Use Rocky 9 for continuous integration

.github/workflows/ci.yml

@@ -18,7 +18,7 @@ jobs:
   test:
     runs-on: ubuntu-latest
     container:
-      image: rockylinux:8
+      image: rockylinux/rockylinux:9
 
     defaults:
       run:
@@ -28,14 +28,16 @@ jobs:
       - name: Install system dependencies
         run: |
           dnf install -y epel-release
+          dnf install -y 'dnf-command(config-manager)'
+          dnf config-manager --set-enabled crb
           dnf update -y
-          dnf install -y bison clang flex git llvm make maven swig cmake clang-devel \
-            gcc gcc-c++ java-11-openjdk-devel libxml2-devel llvm-devel llvm-static \
-            ncurses-devel openmotif openmotif-devel perl perl-Digest-MD5 udunits2 \
-            udunits2-devel which zlib-devel libX11-devel libXt-devel \
-            python3-devel diffutils
-          dnf config-manager --enable powertools
-          dnf install -y gtest-devel gmock-devel libasan liblsan libubsan
+          dnf install -y \
+            bash bison clang clang-devel cmake diffutils flex gcc \
+            gcc-c++ git java-17-openjdk-devel \
+            libxml2-devel llvm-devel llvm-static maven ncurses-devel \
+            motif motif-devel perl perl-Digest-MD5 python3-devel \
+            swig udunits2 udunits2-devel which zlib-devel \
+            gtest-devel gmock-devel libasan liblsan libubsan
 
       - name: Checkout code
         uses: actions/checkout@v4
@@ -89,27 +91,72 @@ jobs:
           trick-CP
           make spotless
 
-      - name: Build verification sims
-        id: build_verif_sims
+      # Each model category has its verification sims built, run, and sim outputs
+      # compared one at a time. After doing so, artifacts are purged. GitHub Actions
+      # have limited memory allocated, so attempting to build/run all sims at once
+      # is likely to run out of memory.
+      - name: Dynamics model verification sims
+        id: dynamics_verif_sims
         if: ${{ env.RUN_VERIF_SIMS == 'true' }}
         run: |
           export PATH=${TRICK_HOME}/bin:${PATH}
           source .bashrc
-          ./bin/test.py builds --quiet
+          ./bin/test.py builds runs comparisons -j $(nproc) --quiet -m models/dynamics
+          git -C models/dynamics clean -x -d -f
 
-      - name: Run verification sims
-        id: run_verif_sims
+      - name: Environment model verification sims
+        id: environment_verif_sims
         if: ${{ env.RUN_VERIF_SIMS == 'true' }}
         run: |
+          export PATH=${TRICK_HOME}/bin:${PATH}
+          source .bashrc
+          ./bin/test.py builds runs comparisons -j $(nproc) --quiet -m models/environment
+          git -C models/environment clean -x -d -f
+
+      - name: Fhw model verification sims
+        id: fhw_verif_sims
+        if: ${{ env.RUN_VERIF_SIMS == 'true' }}
+        run: |
+          export PATH=${TRICK_HOME}/bin:${PATH}
+          source .bashrc
+          ./bin/test.py builds runs comparisons -j $(nproc) --quiet -m models/fhw
+          git -C models/fhw clean -x -d -f
+
+      - name: Interactions model verification sims
+        id: interactions_verif_sims
+        if: ${{ env.RUN_VERIF_SIMS == 'true' }}
+        run: |
+          export PATH=${TRICK_HOME}/bin:${PATH}
+          source .bashrc
+          ./bin/test.py builds runs comparisons -j $(nproc) --quiet -m models/interactions
+          git -C models/interactions clean -x -d -f
+
+      - name: Tools model verification sims
+        id: tools_verif_sims
+        if: ${{ env.RUN_VERIF_SIMS == 'true' }}
+        run: |
+          export PATH=${TRICK_HOME}/bin:${PATH}
+          source .bashrc
+          ./bin/test.py builds runs comparisons -j $(nproc) --quiet -m models/tools
+          git -C models/tools clean -x -d -f
+
+      - name: Utilities model verification sims
+        id: utilities_verif_sims
+        if: ${{ env.RUN_VERIF_SIMS == 'true' }}
+        run: |
+          export PATH=${TRICK_HOME}/bin:${PATH}
           source .bashrc
-          ./bin/test.py runs --quiet
+          ./bin/test.py builds runs comparisons -j $(nproc) --quiet -m models/utilities
+          git -C models/utilities clean -x -d -f
 
-      - name: Compare verification data
-        id: compare_verif_sim_data
+      - name: Vehicle management model verification sims
+        id: vehicle_management_verif_sims
         if: ${{ env.RUN_VERIF_SIMS == 'true' }}
         run: |
+          export PATH=${TRICK_HOME}/bin:${PATH}
           source .bashrc
-          ./bin/test.py comparisons --quiet
+          ./bin/test.py builds runs comparisons -j $(nproc) --quiet -m models/vehicle_management
+          git -C models/vehicle_management clean -x -d -f
 
       - name: Generate coverage report
         if: ${{ env.RUN_VERIF_SIMS == 'true' }}
@@ -120,24 +167,45 @@ jobs:
             --exclude '.*/test/.*' --exclude utility/mocks \
             --filter '^models/.*' -o coverage.xml
 
-      - name: Upload coverage report
+      - name: Save coverage report
         if: ${{ env.RUN_VERIF_SIMS == 'true' }}
-        uses: coverallsapp/github-action@v2
+        uses: actions/upload-artifact@v4
         with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          file: coverage.xml
-          format: cobertura
+          name: coverage-xml
+          path: coverage.xml
 
       - name: Upload logs on failure
         if: >-
           ${{ failure() && env.RUN_VERIF_SIMS == 'true' && (
-            steps.build_verif_sims.outcome == 'failure' ||
-            steps.run_verif_sims.outcome == 'failure' ||
-            steps.compare_verif_sim_data.outcome == 'failure'
+            steps.dynamics_verif_sims.outcome == 'failure' ||
+            steps.environment_verif_sims.outcome == 'failure' ||
+            steps.fhw_verif_sims.outcome == 'failure' ||
+            steps.interactions_verif_sims.outcome == 'failure' ||
+            steps.tools_verif_sims.outcome == 'failure' ||
+            steps.utilities_verif_sims.outcome == 'failure' ||
+            steps.vehicle_management_verif_sims.outcome == 'failure'
           ) }}
         uses: actions/upload-artifact@v4
         with:
           name: verif-sim-failure-logs
           path: bin/logs/*.txt
           if-no-files-found: warn
           retention-days: 2
+
+  coverage:
+    needs: test
+    if: ${{ needs.test.result == 'success' && (github.event_name != 'pull_request' || github.event.pull_request.draft == false) }}
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - uses: actions/download-artifact@v4
+        with:
+          name: coverage-xml
+
+      - uses: coverallsapp/github-action@v2
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          file: coverage.xml
+          format: cobertura

.github/workflows/static-analysis.yml

@@ -12,7 +12,7 @@ jobs:
   code-format:
     runs-on: ubuntu-latest
     container:
-      image: rockylinux:8
+      image: rockylinux/rockylinux:9
 
     defaults:
       run:
@@ -22,7 +22,8 @@ jobs:
       - name: Install system dependencies
         run: |
           dnf install -y epel-release
-          dnf config-manager --enable powertools
+          dnf install -y 'dnf-command(config-manager)'
+          dnf config-manager --set-enabled crb
           dnf update -y
           dnf install -y git python3-devel
 
@@ -79,7 +80,7 @@ jobs:
   cppcheck:
     runs-on: ubuntu-latest
     container:
-      image: rockylinux:8
+      image: rockylinux/rockylinux:9
 
     defaults:
       run:
@@ -89,11 +90,12 @@ jobs:
       - name: Install system dependencies
         run: |
           dnf install -y epel-release
-          dnf config-manager --enable powertools
+          dnf install -y 'dnf-command(config-manager)'
+          dnf config-manager --set-enabled crb
           dnf update -y
-          dnf install -y git make cmake gcc gcc-c++ libxml2-devel openmotif-devel \
-            perl perl-Digest-MD5 udunits2-devel zlib-devel libX11-devel libXt-devel \
-            python3-devel cppcheck
+          dnf install -y git bison clang clang-devel cmake diffutils flex gcc \
+            gcc-c++ libxml2-devel llvm-devel llvm-static perl perl-Digest-MD5 \
+            python3-devel udunits2 udunits2-devel zlib-devel cppcheck
 
       - name: Checkout code
         uses: actions/checkout@v4
@@ -149,8 +151,9 @@ jobs:
             --project=build/debug/compile_commands.json \
             --max-configs=1 \
             --enable=all \
-            -i ${{ env.CML_HOME }}/models/environment/EGM2008/src/egm_2008_data.cc \
-            -i ${{ env.CML_HOME }}/models/environment/gravity/lunar_GRGM900C/data/src/GRGM900C_lunar_gravity.cc \
+            --inline-suppr \
+            -i models/environment/EGM2008/src/egm_2008_data.cc \
+            -i models/environment/gravity/lunar_GRGM900C/data/src/GRGM900C_lunar_gravity.cc \
             -j $(nproc) \
             --suppress=unusedFunction \
             --suppress=unmatchedSuppression \
@@ -170,7 +173,7 @@ jobs:
   clang-tidy:
     runs-on: ubuntu-latest
     container:
-      image: rockylinux:8
+      image: rockylinux/rockylinux:9
 
     defaults:
       run:
@@ -180,11 +183,12 @@ jobs:
       - name: Install system dependencies
         run: |
           dnf install -y epel-release
-          dnf config-manager --enable powertools
+          dnf install -y 'dnf-command(config-manager)'
+          dnf config-manager --set-enabled crb
           dnf update -y
-          dnf install -y git make cmake gcc gcc-c++ libxml2-devel openmotif-devel \
-            perl perl-Digest-MD5 udunits2-devel zlib-devel libX11-devel libXt-devel \
-            python3-devel clang-tools-extra
+          dnf install -y git bison clang clang-devel cmake diffutils flex gcc \
+            gcc-c++ libxml2-devel llvm-devel llvm-static perl perl-Digest-MD5 \
+            python3-devel udunits2 udunits2-devel zlib-devel clang-tools-extra
 
       - name: Checkout code
         uses: actions/checkout@v4

bin/test.py

@@ -105,8 +105,12 @@ def _get_sims_to_test(self):
         if len(args.model) > 0:
           all_sims = self.get_sims()
           for sim in all_sims:
-            if 'model_dir' in self.config[sim.name] and os.path.normpath(self.config[sim.name]['model_dir']) in args.model:
-              sims.append(sim)
+            if 'model_dir' not in self.config[sim.name]:
+              continue
+
+            for model_path in args.model:
+              if os.path.normpath(model_path) in os.path.normpath(self.config[sim.name]['model_dir']):
+                sims.append(sim)
         else:
            sims = self.get_sims()
         return sims

models/dynamics/integration/accumulated_absolute_deltas/src/accumulated_absolute_deltas.cc

@@ -12,7 +12,6 @@ LIBRARY DEPENDENCIES:
 **********************************************************************/
 
 #include <cmath>
-#include <new>
 
 #include "../include/accumulated_absolute_deltas.hh"
 #include "cml/models/utilities/cml_message/include/cml_message.hh"
@@ -110,4 +109,4 @@ AccumulatedAbsoluteDeltas::update()
     accumulated_deltas[ii] += std::abs( variable[ii] - old_variable[ii]);
     old_variable[ii] = variable[ii];
   }
-}
+}

models/dynamics/integration/vector3_integrable_object/src/vector3_integrable_object.cc

@@ -111,7 +111,7 @@ Destructor
 Vector3IntegrableObject::~Vector3IntegrableObject ()
 {
   JEOD_DEREGISTER_CHECKPOINTABLE (this, integrator);
-  destroy_integrators();
+  integrator.destroy_integrator();
 }
 
 /*****************************************************************************

models/dynamics/mass_derivative_dynamics/src/mass_derivative_dynamics.cc

@@ -352,8 +352,8 @@ void
 MassDerivativeDynamics::compute_J_dot()
 {
   size_t ix = 0;
-  double J_dot_6[6]; // The differences of the 6 unique elements of the
-                     // inertia tensor.
+  double J_dot_6[6] {}; // The differences of the 6 unique elements of the
+                        // inertia tensor.
   // Step through the upper triangle (including diagonals) of the inertia
   // tensor.  Ignore the 3 terms in the lower triangle; they are duplicates.
   for (size_t ii = 0; ii < 3; ++ii) {
@@ -413,4 +413,4 @@ MassDerivativeDynamics::modify_velocity()
   body.set_velocity( new_body_vel,
                      body.composite_body);
   body.propagate_state();
-}
+}

models/dynamics/mass_derivative_dynamics/verif/SIM_dyn_test/verif_data/RUN_03_trans_motion/log_basic_data.csv

@@ -130,7 +130,7 @@ sys.exec.out.time {s},vehicle.body.composite_body.state.rot.ang_vel_this[2] {rad
                 12.8,  0.2459047908207068,   5.879999999999677,    12.7950000000006,  0.5124294201577408,-0.06702596140490104, 0.03112965921388497, -0.1035027931244448,                   0, -0.1770514493908224,                   0,  0.0267295190056378,-0.01389092569246845,                   0,   62.53978429308722
                 12.9,  0.2421726819109092,   5.839999999999681,   12.89500000000062,  0.5156761873626826,-0.07744439533339866, 0.03380740814416328,  -0.104853093762185,                   0, -0.1743643309757694,                   0, 0.02683242709024384,-0.01312300587759523,                   0,   63.93800820786262
                   13,  0.2384721429079142,   5.799999999999685,   12.99500000000063,  0.5191912005037786, -0.0879940427013635,   0.036494150805795, -0.1061272865416016,                   0, -0.1716999428936143,                   0, 0.02690969660546329,-0.01236857786390502,                   0,    65.3149391795621
-                13.1,  0.2348031217689792,    5.75999999999969,   13.09500000000065,  0.5229752326449836,-0.09866736109601604, 0.03918737954503081, -0.1073267478587793,                   0, -0.1690582476736425,                   0, 0.02696243990969512,-0.01162817783718432,                   0,   66.67075794146562
+                13.1,  0.2348031217689792,    5.75999999999969,   13.09500000000065,  0.5229752326449836,-0.09866736109601604, 0.03918737954503081, -0.1073267478587793,                   0, -0.1690582476736425,                   0, 0.02696243990969512,-0.01162817783718432,                   0,   66.67075794146564
                 13.2,  0.2311655661778041,   5.719999999999694,   13.19500000000066,  0.5270288116196279, -0.1094569483247174,  0.0418846971322261, -0.1084529047353899,                   0, -0.1664392076479968,                   0, 0.02699175309664073,-0.01090228285728533,                   0,   68.00564492788811
                 13.3,  0.2275594235411786,   5.679999999999699,   13.29500000000068,  0.5313522309884308, -0.1203555471866692, 0.04458381504400054, -0.1095072290485962,                   0, -0.1638427849495686,                   0, 0.02699871420213562,-0.01019131368412536,                   0,   69.31978027260242
                 13.4,  0.2239846409855635,   5.639999999999703,   13.39500000000069,  0.5359455608170945, -0.1313560496816676, 0.04728255157604788, -0.1104912320415627,                   0,  -0.161268941509527,                   0, 0.02698438160776891,-0.009495637563173702,                   0,   70.61334380724306