#!/bin/bash

# colcon sanitizer plugin instructions at
# https://github.com/colcon/colcon-sanitizer-reports/blob/master/README.rst

# To use this script, make sure you have the colcon plugins installed according
# to the instructions above. Then build ros2_ws and navstack_dependencies_ws.
# Source the navstack_dependencies_ws and then cd to the nav2_ws.
#
# Run this script by invoking navigation2/tools/run_sanitizers
# Afterwards, there should be two files in the root of the workspace:
#  - sanitizer_report-asan.csv
#  - sanitizer_report-tsan.csv

clean_workspace() {
  rm -rf build install log
}

build_with_sanitizer() {
  colcon build --build-base=build-$1 --install-base=install-$1 \
      --cmake-args -DOSRF_TESTING_TOOLS_CPP_DISABLE_MEMORY_TOOLS=ON \
                   -DCMAKE_BUILD_TYPE=Debug \
      --mixin $1 \
      --symlink-install
}

test_with_sanitizer() {
colcon test --build-base=build-$1 --install-base=install-$1 --retest-until-pass 3 \
  --event-handlers sanitizer_report+
}


clean_workspace

build_with_sanitizer asan-gcc
build_with_sanitizer tsan

test_with_sanitizer asan-gcc
mv sanitizer_report.csv sanitizer_report-asan.csv
test_with_sanitizer tsan
mv sanitizer_report.csv sanitizer_report-tsan.csv