Merge branch 'BehaviorTree:master' into master

.github/workflows/sonarcube.yml

@@ -0,0 +1,40 @@
+name: Sonarcube Scan
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    types: [opened, synchronize, reopened]
+jobs:
+  build:
+    name: Build
+    runs-on: ubuntu-latest
+    env:
+      BUILD_WRAPPER_OUT_DIR: build_wrapper_output_directory # Directory where build-wrapper output will be placed
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0 # Shallow clones should be disabled for a better relevancy of analysis
+      - name: Install Build Wrapper
+        uses: SonarSource/sonarqube-scan-action/install-build-wrapper@v4
+
+      - name: Install Dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y libzmq3-dev libsqlite3-dev
+
+      - name: Install googletest
+        uses: Bacondish2023/setup-googletest@v1
+
+      - name: Run Build Wrapper
+        run: |
+          mkdir build
+          cmake -S . -B build
+          build-wrapper-linux-x86-64 --out-dir ${{ env.BUILD_WRAPPER_OUT_DIR }} cmake --build build/ --config Release
+      - name: SonarQube Scan
+        uses: SonarSource/sonarqube-scan-action@v4
+        env:
+          SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }} # Put the name of your token here
+        with:
+          args: >
+            --define sonar.cfamily.compile-commands="${{ env.BUILD_WRAPPER_OUT_DIR }}/compile_commands.json"

CMakeLists.txt

@@ -22,6 +22,9 @@ else()
     add_definitions(-Wpedantic -fno-omit-frame-pointer)
 endif()
 
+# create compile_commands.json
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 
 #---- project configuration ----
 option(BTCPP_SHARED_LIBS "Build shared libraries" ON)

include/behaviortree_cpp/bt_factory.h

@@ -149,7 +149,7 @@ class Tree
   [[nodiscard]] Blackboard::Ptr rootBlackboard();
 
   //Call the visitor for each node of the tree.
-  void applyVisitor(const std::function<void(const TreeNode*)>& visitor);
+  void applyVisitor(const std::function<void(const TreeNode*)>& visitor) const;
 
   //Call the visitor for each node of the tree.
   void applyVisitor(const std::function<void(TreeNode*)>& visitor);

include/behaviortree_cpp/utils/convert_impl.hpp

@@ -93,11 +93,12 @@ inline void checkTruncation(const From& from)
   if constexpr(std::is_integral_v<From> && std::is_floating_point_v<To>)
   {
     // Check if value can be represented exactly in the target type
-    To as_float = static_cast<To>(from);
-    From back_conv = static_cast<From>(as_float);
-    if(back_conv != from)
+    constexpr auto max_exact = (1LL << std::numeric_limits<double>::digits) - 1;
+    if(from > max_exact || from < -max_exact)
     {
-      throw std::runtime_error("Loss of precision in conversion to floating point");
+      throw std::runtime_error("Loss of precision when converting a large integer number "
+                               "to floating point:" +
+                               std::to_string(from));
     }
   }
   // Handle floating point to integer

sonar-project.properties

@@ -0,0 +1,13 @@
+sonar.projectKey=BehaviorTree_BehaviorTree.CPP
+sonar.organization=behaviortree
+
+# This is the name and version displayed in the SonarCloud UI.
+#sonar.projectName=BehaviorTree.CPP
+#sonar.projectVersion=1.0
+
+
+# Path is relative to the sonar-project.properties file. Replace "\" by "/" on Windows.
+#sonar.sources=.
+
+# Encoding of the source code. Default is default system encoding
+#sonar.sourceEncoding=UTF-8

src/bt_factory.cpp

@@ -597,7 +597,7 @@ Blackboard::Ptr Tree::rootBlackboard()
   return {};
 }
 
-void Tree::applyVisitor(const std::function<void(const TreeNode*)>& visitor)
+void Tree::applyVisitor(const std::function<void(const TreeNode*)>& visitor) const
 {
   BT::applyRecursiveVisitor(static_cast<const TreeNode*>(rootNode()), visitor);
 }