Improve github workflow

.cspell.json

@@ -5,6 +5,7 @@
     "cppcheck",
     "doxyfile",
     "graphviz",
+    "libmicroros",
     "mattnotmitt",
     "mrad",
     "multirobot",

.github/workflows/main.yml

@@ -1,43 +1,34 @@
 name: main
 
-# Controls when the action will run.
+concurrency:
+  group: ci-${{ github.ref }}
+  cancel-in-progress: true
+
+# Controls when this workflow runs.
 on:
   push:
+    # Runs on every push.
     branches: [ '**' ]
+
   release:
-    # A release, pre-release, or draft of a release is published.
+    # Runs when a release, pre-release, or draft of a release is published.
     types: [ published ]
-  # Allows you to run this workflow manually from the Actions tab.
+
+  # Can be run manually from the Actions tab.
   workflow_dispatch:
 
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel.
 jobs:
-  # The introduction just shows some useful informations.
+  # Show some useful information.
   intro:
-    # The type of runner that the job will run on.
     runs-on: ubuntu-24.04
-    # Steps represent a sequence of tasks that will be executed as part of the job.
+
     steps:
     - run: echo "The job was automatically triggered by a ${{ github.event_name }} event."
     - run: echo "The name of the branch is ${{ github.ref }} and the repository is ${{ github.repository }}."
 
-    - name: Checkout repository
-      uses: actions/checkout@v4
-
-    - name: Set up Python
-      uses: actions/setup-python@v5
-      with:
-        python-version: '3.12.3'
-        cache: 'pip'
-        cache-dependency-path: .github/workflows/requirements.txt
-
-    - name: Install dependencies
-      run: |
-        pip install -r .github/workflows/requirements.txt
-
-  # Build all targets
+  # Build all targets and perform static checks on them.
   build:
-    # The type of runner that the job will run on.
     runs-on: ubuntu-24.04
     needs: intro
     strategy:
@@ -49,31 +40,39 @@ jobs:
                       "SensorFusionTarget",
                       "TurtleTarget"]
 
-    # Steps represent a sequence of tasks that will be executed as part of the job.
     steps:
     - name: Checkout repository
       uses: actions/checkout@v4
 
     - name: Set up Python
-      uses: actions/setup-python@v5
+      uses: actions/setup-python@v6
       with:
         python-version: '3.12.3'
         cache: 'pip'
         cache-dependency-path: .github/workflows/requirements.txt
-    
+
     - name: Install dependencies
       run: |
         pip install -r .github/workflows/requirements.txt
-
-    - name: Compile ${{ matrix.environment }} firmware
-      run: platformio run --environment ${{ matrix.environment }}
 
+    - name: Cache PlatformIO
+      uses: actions/cache@v4
+      with:
+        path: |
+          ~/.platformio/.cache
+          ~/.platformio/packages
+          ~/.platformio/platforms
+        key: ${{ runner.os }}-pio-${{ hashFiles('platformio*.ini') }}
+
+    # Run cppcheck and clang-tidy.
     - name: Perform static checks on ${{ matrix.environment }}
-      run: platformio check --environment ${{ matrix.environment }} --fail-on-defect=medium --fail-on-defect=high
+      run: platformio check --environment ${{ matrix.environment }} # --fail-on-defect=medium --fail-on-defect=high
 
-  # Perform static checks and test
+    - name: Compile ${{ matrix.environment }} firmware
+      run: platformio run --environment ${{ matrix.environment }}
+
+  # Perform static checks on test.
   check:
-    # The type of runner that the job will run on.
     runs-on: ubuntu-24.04
     needs: intro
     strategy:
@@ -85,22 +84,31 @@ jobs:
       uses: actions/checkout@v4
 
     - name: Set up Python
-      uses: actions/setup-python@v5
+      uses: actions/setup-python@v6
       with:
         python-version: '3.12.3'
         cache: 'pip'
         cache-dependency-path: .github/workflows/requirements.txt
-    
+
     - name: Install dependencies
       run: |
         pip install -r .github/workflows/requirements.txt
 
+    - name: Cache PlatformIO
+      uses: actions/cache@v4
+      with:
+        path: |
+          ~/.platformio/.cache
+          ~/.platformio/packages
+          ~/.platformio/platforms
+        key: ${{ runner.os }}-pio-${{ hashFiles('platformio*.ini') }}
+
+    # Run cppcheck and clang-tidy.
     - name: Perform static checks on ${{ matrix.environment }}
-      run: platformio check --environment ${{ matrix.environment }} --fail-on-defect=medium --fail-on-defect=high
+      run: platformio check --environment ${{ matrix.environment }} # --fail-on-defect=medium --fail-on-defect=high
 
-  # Perform tests
+  # Perform tests.
   test:
-    # The type of runner that the job will run on.
     runs-on: ubuntu-24.04
     needs: intro
 
@@ -109,22 +117,30 @@ jobs:
       uses: actions/checkout@v4
 
     - name: Set up Python
-      uses: actions/setup-python@v5
+      uses: actions/setup-python@v6
       with:
         python-version: '3.12.3'
         cache: 'pip'
         cache-dependency-path: .github/workflows/requirements.txt
-    
+
     - name: Install dependencies
       run: |
         pip install -r .github/workflows/requirements.txt
 
+    - name: Cache PlatformIO
+      uses: actions/cache@v4
+      with:
+        path: |
+          ~/.platformio/.cache
+          ~/.platformio/packages
+          ~/.platformio/platforms
+        key: ${{ runner.os }}-pio-${{ hashFiles('platformio*.ini') }}
+
     - name: Run tests on native environment
       run: platformio test --environment Test -vvv
 
-  # Build documentation
+  # Build documentation.
   doc:
-    # The type of runner that the job will run on.
     runs-on: ubuntu-24.04
     needs: intro
     strategy:
@@ -157,4 +173,4 @@ jobs:
 
     - name: Print doxygen warnings
       if: ${{ failure() }}
-      run: cat ./doc/doxygen/doxygen_warnings.txt
+      run: cat ./doc/doxygen/doxygen_warnings.txt

platformio.ini

@@ -282,6 +282,9 @@ lib_ignore =
     ${app:ConvoyLeader.lib_ignore}
 extra_scripts =
     ${target:esp32.extra_scripts}
+check_src_filters =
+    +<*>
+    -<lib/libmicroros/>
 
 ; *****************************************************************************
 ; Convoy leader application on simulation
@@ -299,6 +302,9 @@ lib_ignore =
     ${app:ConvoyLeader.lib_ignore}
 extra_scripts =
     ${target:Sim.extra_scripts}
+check_src_filters =
+    +<*>
+    -<lib/libmicroros/>
 
 ; *****************************************************************************
 ; Convoy follower application on target
@@ -316,6 +322,9 @@ lib_ignore =
     ${app:ConvoyFollower.lib_ignore}
 extra_scripts =
     ${target:esp32.extra_scripts}
+check_src_filters =
+    +<*>
+    -<lib/libmicroros/>
 
 ; *****************************************************************************
 ; Convoy follower application on simulation
@@ -333,6 +342,9 @@ lib_ignore =
     ${app:ConvoyFollower.lib_ignore}
 extra_scripts =
     ${target:Sim.extra_scripts}
+check_src_filters =
+    +<*>
+    -<lib/libmicroros/>
 
 ; *****************************************************************************
 ; Line follower application on simulation
@@ -350,6 +362,9 @@ lib_ignore =
     ${app:LineFollower.lib_ignore}
 extra_scripts =
     ${target:Sim.extra_scripts}
+check_src_filters =
+    +<*>
+    -<lib/libmicroros/>
 
 ; *****************************************************************************
 ; Line follower application on target
@@ -367,6 +382,9 @@ lib_ignore =
     ${app:LineFollower.lib_ignore}
 extra_scripts =
     ${target:esp32.extra_scripts}
+check_src_filters =
+    +<*>
+    -<lib/libmicroros/>
 
 ; *****************************************************************************
 ; Remote Control application on simulation
@@ -384,6 +402,9 @@ lib_ignore =
     ${app:RemoteControl.lib_ignore}
 extra_scripts =
     ${target:Sim.extra_scripts}
+check_src_filters =
+    +<*>
+    -<lib/libmicroros/>
 
 ; *****************************************************************************
 ; Remote Control application on target
@@ -401,6 +422,9 @@ lib_ignore =
     ${app:RemoteControl.lib_ignore}
 extra_scripts =
     ${target:esp32.extra_scripts}
+check_src_filters =
+    +<*>
+    -<lib/libmicroros/>
 
 ; *****************************************************************************
 ; Sensor Fusion application on simulation
@@ -420,6 +444,9 @@ lib_ignore =
 extra_scripts =
     ${target:Sim.extra_scripts}
 lib_compat_mode = off
+check_src_filters =
+    +<*>
+    -<lib/libmicroros/>
 
 ; *****************************************************************************
 ; Sensor Fusion application on target
@@ -438,6 +465,9 @@ lib_ignore =
     ${app:SensorFusion.lib_ignore}
 extra_scripts =
     ${target:esp32.extra_scripts}
+check_src_filters =
+    +<*>
+    -<lib/libmicroros/>
 
 ; *****************************************************************************
 ; PC target environment for tests
@@ -455,6 +485,9 @@ lib_ignore =
     ${app:Test.lib_ignore}
 extra_scripts =
     ${target:Test.extra_scripts}
+check_src_filters =
+    +<*>
+    -<lib/libmicroros/>
 
 ; *****************************************************************************
 ; Turtle application on target
@@ -475,7 +508,9 @@ lib_ignore =
     libmicroros
 extra_scripts =
     ${target:esp32.extra_scripts}
-
+check_src_filters =
+    +<*>
+    -<lib/libmicroros/>
 
 ; *****************************************************************************
 ; Turtle application on simulation
@@ -498,4 +533,7 @@ lib_ignore =
     ${target:Sim.lib_ignore}
     ${app:Turtle.lib_ignore}
 extra_scripts =
-    ${target:Sim.extra_scripts}
+    ${target:Sim.extra_scripts}
+check_src_filters =
+    +<*>
+    -<lib/libmicroros/>