Add asan build option and create asan github action

Signed-off-by: RaulSanchez <raul@eprosima.com>

.github/actions/install-apt-packages copy/action.yml

@@ -0,0 +1,25 @@
+name: 'install-apt-packages'
+description: 'Install necessary apt packages'
+runs:
+  using: "composite"
+  steps:
+    - id: install-apt-packages
+      run: |
+        sudo apt update && sudo apt -y install \
+          clang-tidy \
+          curl \
+          doxygen \
+          graphviz \
+          grep \
+          imagemagick \
+          libasio-dev \
+          libtinyxml2-dev \
+          libyaml-cpp-dev \
+          lcov \
+          python3 \
+          python3-pip \
+          python3-sphinxcontrib.spelling \
+          python3-venv \
+          software-properties-common \
+          wget
+      shell: bash

.github/actions/install-gtest-linux/action.yml

@@ -0,0 +1,21 @@
+name: Install GTest
+description: Install and setup GTest for linking and building test application in Linux
+runs:
+  using: composite
+  steps:
+  - run: sudo apt install libgtest-dev libgmock-dev
+    shell: bash
+  - run: (cd /usr/src/gtest && sudo `which cmake` .)
+    shell: bash
+  - run: sudo make -j $(nproc) -C /usr/src/gtest
+    shell: bash
+  - run: sudo ln -s /usr/src/gtest/libgtest.a /usr/lib/libgtest.a
+    shell: bash
+  - run: sudo ln -s /usr/src/gtest/libgtest_main.a /usr/lib/libgtest_main.a
+    shell: bash
+  - run: (cd /usr/src/googletest/googlemock && sudo `which cmake` .)
+    shell: bash
+  - run: sudo make -j $(nproc) -C /usr/src/googletest/googlemock
+    shell: bash
+  - run: sudo ln -s /usr/src/googletest/googlemock/libgmock.a /usr/lib/libgmock.a
+    shell: bash

.github/actions/install-python-packages/action.yml

@@ -10,5 +10,6 @@ runs:
           colcon-mixin \
           vcstool \
           setuptools \
-          gcovr
+          gcovr \
+          tomark
       shell: bash

.github/workflows/asan.yml

@@ -0,0 +1,70 @@
+name: Address Sanitizer analysis
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - main
+  schedule:
+    - cron: '0 1 * * *'
+
+jobs:
+
+  asan-test:
+    runs-on: ubuntu-20.04
+
+    steps:
+      - name: Sync eProsima/Fast-DDS repository
+        uses: actions/checkout@v3
+        with:
+          path: src/Fast-DDS
+
+      - name: Install apt packages
+        uses: ./src/Fast-DDS/.github/actions/install-apt-packages
+
+      - name: Install GTest
+        uses: ./src/Fast-DDS/.github/actions/install-gtest-linux
+
+      - name: Install Python packages
+        uses: ./src/Fast-DDS/.github/actions/install-python-packages
+
+      - name: Update colcon mixin
+        run: |
+          colcon mixin add default \
+            https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+          colcon mixin update default
+        continue-on-error: true
+
+      - name: Fetch Fast DDS dependencies
+        uses: ./src/Fast-DDS/.github/actions/fetch-fastdds-repos
+
+      - name: Build workspace
+        run: |
+          cat src/Fast-DDS/.github/workflows/asan_colcon.meta
+          colcon build \
+            --event-handlers=console_direct+ \
+            --metas src/Fast-DDS/.github/workflows/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 --timeout 60
+
+      - name: Upload Logs
+        uses: actions/upload-artifact@v1
+        with:
+          name: asan-logs
+          path: log/
+        if: always()
+
+      - name: Report ASAN errors
+        if: always()
+        run: |
+          echo -n "**ASAN Errors**: " >> $GITHUB_STEP_SUMMARY
+          echo $(sed 's/==.*==ERROR:/==.*==ERROR:\n/g' log/latest_test/fastrtps/stdout_stderr.log | grep -c "==.*==ERROR:") >> $GITHUB_STEP_SUMMARY
+          python3 src/Fast-DDS/.github/workflows/asan_log_parser.py

.github/workflows/asan_colcon.meta

@@ -0,0 +1,22 @@
+{
+    "names":
+    {
+        "fastrtps":
+        {
+            "cmake-args":
+            [
+                "-DCMAKE_BUILD_TYPE=Debug",
+                "-DEPROSIMA_BUILD_TESTS=ON",
+                "-DGTEST_INDIVIDUAL=ON",
+                "-DRTPS_API_TESTS=ON",
+                "-DFASTRTPS_API_TESTS=ON",
+                "-DFASTDDS_PIM_API_TESTS=ON",
+                "-DPERFORMANCE_TESTS=ON",
+                "-DSECURITY=ON",
+                "-DFASTDDS_STATISTICS=ON",
+                "-DASAN_BUILD=ON",
+                "-DCMAKE_CXX_FLAGS='-Werror'"
+            ]
+        }
+    }
+}

.github/workflows/asan_log_parser.py

@@ -0,0 +1,53 @@
+# Copyright 2022 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"Script to parse the colcon test output file."
+
+import re
+import os
+
+from tomark import Tomark
+
+# Python summary file saved in GITHUB_STEP_SUMMARY environment variable
+SUMMARY_FILE = os.getenv('GITHUB_STEP_SUMMARY')
+LOG_FILE = 'log/latest_test/fastrtps/stdout_stderr.log'
+
+# Save the lines with failed tests
+saved_lines = []
+with open(LOG_FILE, 'r') as file:
+    for line in reversed(file.readlines()):
+        saved_lines.append(line)
+        if (re.search('.*The following tests FAILED:.*', line)):
+            break
+
+# Exit if no test failed
+if (not saved_lines):
+    exit(0)
+
+failed_tests = []
+for test in saved_lines:
+    match = re.search('\d* - .* \(Failed\)', test)
+    if (match):
+        split_test = match.group().split()
+        failed_tests.insert(
+            0,
+            dict({'ID': split_test[0], 'Name': split_test[2]}))
+
+# Convert python dict to markdown table
+md_table = Tomark.table(failed_tests)
+print(md_table)
+
+# Save table of failed test to GitHub action summary file
+with open(SUMMARY_FILE, 'a') as file:
+    file.write(f'\n{md_table}')

CMakeLists.txt

@@ -57,7 +57,7 @@ if(MSVC OR MSVC_IDE)
     endif()
 
     # make visual studio more gcc and clang like.
-    # C4101 'identifier' : unreferenced local variable 
+    # C4101 'identifier' : unreferenced local variable
     # C4189 'identifier' : local variable is initialized but not referenced
     # C4555  expression has no effect; expected expression with side-effect
     # C4715: 'Test': not all control paths return a value
@@ -103,6 +103,32 @@ check_stdcxx(${FORCE_CXX})
 
 check_endianness()
 
+###############################################################################
+# Activate Address sanitizer
+###############################################################################
+option(ASAN_BUILD "Activate address sanitizer flags" OFF)
+
+if (ASAN_BUILD)
+    # Warning/Error messages
+    if(NOT (CMAKE_BUILD_TYPE STREQUAL "Debug"))
+        message(WARNING "Address sanitizer results with an optimized (non-Debug) build may be misleading")
+    endif()
+
+    if("${CMAKE_C_COMPILER_ID}" MATCHES "(Apple)?[Cc]lang" OR "${CMAKE_CXX_COMPILER_ID}" MATCHES "(Apple)?[Cc]lang")
+        message(STATUS "Building with llvm Address sanitizer Tools")
+
+        set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fsanitize=address")
+        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=address")
+    elseif(CMAKE_COMPILER_IS_GNUCXX)
+        message(STATUS "Building with Address sanitizer Tools")
+
+        set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fsanitize=address -fno-omit-frame-pointer")
+        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=address -fno-omit-frame-pointer")
+    else()
+        message(FATAL_ERROR "Address sanitizer requires Clang or GCC. Aborting.")
+    endif()
+endif()
+
 ###############################################################################
 # Installation paths
 ###############################################################################
@@ -298,7 +324,7 @@ option(FASTDDS_STATISTICS "Enable Fast DDS Statistics Module" OFF)
 add_subdirectory(src/cpp)
 
 ###############################################################################
-# Add http://optionparser.sourceforge.net/ as unified cli parser 
+# Add http://optionparser.sourceforge.net/ as unified cli parser
 ###############################################################################
 add_subdirectory(thirdparty/optionparser)
 
@@ -425,7 +451,7 @@ if(BUILD_DOCUMENTATION)
         configure_file(${CMAKE_CURRENT_BINARY_DIR}/readthedocs_custom_template.cmake  ${CMAKE_CURRENT_BINARY_DIR}/readthedocs_custom.cmake)
 
         add_custom_target(readthedocs
-            COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/readthedocs_custom.cmake 
+            COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/readthedocs_custom.cmake
             )
 
         add_dependencies(readthedocs docdirs)