Add Coveralls, Codacy, and SonarCloud coverage uploads

Trial of three Codecov alternatives, all with continue-on-error
so the workflow stays green while accounts/tokens are configured.

- Coveralls: lcov upload via coverallsapp/github-action@v2
- Codacy: needs CODACY_PROJECT_TOKEN secret
- SonarCloud: needs SONAR_TOKEN secret, uses compile_commands.json

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Author: facontidavide

.github/workflows/cmake_ubuntu.yml

@@ -51,6 +51,8 @@ jobs:
 
     steps:
     - uses: actions/checkout@v6
+      with:
+        fetch-depth: 0  # Full history needed by SonarCloud
 
     - name: Install lcov
       run: sudo apt-get update && sudo apt-get install -y lcov
@@ -99,6 +101,7 @@ jobs:
 
     - name: Upload coverage reports to Codecov
       uses: codecov/codecov-action@v5
+      continue-on-error: true
       with:
         files: coverage.info
         flags: unittests
@@ -108,3 +111,32 @@ jobs:
         network_filter: >-
           include/behaviortree_cpp/,src/
         token: ${{ secrets.CODECOV_TOKEN }}
+
+    # --- Coveralls ---
+    - name: Upload to Coveralls
+      uses: coverallsapp/github-action@v2
+      continue-on-error: true
+      with:
+        file: coverage.info
+        format: lcov
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+
+    # --- Codacy ---
+    - name: Upload to Codacy
+      uses: codacy/codacy-coverage-reporter-action@v1
+      continue-on-error: true
+      with:
+        project-token: ${{ secrets.CODACY_PROJECT_TOKEN }}
+        coverage-reports: coverage.info
+
+    # --- SonarCloud ---
+    - name: Install SonarCloud tools
+      uses: SonarSource/sonarcloud-github-c-cpp@v3
+      continue-on-error: true
+
+    - name: Run SonarCloud analysis
+      continue-on-error: true
+      env:
+        SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      run: sonar-scanner

sonar-project.properties

@@ -1,14 +1,16 @@
 sonar.projectKey=BehaviorTree_BehaviorTree.CPP
 sonar.organization=behaviortree
+sonar.host.url=https://sonarcloud.io
 
-# This is the name and version displayed in the SonarCloud UI.
-#sonar.projectName=BehaviorTree.CPP
-#sonar.projectVersion=1.0
+sonar.sources=src,include/behaviortree_cpp
+sonar.tests=tests
+sonar.sourceEncoding=UTF-8
 
+# C++ analysis via compile_commands.json (no build-wrapper needed)
+sonar.cfamily.compile-commands=build/Debug/compile_commands.json
 
-# Path is relative to the sonar-project.properties file. Replace "\" by "/" on Windows.
-#sonar.sources=.
+# Coverage: point to directory containing .gcda/.gcno files
+sonar.cfamily.gcov.reportsPath=build/Debug
 
-# Encoding of the source code. Default is default system encoding
-#sonar.sourceEncoding=UTF-8
+# Exclude vendored code
 sonar.exclusions=3rdparty/**/*