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Use thread sanitizer (tsan) to check data races #452

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Use thread sanitizer (tsan) to check data races #452

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14 changes: 9 additions & 5 deletions ur_robot_driver/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -74,6 +74,10 @@ endif()
add_compile_options(-Wall)
add_compile_options(-Wextra)
add_compile_options(-Wno-unused-parameter)
add_compile_options(-fsanitize=thread)
add_compile_options(-fno-omit-frame-pointer)
add_compile_options(-O2)
add_compile_options(-g)


include_directories(
Expand All @@ -86,34 +90,34 @@ add_library(ur_robot_driver_plugin
src/dashboard_client_ros.cpp
src/hardware_interface.cpp
)
target_link_libraries(ur_robot_driver_plugin ur_client_library::urcl ${catkin_LIBRARIES})
target_link_libraries(ur_robot_driver_plugin ur_client_library::urcl ${catkin_LIBRARIES} tsan)
add_dependencies(ur_robot_driver_plugin ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_library(urcl_log_handler
src/urcl_log_handler.cpp
)
target_link_libraries(urcl_log_handler ${catkin_LIBRARIES} ur_client_library::urcl)
target_link_libraries(urcl_log_handler ${catkin_LIBRARIES} ur_client_library::urcl tsan)

add_executable(ur_robot_driver_node
src/dashboard_client_ros.cpp
src/hardware_interface.cpp
src/hardware_interface_node.cpp
)
target_link_libraries(ur_robot_driver_node ${catkin_LIBRARIES} ur_client_library::urcl urcl_log_handler)
target_link_libraries(ur_robot_driver_node ${catkin_LIBRARIES} ur_client_library::urcl urcl_log_handler tsan)
add_dependencies(ur_robot_driver_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(dashboard_client
src/dashboard_client_ros.cpp
src/dashboard_client_node.cpp
)
target_link_libraries(dashboard_client ${catkin_LIBRARIES} ur_client_library::urcl urcl_log_handler)
target_link_libraries(dashboard_client ${catkin_LIBRARIES} ur_client_library::urcl urcl_log_handler tsan)
add_dependencies(dashboard_client ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(robot_state_helper
src/robot_state_helper.cpp
src/robot_state_helper_node.cpp
)
target_link_libraries(robot_state_helper ${catkin_LIBRARIES} ur_client_library::urcl)
target_link_libraries(robot_state_helper ${catkin_LIBRARIES} ur_client_library::urcl tsan)
add_dependencies(robot_state_helper ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

if(CATKIN_ENABLE_TESTING)
Expand Down