 +1,25 @@
+#!/bin/bash
+
+# Copyright 2024 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# Enforce code coverage limits
+
+[[ -z "${WITHIN_DEV}" ]] && echo -e "\033[1;33mWARNING: Try running this script inside the development container if you experience any issues.\033[0m"
+
+set -o errexit
+
+gcovr --fail-under-line 95 -j -u -f 'src/beluga/.*' -e '.*/test/.*cpp' build/
+# NOTE: Enable Python code coverage checks when attained
+# (cd coveragepy && python3 -m coverage report --fail-under=95)