Merge pull request #361 from ros-drivers/add-additional-compilers

Add compiler versions to CI matrix

Author: flynneva

.github/workflows/build_test.yml

@@ -70,16 +70,38 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
+        cxx_compiler:
+          - g++-12
+          - g++-14
+          - clang-14
+          - clang-16
+          - clang-18
         ros_distro: ${{ fromJson(needs.get_ros_distros.outputs.series) }}
         include:
-          ${{ fromJson(needs.get_ros_distros.outputs.matrix) }}
+          - ${{ fromJson(needs.get_ros_distros.outputs.matrix) }}
+          - cxx_compiler: g++-12
+            cc_compiler: gcc-12
+          - cxx_compiler: g++-14
+            cc_compiler: gcc-14
+          - cxx_compiler: clang-14
+            cc_compiler: clang-14
+          - cxx_compiler: clang-16
+            cc_compiler: clang-16
+          - cxx_compiler: clang-18
+            cc_compiler: clang-18
+        exclude:
+          - { ros_distro: humble, cxx_compiler: g++-14 }
+          - { ros_distro: humble, cxx_compiler: clang-16 }
+          - { ros_distro: humble, cxx_compiler: clang-18 }
+
     container:
       image: rostooling/setup-ros-docker:${{ matrix.docker_image }}
     steps:
       - name: Install dependencies
         run: |
           sudo apt-get update
           sudo apt-get -y install policykit-1 libgtk2.0-common screen uml-utilities libc6-dev libicu-dev gcc python3 python3-pip
+          sudo apt-get -y install ${{ matrix.cc_compiler }} ${{ matrix.cxx_compiler }}
           mkdir renode_portable
           wget https://builds.renode.io/renode-latest.linux-portable.tar.gz
           tar xf  renode-latest.linux-portable.tar.gz -C renode_portable --strip-components=1
@@ -96,15 +118,15 @@ jobs:
           package-name: usb_cam
           target-ros2-distro: ${{ matrix.ros_distro }}
           vcs-repo-file-url: ""
-          colcon-defaults: |
-            {
-              "build": {
-                "mixin": ["coverage-gcc"]
-              }
-            }
-          # If possible, pin the repository in the workflow to a specific commit to avoid
-          # changes in colcon-mixin-repository from breaking your tests.
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/1ddb69bedfd1f04c2f000e95452f7c24a4d6176b/index.yaml
+          extra-cmake-args: -DCMAKE_C_COMPILER=${{ matrix.cc_compiler }} -DCMAKE_CXX_COMPILER=${{ matrix.cxx_compiler }} #  -DLLVM_ENABLE_RUNTIMES=compiler-rt
+          # TODO(flynneva): re-enable once code coverage works with differet compilers
+          # colcon-defaults: |
+          #   {
+          #     "build": {
+          #       "mixin": ["coverage-gcc"]
+          #     }
+          #   }
+          # colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/b8436aa16c0bdbc01081b12caa253cbf16e0fb82/index.yaml
       # Compile again, this time enabling integration tests
       - name: Build integration tests
         shell: bash
@@ -118,13 +140,14 @@ jobs:
             renode_portable/renode --disable-gui --version
       - uses: actions/upload-artifact@v4
         with:
-          name: colcon-logs-${{ matrix.ros_distro }}
+          name: colcon-logs-${{ matrix.ros_distro }}-${{ matrix.cxx_compiler }}
           path: ${{ steps.build_and_test_step.outputs.ros-workspace-directory-name }}/log
         if: always()
         continue-on-error: true
-      - uses: actions/upload-artifact@v4
-        with:
-          name: lcov-logs-${{ matrix.ros_distro }}
-          path: ${{ steps.build_and_test_step.outputs.ros-workspace-directory-name }}/lcov
-        if: always()
-        continue-on-error: true
+      # TODO(flynneva): re-enable once code coverage works with differet compilers
+      # - uses: actions/upload-artifact@v4
+      #   with:
+      #     name: lcov-logs-${{ matrix.ros_distro }}-${{ matrix.cxx_compiler }}
+      #     path: ${{ steps.build_and_test_step.outputs.ros-workspace-directory-name }}/lcov
+      #   if: always()
+      #   continue-on-error: true

CMakeLists.txt

@@ -65,6 +65,9 @@ rclcpp_components_register_node(${PROJECT_NAME}_node
   EXECUTABLE ${PROJECT_NAME}_node_exe
 )
 
+# To fix `DSO missing from command line` error with clang
+target_link_libraries(${PROJECT_NAME}_node_exe stdc++)
+
 if(SANITIZE)
   target_compile_options(${PROJECT_NAME} PUBLIC -fsanitize=address -fsanitize=leak)
   target_link_libraries(${PROJECT_NAME} -fsanitize=address -fsanitize=leak)
@@ -81,11 +84,11 @@ if(BUILD_TESTING)
   ament_add_gtest(test_usb_cam_utils
     test/test_usb_cam_utils.cpp)
   target_link_libraries(test_usb_cam_utils
-    ${PROJECT_NAME})
+    ${PROJECT_NAME} m stdc++)
   ament_add_gtest(test_pixel_formats
     test/test_pixel_formats.cpp)
   target_link_libraries(test_pixel_formats
-    ${PROJECT_NAME})
+    ${PROJECT_NAME} m stdc++)
   if(INTEGRATION_TESTS)
     ament_add_gtest(test_usb_cam_lib
       test/test_usb_cam_lib.cpp)

include/usb_cam/formats/mjpeg.hpp

@@ -243,8 +243,6 @@ class MJPEG2RGB : public pixel_format_base
   size_t m_avframe_rgb_size;
   char * m_averror_str;
   int m_result = 0;
-  int m_counter = 0;
-  const int * m_linesize;
 
   const int m_align = 32;
 };

include/usb_cam/formats/pixel_format_base.hpp

@@ -50,11 +50,11 @@ namespace formats
 /// arguments for future pixel format(s) that are added.
 typedef struct
 {
-  std::string name = "";
-  int width = 640;
-  int height = 480;
-  size_t pixels = 640 * 480;
-  std::string av_device_format_str = "AV_PIX_FMT_YUV422P";
+  std::string name;
+  int width;
+  int height;
+  size_t pixels;
+  std::string av_device_format_str;
 } format_arguments_t;
 
 
@@ -74,6 +74,8 @@ class pixel_format_base
     m_requires_conversion(requires_conversion)
   {}
 
+  virtual ~pixel_format_base() {}
+
   /// @brief Name of pixel format. Used in the parameters file to select this format
   /// @return
   inline std::string name() {return m_name;}

include/usb_cam/usb_cam.hpp

@@ -96,38 +96,65 @@ std::vector<std::shared_ptr<pixel_format_base>> driver_supported_formats(
   return fmts;
 }
 
-typedef struct
+typedef struct capture_format_t
 {
   struct v4l2_fmtdesc format;
   struct v4l2_frmivalenum v4l2_fmt;
 } capture_format_t;
 
-typedef struct
+typedef struct parameters_t
 {
-  std::string camera_name = "usb_cam";  // can be anything
-  std::string device_name = "/dev/video0";  // usually /dev/video0 or something similiar
-  std::string frame_id = "camera";
-  std::string io_method_name = "mmap";
-  std::string camera_info_url = "package://usb_cam/config/camera_info.yaml";
-  std::string pixel_format_name = "yuyv2rgb";
-  std::string av_device_format = "YUV422P";
-  int image_width = 600;
-  int image_height = 400;
-  int framerate = 30.0;
-  int brightness = -1;
-  int contrast = -1;
-  int saturation = -1;
-  int sharpness = -1;
-  int gain = -1;
-  int white_balance = -1;
-  int exposure = -1;
-  int focus = -1;
-  bool auto_white_balance = true;
-  bool autoexposure = true;
-  bool autofocus = false;
+  std::string camera_name;
+  std::string device_name;
+  std::string frame_id;
+  std::string io_method_name;
+  std::string camera_info_url;
+  std::string pixel_format_name;
+  std::string av_device_format;
+  int image_width;
+  int image_height;
+  int framerate;
+  int brightness;
+  int contrast;
+  int saturation;
+  int sharpness;
+  int gain;
+  int white_balance;
+  int exposure;
+  int focus;
+  bool auto_white_balance;
+  bool autoexposure;
+  bool autofocus;
+
+  parameters_t()
+// *INDENT-OFF*
+    : camera_name("usb_cam"),
+    device_name("/dev/video0"),
+    frame_id("camera"),
+    io_method_name("mmap"),
+    camera_info_url("package://usb_cam/config/camera_info.yaml"),
+    pixel_format_name("yuyv2rgb"),
+    av_device_format("YUV422P"),
+    image_width(600),
+    image_height(480),
+    framerate(30.0),
+    brightness(-1),
+    contrast(-1),
+    saturation(-1),
+    sharpness(-1),
+    gain(-1),
+    white_balance(-1),
+    exposure(-1),
+    focus(-1),
+    auto_white_balance(true),
+    autoexposure(true),
+    autofocus(false)
+  {
+  }
+// *INDENT-ON*
 } parameters_t;
 
-typedef struct
+typedef struct image_t
 {
   char * data;
   size_t width;
@@ -396,13 +423,10 @@ class UsbCam
   image_t m_image;
 
   AVFrame * m_avframe;
-  int m_avframe_size;
   AVCodec * m_avcodec;
-  AVCodecID m_codec_id;
   AVDictionary * m_avoptions;
   AVCodecContext * m_avcodec_context;
 
-  int64_t m_buffer_time_us;
   bool m_is_capturing;
   int m_framerate;
   const time_t m_epoch_time_shift_us;