fix: address/undefined/leak sanitizer for builder (except cppparser) …

…&& undefined sanitizer for ros2_control_py

.lsan.supp

@@ -0,0 +1 @@
+leak:yyparse

CMakeLists.txt

@@ -8,20 +8,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
   set(CMAKE_CXX_STANDARD_REQUIRED ON)
 endif()
-# Default to C11
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 11)
-endif()
+# Warnings for gcc/clang
 if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_C_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# sanitize address gcc/clang
-if(SANITIZE)
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fno-omit-frame-pointer -fsanitize=address,undefined,leak")
-  set(CMAKE_LINKER_FLAGS "${CMAKE_LINKER_FLAGS} -fno-omit-frame-pointer -fsanitize=address,undefined,leak")
-endif()
-
 # ros2_control modules to parse
 set(_ros2_py_modules
   controller_interface
@@ -56,7 +47,7 @@ set(_ros2_py_src ${_ros2_py_src_dir}/impl_ros2_control_py.cpp)
 # calls builder
 add_custom_command(
   OUTPUT ${_ros2_py_src}
-  COMMAND builder "${_ros2_py_src_dir}" "$ENV{AMENT_PREFIX_PATH}" "$ENV{ROS_DISTRO}" ${_ros2_py_modules}
+  COMMAND ${CMAKE_COMMAND} -E env "LSAN_OPTIONS=suppressions=${CMAKE_CURRENT_LIST_DIR}/.lsan.supp" $<TARGET_FILE:builder> "${_ros2_py_src_dir}" "$ENV{AMENT_PREFIX_PATH}" "$ENV{ROS_DISTRO}" ${_ros2_py_modules}
   DEPENDS builder
 )
 add_custom_target(run_builder
@@ -73,6 +64,15 @@ pybind11_add_module(${_ros2_py_impl}
 set_target_properties(${_ros2_py_impl}
   PROPERTIES OUTPUT_NAME ${PROJECT_NAME}/${_ros2_py_impl}
 )
+# sanitize address gcc/clang
+if(SANITIZE)
+  target_compile_options(${_ros2_py_impl} PRIVATE
+    "-fsanitize=undefined"
+  )
+  target_link_options(${_ros2_py_impl} PRIVATE
+    "-fsanitize=undefined"
+  )
+endif()
 add_dependencies(${_ros2_py_impl} run_builder)
 target_include_directories(${_ros2_py_impl} PRIVATE
   ${_ros2_py_src_dir}

README.md

@@ -26,7 +26,7 @@ colcon build
 
 ```sh
 cd ~/ros2_control_py_ws
-colcon build --cmake-args ' -DCMAKE_BUILD_TYPE=Debug -DSANITIZE'
+colcon build --cmake-args ' -DCMAKE_BUILD_TYPE=Debug' ' -DSANITIZE=True'
 colcon test
 ```
 

builder/CMakeLists.txt

@@ -9,3 +9,14 @@ target_link_libraries(builder
   PRIVATE
   cppparser
 )
+# sanitize address gcc/clang
+if(SANITIZE)
+  target_compile_options(builder PRIVATE
+    "-fno-omit-frame-pointer"
+    "-fsanitize=address,undefined,leak"
+  )
+  target_link_options(builder PRIVATE
+    "-fno-omit-frame-pointer"
+    "-fsanitize=address,undefined,leak"
+  )
+endif()