From 6f88dc72abd5c6004a5758cb28c1853239edfaa0 Mon Sep 17 00:00:00 2001
From: Jason Mobarak <jason@swift-nav.com>
Date: Fri, 21 Jul 2023 09:05:54 -0700
Subject: [PATCH] ci, fix: compilation fix-up + add colcon CI check (#39)

---
 .github/CODEOWNERS              |  1 +
 .github/workflows/build.yml     | 15 +++++++++++++--
 Dockerfile                      | 32 +++++++++++++++-----------------
 src/logging/sbp_file_logger.cpp |  6 +++---
 4 files changed, 32 insertions(+), 22 deletions(-)
 create mode 100644 .github/CODEOWNERS

diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
new file mode 100644
index 00000000..865c1d7a
--- /dev/null
+++ b/.github/CODEOWNERS
@@ -0,0 +1 @@
+* @swift-nav/platform @switanis
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 3ffe4dfe..c07a9219 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -25,8 +25,8 @@ jobs:
           docker run --rm -v $PWD:/mnt/workspace/src/swiftnav-ros2 swiftnav-ros2:latest /bin/bash ./code_coverage.sh $GITHUB_TOKEN \
                                                                                                                      $SONAR_TOKEN \
                                                                                                                      $PARALLEL_THREADS
-  build-pr:
-    name: Build pull request
+  build-pr-codecov:
+    name: Build pull request (code coverage)
     runs-on: ubuntu-latest
     if: github.ref != 'refs/heads/master'
     steps:
@@ -44,3 +44,14 @@ jobs:
                                                                                                                      $PARALLEL_THREADS \
                                                                                                                      $PR_BRANCH_NAME \
                                                                                                                      $PR_NUMBER
+
+  build-pr-colcon:
+    name: Build pull request (colcon)
+    runs-on: ubuntu-latest
+    if: github.ref != 'refs/heads/master'
+    steps:
+      - uses: actions/checkout@v2
+      - name: colcon build
+        run: |
+          docker build -t swiftnav-ros2 --build-arg UID=$UID --build-arg SONAR_SCANNER_VERSION=$SONAR_SCANNER_VERSION - < Dockerfile
+          docker run --rm -v $PWD:/mnt/workspace/src/swiftnav-ros2 swiftnav-ros2:latest colcon build
diff --git a/Dockerfile b/Dockerfile
index b049124a..97f61c5b 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -23,34 +23,32 @@ RUN apt-get update && apt-get install --yes \
 # Add a "dockerdev" user with sudo capabilities
 # 1000 is the first user ID issued on Ubuntu; might
 # be different for Mac users. Might need to add more.
-RUN \
-     useradd -u ${UID} -ms /bin/bash -G sudo dockerdev \
-  && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >>/etc/sudoers 
+RUN useradd -u ${UID} -ms /bin/bash -G sudo dockerdev && \
+    echo '%sudo ALL=(ALL) NOPASSWD:ALL' >>/etc/sudoers && \
+    chown -R dockerdev:dockerdev $HOME/
 
-RUN chown -R dockerdev:dockerdev $HOME/
 USER dockerdev
 
 WORKDIR $HOME/
-RUN git clone https://github.com/swift-nav/libsbp.git && cd libsbp && git checkout v4.11.0
-WORKDIR $HOME/libsbp/c
-RUN git submodule update --init --recursive
-RUN mkdir build &&  \
-    cd build && \
-    cmake DCMAKE_CXX_STANDARD=17 -DCMAKE_CXX_STANDARD_REQUIRED=ON -DCMAKE_CXX_EXTENSIONS=OFF ../ && \
-    make && \
+
+RUN git clone --depth=1 --branch v4.11.0 --single-branch --recursive --jobs=4 https://github.com/swift-nav/libsbp.git && \
+    mkdir -p libsbp/c/build &&  \
+    cd libsbp/c/build && \
+    cmake -DCMAKE_CXX_STANDARD=17 -DCMAKE_CXX_STANDARD_REQUIRED=ON -DCMAKE_CXX_EXTENSIONS=OFF ../ && \
+    make -j4 && \
     sudo make install
 
 # Install code coverage tool
 RUN sudo apt-get -y install gcovr
 
 # Download and set up sonar-scanner
-RUN sudo apt-get -y install unzip
-RUN mkdir -p $HOME/.sonar
-RUN curl -sSLo $HOME/.sonar/sonar-scanner.zip https://binaries.sonarsource.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-${SONAR_SCANNER_VERSION}-linux.zip
-RUN unzip -o $HOME/.sonar/sonar-scanner.zip -d $HOME/.sonar/
+RUN sudo apt-get -y install unzip && \
+    mkdir -p $HOME/.sonar && \
+    curl -sSLo $HOME/.sonar/sonar-scanner.zip https://binaries.sonarsource.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-${SONAR_SCANNER_VERSION}-linux.zip && \
+    unzip -o $HOME/.sonar/sonar-scanner.zip -d $HOME/.sonar/
+
 ENV PATH="${PATH}:/home/dockerdev/.sonar/sonar-scanner-${SONAR_SCANNER_VERSION}-linux/bin"
 
 WORKDIR /mnt/workspace/src/swiftnav-ros2
-RUN sudo chown -R dockerdev:dockerdev /mnt/workspace/
 
-#CMD ["make", "all"]
+RUN sudo chown -R dockerdev:dockerdev /mnt/workspace/
diff --git a/src/logging/sbp_file_logger.cpp b/src/logging/sbp_file_logger.cpp
index de14566d..9f86360d 100644
--- a/src/logging/sbp_file_logger.cpp
+++ b/src/logging/sbp_file_logger.cpp
@@ -25,7 +25,7 @@ SbpFileLogger::SbpFileLogger(const std::string& file_path,
     : state_(nullptr, this), logger_(logger) {
   std::string file_name(file_path);
   time_t now = time(nullptr);
-  std::array<char, FNAME_MAX_LEN> fname = "";
+  std::array<char, FNAME_MAX_LEN> fname{""};
 
   // Create dir
   if (!FileSystem::createDir(file_path)) {
@@ -41,7 +41,7 @@ SbpFileLogger::SbpFileLogger(const std::string& file_path,
   localtime_r(&now, &local_time);
 #endif  // _WIN32
 
-  std::snprintf(fname, FNAME_MAX_LEN,
+  std::snprintf(fname.data(), FNAME_MAX_LEN,
                "/swiftnav-%d%02d%02d-%02d%02d%02d.sbp",
                local_time.tm_year + 1900,
                local_time.tm_mon + 1,
@@ -50,7 +50,7 @@ SbpFileLogger::SbpFileLogger(const std::string& file_path,
                local_time.tm_min,
                local_time.tm_sec);
 
-  file_name += std::string(fname);
+  file_name += std::string(fname.data());
 
   std::filesystem::path path(file_name);
   file_name = path.lexically_normal().string();