Refs #20542: Add tsan_fastdds_test job

Signed-off-by: eduponz <eduardoponz@eprosima.com>

.github/workflows/sanitizers-ci.yaml

@@ -15,6 +15,10 @@ on:
         description: 'Run Addess Sanitizer job for Discovery Server'
         required: false
         type: boolean
+      run_tsan_fastdds:
+        description: 'Run Thread Sanitizer job for Fast DDS'
+        required: false
+        type: boolean
       colcon_meta:
         description: 'Optional Path of the colcon meta file'
         required: false
@@ -69,7 +73,11 @@ env:
   run_asan_discovery_server: ${{ inputs.run_asan_discovery_server ||
       github.event_name == 'schedule' ||
       github.event_name == 'pull_request' }}
+  run_tsan_fastdds: ${{ inputs.run_tsan_fastdds ||
+      github.event_name == 'schedule' ||
+      github.event_name == 'pull_request' }}
   asan_colcon_meta: ${{ inputs.colcon_meta || '' }}
+  tsan_colcon_meta: ${{ inputs.colcon_meta || '' }}
   colcon_build_args: ${{ inputs.colcon_build_args || '' }}
   colcon_test_args: ${{ inputs.colcon_test_args || '' }}
   cmake_args: ${{ inputs.cmake_args || '' }}
@@ -356,3 +364,169 @@ jobs:
             --specific-error-file _tmp_specific_error_file.log \
             --output-file $GITHUB_STEP_SUMMARY \
             --sanitizer=asan
+
+  tsan_fastdds_test:
+    if: ${{ (
+          !contains(github.event.pull_request.labels.*.name, 'skip-ci') &&
+          !contains(github.event.pull_request.labels.*.name, 'no-test') &&
+          !contains(github.event.pull_request.labels.*.name, 'conflicts') &&
+          (
+            (inputs.run_tsan_fastdds == true) ||
+            contains(fromJSON('["schedule", "pull_request"]'), github.event_name)
+          )
+        ) }}
+    runs-on: ubuntu-22.04
+    env:
+      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: Add ci-pending label if PR
+        if: ${{ github.event_name == 'pull_request' }}
+        uses: eProsima/eProsima-CI/external/add_labels@v0
+        with:
+          labels: ci-pending
+          number: ${{ github.event.number }}
+          repo: eProsima/Fast-DDS
+
+      # https://github.com/actions/runner-images/issues/9491
+      - name: Fix kernel mmap rnd bits
+        run: sudo sysctl vm.mmap_rnd_bits=28
+
+      - name: Sync eProsima/Fast-DDS repository
+        uses: eProsima/eProsima-CI/external/checkout@v0
+        with:
+          path: src/fastrtps
+          ref: ${{ env.fastdds_ref }}
+
+      - name: Get minimum supported version of CMake
+        uses: eProsima/eProsima-CI/external/get-cmake@v0
+        with:
+          cmakeVersion: '3.22.6'
+
+      - 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: Setup CCache
+        uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
+
+      - name: Fetch Fast DDS dependencies
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
+        with:
+          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/fastrtps.repos
+          destination_workspace: src
+          skip_existing: 'true'
+
+      - name: Fetch Fast DDS CI dependencies
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
+        with:
+          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/ci.repos
+          destination_workspace: src
+          skip_existing: 'true'
+
+      - name: Select .meta file
+        id: select_meta
+        if: ${{ env.tsan_colcon_meta == '' }}
+        run: |
+          echo "tsan_colcon_meta=${{ github.workspace }}/src/fastrtps/.github/workflows/config/tsan_colcon.meta" >> $GITHUB_ENV
+          cat ${{ github.workspace }}/src/fastrtps/.github/workflows/config/tsan_colcon.meta
+
+      - name: Colcon build
+        continue-on-error: false
+        uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
+        with:
+          colcon_meta_file: ${{ env.tsan_colcon_meta }}
+          colcon_build_args: ${{ env.colcon_build_args }}
+          cmake_args: ${{ env.cmake_args }}
+          cmake_args_default: ''
+          cmake_build_type: 'Debug'
+          workspace: ${{ github.workspace }}
+          workspace_dependencies: ''
+
+      - name: Colcon test
+        if: ${{ env.run_asan_fastdds }}
+        id: test
+        continue-on-error: true
+        uses: eProsima/eProsima-CI/multiplatform/colcon_test@v0
+        with:
+          colcon_test_args: ${{ env.colcon_test_args }}
+          colcon_test_args_default: '--event-handlers=console_direct+ --return-code-on-test-failure'
+          ctest_args: ${{ env.ctest_args }}
+          ctest_args_default: '--timeout 300 --label-exclude "xfail" -V -E DDSSQLFilterValueTests'
+          packages_names: fastrtps
+          workspace: ${{ github.workspace }}
+          workspace_dependencies: ''
+          test_report_artifact: ${{ format('test_report_{0}_{1}', env.label, github.job) }}
+
+      - 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: Check on failures
+        if: ${{ steps.report_summary.outcome == 'failure' }}
+        shell: pwsh
+        run: |
+          Write-Host ${{ steps.report_summary.outcome }}
+          exit 1