Pass include paths to cppcheck

ament_cmake_cppcheck/cmake/ament_cmake_cppcheck_lint_hook.cmake

@@ -12,6 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+find_package(ament_cmake_core REQUIRED)
+
 file(GLOB_RECURSE _source_files FOLLOW_SYMLINKS
   "*.c"
   "*.cc"
@@ -24,5 +26,30 @@ file(GLOB_RECURSE _source_files FOLLOW_SYMLINKS
 )
 if(_source_files)
   message(STATUS "Added test 'cppcheck' to perform static code analysis on C / C++ code")
-  ament_cppcheck()
+
+  # Get include paths for added targets
+  set(_all_include_dirs "")
+  # BUILDSYSTEM_TARGETS only supported in CMake >= 3.7
+  if(NOT CMAKE_VERSION VERSION_LESS "3.7.0")
+    get_directory_property(_build_targets DIRECTORY ${CMAKE_SOURCE_DIR} BUILDSYSTEM_TARGETS)
+    foreach(_target ${_build_targets})
+      get_property(_include_dirs
+        TARGET ${_target}
+        PROPERTY INCLUDE_DIRECTORIES
+      )
+
+      # Only append include directories that are from the package being tested
+      # This accomplishes two things:
+      #     1. Reduces execution time (less include directories to search)
+      #     2. cppcheck will not check for errors in external packages
+      foreach(_include_dir ${_include_dirs})
+        string(REGEX MATCH "^${CMAKE_SOURCE_DIR}.*" _is_match ${_include_dir})
+        if(_is_match)
+          list_append_unique(_all_include_dirs ${_include_dir})
+        endif()
+      endforeach()
+    endforeach()
+  endif()
+
+  ament_cppcheck(INCLUDE_DIRS ${_all_include_dirs})
 endif()

ament_cmake_cppcheck/cmake/ament_cppcheck.cmake

@@ -19,13 +19,15 @@
 # :type TESTNAME: string
 # :param LANGUAGE: the language argument for cppcheck, either 'c' or 'c++'
 # :type LANGUAGE: string
+# :param INCLUDE_DIRS: an optional list of include paths for cppcheck
+# :type INCLUDE_DIRS: list
 # :param ARGN: the files or directories to check
 # :type ARGN: list of strings
 #
 # @public
 #
 function(ament_cppcheck)
-  cmake_parse_arguments(ARG "" "LANGUAGE;TESTNAME" "" ${ARGN})
+  cmake_parse_arguments(ARG "" "LANGUAGE;TESTNAME" "INCLUDE_DIRS" ${ARGN})
   if(NOT ARG_TESTNAME)
     set(ARG_TESTNAME "cppcheck")
   endif()
@@ -38,6 +40,9 @@ function(ament_cppcheck)
   set(result_file "${AMENT_TEST_RESULTS_DIR}/${PROJECT_NAME}/${ARG_TESTNAME}.xunit.xml")
   set(cmd "${ament_cppcheck_BIN}" "--xunit-file" "${result_file}")
   list(APPEND cmd ${ARG_UNPARSED_ARGUMENTS})
+  if(ARG_INCLUDE_DIRS)
+    list(APPEND cmd "--include_dirs" "${ARG_INCLUDE_DIRS}")
+  endif()
   if(ARG_LANGUAGE)
     list(APPEND cmd "--language" "${ARG_LANGUAGE}")
   endif()

ament_cmake_cppcheck/package.xml

@@ -13,6 +13,7 @@
   <buildtool_depend>ament_cmake_core</buildtool_depend>
   <buildtool_depend>ament_cmake_test</buildtool_depend>
 
+  <buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
   <buildtool_export_depend>ament_cmake_test</buildtool_export_depend>
   <buildtool_export_depend>ament_cppcheck</buildtool_export_depend>
 

ament_cppcheck/ament_cppcheck/main.py

@@ -15,6 +15,7 @@
 # limitations under the License.
 
 import argparse
+from collections import defaultdict
 import multiprocessing
 import os
 from shutil import which
@@ -39,6 +40,11 @@ def main(argv=sys.argv[1:]):
         help='Files and/or directories to be checked. Directories are searched recursively for '
              'files ending in one of %s.' %
              ', '.join(["'.%s'" % e for e in extensions]))
+    parser.add_argument(
+        '--include_dirs',
+        nargs='*',
+        help="Include directories for C/C++ files being checked."
+             "Each directory is passed to cppcheck as '-I <include_dir>'")
     parser.add_argument(
         '--language',
         help="Passed to cppcheck as '--language=<language>', and it forces cppcheck to consider "
@@ -86,6 +92,8 @@ def main(argv=sys.argv[1:]):
            '--xml-version=2']
     if args.language:
         cmd.extend(['--language={0}'.format(args.language)])
+    for include_dir in (args.include_dirs or []):
+        cmd.extend(['-I', include_dir])
     if jobs:
         cmd.extend(['-j', '%d' % jobs])
     cmd.extend(files)
@@ -105,9 +113,7 @@ def main(argv=sys.argv[1:]):
         return 1
 
     # output errors
-    report = {}
-    for filename in files:
-        report[filename] = []
+    report = defaultdict(list)
     for error in root.find('errors'):
         location = error.find('location')
         filename = location.get('file')