[RSDK-5863] Add Address Sanitizer (ASan) option for intel realsense m…

…odule (#38)

* Make init changes to cmakelists

* Add rest of changes needed

* Update README and var name

* Add extra sanitizer deps in script conditionally

* Update cmakelists to include -fsanitize-address-use-after-scope and -fno-omit-frame-pointer

* Update README with extra details and supported platforms note

* Remove extra dir in .gitignore

* Remove artifacts from git

* Remove changes to x86 appimage recipe since we're not supporting it

CMakeLists.txt

@@ -7,6 +7,9 @@ project(viam-camera-realsense
 )
 set(CMAKE_CXX_STANDARD 17)
 
+# Define an option for enabling build with AddressSanitizer
+option(ENABLE_SANITIZER "Enable AddressSanitizer" OFF)
+
 set(THREADS_PREFER_PTHREAD_FLAG ON)
 find_package(Threads REQUIRED)
 find_package(realsense2 REQUIRED)
@@ -32,6 +35,40 @@ endif()
 add_executable(viam-camera-realsense main.cpp)
 target_link_libraries(viam-camera-realsense PRIVATE viamrealsense)
 
+if(ENABLE_SANITIZER)
+    add_compile_options(
+        -fsanitize=address
+        -fsanitize-address-use-after-scope
+        -fno-omit-frame-pointer
+    )
+    add_link_options(
+        -fsanitize=address
+        -fno-omit-frame-pointer
+    )
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -static-libasan")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -static-libasan -fno-omit-frame-pointer")
+    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -static-libasan")
+
+    target_compile_options(viamrealsense PRIVATE
+        -fsanitize=address
+        -fsanitize-address-use-after-scope
+        -fno-omit-frame-pointer
+    )
+    target_link_options(viamrealsense PRIVATE
+        -fsanitize=address
+        -fno-omit-frame-pointer
+    )
+    target_compile_options(viam-camera-realsense PRIVATE
+        -fsanitize=address
+        -fsanitize-address-use-after-scope
+        -fno-omit-frame-pointer
+    )
+    target_link_options(viam-camera-realsense PRIVATE
+        -fsanitize=address
+        -fno-omit-frame-pointer
+    )
+endif()
+
 # Add shared flags
 target_compile_features(viamrealsense PUBLIC
     cxx_std_17

Makefile

@@ -2,11 +2,12 @@
 format: src/*.cpp src/*.hpp test/*.cpp
 	ls src/*.cpp src/*.hpp test/*.cpp | xargs clang-format -i --style="{BasedOnStyle: Google, IndentWidth: 4, ColumnLimit: 100}"
 
+SANITIZE ?= OFF
 viam-camera-realsense: src/*
 	rm -rf build/ && \
 	mkdir build && \
 	cd build && \
-	cmake -G Ninja .. && \
+	cmake -G Ninja -DENABLE_SANITIZER=$(SANITIZE) .. && \
 	ninja all -j 4 && \
 	cp viam-camera-realsense ../
 

README.md

@@ -147,7 +147,7 @@ Use the commands
 docker pull ghcr.io/viamrobotics/viam-camera-realsense:arm64
 git clone https://github.com/viamrobotics/viam-camera-realsense/
 cd viam-camera-realsense/
-canon -arch arm64 make appimage
+canon -arch arm64 make appimage-arm64
 ```
 
 This will use the Docker container to compile a binary for the `aarch64` architecture. If you want to compile for `x86_64`/`amd64` architecture, change `arm64` to `amd64` in the above commands. The AppImage will be put in the `packaging/appimages/deploy` directory.
@@ -164,3 +164,6 @@ If you would like to try to gather all of the dependencies yourself and not use
 
 then do `make viam-camera-realsense` to compile the binary, and `make appimage` to create the AppImage.
 
+## Building with Address Sanitizer
+
+When developing, you also have the option to build the module with ASAN/LSAN enabled to test for memory leaks. You can do so by running a build command such as `canon -arch arm64 make clean appimage-arm64 SANITIZE=ON` with the `SANITIZE` flag `=ON`. ASAN/LSAN logs will then be included as error logs in your robot logs on the Viam App. Additionally, running the integration test binary against the debug ASAN/LSAN build will fail if a leak is detected. Currently the debug ASAN/LSAN build is only supported on linux/arm64.

integration/tests/all_test.go

@@ -28,6 +28,14 @@ func TestCameraServer(t *testing.T) {
 		_, _, err = cam.Images(context.Background())
 		test.That(t, err, test.ShouldBeNil)
 	})
+	t.Run("get image method", func(t *testing.T) {
+		cam, err := camera.FromRobot(myRobot, "TheRealSense")
+		test.That(t, err, test.ShouldBeNil)
+		stream, err := cam.Stream(context.Background())
+		test.That(t, err, test.ShouldBeNil)
+		_, _, err = stream.Next(context.Background())
+		test.That(t, err, test.ShouldBeNil)
+	})
 	t.Run("shutdown the robot", func(t *testing.T) {
 		test.That(t, myRobot.Close(context.Background()), test.ShouldBeNil)
 	})

packaging/appimages/realsense-integration-tests-aarch64.yml

@@ -29,6 +29,7 @@ AppDir:
     - sourceline: deb [trusted=yes] http://deb.debian.org/debian bookworm-updates main
     include:
     - libturbojpeg0:arm64
+    - libjpeg62-turbo:arm64
     exclude:
     - usr/share/man
     - usr/share/doc

packaging/appimages/viam-camera-realsense-aarch64.yml

@@ -9,6 +9,12 @@ script:
  - go install github.com/Otterverse/aix@latest
  - cp `go env GOPATH`/bin/aix $TARGET_APPDIR/usr/bin/
  - chmod 755 $TARGET_APPDIR/usr/bin/*
+ - |
+  if [ "${SANITIZE}" = "ON" ]; then
+    mkdir -p $TARGET_APPDIR/usr/lib
+    cp /lib/aarch64-linux-gnu/libabsl_* $TARGET_APPDIR/usr/lib/
+    cp /lib/aarch64-linux-gnu/libboost_* $TARGET_APPDIR/usr/lib/
+  fi
 
 AppDir:
   path: ./AppDir
@@ -42,6 +48,8 @@ AppDir:
   runtime:
     env:
         AIX_TARGET: usr/bin/viam-camera-realsense
+        ASAN_OPTIONS: detect_leaks=1 detect_stack_use_after_return=true
+        LSAN_OPTIONS: verbosity=1:log_threads=1
 AppImage:
   arch: aarch64
   comp: gzip