CodeQL #65
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| # For most projects, this workflow file will not need changing; you simply need | |
| # to commit it to your repository. | |
| # | |
| # You may wish to alter this file to override the set of languages analyzed, | |
| # or to provide custom queries or build logic. | |
| # | |
| # ******** NOTE ******** | |
| # We have attempted to detect the languages in your repository. Please check | |
| # the `language` matrix defined below to confirm you have the correct set of | |
| # supported CodeQL languages. | |
| # | |
| name: "CodeQL" | |
| on: | |
| push: | |
| branches: [ main, develop ] | |
| pull_request: | |
| # The branches below must be a subset of the branches above | |
| branches: [ main, develop ] | |
| schedule: | |
| - cron: '38 0 * * 5' | |
| jobs: | |
| analyze: | |
| name: Analyze | |
| runs-on: ubuntu-latest | |
| permissions: | |
| actions: read | |
| contents: read | |
| security-events: write | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| language: [ 'cpp' ] | |
| # CodeQL supports [ 'cpp', 'csharp', 'go', 'java', 'javascript', 'python', 'ruby' ] | |
| # Learn more about CodeQL language support at https://git.io/codeql-language-support | |
| compiler: | |
| # you can specify the version after `-` like "llvm-13.0.0". | |
| - gcc-11 | |
| generator: | |
| - "Ninja Multi-Config" | |
| build_type: | |
| - Debug | |
| packaging_maintainer_mode: | |
| - ON | |
| steps: | |
| - uses: actions/checkout@v2 | |
| - name: Setup Cache | |
| uses: ./.github/actions/setup_cache | |
| with: | |
| compiler: ${{ matrix.compiler }} | |
| build_type: ${{ matrix.build_type }} | |
| packaging_maintainer_mode: ${{ matrix.packaging_maintainer_mode }} | |
| generator: ${{ matrix.generator }} | |
| - name: Setup Cpp | |
| uses: aminya/setup-cpp@v1 | |
| with: | |
| compiler: ${{ matrix.compiler }} | |
| vcvarsall: ${{ contains(matrix.os, 'windows' )}} | |
| cmake: true | |
| ninja: true | |
| vcpkg: false | |
| ccache: true | |
| clangtidy: false | |
| cppcheck: false | |
| gcovr: false | |
| opencppcoverage: false | |
| - name: Install deps | |
| if: runner.os != 'Windows' | |
| run: | | |
| if [ "${{ runner.os }}" == "Linux" ]; then | |
| sudo apt-get update && sudo apt-get install -y liburdfdom-dev libtinyxml2-dev && | |
| sudo apt-get install -y libxinerama-dev libxcursor-dev libxrandr-dev libxi-dev libgl-dev | |
| elif [ "${{ runner.os }}" == "macOS" ]; then | |
| brew install urdfdom | |
| brew install tinyxml2 | |
| fi | |
| # make sure coverage is only enabled for Debug builds, since it sets -O0 to make sure coverage | |
| # has meaningful results | |
| - name: Configure CMake | |
| run: | | |
| cmake -S . -B ./build -G "${{matrix.generator}}" -DCMAKE_BUILD_TYPE:STRING=${{matrix.build_type}} -Dlegged_control_cpp_PACKAGING_MAINTAINER_MODE:BOOL=${{matrix.packaging_maintainer_mode}} -DOPT_ENABLE_COVERAGE:BOOL=${{ matrix.build_type == 'Debug' }} | |
| # Initializes the CodeQL tools for scanning. | |
| - name: Initialize CodeQL | |
| uses: github/codeql-action/init@v2 | |
| with: | |
| languages: ${{ matrix.language }} | |
| # If you wish to specify custom queries, you can do so here or in a config file. | |
| # By default, queries listed here will override any specified in a config file. | |
| # Prefix the list here with "+" to use these queries and those in the config file. | |
| # queries: ./path/to/local/query, your-org/your-repo/queries@main | |
| - name: Build | |
| # Execute the build. You can specify a specific target with "--target <NAME>" | |
| run: | | |
| cmake --build ./build --config ${{matrix.build_type}} --target legged_control_lib constexpr_tests relaxed_constexpr_tests inverse_dynamics_tests mjxml_parsing_tests urdf_sample joint_space_control | |
| - name: Perform CodeQL Analysis | |
| uses: github/codeql-action/analyze@v2 |