add clang tidy check

CMakeLists.txt

@@ -1,12 +1,17 @@
 cmake_minimum_required(VERSION 3.25)
 project(mrover VERSION 2025.0.0 LANGUAGES C CXX)
 
+# Supress ROS CMake warning about Python.
+cmake_policy(SET CMP0148 OLD)
+
 set(CMAKE_CXX_STANDARD 23)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 # Generate compile_commands.json for clangd language server.
 # Can be used by VSCode, CLion, VIM, etc.
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
+option(MROVER_CLANG_TIDY "Enable static analysis with Clang tidy" OFF)
+
 if (APPLE)
     # Ensures that homebrew packages are never used over miniforge packages.
     set(CMAKE_IGNORE_PATH /opt/homebrew)
@@ -15,6 +20,21 @@ if (APPLE)
     link_libraries(${PYTHON_LIBRARIES})
 endif ()
 
+if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic -Wno-missing-field-initializers -Wno-deprecated-declarations)
+
+    if (NOT APPLE)
+        # Try to use LLD instead of the system linker (which is usually GNU ld).
+        # LLD is faster and uses less memory.
+        # Could look into using mold which should be even faster.
+        find_program(LLD_PROGRAM lld)
+        if (LLD_PROGRAM)
+            message(STATUS "Using lld linker")
+            add_link_options(-fuse-ld=lld-18)
+        endif()
+    endif ()
+endif ()
+
 # Ccache is a compiler cache.
 # It speeds up recompilation by caching previous compilations and detecting when the same compilation is being done again.
 # It is global, so even if you delete the build directory, it will still work.
@@ -26,20 +46,6 @@ if (CCACHE_FOUND)
     set(CMAKE_CUDA_COMPILER_LAUNCHER ccache)
 endif ()
 
-if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Wall -Wextra -Wpedantic -Wno-missing-field-initializers -Wno-deprecated-declarations)
-
-    # Try to use LLD instead of the system linker (which is usually GNU ld).
-    # LLD is faster and uses less memory.
-    # Could look into using mold which should be even faster.
-    find_program(LLD_18_FOUND lld-18)
-    if (LLD_18_FOUND)
-        message(STATUS "Using lld-18 linker")
-        add_link_options(-fuse-ld=lld-18)
-    endif()
-endif ()
-
-
 
 ## Dependencies
 

cmake/macros.cmake

@@ -1,28 +1,45 @@
+find_program(CLANG_TIDY_PROGRAM clang-tidy-18)
+
+# General macro to enable properties for MRover targets (and not 3rd party).
+macro(mrover_target name)
+    if (MROVER_CLANG_TIDY)
+        if (NOT CLANG_TIDY_PROGRAM)
+            message(FATAL_ERROR "Clang tidy requested but executable not found")
+        endif ()
+        message(STATUS "Enabling static analysis for target ${name}")
+        set_target_properties(${name} PROPERTIES CXX_CLANG_TIDY "${CLANG_TIDY_PROGRAM}")
+    endif ()
+endmacro()
+
 macro(mrover_add_header_only_library name includes)
     add_library(${name} INTERFACE)
+    mrover_target(${name})
     target_include_directories(${name} INTERFACE ${includes})
 endmacro()
 
 macro(mrover_add_library name sources includes)
     file(GLOB_RECURSE LIBRARY_SOURCES CONFIGURE_DEPENDS ${sources})
     add_library(${name} ${ARGV3} ${LIBRARY_SOURCES})
+    mrover_target(${name})
     target_include_directories(${name} PUBLIC ${includes})
 endmacro()
 
 macro(mrover_add_component name sources includes)
     file(GLOB_RECURSE LIBRARY_SOURCES CONFIGURE_DEPENDS ${sources})
     add_library(${name} SHARED ${ARGV3} ${LIBRARY_SOURCES})
+    mrover_target(${name})
     target_compile_definitions(${name} PRIVATE "COMPOSITION_BUILDING_DLL")
-
-endmacro()
+endmacro()  
 
 macro(mrover_add_node name sources)
     file(GLOB_RECURSE NODE_SOURCES CONFIGURE_DEPENDS ${sources})
     add_executable(${name} ${NODE_SOURCES})
+    mrover_target(${name})
     if (ARGV3)
         target_precompile_headers(${name} PRIVATE ${ARGV3})
     endif ()
-    rosidl_target_interfaces(${name} ${PROJECT_NAME} rosidl_typesupport_cpp)
+    rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} rosidl_typesupport_cpp)
+    target_link_libraries(${name} ${cpp_typesupport_target})
     install(
             TARGETS ${name}
             DESTINATION lib/${PROJECT_NAME}

esw/can_bridge/can_net_link.cpp

@@ -2,7 +2,7 @@
 
 namespace mrover {
 
-    CanNetLink::CanNetLink(rclcpp::Logger logger, std::string interface)
+    CanNetLink::CanNetLink(rclcpp::Logger const& logger, std::string interface)
         : mInterface{std::move(interface)} {
 
         try {

esw/can_bridge/can_net_link.hpp

@@ -8,7 +8,7 @@ namespace mrover {
 
         CanNetLink() = default;
 
-        CanNetLink(rclcpp::Logger logger, std::string);
+        CanNetLink(rclcpp::Logger const& logger, std::string);
 
         CanNetLink(CanNetLink const&) = delete;
         auto operator=(CanNetLink const&) -> CanNetLink& = delete;

simulator/simulator.hpp

@@ -70,7 +70,7 @@ namespace mrover {
         // https://en.cppreference.com/w/cpp/thread/future
         std::future<decltype(meshes)> asyncMeshesLoader;
 
-        Model(Simulator& logger, std::string_view uri);
+        Model(Simulator& simulator, std::string_view uri);
 
         auto waitMeshes() -> void;
 

simulator/simulator.render.cpp

@@ -449,6 +449,7 @@ namespace mrover {
     auto Simulator::renderModels(wgpu::RenderPassEncoder& pass) -> void {
         for (auto& [_, urdf]: mUrdfs) {
 
+            // NOLINTNEXTLINE(misc-no-recursion)
             auto renderLink = [&](auto&& self, urdf::LinkConstSharedPtr const& link) -> void {
                 for (std::size_t visualIndex = 0; urdf::VisualSharedPtr const& visual: link->visual_array) {
                     if (auto urdfMesh = std::dynamic_pointer_cast<urdf::Mesh>(visual->geometry)) {
@@ -476,6 +477,7 @@ namespace mrover {
 
         for (auto& [_, urdf]: mUrdfs) {
 
+            // NOLINTNEXTLINE(misc-no-recursion)
             auto renderLink = [&](auto&& self, urdf::LinkConstSharedPtr const& link) -> void {
                 URDF::LinkMeta& meta = urdf.linkNameToMeta.at(link->name);