[#15] Fix build with GCC

.github/actions/install-clang/action.yml

@@ -1,8 +1,8 @@
-name: 'Install clang toolchain'
+name: 'Install clang'
 runs:
   using: "composite"
   steps:
-    - name: Install iceoryx dependencies and clang-tidy
+    - name: Install clang
       shell: bash
       run: |
         sudo wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -

.github/actions/install-gcc/action.yml

@@ -0,0 +1,12 @@
+name: 'Install GCC'
+runs:
+  using: "composite"
+  steps:
+    - name: Install GCC
+      shell: bash
+      run: |
+        apt-get update
+        apt-get install -y software-properties-common
+        add-apt-repository -y ppa:ubuntu-toolchain-r/test
+        apt-get update
+        apt-get install -y gcc-13 g++-13

.github/workflows/build-test.yml

@@ -18,7 +18,7 @@ jobs:
       source-code: ${{ steps.filter.outputs.source-code }}
       markdown: ${{ steps.filter.outputs.markdown }}
     steps:
-      - name: Checkout sources
+      - name: Check out sources
         uses: actions/checkout@v4
 
       - name: Check for changed file types
@@ -37,7 +37,7 @@ jobs:
     timeout-minutes: 10
     runs-on: ubuntu-latest
     steps:
-      - name: Checkout sources
+      - name: Check out sources
         uses: actions/checkout@v4
 
       - name: Check format of all commit messages
@@ -52,7 +52,7 @@ jobs:
     timeout-minutes: 10
     runs-on: ubuntu-latest
     steps:
-      - name: Checkout sources
+      - name: Check out sources
         uses: actions/checkout@v4
 
       - name: Install clang toolchain
@@ -71,95 +71,118 @@ jobs:
 #         git fetch origin main
 #         ./scripts/check-clang-tidy.sh warning-as-error diff-to-main
 
-  colcon-build-test-clang:
+  colcon-build-test:
     needs: [preflight-check, static-code-analysis]
+    strategy:
+      fail-fast: false
+      matrix:
+        compiler: [clang, gcc]
+        include:
+          - compiler: clang
+            cc: clang
+            cxx: clang++
+          - compiler: gcc
+            cc: gcc
+            cxx: g++
     runs-on: ubuntu-latest
     container:
       image: ros:rolling
     steps:
-    - name: Install ros build dependencies
-      run: |
-        apt-get update
-        apt-get install -y \
-          python3-colcon-common-extensions \
-          python3-colcon-mixin \
-          python3-vcstool \
-          python3-rosdep \
-          libacl1-dev \
-          software-properties-common \
-          curl \
-          wget
-
-    - name: Install rust toolchain
-      uses: dtolnay/rust-toolchain@stable
-
-    - name: Create workspace
-      run: |
-        mkdir -p $WORKSPACE_DIR/src/rmw_iceoryx2
-        mkdir -p $WORKSPACE_DIR/src/test_interface_files
-
-    - name: Checkout test_interface_files
-      uses: actions/checkout@v4
-      with:
-        repository: ros2/test_interface_files
-        path: src/test_interface_files
-        ref: rolling
-
-    - name: Checkout current ref
-      uses: actions/checkout@v4
-      with:
-        path: src/rmw_iceoryx2
-
-    - name: Install clang toolchain
-      uses: ./src/rmw_iceoryx2/.github/actions/install-clang
-
-    - name: Import dependencies with VCS
-      run: |
-        cd $WORKSPACE_DIR
-        sed 's|[email protected]:|https://github.com/|g' src/rmw_iceoryx2/iceoryx.repos > _deps.repos
-        vcs import src < _deps.repos
-
-    - name: Build with colcon
-      run: |
-        cd $WORKSPACE_DIR
-        . /opt/ros/rolling/setup.sh
-        colcon build \
-          --cmake-args \
-            -DCMAKE_C_COMPILER=clang \
-            -DCMAKE_CXX_COMPILER=clang++ \
-            -DCMAKE_BUILD_TYPE=RelWithDebInfo \
-            -DBUILD_TESTING=On \
-          --symlink-install \
-          --packages-select \
-            test_interface_files \
-            iceoryx_platform\
-            iceoryx_hoofs \
-            iceoryx2_cxx \
-            rmw_iceoryx2_cxx_test_msgs \
-            rmw_iceoryx2_cxx
-
-    - name: Run tests
-      run: |
-        cd $WORKSPACE_DIR
-        . /opt/ros/rolling/setup.sh
-        . install/setup.sh
-        colcon test \
-          --packages-select \
-            rmw_iceoryx2_cxx \
-          --event-handlers console_direct+ \
-          --return-code-on-test-failure
-
-    - name: Generate test reports
-      if: always()
-      run: |
-        cd $WORKSPACE_DIR
-        colcon test-result --verbose
-
-    - name: Upload test results
-      if: always()
-      uses: actions/upload-artifact@v4
-      with:
-        name: test-results
-        path: |
-          ${{ env.WORKSPACE_DIR }}/build/*/test_results/*/*.xml
-          ${{ env.WORKSPACE_DIR }}/log/**/test*.log
+      - name: Install common build dependencies
+        run: |
+          apt-get update
+          apt-get install -y \
+            python3-colcon-common-extensions \
+            python3-colcon-mixin \
+            python3-vcstool \
+            python3-rosdep \
+            libacl1-dev \
+            software-properties-common \
+            curl \
+            wget
+
+      - name: Install rust toolchain
+        uses: dtolnay/rust-toolchain@stable
+
+      - name: Setup workspace
+        run: |
+          mkdir -p $WORKSPACE_DIR/src/rmw_iceoryx2
+          mkdir -p $WORKSPACE_DIR/src/test_interface_files
+
+      - name: Check out test message interfaces
+        uses: actions/checkout@v4
+        with:
+          repository: ros2/test_interface_files
+          path: src/test_interface_files
+          ref: rolling
+
+      - name: Check out current ref
+        uses: actions/checkout@v4
+        with:
+          path: src/rmw_iceoryx2
+
+      # this is also required for all builds as iceoryx2 depends on libclang
+      - name: Install clang toolchain
+        uses: ./src/rmw_iceoryx2/.github/actions/install-clang
+
+      - name: Install gcc toolchain
+        if: matrix.compiler == 'gcc'
+        uses: ./src/rmw_iceoryx2/.github/actions/install-gcc
+
+      - name: Import iceoryx
+        run: |
+          cd $WORKSPACE_DIR
+
+          # need to switch to https in ci
+          sed 's|[email protected]:|https://github.com/|g' src/rmw_iceoryx2/iceoryx.repos > _deps.repos
+          vcs import src < _deps.repos
+
+      - name: Check compiler versions
+        run: |
+          echo "C compiler version:"
+          ${{ matrix.cc }} --version
+          echo "C++ compiler version:"
+          ${{ matrix.cxx }} --version
+
+      - name: Build workspace
+        run: |
+          cd $WORKSPACE_DIR
+          . /opt/ros/rolling/setup.sh
+          colcon build \
+            --cmake-args \
+              -DCMAKE_C_COMPILER=${{ matrix.cc }} \
+              -DCMAKE_CXX_COMPILER=${{ matrix.cxx }} \
+              -DCMAKE_BUILD_TYPE=RelWithDebInfo \
+              -DBUILD_TESTING=On \
+            --symlink-install \
+            --packages-select \
+              test_interface_files \
+              iceoryx_platform \
+              iceoryx_hoofs \
+              iceoryx2_cxx \
+              rmw_iceoryx2_cxx_test_msgs \
+              rmw_iceoryx2_cxx
+
+      - name: Run tests
+        run: |
+          cd $WORKSPACE_DIR
+          . /opt/ros/rolling/setup.sh
+          . install/setup.sh
+          colcon test \
+            --packages-select rmw_iceoryx2_cxx \
+            --return-code-on-test-failure
+
+      - name: Generate test reports
+        if: always()
+        run: |
+          cd $WORKSPACE_DIR
+          colcon test-result --verbose
+
+      - name: Upload test results
+        if: always()
+        uses: actions/upload-artifact@v4
+        with:
+          name: test-results-${{ matrix.compiler }}
+          path: |
+            ${{ env.WORKSPACE_DIR }}/build/*/test_results/*/*.xml
+            ${{ env.WORKSPACE_DIR }}/log/**/test*.log

doc/release-notes/unreleased.md

@@ -11,16 +11,14 @@
     conflicts when merging.
 -->
 
-* Example text [#1](https://github.com/ekxide/rmw_iceoryx2/issues/1)
-
 ### Bugfixes
 
 <!--
     NOTE: Add new entries sorted by issue number to minimize the possibility of
     conflicts when merging.
 -->
 
-* Example text [#1](https://github.com/ekxide/rmw_iceoryx2/issues/1)
+* Fix failing `gcc` build [#15](https://github.com/ekxide/rmw_iceoryx2/issues/15)
 
 ### Refactoring
 
@@ -29,17 +27,16 @@
     conflicts when merging.
 -->
 
-* Example text [#1](https://github.com/ekxide/rmw_iceoryx2/issues/1)
-
 ### Workflow
 
 <!--
     NOTE: Add new entries sorted by issue number to minimize the possibility of
     conflicts when merging.
 -->
 
-* Use VCS to manage dependencies [#13](https://github.com/ekxide/rmw_iceoryx2/issues/13)
-* Add CI workflow for building and testing [#12](https://github.com/ekxide/rmw_iceoryx2/issues/12)
+* Use `vcs` to manage dependencies [#13](https://github.com/ekxide/rmw_iceoryx2/issues/13)
+* Add CI for building and testing with `clang` [#12](https://github.com/ekxide/rmw_iceoryx2/issues/12)
+* Add CI for building and testing with `gcc` [#15](https://github.com/ekxide/rmw_iceoryx2/issues/15)
 
 ### New API features
 

rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/iox2/iceoryx2.hpp

@@ -142,15 +142,15 @@ class RMW_PUBLIC Iceoryx2
 
 // ===================================================================================================================
 
-template <::iox2::ServiceType ServiceType>
-auto Iceoryx2::service_builder(const std::string& service_name) -> ::iox2::ServiceBuilder<ServiceType> {
+template <::iox2::ServiceType S>
+auto Iceoryx2::service_builder(const std::string& service_name) -> ::iox2::ServiceBuilder<S> {
     auto name = ::iox2::ServiceName::create(service_name.c_str());
     if (name.has_error()) {
         // TODO: propagate error
     }
-    if constexpr (ServiceType == ::iox2::ServiceType::Local) {
+    if constexpr (S == ::iox2::ServiceType::Local) {
         return local().service_builder(name.value());
-    } else if constexpr (ServiceType == ::iox2::ServiceType::Ipc) {
+    } else if constexpr (S == ::iox2::ServiceType::Ipc) {
         return ipc().service_builder(name.value());
     } else {
         static_assert(std::false_type::value, "Attempted to build a service of unknown type");

rmw_iceoryx2_cxx/src/rmw/graph.cpp

@@ -352,7 +352,7 @@ rmw_ret_t rmw_get_publishers_info_by_topic(const rmw_node_t* node,
     if (!rcutils_allocator_is_valid(allocator)) {
         return RMW_RET_INVALID_ARGUMENT;
     }
-    if (auto result = rmw_topic_endpoint_info_array_check_zero(publishers_info) != RMW_RET_OK) {
+    if (rmw_topic_endpoint_info_array_check_zero(publishers_info) != RMW_RET_OK) {
         return RMW_RET_INVALID_ARGUMENT;
     }
 
@@ -443,7 +443,7 @@ rmw_ret_t rmw_get_subscriptions_info_by_topic(const rmw_node_t* node,
     if (!rcutils_allocator_is_valid(allocator)) {
         return RMW_RET_INVALID_ARGUMENT;
     }
-    if (auto result = rmw_topic_endpoint_info_array_check_zero(subscriptions_info) != RMW_RET_OK) {
+    if (rmw_topic_endpoint_info_array_check_zero(subscriptions_info) != RMW_RET_OK) {
         return RMW_RET_INVALID_ARGUMENT;
     }
 

rmw_iceoryx2_cxx/test/test_rmw_allocator.cpp

@@ -17,18 +17,6 @@ namespace
 
 using namespace rmw::iox2::testing;
 
-class DummyClass
-{
-public:
-    DummyClass()
-        : value(42) {
-    }
-    ~DummyClass() {
-        value = 0;
-    }
-    int value;
-};
-
 class AllocatorHelpersTest : public TestBase
 {
 protected:
@@ -113,21 +101,37 @@ TEST_F(AllocatorHelpersTest, deallocate_nullptr) {
     ASSERT_NO_THROW(rmw::iox2::deallocate(ptr));
 }
 
+class DummyClass
+{
+public:
+    DummyClass() {
+        ++constructor_calls;
+    }
+    ~DummyClass() {
+        ++destructor_calls;
+    }
+
+    static size_t constructor_calls;
+    static size_t destructor_calls;
+};
+size_t DummyClass::constructor_calls = 0;
+size_t DummyClass::destructor_calls = 0;
+
 TEST_F(AllocatorHelpersTest, construct_and_destruct) {
     auto allocation = rmw::iox2::allocate<DummyClass>();
     ASSERT_TRUE(allocation.has_value());
 
     auto ptr = allocation.value();
     auto constructed = rmw::iox2::construct(ptr);
-    ASSERT_TRUE(constructed.has_value());
+    ASSERT_FALSE(constructed.has_error());
+    ASSERT_EQ(DummyClass::constructor_calls, 1u);
+    ASSERT_EQ(DummyClass::destructor_calls, 0u);
 
-    auto obj = constructed.value();
-    ASSERT_EQ(obj->value, 42);
+    rmw::iox2::destruct<DummyClass>(ptr);
+    ASSERT_EQ(DummyClass::constructor_calls, 1u);
+    ASSERT_EQ(DummyClass::destructor_calls, 1u);
 
-    rmw::iox2::destruct<DummyClass>(obj);
-    ASSERT_EQ(obj->value, 0);
-
-    rmw::iox2::deallocate(obj);
+    rmw::iox2::deallocate(ptr);
 }
 
 TEST_F(AllocatorHelpersTest, destruct_nullptr) {