Add CI Workflow by cole-wilson · Pull Request #71 · palouse-robosub/guppy

cole-wilson · 2026-08-28T19:59:10Z

No description provided.

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github-actions · 2026-08-31T06:26:42Z

Cpp-Linter Report ⚠️

Some files did not pass the configured checks!

clang-tidy (v21.1.8) reports: 32 concern(s)

src/guppy_can/src/can_rx.cpp:82:9: warning: [clang-analyzer-security.insecureAPI.strcpy]

Call to function 'strcpy' is insecure as it does not provide bounding of the memory buffer. Replace unbounded copy functions with analogous functions that support length arguments such as 'strlcpy'. CWE-119

   82 |         std::strcpy(ifr.ifr_name, can_net);
      |         ^~~~~~~~~~~
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:82:9: note: Call to function 'strcpy' is insecure as it does not provide bounding of the memory buffer. Replace unbounded copy functions with analogous functions that support length arguments such as 'strlcpy'. CWE-119
   82 |         std::strcpy(ifr.ifr_name, can_net);
      |         ^~~~~~~~~~~

src/guppy_can/src/can_rx.cpp:155:32: warning: [clang-analyzer-unix.BlockInCriticalSection]

Call to blocking function 'read' inside of critical section

  155 |             const int nbytes = read(sock_, &frame, sizeof(can_frame));
      |                                ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:152:9: note: Loop condition is true.  Entering loop body
  152 |         while (running_.load()) {
      |         ^
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:158:17: note: Assuming 'nbytes' is >= 0
  158 |             if (nbytes < 0) {
      |                 ^~~~~~~~~~
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:158:13: note: Taking false branch
  158 |             if (nbytes < 0) {
      |             ^
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:166:17: note: Assuming the condition is false
  166 |             if (frame.can_id & CAN_ID_BIT_MASK)
      |                 ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:166:13: note: Taking false branch
  166 |             if (frame.can_id & CAN_ID_BIT_MASK)
      |             ^
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:169:13: note: Taking true branch
  169 |             if (int idx = check_id(frame.can_id); idx != -1) {
      |             ^
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:170:17: note: Calling 'CanRx::publish_bytes'
  170 |                 publish_bytes(idx, frame.data, frame.can_dlc);
      |                 ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:115:9: note: Calling 'Publisher::publish'
  115 |         publishers_[idx]->publish(frame);
      |         ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/publisher.hpp:299:9: note: Assuming field 'intra_process_is_enabled_' is true
  299 |     if (!intra_process_is_enabled_) {
      |         ^~~~~~~~~~~~~~~~~~~~~~~~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/publisher.hpp:299:5: note: Taking false branch
  299 |     if (!intra_process_is_enabled_) {
      |     ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/publisher.hpp:307:5: note: Calling 'Publisher::publish'
  307 |     this->publish(std::move(unique_msg));
      |     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/publisher.hpp:244:10: note: Field 'intra_process_is_enabled_' is true
  244 |     if (!intra_process_is_enabled_) {
      |          ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/publisher.hpp:244:5: note: Taking false branch
  244 |     if (!intra_process_is_enabled_) {
      |     ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/publisher.hpp:259:7: note: Assuming the condition is false
  259 |       get_subscription_count() > get_intra_process_subscription_count() || buffer_;
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/publisher.hpp:259:7: note: Left side of '||' is false
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/publisher.hpp:261:9: note: 'inter_process_publish_needed' is false
  261 |     if (inter_process_publish_needed) {
      |         ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/publisher.hpp:261:5: note: Taking false branch
  261 |     if (inter_process_publish_needed) {
      |     ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/publisher.hpp:269:7: note: Taking false branch
  269 |       if (buffer_) {
      |       ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/publisher.hpp:274:9: note: Calling 'Publisher::do_intra_process_ros_message_publish'
  274 |         this->do_intra_process_ros_message_publish(std::move(msg));
      |         ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/publisher.hpp:537:16: note: Entering critical section here
  537 |     auto ipm = weak_ipm_.lock();
      |                ^~~~~~~~~~~~~~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/publisher.hpp:538:5: note: Taking false branch
  538 |     if (!ipm) {
      |     ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/publisher.hpp:542:9: note: Assuming the condition is false
  542 |     if (!msg) {
      |         ^~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/publisher.hpp:542:5: note: Taking false branch
  542 |     if (!msg) {
      |     ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/publisher.hpp:274:9: note: Returning from 'Publisher::do_intra_process_ros_message_publish'
  274 |         this->do_intra_process_ros_message_publish(std::move(msg));
      |         ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/publisher.hpp:307:5: note: Returning from 'Publisher::publish'
  307 |     this->publish(std::move(unique_msg));
      |     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:115:9: note: Returning from 'Publisher::publish'
  115 |         publishers_[idx]->publish(frame);
      |         ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:117:9: note: Assuming 'g_rcutils_logging_initialized' is true
  117 |         RCLCPP_DEBUG(this->get_logger(), "0x%03X [%d] ", ids_[idx], len);
      |         ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/logging.hpp:98:5: note: expanded from macro 'RCLCPP_DEBUG'
   98 |     RCUTILS_LOG_DEBUG_NAMED( \
      |     ^~~~~~~~~~~~~~~~~~~~~~~~~~
   99 |       (logger).get_name(), \
      |       ~~~~~~~~~~~~~~~~~~~~~~
  100 |       __VA_ARGS__); \
      |       ~~~~~~~~~~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:262:3: note: expanded from macro 'RCUTILS_LOG_DEBUG_NAMED'
  262 |   RCUTILS_LOG_COND_NAMED( \
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~
  263 |     RCUTILS_LOG_SEVERITY_DEBUG, \
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  264 |     RCUTILS_LOG_CONDITION_EMPTY, RCUTILS_LOG_CONDITION_EMPTY, name, \
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  265 |     __VA_ARGS__)
      |     ~~~~~~~~~~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:77:5: note: expanded from macro 'RCUTILS_LOG_COND_NAMED'
   77 |     RCUTILS_LOGGING_AUTOINIT; \
      |     ^~~~~~~~~~~~~~~~~~~~~~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging.h:561:3: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT'
  561 |   RCUTILS_LOGGING_AUTOINIT_WITH_ALLOCATOR(rcutils_get_default_allocator())
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging.h:571:26: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT_WITH_ALLOCATOR'
  571 |     if (RCUTILS_UNLIKELY(!g_rcutils_logging_initialized)) { \
      |                          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/macros.h:133:48: note: expanded from macro 'RCUTILS_UNLIKELY'
  133 | # define RCUTILS_UNLIKELY(x) __builtin_expect((x), 0)
      |                                                ^
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:117:9: note: Taking false branch
  117 |         RCLCPP_DEBUG(this->get_logger(), "0x%03X [%d] ", ids_[idx], len);
      |         ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/logging.hpp:98:5: note: expanded from macro 'RCLCPP_DEBUG'
   98 |     RCUTILS_LOG_DEBUG_NAMED( \
      |     ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:262:3: note: expanded from macro 'RCUTILS_LOG_DEBUG_NAMED'
  262 |   RCUTILS_LOG_COND_NAMED( \
      |   ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:77:5: note: expanded from macro 'RCUTILS_LOG_COND_NAMED'
   77 |     RCUTILS_LOGGING_AUTOINIT; \
      |     ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging.h:561:3: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT'
  561 |   RCUTILS_LOGGING_AUTOINIT_WITH_ALLOCATOR(rcutils_get_default_allocator())
      |   ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging.h:571:5: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT_WITH_ALLOCATOR'
  571 |     if (RCUTILS_UNLIKELY(!g_rcutils_logging_initialized)) { \
      |     ^
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:117:9: note: Loop condition is false.  Exiting loop
  117 |         RCLCPP_DEBUG(this->get_logger(), "0x%03X [%d] ", ids_[idx], len);
      |         ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/logging.hpp:98:5: note: expanded from macro 'RCLCPP_DEBUG'
   98 |     RCUTILS_LOG_DEBUG_NAMED( \
      |     ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:262:3: note: expanded from macro 'RCUTILS_LOG_DEBUG_NAMED'
  262 |   RCUTILS_LOG_COND_NAMED( \
      |   ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:77:5: note: expanded from macro 'RCUTILS_LOG_COND_NAMED'
   77 |     RCUTILS_LOGGING_AUTOINIT; \
      |     ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging.h:561:3: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT'
  561 |   RCUTILS_LOGGING_AUTOINIT_WITH_ALLOCATOR(rcutils_get_default_allocator())
      |   ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging.h:570:3: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT_WITH_ALLOCATOR'
  570 |   do { \
      |   ^
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:117:9: note: Assuming the condition is false
  117 |         RCLCPP_DEBUG(this->get_logger(), "0x%03X [%d] ", ids_[idx], len);
      |         ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/logging.hpp:98:5: note: expanded from macro 'RCLCPP_DEBUG'
   98 |     RCUTILS_LOG_DEBUG_NAMED( \
      |     ^~~~~~~~~~~~~~~~~~~~~~~~~~
   99 |       (logger).get_name(), \
      |       ~~~~~~~~~~~~~~~~~~~~~~
  100 |       __VA_ARGS__); \
      |       ~~~~~~~~~~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:262:3: note: expanded from macro 'RCUTILS_LOG_DEBUG_NAMED'
  262 |   RCUTILS_LOG_COND_NAMED( \
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~
  263 |     RCUTILS_LOG_SEVERITY_DEBUG, \
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  264 |     RCUTILS_LOG_CONDITION_EMPTY, RCUTILS_LOG_CONDITION_EMPTY, name, \
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  265 |     __VA_ARGS__)
      |     ~~~~~~~~~~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:79:9: note: expanded from macro 'RCUTILS_LOG_COND_NAMED'
   79 |     if (rcutils_logging_logger_is_enabled_for(name, severity)) { \
      |         ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:117:9: note: Taking false branch
  117 |         RCLCPP_DEBUG(this->get_logger(), "0x%03X [%d] ", ids_[idx], len);
      |         ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/logging.hpp:98:5: note: expanded from macro 'RCLCPP_DEBUG'
   98 |     RCUTILS_LOG_DEBUG_NAMED( \
      |     ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:262:3: note: expanded from macro 'RCUTILS_LOG_DEBUG_NAMED'
  262 |   RCUTILS_LOG_COND_NAMED( \
      |   ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:79:5: note: expanded from macro 'RCUTILS_LOG_COND_NAMED'
   79 |     if (rcutils_logging_logger_is_enabled_for(name, severity)) { \
      |     ^
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:117:9: note: Loop condition is false.  Exiting loop
  117 |         RCLCPP_DEBUG(this->get_logger(), "0x%03X [%d] ", ids_[idx], len);
      |         ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/logging.hpp:98:5: note: expanded from macro 'RCLCPP_DEBUG'
   98 |     RCUTILS_LOG_DEBUG_NAMED( \
      |     ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:262:3: note: expanded from macro 'RCUTILS_LOG_DEBUG_NAMED'
  262 |   RCUTILS_LOG_COND_NAMED( \
      |   ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:76:3: note: expanded from macro 'RCUTILS_LOG_COND_NAMED'
   76 |   do { \
      |   ^
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:117:9: note: Loop condition is false.  Exiting loop
  117 |         RCLCPP_DEBUG(this->get_logger(), "0x%03X [%d] ", ids_[idx], len);
      |         ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/logging.hpp:93:3: note: expanded from macro 'RCLCPP_DEBUG'
   93 |   do { \
      |   ^
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:118:25: note: Assuming 'i' is >= 'len'
  118 |         for (int i = 0; i < len; i++)
      |                         ^~~~~~~
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:118:9: note: Loop condition is false. Execution continues on line 120
  118 |         for (int i = 0; i < len; i++)
      |         ^
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:120:9: note: Assuming 'g_rcutils_logging_initialized' is true
  120 |         RCLCPP_DEBUG(this->get_logger(), "\r\n");
      |         ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/logging.hpp:98:5: note: expanded from macro 'RCLCPP_DEBUG'
   98 |     RCUTILS_LOG_DEBUG_NAMED( \
      |     ^~~~~~~~~~~~~~~~~~~~~~~~~~
   99 |       (logger).get_name(), \
      |       ~~~~~~~~~~~~~~~~~~~~~~
  100 |       __VA_ARGS__); \
      |       ~~~~~~~~~~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:262:3: note: expanded from macro 'RCUTILS_LOG_DEBUG_NAMED'
  262 |   RCUTILS_LOG_COND_NAMED( \
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~
  263 |     RCUTILS_LOG_SEVERITY_DEBUG, \
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  264 |     RCUTILS_LOG_CONDITION_EMPTY, RCUTILS_LOG_CONDITION_EMPTY, name, \
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  265 |     __VA_ARGS__)
      |     ~~~~~~~~~~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:77:5: note: expanded from macro 'RCUTILS_LOG_COND_NAMED'
   77 |     RCUTILS_LOGGING_AUTOINIT; \
      |     ^~~~~~~~~~~~~~~~~~~~~~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging.h:561:3: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT'
  561 |   RCUTILS_LOGGING_AUTOINIT_WITH_ALLOCATOR(rcutils_get_default_allocator())
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging.h:571:26: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT_WITH_ALLOCATOR'
  571 |     if (RCUTILS_UNLIKELY(!g_rcutils_logging_initialized)) { \
      |                          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/macros.h:133:48: note: expanded from macro 'RCUTILS_UNLIKELY'
  133 | # define RCUTILS_UNLIKELY(x) __builtin_expect((x), 0)
      |                                                ^
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:120:9: note: Taking false branch
  120 |         RCLCPP_DEBUG(this->get_logger(), "\r\n");
      |         ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/logging.hpp:98:5: note: expanded from macro 'RCLCPP_DEBUG'
   98 |     RCUTILS_LOG_DEBUG_NAMED( \
      |     ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:262:3: note: expanded from macro 'RCUTILS_LOG_DEBUG_NAMED'
  262 |   RCUTILS_LOG_COND_NAMED( \
      |   ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:77:5: note: expanded from macro 'RCUTILS_LOG_COND_NAMED'
   77 |     RCUTILS_LOGGING_AUTOINIT; \
      |     ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging.h:561:3: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT'
  561 |   RCUTILS_LOGGING_AUTOINIT_WITH_ALLOCATOR(rcutils_get_default_allocator())
      |   ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging.h:571:5: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT_WITH_ALLOCATOR'
  571 |     if (RCUTILS_UNLIKELY(!g_rcutils_logging_initialized)) { \
      |     ^
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:120:9: note: Loop condition is false.  Exiting loop
  120 |         RCLCPP_DEBUG(this->get_logger(), "\r\n");
      |         ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/logging.hpp:98:5: note: expanded from macro 'RCLCPP_DEBUG'
   98 |     RCUTILS_LOG_DEBUG_NAMED( \
      |     ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:262:3: note: expanded from macro 'RCUTILS_LOG_DEBUG_NAMED'
  262 |   RCUTILS_LOG_COND_NAMED( \
      |   ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:77:5: note: expanded from macro 'RCUTILS_LOG_COND_NAMED'
   77 |     RCUTILS_LOGGING_AUTOINIT; \
      |     ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging.h:561:3: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT'
  561 |   RCUTILS_LOGGING_AUTOINIT_WITH_ALLOCATOR(rcutils_get_default_allocator())
      |   ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging.h:570:3: note: expanded from macro 'RCUTILS_LOGGING_AUTOINIT_WITH_ALLOCATOR'
  570 |   do { \
      |   ^
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:120:9: note: Assuming the condition is false
  120 |         RCLCPP_DEBUG(this->get_logger(), "\r\n");
      |         ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/logging.hpp:98:5: note: expanded from macro 'RCLCPP_DEBUG'
   98 |     RCUTILS_LOG_DEBUG_NAMED( \
      |     ^~~~~~~~~~~~~~~~~~~~~~~~~~
   99 |       (logger).get_name(), \
      |       ~~~~~~~~~~~~~~~~~~~~~~
  100 |       __VA_ARGS__); \
      |       ~~~~~~~~~~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:262:3: note: expanded from macro 'RCUTILS_LOG_DEBUG_NAMED'
  262 |   RCUTILS_LOG_COND_NAMED( \
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~
  263 |     RCUTILS_LOG_SEVERITY_DEBUG, \
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  264 |     RCUTILS_LOG_CONDITION_EMPTY, RCUTILS_LOG_CONDITION_EMPTY, name, \
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  265 |     __VA_ARGS__)
      |     ~~~~~~~~~~~~
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:79:9: note: expanded from macro 'RCUTILS_LOG_COND_NAMED'
   79 |     if (rcutils_logging_logger_is_enabled_for(name, severity)) { \
      |         ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:120:9: note: Taking false branch
  120 |         RCLCPP_DEBUG(this->get_logger(), "\r\n");
      |         ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/logging.hpp:98:5: note: expanded from macro 'RCLCPP_DEBUG'
   98 |     RCUTILS_LOG_DEBUG_NAMED( \
      |     ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:262:3: note: expanded from macro 'RCUTILS_LOG_DEBUG_NAMED'
  262 |   RCUTILS_LOG_COND_NAMED( \
      |   ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:79:5: note: expanded from macro 'RCUTILS_LOG_COND_NAMED'
   79 |     if (rcutils_logging_logger_is_enabled_for(name, severity)) { \
      |     ^
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:120:9: note: Loop condition is false.  Exiting loop
  120 |         RCLCPP_DEBUG(this->get_logger(), "\r\n");
      |         ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/logging.hpp:98:5: note: expanded from macro 'RCLCPP_DEBUG'
   98 |     RCUTILS_LOG_DEBUG_NAMED( \
      |     ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:262:3: note: expanded from macro 'RCUTILS_LOG_DEBUG_NAMED'
  262 |   RCUTILS_LOG_COND_NAMED( \
      |   ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rcutils/rcutils/logging_macros.h:76:3: note: expanded from macro 'RCUTILS_LOG_COND_NAMED'
   76 |   do { \
      |   ^
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:120:9: note: Loop condition is false.  Exiting loop
  120 |         RCLCPP_DEBUG(this->get_logger(), "\r\n");
      |         ^
/nix/store/72wpms9v9as0ssnkc3g2jk63ydkq1pgs-ros-env/include/rclcpp/rclcpp/logging.hpp:93:3: note: expanded from macro 'RCLCPP_DEBUG'
   93 |   do { \
      |   ^
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:170:17: note: Returning from 'CanRx::publish_bytes'
  170 |                 publish_bytes(idx, frame.data, frame.can_dlc);
      |                 ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:152:9: note: Loop condition is true.  Entering loop body
  152 |         while (running_.load()) {
      |         ^
/home/runner/work/guppy/guppy/src/guppy_can/src/can_rx.cpp:155:32: note: Call to blocking function 'read' inside of critical section
  155 |             const int nbytes = read(sock_, &frame, sizeof(can_frame));
      |                                ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

src/guppy_control/include/guppy_control/chassis_controller.hpp:18:10: error: [clang-diagnostic-error]

'control_toolbox/control_toolbox/pid.hpp' file not found
```
   18 | #include <control_toolbox/control_toolbox/pid.hpp>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
```

src/guppy_control/src/t200_interface.cpp:11:5: warning: [clang-analyzer-security.insecureAPI.strcpy]

Call to function 'strcpy' is insecure as it does not provide bounding of the memory buffer. Replace unbounded copy functions with analogous functions that support length arguments such as 'strlcpy'. CWE-119

   11 |     std::strcpy(ifr.ifr_name, can_interface_.c_str());
      |     ^~~~~~~~~~~
/home/runner/work/guppy/guppy/src/guppy_control/src/t200_interface.cpp:11:5: note: Call to function 'strcpy' is insecure as it does not provide bounding of the memory buffer. Replace unbounded copy functions with analogous functions that support length arguments such as 'strlcpy'. CWE-119
   11 |     std::strcpy(ifr.ifr_name, can_interface_.c_str());
      |     ^~~~~~~~~~~

src/guppy_localization/src/combine.cpp:45:70: warning: [clang-diagnostic-unused-parameter]

unused parameter 'request'

   45 |             [&](const std::shared_ptr<std_srvs::srv::Empty::Request> request,
      |                                                                      ^

src/guppy_localization/src/combine.cpp:46:70: warning: [clang-diagnostic-unused-parameter]

unused parameter 'response'

   46 |                 std::shared_ptr<std_srvs::srv::Empty::Response>      response) {
      |                                                                      ^

src/guppy_nav/include/guppy_nav/face_detection_behavior.hpp:66:58: warning: [clang-diagnostic-unused-parameter]

unused parameter 'wrapped'

   66 |     BT::NodeStatus onResultReceived(const WrappedResult& wrapped) override {
      |                                                          ^

src/guppy_nav/include/guppy_nav/face_detection_behavior.hpp:85:20: warning: [clang-diagnostic-inconsistent-missing-override]

'onFeedback' overrides a member function but is not marked 'override'

   85 |     BT::NodeStatus onFeedback(const std::shared_ptr<const Feedback> feedback) {
      |                    ^
/home/runner/work/guppy/guppy/install/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp:154:26: note: overridden virtual function is here
  154 |   virtual BT::NodeStatus onFeedback(const std::shared_ptr<const Feedback> /*feedback*/)
      |                          ^

src/guppy_nav/include/guppy_nav/face_detection_behavior.hpp:85:69: warning: [clang-diagnostic-unused-parameter]

unused parameter 'feedback'

   85 |     BT::NodeStatus onFeedback(const std::shared_ptr<const Feedback> feedback) {
      |                                                                     ^

src/guppy_nav/include/guppy_nav/move_toward_behavior.hpp:41:27: warning: [clang-diagnostic-sign-compare]

comparison of integers of different signs: 'int' and 'size_type' (aka 'unsigned long')
```
   41 |         for (int i = 0; i < detection.corners.size(); i++) {
      |                         ~ ^ ~~~~~~~~~~~~~~~~~~~~~~~~
```
src/guppy_nav/include/guppy_nav/move_toward_behavior.hpp:42:35: warning: [clang-diagnostic-sign-compare]

comparison of integers of different signs: 'int' and 'size_type' (aka 'unsigned long')
```
   42 |             for (int j = i + 1; j < detection.corners.size(); j++) {
      |                                 ~ ^ ~~~~~~~~~~~~~~~~~~~~~~~~
```

src/guppy_nav/include/guppy_nav/move_toward_behavior.hpp:90:58: warning: [clang-diagnostic-unused-parameter]

unused parameter 'wrapped'

   90 |     BT::NodeStatus onResultReceived(const WrappedResult& wrapped) override {
      |                                                          ^

src/guppy_nav/include/guppy_nav/move_toward_behavior.hpp:109:20: warning: [clang-diagnostic-inconsistent-missing-override]

'onFeedback' overrides a member function but is not marked 'override'

  109 |     BT::NodeStatus onFeedback(const std::shared_ptr<const Feedback> feedback) {
      |                    ^
/home/runner/work/guppy/guppy/install/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp:154:26: note: overridden virtual function is here
  154 |   virtual BT::NodeStatus onFeedback(const std::shared_ptr<const Feedback> /*feedback*/)
      |                          ^

src/guppy_nav/include/guppy_nav/move_toward_behavior.hpp:109:69: warning: [clang-diagnostic-unused-parameter]

unused parameter 'feedback'

  109 |     BT::NodeStatus onFeedback(const std::shared_ptr<const Feedback> feedback) {
      |                                                                     ^

src/guppy_nav/include/guppy_nav/pose_setter_behavior.hpp:78:20: warning: [clang-diagnostic-inconsistent-missing-override]

'onFeedback' overrides a member function but is not marked 'override'

   78 |     BT::NodeStatus onFeedback(const std::shared_ptr<const Feedback> feedback) {
      |                    ^
/home/runner/work/guppy/guppy/install/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp:154:26: note: overridden virtual function is here
  154 |   virtual BT::NodeStatus onFeedback(const std::shared_ptr<const Feedback> /*feedback*/)
      |                          ^

src/guppy_nav/include/guppy_nav/pose_setter_behavior.hpp:78:69: warning: [clang-diagnostic-unused-parameter]

unused parameter 'feedback'

   78 |     BT::NodeStatus onFeedback(const std::shared_ptr<const Feedback> feedback) {
      |                                                                     ^

src/guppy_nav/src/navigate_action_server.cpp:8:10: error: [clang-diagnostic-error]

'rclcpp_components/register_node_macro.hpp' file not found
```
    8 | #include <rclcpp_components/register_node_macro.hpp>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
```
src/guppy_state/src/state_manager.cpp:106:5: warning: [clang-diagnostic-return-type]

non-void function does not return a value in all control paths
```
  106 |     }
      |     ^
```
src/guppy_vision/src/camera_manager.cpp:22:15: warning: [clang-diagnostic-unused-variable]

unused variable 'nodeMap'
```
   22 |     INodeMap& nodeMap = pCam->GetNodeMap();
      |               ^~~~~~~
```
src/guppy_vision/src/camera_manager.cpp:57:9: warning: [clang-diagnostic-unused-variable]

unused variable 'result'
```
   57 |     int result = 0;
      |         ^~~~~~
```
src/guppy_vision/src/camera_manager.cpp:100:14: warning: [clang-diagnostic-unused-parameter]

unused parameter 'argc'
```
  100 | int main(int argc, char* argv[]) {
      |              ^
```
src/guppy_vision/src/camera_manager.cpp:100:26: warning: [clang-diagnostic-unused-parameter]

unused parameter 'argv'
```
  100 | int main(int argc, char* argv[]) {
      |                          ^
```
src/guppy_vision/src/camera_pub.cpp:22:7: warning: [clang-diagnostic-c]

designated initializers are a C++20 extension
```
   22 |     { .serial = "17473425", .position = "fl" },
      |       ^
```
src/guppy_vision/src/camera_pub.cpp:23:7: warning: [clang-diagnostic-c]

designated initializers are a C++20 extension
```
   23 |     { .serial = "17473424", .position = "fr" },
      |       ^
```
src/guppy_vision/src/camera_pub.cpp:24:7: warning: [clang-diagnostic-c]

designated initializers are a C++20 extension
```
   24 |     { .serial = "14406636", .position = "d"  },
      |       ^
```
src/guppy_vision/src/camera_pub.cpp:25:7: warning: [clang-diagnostic-c]

designated initializers are a C++20 extension
```
   25 |     { .serial = "14406334", .position = "rl" },
      |       ^
```
src/guppy_vision/src/camera_pub.cpp:26:7: warning: [clang-diagnostic-c]

designated initializers are a C++20 extension
```
   26 |     { .serial = "14406637", .position = "rr" },
      |       ^
```
src/guppy_vision/src/camera_pub.cpp:27:7: warning: [clang-diagnostic-c]

designated initializers are a C++20 extension
```
   27 |     { .serial = "20188596", .position = "cl" },
      |       ^
```
src/guppy_vision/src/camera_pub.cpp:28:7: warning: [clang-diagnostic-c]

designated initializers are a C++20 extension
```
   28 |     { .serial = "20188587", .position = "cr" },
      |       ^
```

src/guppy_vision/src/pnp.cpp:44:41: warning: [clang-diagnostic-sign-compare]

comparison of integers of different signs: 'int' and 'size_type' (aka 'unsigned long')

   44 |         for (int result_i = 0; result_i < msg->detections.size(); result_i++) {
      |                                ~~~~~~~~ ^ ~~~~~~~~~~~~~~~~~~~~~~

src/guppy_vision/src/pnp.cpp:49:30: warning: [clang-diagnostic-sign-compare]

comparison of integers of different signs: 'int' and 'size_type' (aka 'unsigned long')
```
   49 |                  dimension_i < detection.dimension_points.size();
      |                  ~~~~~~~~~~~ ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
```

src/guppy_vision/src/pnp.cpp:56:45: warning: [clang-diagnostic-sign-compare]

comparison of integers of different signs: 'int' and 'size_type' (aka 'unsigned long')

   56 |             for (int corner_i = 0; corner_i < detection.corners.size();
      |                                    ~~~~~~~~ ^ ~~~~~~~~~~~~~~~~~~~~~~~~

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cole-wilson added 3 commits August 28, 2026 19:56

feat: ci

8bfcc4f

fix: test some bad commit message

72c99ed

fix: format

0f7a885

cole-wilson requested review from andy-sorge and ryden-handsaker as code owners August 28, 2026 20:35

feat: fast fail on CI Lint

99d7d8c

cole-wilson force-pushed the cole/ci branch from e8bd089 to 99d7d8c Compare August 28, 2026 20:45

cole-wilson added 4 commits August 28, 2026 20:55

fix: python lint

e5b5c78

fix: clang format

a20cfcf

fix: lint

a69944b

fix: ryden-format

ab88138

cole-wilson marked this pull request as draft August 30, 2026 09:08

feat: clang tidy

bd92194

cole-wilson marked this pull request as ready for review August 31, 2026 04:23

cole-wilson added 7 commits August 31, 2026 04:28

feat: PR template

1c970b8

Merge remote-tracking branch 'origin/andy/nix' into cole/ci

7277907

fix: duplicate clang-format

43ebb09

feat: credit is due

bbf5b0f

fix: add build db

34f7242

feat: cache build for lint

f338a49

fix: metadata

80868ad