Add in a coverage target to generate code coverage reports

.github/workflows/build.yml

@@ -27,7 +27,7 @@ jobs:
       - name: Install Ubuntu dependencies
         run: |
           sudo apt-get update
-          sudo apt-get install -y libgtest-dev nlohmann-json3-dev pybind11-dev python3-pip ninja-build
+          sudo apt-get install -y libgtest-dev nlohmann-json3-dev pybind11-dev python3-pip ninja-build lcov
 
       - name: Install Clang
         if: matrix.compiler == 'clang'
@@ -37,7 +37,7 @@ jobs:
 
       - name: Build Release
         run: |
-          cmake -B build -S . \
+          cmake -B build-release -S . \
             -DCMAKE_C_COMPILER="${CC}" \
             -DCMAKE_CXX_COMPILER="${CXX}" \
             -DCMAKE_BUILD_TYPE=Release \
@@ -46,9 +46,9 @@ jobs:
             -DBUILD_LEGACY_API=OFF \
             -DCMAKE_INSTALL_PREFIX=install-release
 
-          cmake --build build -j "$(nproc)"
-          make -C build test
-          cmake --install build
+          cmake --build build-release -j "$(nproc)"
+          make -C build-release test
+          cmake --install build-release
           mkdir pip-wheel
           python -m venv .venv
           source .venv/bin/activate
@@ -68,18 +68,29 @@ jobs:
 
       - name: Build Debug
         run: |
-          cmake -B build -S . \
+          cmake -B build-debug -S . \
             -DCMAKE_C_COMPILER="${CC}" \
             -DCMAKE_CXX_COMPILER="${CXX}" \
             -DCMAKE_BUILD_TYPE=Debug \
             -DBUILD_TESTS=ON \
             -DBUILD_JSON_SERIALIZATION=ON \
             -DBUILD_LEGACY_API=OFF \
+            -DENABLE_COVERAGE=${{ matrix.compiler == 'gcc' && 'ON' || 'OFF' }} \
             -DCMAKE_INSTALL_PREFIX=install-debug
 
-          cmake --build build -j "$(nproc)"
-          make -C build test
-          cmake --install build
+          cmake --build build-debug -j "$(nproc)"
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            cmake --build build-debug --target coverage
+          fi
+          cmake --install build-debug
+
+      - name: Upload Coverage to Codecov
+        if: matrix.compiler == 'gcc'
+        uses: codecov/codecov-action@v4
+        with:
+          file: build-debug/coverage_filtered.info
+          fail_ci_if_error: false
+          token: ${{ secrets.CODECOV_TOKEN }}
 
   build-macos:
     name: Build on macOS (${{ matrix.compiler }})

CMakeLists.txt

@@ -50,11 +50,23 @@ option(BUILD_OPENCV "Use OpenCV if found on the host system" OFF)
 option(BUILD_PYTHON_BINDINGS "Build Python bindings with pybind11." OFF)
 option(BUILD_JSON_SERIALIZATION "Build json type serialization with nlohmann json." OFF)
 option(ENABLE_ASAN "Build with AddressSanitizer instrumentation." OFF)
+option(ENABLE_COVERAGE "Build with code coverage instrumentation." OFF)
 
 if (BUILD_TESTS)
     enable_testing()
 endif()
 
+if (ENABLE_COVERAGE)
+    if (MSVC)
+        message(FATAL_ERROR "ENABLE_COVERAGE is only supported with Clang or GCC toolchains.")
+    endif()
+
+    add_compile_options(--coverage -O0 -g)
+    add_link_options(--coverage)
+
+    include(cmake/coverage.cmake)
+endif()
+
 #
 # We want to build "Release" by default
 #

README.md

@@ -1,5 +1,7 @@
 # LibMultiSense
 
+[![codecov](https://codecov.io/gh/carnegierobotics/LibMultiSense/branch/master/graph/badge.svg)](https://codecov.io/gh/carnegierobotics/LibMultiSense)
+
 LibMultiSense is a C++ and Python library designed to simplify interaction with the MultiSense S family of stereo
 sensors developed by Carnegie Robotics. It provides a comprehensive, easy-to-use API for capturing and processing
 stereo sensor data an generating depth images, color images, and 3D point clouds.
@@ -197,6 +199,21 @@ the following CMake argument should be set
 This will require a system installation of googletest, or an installation which can be pointed to with CMake's
 `CMAKE_PREFIX_PATH` argument
 
+### Code Coverage
+
+LibMultiSense supports generating unit test coverage reports using `lcov` and `genhtml`.
+To enable coverage instrumentation, set the following CMake argument:
+
+    -DENABLE_COVERAGE=ON
+
+Once enabled, you can generate the coverage report by running:
+
+```bash
+make coverage
+```
+
+The report will be generated in `build/coverage_report/index.html`. This requires `lcov` and `genhtml` to be installed on the system and is supported on Linux with GCC or Clang.
+
 ---
 
 ## Installation

cmake/coverage.cmake

@@ -0,0 +1,43 @@
+#
+# Coverage reporting
+#
+
+find_program(LCOV_PATH lcov)
+find_program(GENHTML_PATH genhtml)
+
+if(NOT LCOV_PATH)
+    message(FATAL_ERROR "lcov not found! Coverage target will not be available.")
+endif()
+
+if(NOT GENHTML_PATH)
+    message(FATAL_ERROR "genhtml not found! Coverage target will not be available.")
+endif()
+
+# Detect lcov version to use compatible flags
+execute_process(COMMAND ${LCOV_PATH} --version OUTPUT_VARIABLE LCOV_VERSION_OUTPUT)
+if(LCOV_VERSION_OUTPUT MATCHES "version ([2-9][0-9]*\\.[0-9]+)")
+    message(STATUS "Detected lcov version 2.0+ (${CMAKE_MATCH_1})")
+    # For lcov 2.0+, we need to ignore certain errors that were previously warnings
+    set(LCOV_FLAGS --ignore-errors mismatch,unused)
+else()
+    message(STATUS "Detected lcov version 1.x")
+    # For lcov 1.x, we use older ignore-errors categories
+    set(LCOV_FLAGS --ignore-errors gcov,source)
+endif()
+
+add_custom_target(coverage
+    # Cleanup old data
+    COMMAND ${LCOV_PATH} --directory ${CMAKE_BINARY_DIR} --zerocounters
+    # Run tests
+    COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure
+    # Capture coverage data
+    COMMAND ${LCOV_PATH} --directory ${CMAKE_BINARY_DIR} --capture --output-file ${CMAKE_BINARY_DIR}/coverage.info ${LCOV_FLAGS}
+    # Remove system headers and third-party code
+    COMMAND ${LCOV_PATH} --remove ${CMAKE_BINARY_DIR}/coverage.info '/usr/*' '*/test/*' '*/vcpkg_installed/*' '*/details/legacy/*' --output-file ${CMAKE_BINARY_DIR}/coverage_filtered.info ${LCOV_FLAGS}
+    # Generate HTML report
+    COMMAND ${GENHTML_PATH} ${CMAKE_BINARY_DIR}/coverage_filtered.info --output-directory ${CMAKE_BINARY_DIR}/coverage_report
+    WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+    COMMENT "Generating unit test coverage report"
+)
+
+message(STATUS "Coverage target 'coverage' added. Run 'make coverage' to generate report.")