Port PickNik's fork onto upstream BehaviorTree.CPP 4.9.0

.clang-format

@@ -44,7 +44,22 @@ SpaceAfterControlStatementKeyword: true
 SpaceBeforeAssignmentOperators: true
 SpaceBeforeParens: Never
 ContinuationIndentWidth: 4
-SortIncludes: false
+SortIncludes: CaseSensitive
+IncludeBlocks: Regroup
+IncludeCategories:
+  # Main header (same name as source file)
+  - Regex:           '^"[^/]*\.h(pp)?"$'
+    Priority:        1
+  # BehaviorTree.CPP project headers
+  - Regex:           '^"behaviortree_cpp/.*'
+    Priority:        2
+  # C++ standard library headers
+  - Regex:           '^<[a-z_]+>$'
+    Priority:        3
+  # System headers with .h extension
+  - Regex:           '^<.*\.h>'
+    Priority:        4
+IncludeIsMainRegex: '(_test)?$'
 SpaceAfterCStyleCast: false
 ReflowComments: false
 

.clang-tidy

@@ -0,0 +1,48 @@
+Checks: [
+  "-*",
+  "bugprone-*",
+  "cert-*",
+  "clang-analyzer-*",
+  "concurrency-*",
+  "cppcoreguidelines-*",
+  "misc-*",
+  "modernize-*",
+  "performance-*",
+  "portability-*",
+  "readability-*",
+  "-bugprone-easily-swappable-parameters",
+  "-bugprone-narrowing-conversions",
+  "-cert-err58-cpp",
+  "-cppcoreguidelines-avoid-c-arrays",
+  "-cppcoreguidelines-avoid-magic-numbers",
+  "-cppcoreguidelines-avoid-non-const-global-variables",
+  "-cppcoreguidelines-non-private-member-variables-in-classes",
+  "-cppcoreguidelines-pro-bounds-array-to-pointer-decay",
+  "-cppcoreguidelines-pro-bounds-constant-array-index",
+  "-cppcoreguidelines-pro-bounds-pointer-arithmetic",
+  "-cppcoreguidelines-pro-type-const-cast",
+  "-cppcoreguidelines-pro-type-union-access",
+  "-cppcoreguidelines-pro-type-vararg",
+  "-misc-no-recursion",
+  "-misc-non-private-member-variables-in-classes"
+]
+
+
+WarningsAsErrors: '-*,bugprone-*,cert-*,clang-analyzer-*,concurrency-*,cppcoreguidelines-*,misc-*,portability-*,readability-implicit-bool-conversion,-concurrency-mt-unsafe,-readability-function-cognitive-complexity'
+
+CheckOptions:
+  # ignore macros when computing the cyclomatic complexity. problem caused by RCLCPP LOG macros
+  - key:             readability-function-cognitive-complexity.IgnoreMacros
+    value:           'true'
+
+  # This change makes it compatible with MISRA:2023 rule 4.14.1
+  - key:             misc-non-private-member-variables-in-classes.IgnoreClassesWithAllMemberVariablesBeingPublic
+    value:           'true'
+
+  # Making a copy of a shared_ptr has a non-zero cost, but this cost is small.
+  # Unfortunately the ROS API (subscriber callbacks) oblige the user to use callbacks functions that will trigger this warning
+  # This is the reason wht the warning is silenced here
+  - key:              performance-unnecessary-value-param.AllowedTypes
+    value:            'std::shared_ptr'
+
+  # Reference: https://clang.llvm.org/extra/clang-tidy/checks/readability/identifier-naming.html

.github/dependabot.yml

@@ -0,0 +1,6 @@
+version: 2
+updates:
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      interval: "weekly"

.github/pull_request_template.md

@@ -1,11 +1,11 @@
 <!--
-You must run clang-format, otherwise your change may not pass the tests on CI
-We recommend using pre-commit.
+## Instructions
 
-To use:
-    pre-commit run -a
-Or:
-     pre-commit install  # (runs every time you commit in git)
+- Unless your code is self explaining, add comments.
+- Consider if your proposed changes introduces API, ABI, back-compatibility or behavioral changes.
+- If your code is fixing a bug, please create a unit test to reproduce the bug, i.e. a test that fails before the fix and pass after the fix.
+- You use [pre-commit](https://pre-commit.com/) to apply automatically all the required linting rules (clang-format in particular).
+- You should also execute the script `./run_clang_tidy.sh` and correct all the warnings.
 
-See https://github.com/pre-commit/pre-commit
+Please read the CONTRIBUTORS_GUIDE.md file for details and instructions.
 -->

.github/workflows/cmake_ubuntu.yml

@@ -6,24 +6,24 @@ on:
       - master
   pull_request:
     types: [opened, synchronize, reopened]
+  workflow_dispatch:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 env:
-  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
   BUILD_TYPE: Release
 
 jobs:
   build:
-    # The CMake configure and build commands are platform agnostic and should work equally
-    # well on Windows or Mac.  You can convert this to a matrix build if you need
-    # cross-platform coverage.
-    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
         os: [ubuntu-22.04]
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v6
 
     - name: Install Conan
       id: conan
@@ -32,28 +32,103 @@ jobs:
     - name: Create default profile
       run: conan profile detect
 
-    - name: Create Build Environment
-      # Some projects don't allow in-source building, so create a separate build directory
-      # We'll use this as our working directory for all subsequent commands
-      run: cmake -E make_directory ${{github.workspace}}/build
-
     - name: Install conan dependencies
-      working-directory: ${{github.workspace}}/build
-      run: conan install ${{github.workspace}}/conanfile.txt -s build_type=${{env.BUILD_TYPE}} --build=missing
+      run: conan install conanfile.py -s build_type=${{env.BUILD_TYPE}} --build=missing
+
+    - name: Normalize build type
+      shell: bash
+      run: echo "BUILD_TYPE_LOWERCASE=$(echo "${BUILD_TYPE}" | tr '[:upper:]' '[:lower:]')" >> $GITHUB_ENV
 
     - name: Configure CMake
       shell: bash
-      working-directory: ${{github.workspace}}/build
-      run: cmake ${{github.workspace}} -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DCMAKE_TOOLCHAIN_FILE=conan_toolchain.cmake
+      run: cmake --preset conan-${{ env.BUILD_TYPE_LOWERCASE }}
 
     - name: Build
       shell: bash
-      working-directory: ${{github.workspace}}/build
-      run: cmake --build . --config ${{env.BUILD_TYPE}}
+      run: cmake --build --preset conan-${{ env.BUILD_TYPE_LOWERCASE }}
 
     - name: run test (Linux)
-      working-directory: ${{github.workspace}}/build/tests
-      run: ctest
+      run: ctest --test-dir build/${{env.BUILD_TYPE}}
+
+  coverage:
+    runs-on: ubuntu-24.04
+
+    steps:
+    - uses: actions/checkout@v6
+      with:
+        fetch-depth: 0  # Full history needed by SonarCloud
+
+    - name: Install lcov
+      run: sudo apt-get update && sudo apt-get install -y lcov
+
+    - name: Install Conan
+      id: conan
+      uses: turtlebrowser/get-conan@main
+
+    - name: Create default profile
+      run: conan profile detect
+
+    - name: Install conan dependencies
+      run: conan install conanfile.py -s build_type=Debug --build=missing
+
+    - name: Configure CMake with coverage
+      shell: bash
+      run: |
+        cmake --preset conan-debug \
+          -DCMAKE_C_FLAGS="--coverage -fprofile-update=atomic" \
+          -DCMAKE_CXX_FLAGS="--coverage -fprofile-update=atomic"
+
+    - name: Build
+      shell: bash
+      run: cmake --build --preset conan-debug
+
+    - name: Run tests
+      run: ctest --test-dir build/Debug --output-on-failure
+
+    - name: Collect coverage
+      run: |
+        lcov --capture --directory build/Debug \
+             --output-file coverage.info \
+             --ignore-errors mismatch,mismatch \
+             --ignore-errors negative,negative \
+             --ignore-errors gcov,gcov
+        lcov --extract coverage.info \
+             '*/BehaviorTree.CPP/include/*' \
+             '*/BehaviorTree.CPP/src/*' \
+             --output-file coverage.info \
+             --ignore-errors unused
+        lcov --remove coverage.info \
+             '*/contrib/*' \
+             --output-file coverage.info \
+             --ignore-errors unused
+        lcov --list coverage.info
+
+    # - name: Upload coverage reports to Codecov
+    #   uses: codecov/codecov-action@v5
+    #   continue-on-error: true
+    #   with:
+    #     files: coverage.info
+    #     flags: unittests
+    #     disable_search: true
+    #     disable_file_fixes: false
+    #     plugins: noop
+    #     network_filter: >-
+    #       include/behaviortree_cpp/,src/
+    #     token: ${{ secrets.CODECOV_TOKEN }}
+
+    # --- Coveralls ---
+    - name: Upload to Coveralls
+      uses: coverallsapp/github-action@v2
+      continue-on-error: true
+      with:
+        file: coverage.info
+        format: lcov
+        github-token: ${{ secrets.GITHUB_TOKEN }}
 
-    - name: Upload coverage reports to Codecov
-      uses: codecov/codecov-action@v3
+    # --- SonarCloud ---
+    - name: Run SonarCloud analysis
+      uses: SonarSource/sonarcloud-github-action@v5
+      continue-on-error: true
+      env:
+        SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/cmake_ubuntu_sanitizers.yml

@@ -0,0 +1,73 @@
+name: cmake Ubuntu Sanitizers
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    types: [opened, synchronize, reopened]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+env:
+  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
+  BUILD_TYPE: Debug
+
+jobs:
+  build:
+    # The CMake configure and build commands are platform agnostic and should work equally
+    # well on Windows or Mac.  You can convert this to a matrix build if you need
+    # cross-platform coverage.
+    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-22.04]
+        sanitizer: [asan_ubsan, tsan]
+
+    steps:
+    - uses: actions/checkout@v6
+
+    - name: Install Conan
+      id: conan
+      uses: turtlebrowser/get-conan@main
+
+    - name: Create default profile
+      run: conan profile detect
+
+    - name: Install conan dependencies
+      run: conan install conanfile.py -s build_type=${{env.BUILD_TYPE}} --build=missing
+
+    - name: Normalize build type
+      shell: bash
+      # The build type is Capitalized, e.g. Release, but the preset is all lowercase, e.g. release.
+      # There is no built in way to do string manipulations on GHA as far as I know.`
+      run: echo "BUILD_TYPE_LOWERCASE=$(echo "${BUILD_TYPE}" | tr '[:upper:]' '[:lower:]')" >> $GITHUB_ENV
+
+    - name: Configure CMake
+      shell: bash
+      run: |
+        if [[ "${{ matrix.sanitizer }}" == "asan_ubsan" ]]; then
+          cmake --preset conan-${{ env.BUILD_TYPE_LOWERCASE }} \
+            -DBTCPP_ENABLE_ASAN:BOOL=ON -DBTCPP_ENABLE_UBSAN:BOOL=ON
+        else
+          cmake --preset conan-${{ env.BUILD_TYPE_LOWERCASE }} \
+            -DBTCPP_ENABLE_TSAN:BOOL=ON
+        fi
+
+    - name: Build
+      shell: bash
+      run: cmake --build --preset conan-${{ env.BUILD_TYPE_LOWERCASE }}
+
+    - name: run test (Linux + Address and Undefined Behavior Sanitizers)
+      env:
+        GTEST_COLOR: "On"
+        ASAN_OPTIONS: "color=always"
+        UBSAN_OPTIONS: "halt_on_error=1:print_stacktrace=1:color=always"
+        TSAN_OPTIONS: "suppressions=../../../tests/tsan_suppressions.txt:color=always"
+      # There is a known issue with TSAN on recent kernel versions. Without the vm.mmap_rnd_bits=28
+      # workaround all binaries with TSan enabled crash with "FATAL: ThreadSanitizer: unexpected memory mapping"
+      run: sudo sysctl vm.mmap_rnd_bits=28 && ctest --test-dir build/${{env.BUILD_TYPE}} --output-on-failure

.github/workflows/cmake_windows.yml

@@ -7,23 +7,20 @@ on:
   pull_request:
     types: [opened, synchronize, reopened]
 
-env:
-  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
-  BUILD_TYPE: Release
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
   build:
-    # The CMake configure and build commands are platform agnostic and should work equally
-    # well on Windows or Mac.  You can convert this to a matrix build if you need
-    # cross-platform coverage.
-    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
         os: [windows-latest]
+        build_type: [Release, Debug]
 
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
 
     - name: Install Conan
       id: conan
@@ -32,25 +29,21 @@ jobs:
     - name: Create default profile
       run: conan profile detect
 
-    - name: Create Build Environment
-      # Some projects don't allow in-source building, so create a separate build directory
-      # We'll use this as our working directory for all subsequent commands
-      run: cmake -E make_directory ${{github.workspace}}/build
-
     - name: Install conan dependencies
-      working-directory: ${{github.workspace}}/build
-      run: conan install ${{github.workspace}}/conanfile.txt -s build_type=${{env.BUILD_TYPE}} --build=missing
+      run: conan install conanfile.py -s build_type=${{ matrix.build_type }} --build=missing --settings:host compiler.cppstd=17
+
+    - name: Normalize build type
+      shell: bash
+      run: echo "BUILD_TYPE_LOWERCASE=$(echo "${{ matrix.build_type }}" | tr '[:upper:]' '[:lower:]')" >> $GITHUB_ENV
 
     - name: Configure CMake
       shell: bash
-      working-directory: ${{github.workspace}}/build
-      run: cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DCMAKE_TOOLCHAIN_FILE=conan_toolchain.cmake
+      run: cmake --preset conan-default
 
     - name: Build
-      working-directory: ${{github.workspace}}/build
       shell: bash
-      run: cmake --build . --config ${{env.BUILD_TYPE}}
+      run: cmake --build --preset conan-${{ env.BUILD_TYPE_LOWERCASE }}
 
-    - name: run test (Windows)
-      working-directory: ${{github.workspace}}/build
-      run: $env:PATH+=";${{env.BUILD_TYPE}}"; tests/${{env.BUILD_TYPE}}/behaviortree_cpp_test.exe
+    - name: Run tests
+      working-directory: ${{ github.workspace }}/build
+      run: $env:PATH+=";${{ matrix.build_type }}"; tests/${{ matrix.build_type }}/behaviortree_cpp_test.exe

.github/workflows/doxygen-gh-pages.yml

@@ -6,6 +6,10 @@ on:
       - main
       - master
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   deploy:
     runs-on: ubuntu-latest