diff --git a/.github/workflows/address-sanitizers.yaml b/.github/workflows/address-sanitizers.yaml
index 0b54f5f4ef3..6681a7fad4b 100644
--- a/.github/workflows/address-sanitizers.yaml
+++ b/.github/workflows/address-sanitizers.yaml
@@ -3,6 +3,22 @@ name: Address Sanitizer analysis
 on:
   workflow_dispatch:
     inputs:
+      label:
+        description: 'ID associated to the workflow'
+        required: true
+        type: string
+      colcon_meta:
+        description: 'Optional Path of the colcon meta file'
+        required: false
+        type: string
+      cmake_args:
+        description: 'Optional CMake Compilation Flags'
+        required: false
+        type: string
+      ctest_args:
+        description: 'Optional CTest Testing Flags'
+        required: false
+        type: string
       discovery_server_branch:
         description: 'Branch or tag of Discovery Server repository (https://github.com/eProsima/Discovery-Server)'
         required: true
@@ -19,185 +35,35 @@ on:
       - '**.md'
       - '**.txt'
       - '!**/CMakeLists.txt'
-      
-  schedule:
-    - cron: '0 1 * * *'
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
   cancel-in-progress: true
 
 jobs:
-  asan-test:
-
+  address-sanitizer:
+    uses: ./.github/workflows/reusable-sanitizer.yml
     if: ${{ !(contains(github.event.pull_request.labels.*.name, 'no-test') ||
               contains(github.event.pull_request.labels.*.name, 'skip-ci') ||
               contains(github.event.pull_request.labels.*.name, 'conflicts')) }}
-
-    runs-on: ubuntu-22.04
-
-    env:
-        FASTDDS_BRANCH: ${{ github.head_ref || github.event.inputs.fastdds_branch || 'master' }}
-
-    steps:
-      - name: Install apt packages
-        uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
-        with:
-          packages: curl grep libasio-dev libtinyxml2-dev python3 python3-pip software-properties-common wget
-
-      - name: Setup CCache
-        uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
-
-      - name: Install colcon
-        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
-
-      - name: Install Python dependencies
-        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
-        with:
-          packages: vcstool setuptools gcovr tomark xmltodict jsondiff pandas
-
-      - name: Get fastrtps.repos file
-        uses: eProsima/eProsima-CI/ubuntu/get_file_from_repo@v0
-        with:
-          source_repository: eProsima/Fast-DDS
-          source_repository_branch: ${{ env.FASTDDS_BRANCH }}
-          file_name: fastrtps.repos
-          file_result: fastrtps.repos
-
-      - name: Fetch Fast DDS & dependencies
-        uses: eProsima/eProsima-CI/ubuntu/vcs_import@v0
-        with:
-          vcs_repos_file: fastrtps.repos
-          destination_workspace: src
-
-      - name: Checkout Fast DDS branch
-        run: |
-          cd ./src/fastrtps
-          git checkout ${{ env.FASTDDS_BRANCH }}
-
-      - name: Install GTest
-        uses: eProsima/eProsima-CI/ubuntu/install_gtest@v0
-        with:
-          version: v1.12.1
-
-      - name: Build workspace
-        run: |
-          cat src/fastrtps/.github/workflows/config/asan_colcon.meta
-          colcon build \
-            --event-handlers=console_direct+ \
-            --metas src/fastrtps/.github/workflows/config/asan_colcon.meta
-
-      - name: Run tests Fast DDS
-        run: |
-          source install/setup.bash && \
-          colcon test \
-            --packages-select fastrtps \
-            --event-handlers=console_direct+ \
-            --return-code-on-test-failure \
-            --ctest-args \
-              --label-exclude xfail \
-              --timeout 300
-        continue-on-error: true
-
-      - name: Upload Logs
-        uses: actions/upload-artifact@v1
-        with:
-          name: asan-logs
-          path: log/
-        if: always()
-
-      - name: Report ASAN errors
-        if: always()
-        run: |
-          bash src/fastrtps/.github/workflows/utils/specific_errors_filter.sh "==ERROR:" log/latest_test/fastrtps/stdout_stderr.log _tmp_specific_error_file.log
-          python3 src/fastrtps/.github/workflows/utils/log_parser.py --log-file log/latest_test/fastrtps/stdout_stderr.log --specific-error-file _tmp_specific_error_file.log --output-file $GITHUB_STEP_SUMMARY --sanitizer asan
-
-
-  asan-discovery-server-test:
-
+    with:
+      label: ${{ inputs.label || 'address-sanitizer' }}
+      colcon_meta: ${{ inputs.colcon_meta || 'src/fastrtps/.github/workflows/config/asan_colcon.meta' }}
+      cmake_args: ${{ inputs.cmake_args || '' }}
+      ctest_args: ${{ inputs.ctest_args || '--label-exclude xfail --timeout 300' }}
+      fastdds_branch: ${{ github.head_ref || inputs.fastdds_branch || 'master' }}
+      asan_report: 'true'
+
+  discovery-server-address-sanitizer:
+    uses: ./.github/workflows/reusable-sanitizer.yml
     if: ${{ !(contains(github.event.pull_request.labels.*.name, 'no-test') ||
               contains(github.event.pull_request.labels.*.name, 'skip-ci') ||
               contains(github.event.pull_request.labels.*.name, 'conflicts')) }}
-
-    runs-on: ubuntu-22.04
-
-    env:
-      FASTDDS_BRANCH: ${{ github.head_ref || github.event.inputs.fastdds_branch || 'master' }}
-      DEFAULT_DISCOVERY_SERVER_BRANCH: ${{ github.event.inputs.discovery_server_branch || 'master' }}
-
-    steps:
-      - name: Install apt packages
-        uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
-        with:
-          packages: curl grep libasio-dev libtinyxml2-dev python3 python3-pip software-properties-common wget
-
-      - name: Install colcon
-        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
-
-      - name: Install Python dependencies
-        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
-        with:
-          packages: vcstool setuptools gcovr tomark xmltodict jsondiff pandas
-
-      - name: Get fastrtps.repos file
-        uses: eProsima/eProsima-CI/ubuntu/get_file_from_repo@v0
-        with:
-          source_repository: eProsima/Fast-DDS
-          source_repository_branch: ${{ env.FASTDDS_BRANCH }}
-          file_name: fastrtps.repos
-          file_result: fastrtps.repos
-
-      - name: Fetch Fast DDS & dependencies
-        uses: eProsima/eProsima-CI/ubuntu/vcs_import@v0
-        with:
-          vcs_repos_file: fastrtps.repos
-          destination_workspace: src
-
-      - name: Checkout Fast DDS branch
-        run: |
-          cd ./src/fastrtps
-          git checkout ${{ env.FASTDDS_BRANCH }}
-
-      - name: Sync eProsima/Discovery-Server repository
-        uses: actions/checkout@v4
-        with:
-          path: src/discovery_server
-          repository: eProsima/Discovery-Server
-          ref: ${{ env.DEFAULT_DISCOVERY_SERVER_BRANCH }}
-
-      - name: Install GTest
-        uses: eProsima/eProsima-CI/ubuntu/install_gtest@v0
-        with:
-          version: v1.12.1
-
-      - name: Build workspace
-        run: |
-          cat src/fastrtps/.github/workflows/config/asan_colcon.meta
-          colcon build \
-            --event-handlers=console_direct+ \
-            --metas src/fastrtps/.github/workflows/config/asan_colcon.meta
-
-      - name: Run tests Fast DDS
-        run: |
-          source install/setup.bash && \
-          colcon test \
-            --packages-select discovery-server \
-            --event-handlers=console_direct+ \
-            --return-code-on-test-failure \
-            --ctest-args \
-              --label-exclude xfail \
-              --timeout 300
-        continue-on-error: true
-
-      - name: Upload Logs
-        uses: actions/upload-artifact@v1
-        with:
-          name: asan-ds-logs
-          path: log/
-        if: always()
-
-      - name: Report ASAN errors
-        if: always()
-        run: |
-          bash src/fastrtps/.github/workflows/utils/specific_errors_filter.sh "==ERROR:" log/latest_test/discovery-server/stdout_stderr.log _tmp_specific_error_file.log
-          python3 src/fastrtps/.github/workflows/utils/log_parser.py --log-file log/latest_test/discovery-server/stdout_stderr.log --specific-error-file _tmp_specific_error_file.log --output-file $GITHUB_STEP_SUMMARY --sanitizer=asan
+    with:
+      label: ${{ inputs.label || 'discovery-server-address-sanitizer' }}
+      colcon_meta: ${{ inputs.colcon_meta || 'src/fastrtps/.github/workflows/config/asan_colcon.meta' }}
+      cmake_args: ${{ inputs.cmake_args || '' }}
+      ctest_args: ${{ inputs.ctest_args || '--label-exclude xfail --timeout 300' }}
+      fastdds_branch: ${{ github.head_ref || inputs.fastdds_branch || 'master' }}
+      discovery_server_branch: ${{ inputs.discovery_server_branch || 'master' }}
+      asan_discovery_server_report: 'true'
diff --git a/.github/workflows/nightly-sanitizer.yml b/.github/workflows/nightly-sanitizer.yml
new file mode 100644
index 00000000000..fe261fd4647
--- /dev/null
+++ b/.github/workflows/nightly-sanitizer.yml
@@ -0,0 +1,65 @@
+name: Sanitizer analysis (nightly)
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 1 * * *'
+
+jobs:
+  nightly-address-sanitizer:
+    strategy:
+      fail-fast: false
+      matrix:
+        fastdds-branch:
+          - 'master'
+          - '2.13.x'
+          - '2.12.x'
+          - '2.10.x'
+          - '2.6.x'
+    uses: ./.github/workflows/reusable-sanitizer.yml
+    with:
+      label: 'nightly-address-sanitizer-${{ matrix.fastdds-branch }}'
+      colcon_meta: 'src/fastrtps/.github/workflows/config/asan_colcon.meta'
+      cmake_args: ''
+      ctest_args: '--label-exclude xfail --timeout 300'
+      fastdds_branch: '${{ matrix.fastdds-branch }}'
+      asan_report: 'true'
+
+  nightly-discovery-server-address-sanitizer:
+    strategy:
+      fail-fast: false
+      matrix:
+        fastdds-branch:
+          - 'master'
+          - '2.13.x'
+          - '2.12.x'
+          - '2.10.x'
+          - '2.6.x'
+    uses: ./.github/workflows/reusable-sanitizer.yml
+    with:
+      label: 'nightly-discovery-server-address-sanitizer-${{ matrix.fastdds-branch }}'
+      colcon_meta: 'src/fastrtps/.github/workflows/config/asan_colcon.meta'
+      cmake_args: ''
+      ctest_args: '--label-exclude xfail --timeout 300'
+      fastdds_branch: '${{ matrix.fastdds-branch }}'
+      asan_discovery_server_report: 'true'
+
+  nightly-thread-sanitizer:
+    strategy:
+      fail-fast: false
+      matrix:
+        fastdds-branch:
+          - 'master'
+          - '2.13.x'
+          - '2.12.x'
+          - '2.10.x'
+          - '2.6.x'
+    uses: ./.github/workflows/reusable-sanitizer.yml
+    with:
+      label: 'nightly-thread-sanitizer-${{ matrix.fastdds-branch }}'
+      colcon_meta: 'src/fastrtps/.github/workflows/config/tsan_colcon.meta'
+      cmake_args: '-DCMAKE_BUILD_TYPE=Debug'
+      ctest_args: '-timeout 30 -V -E DDSSQLFilterValueTests'
+      fastdds_branch: '${{ matrix.fastdds-branch }}'
+      tsan_report: 'true'
+
diff --git a/.github/workflows/reusable-sanitizer.yml b/.github/workflows/reusable-sanitizer.yml
new file mode 100644
index 00000000000..13b1ac62ce8
--- /dev/null
+++ b/.github/workflows/reusable-sanitizer.yml
@@ -0,0 +1,211 @@
+name: Sanitizer analysis reusable workflow
+
+on:
+  workflow_call:
+    inputs:
+      label:
+        description: 'ID associated to the workflow'
+        required: true
+        type: string
+      colcon_meta:
+        description: 'Path of the colcon meta file'
+        required: false
+        type: string
+      cmake_args:
+        description: 'CMake Compilation Flags'
+        required: false
+        type: string
+      ctest_args:
+        description: 'CTest Testing Flags'
+        required: false
+        type: string
+      fastdds_branch:
+        description: 'Branch or tag of Fast DDS repository (https://github.com/eProsima/Fast-DDS)'
+        required: true
+        type: string
+        default: 'master'
+      discovery_server_branch:
+        description: 'Branch or tag of Discovery Server repository (https://github.com/eProsima/Discovery-Server)'
+        required: false
+        type: string
+        default: 'master'
+      asan_report:
+        description: 'Run the address sanitizer report job step(s)'
+        required: false
+        default: 'false'
+        type: string
+      asan_discovery_server_report:
+        description: 'Run the address discovery server sanitizer report job step(s)'
+        required: false
+        default: 'false'
+        type: string
+      tsan_report:
+        description: 'Run the thread sanitizer report job step(s)'
+        required: false
+        default: 'false'
+        type: string
+
+defaults:
+  run:
+    shell: bash
+
+jobs:
+
+  reusable-sanitizer-run:
+    runs-on: ubuntu-22.04
+
+    steps:
+      - name: Sync eProsima/Fast-DDS repository
+        uses: eProsima/eProsima-CI/external/checkout@v0
+        with:
+          path: src/fastrtps
+          ref: ${{ inputs.fastdds_branch }}
+
+      - name: Setup CCache
+        uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
+
+      - name: Install apt packages
+        uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
+        with:
+          packages: curl grep libasio-dev libtinyxml2-dev python3 python3-pip software-properties-common wget
+
+      - name: Install GTest
+        uses: eProsima/eProsima-CI/ubuntu/install_gtest@v0
+        with:
+          version: release-1.11.0
+
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
+      - name: Install Python dependencies
+        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+        with:
+          packages: vcstool setuptools gcovr tomark xmltodict jsondiff pandas
+
+      - name: Download Fast DDS .repos
+        uses: eProsima/eProsima-CI/ubuntu/vcs_import@v0
+        with:
+          vcs_repos_file: ./src/fastrtps/fastrtps.repos
+          destination_workspace: src
+          skip_existing: 'true'
+
+      - name: Sync eProsima/Discovery-Server repository
+        if : ${{ inputs.asan_discovery_server_report == 'true' }}
+        uses: actions/checkout@v4
+        with:
+          path: src/discovery_server
+          repository: eProsima/Discovery-Server
+          ref: ${{ inputs.discovery_server_branch }}
+
+      - name: Colcon build
+        continue-on-error: false
+        uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
+        with:
+          colcon_meta_file: '${{ inputs.colcon_meta }}'
+          colcon_build_args: ''
+          colcon_build_args_default: ''
+          cmake_args: '${{ inputs.cmake_args }}'
+          cmake_args_default: ''
+          cmake_build_type: Release
+          workspace: ${{ github.workspace }}
+          workspace_dependencies: ''
+
+      - name: Colcon test
+        id: test
+        uses: eProsima/eProsima-CI/multiplatform/colcon_test@v0
+        with:
+          colcon_test_args: ''
+          colcon_test_args_default: '--event-handlers=console_direct+ --return-code-on-test-failure'
+          ctest_args: '${{ inputs.ctest_args }}'
+          ctest_args_default: ''
+          packages_names: fastrtps
+          workspace: ${{ github.workspace }}
+          workspace_dependencies: ''
+          test_report_artifact: ${{ format('test_report_{0}', github.job, join(matrix.*, '_')) }}
+
+      - name: Upload Logs
+        uses: actions/upload-artifact@v3
+        with:
+          name: ${{ inputs.label }}-logs
+          path: log/
+        if: always()
+
+      - name: Report sanitizer errors
+        if: ${{ inputs.asan_report == 'true' }}
+        run: |
+          bash src/fastrtps/.github/workflows/utils/specific_errors_filter.sh "==ERROR:" log/latest_test/fastrtps/stdout_stderr.log _tmp_specific_error_file.log
+          python3 src/fastrtps/.github/workflows/utils/log_parser.py --log-file log/latest_test/fastrtps/stdout_stderr.log --specific-error-file _tmp_specific_error_file.log --output-file $GITHUB_STEP_SUMMARY --sanitizer asan
+
+      - name: Report discovery server sanitizer errors
+        if: ${{ inputs.asan_discovery_server_report == 'true' }}
+        run: |
+          bash src/fastrtps/.github/workflows/utils/specific_errors_filter.sh "==ERROR:" log/latest_test/discovery-server/stdout_stderr.log _tmp_specific_error_file.log
+          python3 src/fastrtps/.github/workflows/utils/log_parser.py --log-file log/latest_test/discovery-server/stdout_stderr.log --specific-error-file _tmp_specific_error_file.log --output-file $GITHUB_STEP_SUMMARY --sanitizer=asan
+
+      - name: Process sanitizer reports
+        if: ${{ inputs.tsan_report == 'true' }}
+        id: report_summary
+        shell: pwsh
+        continue-on-error: true
+        run: |
+          # Create a dir for the exportsTSAN_OPTIONSDirectory -Path ./exports
+          # Move to the reports dir
+          pushd ./log/latest_test/fastrtps
+          # Install the report parser module
+          Find-Module -Repository PSGallery -Name SanReportParser | Install-Module -Scope CurrentUser -Force
+          # Parse the report files
+          $rp = Show-Tsan -Path ./stdout_stderr.log
+          # filter duplicates
+          $rp = $rp | group md5hash | % { $_.group[0] }
+          # Export raw data
+          $rp | Export-CliXML (Join-Path $exports all_reports.xml)
+          # Group the reports by issue
+          $g = $rp | group fuzzhash
+          # Split up deadlocks and race reports
+          $gd = $rp | ? type -match dead | group fuzzhash
+          $gr = $rp | ? type -match race | group fuzzhash
+          # Simplified deadlock summary (only one representative report and tests associated)
+          $sd = $gd | Sort-Object count -desc | select @{l="fuzzhash";e="name"}, count, `
+              @{l="échantillon";e={$_.group[0].report}}, @{l="tests"; `
+                  e={$_.group.file | sls "(.*)\.\d+$" | % { $_.Matches.Groups[1].Value } | Sort-Object | get-unique}}
+          # Simplified race summary (only one representative report and tests associated)
+          $sr = $gr | Sort-Object count -desc | select @{l="fuzzhash";e="name"}, count, `
+              @{l="échantillon";e={$_.group[0].report}}, @{l="tests"; `
+                  e={$_.group.file | sls "(.*)\.\d+$" | % { $_.Matches.Groups[1].Value } | Sort-Object | get-unique}}
+          # Export simplified summaries
+          $sd, $sr | Export-Clixml (Join-Path $exports summary_data.xml)
+          # Export CSV summary of frequencies
+          $sd | select fuzzhash, count | Export-CSV -Path (Join-Path $exports deadlocks.csv)
+          $sr | select fuzzhash, count | Export-CSV -Path (Join-Path $exports races.csv)
+          # Export test mappings
+          & {$sd; $sr} | Sort-Object { [int]$_.fuzzhash} | % { $fuzzy=$_.fuzzhash;$_.tests |
+            select @{l="fuzzhash";e={$fuzzy}}, @{l="test";e={$_}}} |
+            Export-Csv (Join-Path $exports issue_test_map.csv)
+          # Keep a file per issue
+          $dir = New-Item -ItemType Directory -Path (Join-Path $exports reports)
+          & {$sd; $sr} | % { $_.échantillon | Out-File (Join-Path $dir "$($_.fuzzhash).tsan") }
+          # Create a summary table
+          @{Type="Deadlock";Failed=$sd.count;Hashes=$sd.fuzzhash},
+          @{Type="Data race";Failed=$sr.count;Hashes=$sr.fuzzhash} |
+            % { $_.Summary = $_.Hashes | select -First 5  | Join-String -Separator ", "
+                if ($_.Hashes.count -gt 5 ) {
+                    $_.Summary += ", ..." }; $_ } |
+              % { [PSCustomObject]$_} |
+              New-MDTable -Columns ([ordered]@{Failed=$null;Type=$null;Summary=$null}) |
+              Out-File $Env:GITHUB_STEP_SUMMARY
+          # The step fails on new deadlocks
+          $LASTEXITCODE=$sd.count
+
+      - name: Archive sanitation results
+        if: ${{ inputs.tsan_report == 'true' }}
+        uses: actions/upload-artifact@v3
+        with:
+          name: ${{ inputs.label }}-sanitation-report
+          path: exports/*
+
+      - name: Check on failures
+        if: ${{ steps.report_summary.outcome == 'failure' && inputs.tsan_report == 'true'}}
+        shell: pwsh
+        run: |
+          Write-Host ${{ steps.report_summary.outcome }}
+          exit 1
diff --git a/.github/workflows/thread-sanitizer.yaml b/.github/workflows/thread-sanitizer.yaml
index 8d0914e8b88..2c25342c101 100644
--- a/.github/workflows/thread-sanitizer.yaml
+++ b/.github/workflows/thread-sanitizer.yaml
@@ -1,19 +1,28 @@
 name: Thread Sanitizer analysis
+
 on:
   workflow_dispatch:
     inputs:
-      fastdds_branch:
-        description: 'Branch or tag of Fast DDS repository (https://github.com/eProsima/Fast-DDS)'
+      label:
+        description: 'ID associated to the workflow'
         required: true
-        default: 'master'
-      optional_cmake_args:
+        type: string
+      colcon_meta:
+        description: 'Optional Path of the colcon meta file'
+        required: false
+        type: string
+      cmake_args:
         description: 'Optional CMake Compilation Flags'
         required: false
         type: string
-      optional_ctest_args:
+      ctest_args:
         description: 'Optional CTest Testing Flags'
         required: false
         type: string
+      fastdds_branch:
+        description: 'Branch or tag of Fast DDS repository (https://github.com/eProsima/Fast-DDS)'
+        type: string
+        required: true
 
   pull_request:
     branches:
@@ -23,163 +32,20 @@ on:
       - '**.txt'
       - '!**/CMakeLists.txt'
 
-  schedule:
-    - cron: '0 1 * * *'
-    
 concurrency:
   group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
   cancel-in-progress: true
 
 jobs:
-
-  ubuntu-sanitizer-run:
-    name: Sanitizer Evaluation
-
+  thread-sanitizer:
+    uses: ./.github/workflows/reusable-sanitizer.yml
     if: ${{ !(contains(github.event.pull_request.labels.*.name, 'no-test') ||
               contains(github.event.pull_request.labels.*.name, 'skip-ci') ||
               contains(github.event.pull_request.labels.*.name, 'conflicts')) }}
-
-    runs-on: ubuntu-22.04
-
-    env:
-        FASTDDS_BRANCH: ${{ github.head_ref || github.event.inputs.fastdds_branch || 'master' }}
-        TSAN_OPTIONS: second_deadlock_stack=1 history_size=7 memory_limit_mb=5000
-        # GCC 11.3 (Ubuntu Jammy default) produces several false positives regarding timed synchronization protocols
-        # These issues were fixed in GCC 12 so we upgrade to that version.
-        CC: gcc-12
-        CXX: g++-12
-
-    steps:
-      - name: Install apt packages
-        uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
-        with:
-          packages: curl grep libasio-dev libtinyxml2-dev python3 python3-pip software-properties-common wget
-
-      - name: Setup CCache
-        uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
-
-      - name: Install colcon
-        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
-
-      - name: Install Python dependencies
-        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
-        with:
-          packages: vcstool setuptools gcovr tomark xmltodict jsondiff pandas
-
-      - name: Get fastrtps.repos file
-        uses: eProsima/eProsima-CI/ubuntu/get_file_from_repo@v0
-        with:
-          source_repository: eProsima/Fast-DDS
-          source_repository_branch: ${{ env.FASTDDS_BRANCH }}
-          file_name: fastrtps.repos
-          file_result: fastrtps.repos
-
-      - name: Fetch Fast DDS & dependencies
-        uses: eProsima/eProsima-CI/ubuntu/vcs_import@v0
-        with:
-          vcs_repos_file: fastrtps.repos
-          destination_workspace: src
-
-      - name: Checkout Fast DDS branch
-        run: |
-          cd ./src/fastrtps
-          git checkout ${{ env.FASTDDS_BRANCH }}
-
-      - name: Install GTest
-        uses: eProsima/eProsima-CI/ubuntu/install_gtest@v0
-        with:
-          version: release-1.11.0
-
-      - name: Build workspace
-        run: |
-          cat src/fastrtps/.github/workflows/config/tsan_colcon.meta
-          colcon build \
-            --event-handlers=console_direct+ \
-            --metas src/fastrtps/.github/workflows/config/tsan_colcon.meta \
-            --cmake-args -DCMAKE_BUILD_TYPE=Debug ${{ inputs.optional_cmake_args }}
-
-      - name: Run tests Fast DDS
-        run: |
-          source install/setup.bash && \
-          colcon test \
-            --packages-select fastrtps \
-            --event-handlers=console_direct+ \
-            --return-code-on-test-failure \
-            --ctest-args \
-              --timeout 30 \
-              -V -E DDSSQLFilterValueTests  ${{ inputs.optional_ctest_args }}
-        continue-on-error: true
-
-      - name: Upload Logs
-        uses: actions/upload-artifact@v3
-        with:
-          name: tsan-logs
-          path: log/
-        if: always()
-
-      - name: Process sanitizer reports
-        id: report_summary
-        shell: pwsh
-        continue-on-error: true
-        run: |
-          # Create a dir for the exports
-          $exports = New-Item -ItemType Directory -Path ./exports
-          # Move to the reports dir
-          pushd ./log/latest_test/fastrtps
-          # Install the report parser module
-          Find-Module -Repository PSGallery -Name SanReportParser | Install-Module -Scope CurrentUser -Force
-          # Parse the report files
-          $rp = Show-Tsan -Path ./stdout_stderr.log
-          # filter duplicates
-          $rp = $rp | group md5hash | % { $_.group[0] }
-          # Export raw data
-          $rp | Export-CliXML (Join-Path $exports all_reports.xml)
-          # Group the reports by issue
-          $g = $rp | group fuzzhash
-          # Split up deadlocks and race reports
-          $gd = $rp | ? type -match dead | group fuzzhash
-          $gr = $rp | ? type -match race | group fuzzhash
-          # Simplified deadlock summary (only one representative report and tests associated)
-          $sd = $gd | Sort-Object count -desc | select @{l="fuzzhash";e="name"}, count, `
-              @{l="échantillon";e={$_.group[0].report}}, @{l="tests"; `
-                  e={$_.group.file | sls "(.*)\.\d+$" | % { $_.Matches.Groups[1].Value } | Sort-Object | get-unique}}
-          # Simplified race summary (only one representative report and tests associated)
-          $sr = $gr | Sort-Object count -desc | select @{l="fuzzhash";e="name"}, count, `
-              @{l="échantillon";e={$_.group[0].report}}, @{l="tests"; `
-                  e={$_.group.file | sls "(.*)\.\d+$" | % { $_.Matches.Groups[1].Value } | Sort-Object | get-unique}}
-          # Export simplified summaries
-          $sd, $sr | Export-Clixml (Join-Path $exports summary_data.xml)
-          # Export CSV summary of frequencies
-          $sd | select fuzzhash, count | Export-CSV -Path (Join-Path $exports deadlocks.csv)
-          $sr | select fuzzhash, count | Export-CSV -Path (Join-Path $exports races.csv)
-          # Export test mappings
-          & {$sd; $sr} | Sort-Object { [int]$_.fuzzhash} | % { $fuzzy=$_.fuzzhash;$_.tests |
-            select @{l="fuzzhash";e={$fuzzy}}, @{l="test";e={$_}}} |
-            Export-Csv (Join-Path $exports issue_test_map.csv)
-          # Keep a file per issue
-          $dir = New-Item -ItemType Directory -Path (Join-Path $exports reports)
-          & {$sd; $sr} | % { $_.échantillon | Out-File (Join-Path $dir "$($_.fuzzhash).tsan") }
-          # Create a summary table
-          @{Type="Deadlock";Failed=$sd.count;Hashes=$sd.fuzzhash},
-          @{Type="Data race";Failed=$sr.count;Hashes=$sr.fuzzhash} |
-            % { $_.Summary = $_.Hashes | select -First 5  | Join-String -Separator ", "
-                if ($_.Hashes.count -gt 5 ) {
-                    $_.Summary += ", ..." }; $_ } |
-              % { [PSCustomObject]$_} |
-              New-MDTable -Columns ([ordered]@{Failed=$null;Type=$null;Summary=$null}) |
-              Out-File $Env:GITHUB_STEP_SUMMARY
-          # The step fails on new deadlocks
-          $LASTEXITCODE=$sd.count
-
-      - name: Archive sanitation results
-        uses: actions/upload-artifact@v3
-        with:
-          name: sanitation-report
-          path: exports/*
-
-      - name: Check on failures
-        if: ${{ steps.report_summary.outcome == 'failure' }}
-        shell: pwsh
-        run: |
-          Write-Host ${{ steps.report_summary.outcome }}
-          exit 1
+    with:
+        label: ${{ inputs.label || 'thread-sanitizer' }}
+        colcon_meta: ${{ inputs.colcon_meta || 'src/fastrtps/.github/workflows/config/tsan_colcon.meta' }}
+        cmake_args: ${{ inputs.cmake_args || '-DCMAKE_BUILD_TYPE=Debug' }}
+        ctest_args: ${{ inputs.ctest_args || '-timeout 30 -V -E DDSSQLFilterValueTests ' }}
+        fastdds_branch: ${{ github.head_ref || inputs.fastdds_branch || 'master' }}
+        tsan_report: 'true'