Add Realtime Sanitizer (RTsan) support #2809
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👋 Hi,
This is a reminder message to assign an extra build label to this Pull Request if needed.
By default, this PR will be build with minimal build options (URDF support and Python bindings)
The possible extra labels are:
- build_collision (build Pinocchio with coal support)
- build_casadi (build Pinocchio with CasADi support)
- build_autodiff (build Pinocchio with CppAD support)
- build_codegen (build Pinocchio with CppADCodeGen support)
- build_extra (build Pinocchio with extra algorithms)
- build_mpfr (build Pinocchio with Boost.Multiprecision support)
- build_sdf (build Pinocchio with SDF parser)
- build_accelerate (build Pinocchio with APPLE Accelerate framework support)
- build_all (build Pinocchio with ALL the options stated above)
Thanks.
The Pinocchio development team.
unittest/dynamic-allocations.cpp
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| // Build model | ||
| Model model; | ||
| buildModels::humanoidRandom(model, true); |
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We should parametrize this test with different model.
Joint (mimic, composite) can have some hidden allocation.
Also, mimic only support the following algorithms:
- RNEA
- CRBA
- Forward Kinematics
- Jacobians and Frames
- Centroidal Algorithm (ccrba)
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Added tests with additional robots. Allocations detected !
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Mimic are only supported in few algorithm (listed in my previous comment).
Unsupported algo will throw and then biasing the test.
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refactored the test to only execute certain tests if the model has composites or mimic joints. 👍
I'm waiting for the green CI, then I'll squash some commits
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Added a warning annotation in the CI when RTSan unittest failed. Squashed the commits. 
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ahoarau
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dont build benchmarks make build depends on configure
later this could be used to instrument the whole library format cmake rewrite rtsan cmake comments
format dynamic-allocations.cpp add more models to test test is now failing in multiple parts refactor rtsan test suite to only allow known allocation-free functions Joint Composites and Mimic causes dynamic allocations for jacobian fonction (and all the others). Only the Fk is fully safe so far. only enable nonallocating static variables, depending on the variable type, can be implemented with an underlying pthread_mutex_lock. This is the case on mac-arm64, where static int is most probably implemented with an atomic, but static MyClass is protected by a mutex, causing rtsan to trigger an with nonblocking. nonallocating is less strict, but still useful.
format .gitignore
only run on ubuntu-latest add fail-fast strategy for rtsan build continue on error (rtsan) add rtsan build in the check list display correct name on RTsan CI only use run test use || true as continue on error is not working as expected build first, then test display a warning when rtsan fails using matrix.name in RTSan build enable rtsan in CI by default now that rtsan tests handle joint composites and mimics properly, the CI can be enabled by default
ahoarau
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Description
This PR adds initial support for the
Realtime Sanitizer (RTSan)that appeared in clang 20. It allow to check for the "realtime-safeness", by detecting dynamic memory allocations and source of non-determinism (like mutex lock, systems calls etc).Before going all-in and instrument all the code with
[[clang::nonblocking]], we start by writing a unittest that check for a the main API functions.To test:
Typical output might look like this:
https://clang.llvm.org/docs/RealtimeSanitizer.html
https://clang.llvm.org/docs/FunctionEffectAnalysis.html
https://github.com/realtime-sanitizer/rtsan
Checklist
pre-commit run --all-filesorpixi run lint