From 0451106cccbb6e9e8c5240bd2a5fedaec1b793bd Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Thu, 18 Nov 2021 19:15:20 -0800
Subject: [PATCH] Add sanitizers

---
 .github/workflows/sanitizers.yml              | 45 +++++++++++++++++++
 sysid-application/build.gradle                | 24 ++++++++++
 .../native/cpp/analysis/FilteringUtils.cpp    | 19 ++++++--
 3 files changed, 84 insertions(+), 4 deletions(-)
 create mode 100644 .github/workflows/sanitizers.yml

diff --git a/.github/workflows/sanitizers.yml b/.github/workflows/sanitizers.yml
new file mode 100644
index 00000000..5d00421c
--- /dev/null
+++ b/.github/workflows/sanitizers.yml
@@ -0,0 +1,45 @@
+name: Sanitizers
+
+on: [pull_request, push]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - name: asan
+            build-env: ""
+            build-options: "-Pasan"
+          - name: tsan
+            build-env: "TSAN_OPTIONS=second_deadlock_stack=1"
+            build-options: "-Ptsan"
+          - name: ubsan
+            build-env: ""
+            build-options: "-Pubsan"
+    name: "${{ matrix.name }}"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+
+      - uses: actions/setup-java@v1
+        with:
+          java-version: 11
+          architecture: x64
+
+      - name: Install Toolchain
+        run: ./gradlew installRoborioToolchain
+
+      - name: Run sanitizers on unit tests
+        run: ${{ matrix.build-env }} ./gradlew runSysidTestReleaseGoogleTestExe ${{ matrix.build-options }}
+      - name: Run sanitizers on analysis integration tests
+        run: ${{ matrix.build-env }} ./gradlew runAnalysisIntegrationTests -PwithIntegration ${{ matrix.build-options }}
+
+      - name: Run sanitizers on generation integration tests
+        run: ${{ matrix.build-env }} ./gradlew runGenerationIntegrationTests -PwithIntegration ${{ matrix.build-options }}
diff --git a/sysid-application/build.gradle b/sysid-application/build.gradle
index 2bc2d157..96dffb73 100644
--- a/sysid-application/build.gradle
+++ b/sysid-application/build.gradle
@@ -213,5 +213,29 @@ model {
   }
 }
 
+if (project.hasProperty("asan")) {
+    nativeUtils.platformConfigs.named("linuxx86-64").configure {
+        it.cppCompiler.args.add('-g3')
+        it.cppCompiler.args.add('-fsanitize=address')
+        it.linker.args.add('-fsanitize=address')
+    }
+}
+
+if (project.hasProperty("tsan")) {
+    nativeUtils.platformConfigs.named("linuxx86-64").configure {
+        it.cppCompiler.args.add('-g3')
+        it.cppCompiler.args.add('-fsanitize=thread')
+        it.linker.args.add('-fsanitize=thread')
+    }
+}
+
+if (project.hasProperty("ubsan")) {
+    nativeUtils.platformConfigs.named("linuxx86-64").configure {
+        it.cppCompiler.args.add('-g3')
+        it.cppCompiler.args.add('-fsanitize=undefined')
+        it.linker.args.add('-fsanitize=undefined')
+    }
+}
+
 // Configure publishing.
 apply from: "config/publish.gradle"
diff --git a/sysid-application/src/main/native/cpp/analysis/FilteringUtils.cpp b/sysid-application/src/main/native/cpp/analysis/FilteringUtils.cpp
index b70474a8..6c66ef8b 100644
--- a/sysid-application/src/main/native/cpp/analysis/FilteringUtils.cpp
+++ b/sysid-application/src/main/native/cpp/analysis/FilteringUtils.cpp
@@ -129,16 +129,27 @@ sysid::TrimStepVoltageData(std::vector<PreparedData>* data,
                (settings->motionThreshold * datum.dt.value());
       });
 
+  units::second_t positionDelay;
+  if (motionBegins != data->end()) {
+    positionDelay = motionBegins->timestamp - firstTimestamp;
+  } else {
+    positionDelay = 0_s;
+  }
+
   auto maxAccel = std::max_element(
       data->begin(), data->end(), [](const auto& a, const auto& b) {
         return std::abs(a.acceleration) < std::abs(b.acceleration);
       });
 
-  units::second_t positionDelay = motionBegins->timestamp - firstTimestamp;
-  units::second_t velocityDelay = maxAccel->timestamp - firstTimestamp;
+  units::second_t velocityDelay;
+  if (maxAccel != data->end()) {
+    velocityDelay = maxAccel->timestamp - firstTimestamp;
 
-  // Trim data before max acceleration
-  data->erase(data->begin(), maxAccel);
+    // Trim data before max acceleration
+    data->erase(data->begin(), maxAccel);
+  } else {
+    velocityDelay = 0_s;
+  }
 
   minStepTime = std::min(data->at(0).timestamp - firstTimestamp, minStepTime);