From 009783e47aac6d46ae4be7b8acfc64536b880c9b Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Wed, 10 Jan 2024 18:26:50 +0100
Subject: [PATCH 01/20] Added code coverage flags in CMakeLists.txt

---
 CMakeLists.txt | 30 ++++++++++++++++++------------
 1 file changed, 18 insertions(+), 12 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3ceecc3..3a589d4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -85,9 +85,9 @@ if (GLOG_FOUND AND catkin_FOUND AND LPP_BUILD_TESTS)
                 test/glog/test_glog_vlog.cc)
 
         target_include_directories(${GLOG_TESTS} PRIVATE ${LPP_INCLUDE_DIRECTORIES} test/glog)
-        target_link_libraries(${GLOG_TESTS} glog gtest ${catkin_LIBRARIES})
+        target_link_libraries(${GLOG_TESTS} glog gtest ${catkin_LIBRARIES} gcov)
         target_compile_definitions(${GLOG_TESTS} PRIVATE MODE_GLOG)
-        target_compile_options(${GLOG_TESTS} PRIVATE "-fcompare-debug-second")
+        target_compile_options(${GLOG_TESTS} PRIVATE ${CMAKE_CXX_FLAGS} "-fprofile-arcs" "-ftest-coverage")
 
         ##### Log++ Tests #####
         set(LPP_TESTS "test_lpp")
@@ -101,9 +101,9 @@ if (GLOG_FOUND AND catkin_FOUND AND LPP_BUILD_TESTS)
                 test/lpp/test_lpp_vlog.cc)
 
         target_include_directories(${LPP_TESTS} PRIVATE ${LPP_INCLUDE_DIRECTORIES} test/lpp)
-        target_link_libraries(${LPP_TESTS} glog gtest ${catkin_LIBRARIES})
+        target_link_libraries(${LPP_TESTS} glog gtest ${catkin_LIBRARIES} gcov)
         target_compile_definitions(${LPP_TESTS} PRIVATE MODE_LPP)
-        target_compile_options(${LPP_TESTS} PRIVATE "-fcompare-debug-second")
+        target_compile_options(${LPP_TESTS} PRIVATE "-fprofile-arcs" "-ftest-coverage")
 
         ##### Log++ Custom Output Tests #####
         set(LPP_TESTS_CUSTOM "test_lpp_custom")
@@ -118,9 +118,9 @@ if (GLOG_FOUND AND catkin_FOUND AND LPP_BUILD_TESTS)
                 test/lpp/custom/test_lpp_custom_vlog.cc)
 
         target_include_directories(${LPP_TESTS_CUSTOM} PRIVATE ${LPP_INCLUDE_DIRECTORIES} test/lpp)
-        target_link_libraries(${LPP_TESTS_CUSTOM} glog gtest ${catkin_LIBRARIES})
+        target_link_libraries(${LPP_TESTS_CUSTOM} glog gtest ${catkin_LIBRARIES} gcov)
         target_compile_definitions(${LPP_TESTS_CUSTOM} PRIVATE MODE_LPP)
-        target_compile_options(${LPP_TESTS_CUSTOM} PRIVATE "-fcompare-debug-second")
+        target_compile_options(${LPP_TESTS_CUSTOM} PRIVATE "-fprofile-arcs" "-ftest-coverage")
 
         ##### Roslog Tests #####
         set(ROSLOG_TESTS "test_roslog")
@@ -134,9 +134,9 @@ if (GLOG_FOUND AND catkin_FOUND AND LPP_BUILD_TESTS)
                 test/roslog/test_roslog_vlog.cc)
 
         target_include_directories(${ROSLOG_TESTS} PRIVATE ${LPP_INCLUDE_DIRECTORIES} test/roslog)
-        target_link_libraries(${ROSLOG_TESTS} glog gtest ${catkin_LIBRARIES})
+        target_link_libraries(${ROSLOG_TESTS} glog gtest ${catkin_LIBRARIES} gcov)
         target_compile_definitions(${ROSLOG_TESTS} PRIVATE MODE_ROSLOG)
-        target_compile_options(${ROSLOG_TESTS} PRIVATE "-fcompare-debug-second")
+        target_compile_options(${ROSLOG_TESTS} PRIVATE "-fprofile-arcs" "-ftest-coverage")
 
         ##### Default Tests #####
         set(DEFAULT_TESTS "test_default")
@@ -153,9 +153,9 @@ if (GLOG_FOUND AND catkin_FOUND AND LPP_BUILD_TESTS)
                 test/default/test_severity_conversions.cc)
 
         target_include_directories(${DEFAULT_TESTS} PRIVATE ${LPP_INCLUDE_DIRECTORIES} test/default)
-        target_link_libraries(${DEFAULT_TESTS} glog gtest ${catkin_LIBRARIES})
+        target_link_libraries(${DEFAULT_TESTS} glog gtest ${catkin_LIBRARIES} gcov)
         target_compile_definitions(${DEFAULT_TESTS} PRIVATE MODE_DEFAULT)
-        target_compile_options(${DEFAULT_TESTS} PRIVATE "-fcompare-debug-second")
+        target_compile_options(${DEFAULT_TESTS} PRIVATE "-fprofile-arcs" "-ftest-coverage")
 
         ##### Nolog Tests #####
         set(NOLOG_TESTS "test_nolog")
@@ -171,7 +171,13 @@ if (GLOG_FOUND AND catkin_FOUND AND LPP_BUILD_TESTS)
         )
 
         target_include_directories(${NOLOG_TESTS} PRIVATE ${LPP_INCLUDE_DIRECTORIES} test/nolog)
-        target_link_libraries(${NOLOG_TESTS} glog gtest ${catkin_LIBRARIES})
+        target_link_libraries(${NOLOG_TESTS} glog gtest ${catkin_LIBRARIES} gcov)
         target_compile_definitions(${NOLOG_TESTS} PRIVATE MODE_NOLOG)
-        target_compile_options(${NOLOG_TESTS} PRIVATE "-fcompare-debug-second")
+        target_compile_options(${NOLOG_TESTS} PRIVATE "-fprofile-arcs" "-ftest-coverage")
+
+        add_custom_target(coverage
+                COMMAND mkdir coverage && cd coverage && gcovr -r ${CMAKE_SOURCE_DIR} --html --html-details -o coverage.html
+                COMMENT "Generating coverage report"
+                WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+        )
 endif ()

From 2699296413b80f9974074a74562d0e27f313694e Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Wed, 10 Jan 2024 18:31:40 +0100
Subject: [PATCH 02/20] Added coverage report workflow

---
 .github/workflows/coverage_report.yml | 64 +++++++++++++++++++++++++++
 1 file changed, 64 insertions(+)
 create mode 100644 .github/workflows/coverage_report.yml

diff --git a/.github/workflows/coverage_report.yml b/.github/workflows/coverage_report.yml
new file mode 100644
index 0000000..c43430c
--- /dev/null
+++ b/.github/workflows/coverage_report.yml
@@ -0,0 +1,64 @@
+name: Coverage report
+on:
+  push:
+      branches:
+      - "master"
+      - "feature/coverage"
+
+jobs:
+  deploy:
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.url }}
+    runs-on: [self-hosted, linux]
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro: ['noetic']
+        gcc: ['10']
+        cxx: ['17']
+    container: ros:${{ matrix.rosdistro }}-ros-base-focal
+    steps:
+      - uses: actions/checkout@v3
+        name: Checkout lpp
+        with:
+          repository: ethz-asl/lpp
+          token: ${{ secrets.PAT }}
+          path: catkin_ws/src/lpp
+
+      - name: Install newest git version
+        run: sudo apt update && sudo apt-get install -y software-properties-common && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
+
+      - name: Install GCC version ${{ matrix.gcc }}
+        run: sudo add-apt-repository ppa:ubuntu-toolchain-r/ppa -y && sudo apt update && sudo apt install -y gcc-${{ matrix.gcc }} g++-${{ matrix.gcc }} && sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-${{ matrix.gcc }} 100 --slave /usr/bin/g++ g++ /usr/bin/g++-${{ matrix.gcc }}
+
+      - name: Install catkin tools
+        run: sudo apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-catkin-tools
+
+      - name: Install system dependencies
+        run: sudo apt install -y libgoogle-glog-dev
+
+      - name: Install gcovr
+        run: sudo apt install -y gcovr
+
+      - name: Build lpp
+        run: mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE="Debug" -DENABLE_COVERAGE=1 && make
+        working-directory: catkin_ws/src/lpp
+        shell: bash
+
+      - name: Run unittests
+        run: ./test_default && ./test_glog && ./test_lpp && ./test_lpp_custom && ./test_nolog && ./test_roslog
+        working-directory: catkin_ws/src/lpp/build/devel/lib/lpp
+        shell: bash
+
+      - name: Generate coverage report
+        run: make coverage
+        working-directory: catkin_ws/src/lpp/build
+
+      - name: Upload artifact
+        uses: actions/upload-pages-artifact@v3
+        with:
+            path: ${{runner.temp}}/catkin_ws/src/lpp/build/coverage"
+
+
+

From 80d260a9c3f35176c20fcc34e20c5e1abccbcc6d Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Wed, 10 Jan 2024 18:44:31 +0100
Subject: [PATCH 03/20] Source ros in coverage_report.yml

---
 .github/workflows/coverage_report.yml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/coverage_report.yml b/.github/workflows/coverage_report.yml
index c43430c..9084001 100644
--- a/.github/workflows/coverage_report.yml
+++ b/.github/workflows/coverage_report.yml
@@ -41,6 +41,9 @@ jobs:
       - name: Install gcovr
         run: sudo apt install -y gcovr
 
+      - name: Source ROS
+        run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash
+
       - name: Build lpp
         run: mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE="Debug" -DENABLE_COVERAGE=1 && make
         working-directory: catkin_ws/src/lpp

From edddd23fb0f56e0b22e90b44da6a5615103b6943 Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Wed, 10 Jan 2024 18:53:10 +0100
Subject: [PATCH 04/20] Use bash shell

---
 .github/workflows/coverage_report.yml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/coverage_report.yml b/.github/workflows/coverage_report.yml
index 9084001..cc490f7 100644
--- a/.github/workflows/coverage_report.yml
+++ b/.github/workflows/coverage_report.yml
@@ -7,6 +7,7 @@ on:
 
 jobs:
   deploy:
+    name: Deploy coverage report
     environment:
       name: github-pages
       url: ${{ steps.deployment.outputs.url }}
@@ -43,6 +44,8 @@ jobs:
 
       - name: Source ROS
         run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash
+        working-directory: catkin_ws
+        shell: bash
 
       - name: Build lpp
         run: mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE="Debug" -DENABLE_COVERAGE=1 && make

From 12f740edc0c893e748e395fb3726666c6c8b8817 Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Wed, 10 Jan 2024 19:04:02 +0100
Subject: [PATCH 05/20] Merge source ROS with build step

---
 .github/workflows/coverage_report.yml | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/.github/workflows/coverage_report.yml b/.github/workflows/coverage_report.yml
index cc490f7..5909a01 100644
--- a/.github/workflows/coverage_report.yml
+++ b/.github/workflows/coverage_report.yml
@@ -42,13 +42,8 @@ jobs:
       - name: Install gcovr
         run: sudo apt install -y gcovr
 
-      - name: Source ROS
-        run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash
-        working-directory: catkin_ws
-        shell: bash
-
       - name: Build lpp
-        run: mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE="Debug" -DENABLE_COVERAGE=1 && make
+        run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE="Debug" -DENABLE_COVERAGE=1 && make
         working-directory: catkin_ws/src/lpp
         shell: bash
 

From 6fca6ebabf42b874f02a1e97340f45cb2ad4cb6c Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Wed, 10 Jan 2024 19:04:55 +0100
Subject: [PATCH 06/20] Temporarily disabled CI matrix build

---
 .github/workflows/cpp_ubuntu20_04.yml | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/.github/workflows/cpp_ubuntu20_04.yml b/.github/workflows/cpp_ubuntu20_04.yml
index d588868..d64b6cb 100644
--- a/.github/workflows/cpp_ubuntu20_04.yml
+++ b/.github/workflows/cpp_ubuntu20_04.yml
@@ -1,8 +1,5 @@
 name: lpp
 on:
-  pull_request:
-    branches:
-      - "master"
   push:
     branches:
       - "master"

From 53a7ef564509543df8f633d12398562e783b81c9 Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Wed, 10 Jan 2024 19:09:38 +0100
Subject: [PATCH 07/20] Also source before building unittests without catkin

---
 .github/workflows/coverage_report.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/coverage_report.yml b/.github/workflows/coverage_report.yml
index 5909a01..9c111fc 100644
--- a/.github/workflows/coverage_report.yml
+++ b/.github/workflows/coverage_report.yml
@@ -48,7 +48,7 @@ jobs:
         shell: bash
 
       - name: Run unittests
-        run: ./test_default && ./test_glog && ./test_lpp && ./test_lpp_custom && ./test_nolog && ./test_roslog
+        run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && ./test_default && ./test_glog && ./test_lpp && ./test_lpp_custom && ./test_nolog && ./test_roslog
         working-directory: catkin_ws/src/lpp/build/devel/lib/lpp
         shell: bash
 

From 8f016da19b0b5c6d6209eb78af779ff2a1b1a38e Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Wed, 10 Jan 2024 19:17:29 +0100
Subject: [PATCH 08/20] Fixed relative path

---
 .github/workflows/coverage_report.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/coverage_report.yml b/.github/workflows/coverage_report.yml
index 9c111fc..ec02da0 100644
--- a/.github/workflows/coverage_report.yml
+++ b/.github/workflows/coverage_report.yml
@@ -59,7 +59,7 @@ jobs:
       - name: Upload artifact
         uses: actions/upload-pages-artifact@v3
         with:
-            path: ${{runner.temp}}/catkin_ws/src/lpp/build/coverage"
+            path: ${{runner.temp}}/../lpp/lpp/catkin_ws/src/lpp/build/coverage"
 
 
 

From e911f588af217a5c595fef3f1f08cc92b0d23d21 Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Wed, 10 Jan 2024 19:27:45 +0100
Subject: [PATCH 09/20] test with default path

---
 .github/workflows/coverage_report.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/coverage_report.yml b/.github/workflows/coverage_report.yml
index ec02da0..a9cb858 100644
--- a/.github/workflows/coverage_report.yml
+++ b/.github/workflows/coverage_report.yml
@@ -59,7 +59,7 @@ jobs:
       - name: Upload artifact
         uses: actions/upload-pages-artifact@v3
         with:
-            path: ${{runner.temp}}/../lpp/lpp/catkin_ws/src/lpp/build/coverage"
+            path: .
 
 
 

From 406a81d535be00a27a386ad69f83a832a1b592f8 Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Wed, 10 Jan 2024 19:32:21 +0100
Subject: [PATCH 10/20] Fixed artifact path

---
 .github/workflows/coverage_report.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/coverage_report.yml b/.github/workflows/coverage_report.yml
index a9cb858..27e47a8 100644
--- a/.github/workflows/coverage_report.yml
+++ b/.github/workflows/coverage_report.yml
@@ -59,7 +59,7 @@ jobs:
       - name: Upload artifact
         uses: actions/upload-pages-artifact@v3
         with:
-            path: .
+            path: ./catkin_ws/src/lpp/build/coverage
 
 
 

From 41e1bcbbeb284390b3f7f4178c29817dc8ab1f58 Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Wed, 10 Jan 2024 20:01:27 +0100
Subject: [PATCH 11/20] Added Deploy to Github pages steps

---
 .github/workflows/coverage_report.yml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/.github/workflows/coverage_report.yml b/.github/workflows/coverage_report.yml
index 27e47a8..a9ed4bf 100644
--- a/.github/workflows/coverage_report.yml
+++ b/.github/workflows/coverage_report.yml
@@ -61,5 +61,9 @@ jobs:
         with:
             path: ./catkin_ws/src/lpp/build/coverage
 
+      - name: Deploy to Github pages
+        uses: actions/deploy-pages@v4
+        id: deployment
+
 
 

From 510a02d4804e0020b47ecd2c4954d302f21e1b0b Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Wed, 10 Jan 2024 20:07:48 +0100
Subject: [PATCH 12/20] Fix permissions

---
 .github/workflows/coverage_report.yml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/coverage_report.yml b/.github/workflows/coverage_report.yml
index a9ed4bf..e3129e2 100644
--- a/.github/workflows/coverage_report.yml
+++ b/.github/workflows/coverage_report.yml
@@ -19,6 +19,9 @@ jobs:
         gcc: ['10']
         cxx: ['17']
     container: ros:${{ matrix.rosdistro }}-ros-base-focal
+    permissions:
+      pages: write      # to deploy to Pages
+      id-token: write   # to verify the deployment originates from an appropriate source
     steps:
       - uses: actions/checkout@v3
         name: Checkout lpp

From bdb98f5b59801b13f8c263824b42f6a68b295102 Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Thu, 11 Jan 2024 00:11:02 +0100
Subject: [PATCH 13/20] Only deploy coverage report on push to master, added
 Print Coverage step

---
 .github/workflows/coverage_report.yml | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/.github/workflows/coverage_report.yml b/.github/workflows/coverage_report.yml
index e3129e2..c960e39 100644
--- a/.github/workflows/coverage_report.yml
+++ b/.github/workflows/coverage_report.yml
@@ -55,16 +55,23 @@ jobs:
         working-directory: catkin_ws/src/lpp/build/devel/lib/lpp
         shell: bash
 
+      - name: Print coverage
+        run: gcovr
+        working-directory: catkin_ws/src/lpp
+
       - name: Generate coverage report
+        if: github.ref == 'refs/heads/master'
         run: make coverage
         working-directory: catkin_ws/src/lpp/build
 
       - name: Upload artifact
+        if: github.ref == 'refs/heads/master'
         uses: actions/upload-pages-artifact@v3
         with:
             path: ./catkin_ws/src/lpp/build/coverage
 
       - name: Deploy to Github pages
+        if: github.ref == 'refs/heads/master'
         uses: actions/deploy-pages@v4
         id: deployment
 

From 5fe0ba1c2b7b351c37a01a4a33f48a32871d0594 Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Thu, 11 Jan 2024 00:21:18 +0100
Subject: [PATCH 14/20] Moved coverage deployment to different workflow

---
 .github/workflows/coverage_report.yml        | 25 ++-----
 .github/workflows/deploy_coverage_report.yml | 71 ++++++++++++++++++++
 2 files changed, 76 insertions(+), 20 deletions(-)
 create mode 100644 .github/workflows/deploy_coverage_report.yml

diff --git a/.github/workflows/coverage_report.yml b/.github/workflows/coverage_report.yml
index c960e39..76f17d4 100644
--- a/.github/workflows/coverage_report.yml
+++ b/.github/workflows/coverage_report.yml
@@ -1,13 +1,14 @@
-name: Coverage report
 on:
+  pull_request:
+    branches:
+      - "master"
   push:
       branches:
       - "master"
-      - "feature/coverage"
 
 jobs:
-  deploy:
-    name: Deploy coverage report
+  build:
+    name: Generate coverage report
     environment:
       name: github-pages
       url: ${{ steps.deployment.outputs.url }}
@@ -59,21 +60,5 @@ jobs:
         run: gcovr
         working-directory: catkin_ws/src/lpp
 
-      - name: Generate coverage report
-        if: github.ref == 'refs/heads/master'
-        run: make coverage
-        working-directory: catkin_ws/src/lpp/build
-
-      - name: Upload artifact
-        if: github.ref == 'refs/heads/master'
-        uses: actions/upload-pages-artifact@v3
-        with:
-            path: ./catkin_ws/src/lpp/build/coverage
-
-      - name: Deploy to Github pages
-        if: github.ref == 'refs/heads/master'
-        uses: actions/deploy-pages@v4
-        id: deployment
-
 
 
diff --git a/.github/workflows/deploy_coverage_report.yml b/.github/workflows/deploy_coverage_report.yml
new file mode 100644
index 0000000..2734c57
--- /dev/null
+++ b/.github/workflows/deploy_coverage_report.yml
@@ -0,0 +1,71 @@
+name: Coverage report
+on:
+  push:
+    branches:
+      - "master"
+
+jobs:
+  deploy:
+    name: Deploy coverage report
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.url }}
+    runs-on: [self-hosted, linux]
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro: ['noetic']
+        gcc: ['10']
+        cxx: ['17']
+    container: ros:${{ matrix.rosdistro }}-ros-base-focal
+    permissions:
+      pages: write      # to deploy to Pages
+      id-token: write   # to verify the deployment originates from an appropriate source
+    steps:
+      - uses: actions/checkout@v3
+        name: Checkout lpp
+        with:
+          repository: ethz-asl/lpp
+          token: ${{ secrets.PAT }}
+          path: catkin_ws/src/lpp
+
+      - name: Install newest git version
+        run: sudo apt update && sudo apt-get install -y software-properties-common && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
+
+      - name: Install GCC version ${{ matrix.gcc }}
+        run: sudo add-apt-repository ppa:ubuntu-toolchain-r/ppa -y && sudo apt update && sudo apt install -y gcc-${{ matrix.gcc }} g++-${{ matrix.gcc }} && sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-${{ matrix.gcc }} 100 --slave /usr/bin/g++ g++ /usr/bin/g++-${{ matrix.gcc }}
+
+      - name: Install catkin tools
+        run: sudo apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-catkin-tools
+
+      - name: Install system dependencies
+        run: sudo apt install -y libgoogle-glog-dev
+
+      - name: Install gcovr
+        run: sudo apt install -y gcovr
+
+      - name: Build lpp
+        run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE="Debug" -DENABLE_COVERAGE=1 && make
+        working-directory: catkin_ws/src/lpp
+        shell: bash
+
+      - name: Run unittests
+        run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && ./test_default && ./test_glog && ./test_lpp && ./test_lpp_custom && ./test_nolog && ./test_roslog
+        working-directory: catkin_ws/src/lpp/build/devel/lib/lpp
+        shell: bash
+
+      - name: Generate coverage report
+        run: make coverage
+        working-directory: catkin_ws/src/lpp/build
+
+      - name: Upload artifact
+        uses: actions/upload-pages-artifact@v3
+        with:
+          path: ./catkin_ws/src/lpp/build/coverage
+
+      - name: Deploy to Github pages
+        uses: actions/deploy-pages@v4
+        id: deployment
+
+
+

From 04c5ff3f892d0a4eb16b0f7478903405c8a54129 Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Thu, 11 Jan 2024 00:22:02 +0100
Subject: [PATCH 15/20] Removed environment and permissions

---
 .github/workflows/coverage_report.yml | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/.github/workflows/coverage_report.yml b/.github/workflows/coverage_report.yml
index 76f17d4..7e6b230 100644
--- a/.github/workflows/coverage_report.yml
+++ b/.github/workflows/coverage_report.yml
@@ -9,9 +9,6 @@ on:
 jobs:
   build:
     name: Generate coverage report
-    environment:
-      name: github-pages
-      url: ${{ steps.deployment.outputs.url }}
     runs-on: [self-hosted, linux]
     strategy:
       fail-fast: false
@@ -20,9 +17,6 @@ jobs:
         gcc: ['10']
         cxx: ['17']
     container: ros:${{ matrix.rosdistro }}-ros-base-focal
-    permissions:
-      pages: write      # to deploy to Pages
-      id-token: write   # to verify the deployment originates from an appropriate source
     steps:
       - uses: actions/checkout@v3
         name: Checkout lpp

From 24114db480707eec09a0b2006e4945a3777a1e22 Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Thu, 11 Jan 2024 00:23:02 +0100
Subject: [PATCH 16/20] Fixed name in coverage_report.yml

---
 .github/workflows/coverage_report.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/coverage_report.yml b/.github/workflows/coverage_report.yml
index 7e6b230..2c623a4 100644
--- a/.github/workflows/coverage_report.yml
+++ b/.github/workflows/coverage_report.yml
@@ -1,3 +1,4 @@
+name: Generate coverage report
 on:
   pull_request:
     branches:
@@ -8,7 +9,6 @@ on:
 
 jobs:
   build:
-    name: Generate coverage report
     runs-on: [self-hosted, linux]
     strategy:
       fail-fast: false

From 4cdcc28cd68fd394e62d5f0f3e727a1fbbf2a9c3 Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Thu, 11 Jan 2024 00:23:58 +0100
Subject: [PATCH 17/20] Re-enabled CI matrix build

---
 .github/workflows/cpp_ubuntu20_04.yml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/cpp_ubuntu20_04.yml b/.github/workflows/cpp_ubuntu20_04.yml
index d64b6cb..d588868 100644
--- a/.github/workflows/cpp_ubuntu20_04.yml
+++ b/.github/workflows/cpp_ubuntu20_04.yml
@@ -1,5 +1,8 @@
 name: lpp
 on:
+  pull_request:
+    branches:
+      - "master"
   push:
     branches:
       - "master"

From 9274ea29f244e645c82b4ffb3c69b69aee1e8c57 Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Thu, 11 Jan 2024 00:32:55 +0100
Subject: [PATCH 18/20] Added badge and link to code coverage report

---
 README.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/README.md b/README.md
index f71b551..ef4bee5 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,7 @@
 # Log++ Logging framework
+[![lpp](https://github.com/ethz-asl/lpp/actions/workflows/cpp_ubuntu20_04.yml/badge.svg)](https://github.com/ethz-asl/lpp/actions/workflows/cpp_ubuntu20_04.yml)
 
+[Latest Code Coverage Report](https://ethz-asl.github.io/lpp/coverage.html) (master branch)
 
 ![](docs/Log++.svg)
 ***

From d09bcc2ed122349dfee6c2c284fa48ce6804cbe0 Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Thu, 11 Jan 2024 00:47:35 +0100
Subject: [PATCH 19/20] Added enable coverage switch in CMakeLists.txt

---
 CMakeLists.txt | 19 +++++++++++++------
 1 file changed, 13 insertions(+), 6 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3a589d4..25b6377 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,6 +6,13 @@ if (${CMAKE_PROJECT_NAME} STREQUAL ${PROJECT_NAME})
         set(LPP_BUILD_TESTS 1)
 endif ()
 
+if (ENABLE_COVERAGE)
+        set(LPP_TEST_CXX_FLAGS ${CMAKE_CXX_FLAGS} -g -O0 -fprofile-arcs -ftest-coverage)
+        message(STATUS "Coverage enabled")
+else ()
+        set(LPP_TEST_CXX_FLAGS ${CMAKE_CXX_FLAGS} -fcompare-debug-second)
+endif ()
+
 # Set standard of top level project or C++17
 if (NOT DEFINED CMAKE_CXX_STANDARD)
         set(CMAKE_CXX_STANDARD 17)
@@ -87,7 +94,7 @@ if (GLOG_FOUND AND catkin_FOUND AND LPP_BUILD_TESTS)
         target_include_directories(${GLOG_TESTS} PRIVATE ${LPP_INCLUDE_DIRECTORIES} test/glog)
         target_link_libraries(${GLOG_TESTS} glog gtest ${catkin_LIBRARIES} gcov)
         target_compile_definitions(${GLOG_TESTS} PRIVATE MODE_GLOG)
-        target_compile_options(${GLOG_TESTS} PRIVATE ${CMAKE_CXX_FLAGS} "-fprofile-arcs" "-ftest-coverage")
+        target_compile_options(${GLOG_TESTS} PRIVATE ${LPP_TEST_CXX_FLAGS})
 
         ##### Log++ Tests #####
         set(LPP_TESTS "test_lpp")
@@ -103,7 +110,7 @@ if (GLOG_FOUND AND catkin_FOUND AND LPP_BUILD_TESTS)
         target_include_directories(${LPP_TESTS} PRIVATE ${LPP_INCLUDE_DIRECTORIES} test/lpp)
         target_link_libraries(${LPP_TESTS} glog gtest ${catkin_LIBRARIES} gcov)
         target_compile_definitions(${LPP_TESTS} PRIVATE MODE_LPP)
-        target_compile_options(${LPP_TESTS} PRIVATE "-fprofile-arcs" "-ftest-coverage")
+        target_compile_options(${LPP_TESTS} PRIVATE ${LPP_TEST_CXX_FLAGS})
 
         ##### Log++ Custom Output Tests #####
         set(LPP_TESTS_CUSTOM "test_lpp_custom")
@@ -120,7 +127,7 @@ if (GLOG_FOUND AND catkin_FOUND AND LPP_BUILD_TESTS)
         target_include_directories(${LPP_TESTS_CUSTOM} PRIVATE ${LPP_INCLUDE_DIRECTORIES} test/lpp)
         target_link_libraries(${LPP_TESTS_CUSTOM} glog gtest ${catkin_LIBRARIES} gcov)
         target_compile_definitions(${LPP_TESTS_CUSTOM} PRIVATE MODE_LPP)
-        target_compile_options(${LPP_TESTS_CUSTOM} PRIVATE "-fprofile-arcs" "-ftest-coverage")
+        target_compile_options(${LPP_TESTS_CUSTOM} PRIVATE ${LPP_TEST_CXX_FLAGS})
 
         ##### Roslog Tests #####
         set(ROSLOG_TESTS "test_roslog")
@@ -136,7 +143,7 @@ if (GLOG_FOUND AND catkin_FOUND AND LPP_BUILD_TESTS)
         target_include_directories(${ROSLOG_TESTS} PRIVATE ${LPP_INCLUDE_DIRECTORIES} test/roslog)
         target_link_libraries(${ROSLOG_TESTS} glog gtest ${catkin_LIBRARIES} gcov)
         target_compile_definitions(${ROSLOG_TESTS} PRIVATE MODE_ROSLOG)
-        target_compile_options(${ROSLOG_TESTS} PRIVATE "-fprofile-arcs" "-ftest-coverage")
+        target_compile_options(${ROSLOG_TESTS} PRIVATE ${LPP_TEST_CXX_FLAGS})
 
         ##### Default Tests #####
         set(DEFAULT_TESTS "test_default")
@@ -155,7 +162,7 @@ if (GLOG_FOUND AND catkin_FOUND AND LPP_BUILD_TESTS)
         target_include_directories(${DEFAULT_TESTS} PRIVATE ${LPP_INCLUDE_DIRECTORIES} test/default)
         target_link_libraries(${DEFAULT_TESTS} glog gtest ${catkin_LIBRARIES} gcov)
         target_compile_definitions(${DEFAULT_TESTS} PRIVATE MODE_DEFAULT)
-        target_compile_options(${DEFAULT_TESTS} PRIVATE "-fprofile-arcs" "-ftest-coverage")
+        target_compile_options(${DEFAULT_TESTS} PRIVATE ${LPP_TEST_CXX_FLAGS})
 
         ##### Nolog Tests #####
         set(NOLOG_TESTS "test_nolog")
@@ -173,7 +180,7 @@ if (GLOG_FOUND AND catkin_FOUND AND LPP_BUILD_TESTS)
         target_include_directories(${NOLOG_TESTS} PRIVATE ${LPP_INCLUDE_DIRECTORIES} test/nolog)
         target_link_libraries(${NOLOG_TESTS} glog gtest ${catkin_LIBRARIES} gcov)
         target_compile_definitions(${NOLOG_TESTS} PRIVATE MODE_NOLOG)
-        target_compile_options(${NOLOG_TESTS} PRIVATE "-fprofile-arcs" "-ftest-coverage")
+        target_compile_options(${NOLOG_TESTS} PRIVATE ${LPP_TEST_CXX_FLAGS})
 
         add_custom_target(coverage
                 COMMAND mkdir coverage && cd coverage && gcovr -r ${CMAKE_SOURCE_DIR} --html --html-details -o coverage.html

From a63e5512c7386525b263a7ec1d1ce4fdceefd718 Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Thu, 11 Jan 2024 00:56:44 +0100
Subject: [PATCH 20/20] Added GCC version 11

---
 .github/workflows/cpp_ubuntu20_04.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/cpp_ubuntu20_04.yml b/.github/workflows/cpp_ubuntu20_04.yml
index d588868..96857c3 100644
--- a/.github/workflows/cpp_ubuntu20_04.yml
+++ b/.github/workflows/cpp_ubuntu20_04.yml
@@ -14,7 +14,7 @@ jobs:
       fail-fast: false
       matrix:
         rosdistro: ['noetic']
-        gcc: ['8', '9', '10']
+        gcc: ['8', '9', '10', '11']
         cxx: ['11', '14', '17']
     container: ros:${{ matrix.rosdistro }}-ros-base-focal
     name: ROS ${{ matrix.rosdistro }} - GCC ${{ matrix.gcc }} - C++${{ matrix.cxx }}
@@ -30,7 +30,7 @@ jobs:
       run: sudo apt update && sudo apt-get install -y software-properties-common && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
 
     - name: Install GCC version ${{ matrix.gcc }}
-      run: sudo add-apt-repository ppa:ubuntu-toolchain-r/ppa -y && sudo apt update && sudo apt install -y gcc-${{ matrix.gcc }} g++-${{ matrix.gcc }} && sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-${{ matrix.gcc }} 100 --slave /usr/bin/g++ g++ /usr/bin/g++-${{ matrix.gcc }}
+      run: sudo add-apt-repository ppa:ubuntu-toolchain-r/test -y && sudo apt update && sudo apt install -y gcc-${{ matrix.gcc }} g++-${{ matrix.gcc }} && sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-${{ matrix.gcc }} 100 --slave /usr/bin/g++ g++ /usr/bin/g++-${{ matrix.gcc }}
 
     - name: Install catkin tools
       run: sudo apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-catkin-tools