From 5084eb3dd2096dc5bc7ad60daa718297c2acd4dc Mon Sep 17 00:00:00 2001
From: Miguel Company <MiguelCompany@eprosima.com>
Date: Tue, 17 Oct 2023 10:47:50 +0200
Subject: [PATCH 01/10] Refs #19727. Preparing new approach based on colcon.

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
---
 .github/workflows/config/tsan_colcon.meta  |  23 +++
 .github/workflows/thread-sanitizer-v2.yaml | 163 +++++++++++++++++++++
 2 files changed, 186 insertions(+)
 create mode 100644 .github/workflows/config/tsan_colcon.meta
 create mode 100644 .github/workflows/thread-sanitizer-v2.yaml

diff --git a/.github/workflows/config/tsan_colcon.meta b/.github/workflows/config/tsan_colcon.meta
new file mode 100644
index 00000000000..a7d46a38cc1
--- /dev/null
+++ b/.github/workflows/config/tsan_colcon.meta
@@ -0,0 +1,23 @@
+{
+    "names":
+    {
+        "fastrtps":
+        {
+            "cmake-args":
+            [
+                "-DCMAKE_BUILD_TYPE=Debug",
+                "-DEPROSIMA_BUILD_TESTS=ON",
+                "-DGTEST_INDIVIDUAL=ON",
+                "-DRTPS_API_TESTS=ON",
+                "-DFASTRTPS_API_TESTS=OFF",
+                "-DFASTDDS_PIM_API_TESTS=ON",
+                "-DPERFORMANCE_TESTS=ON",
+                "-DSECURITY=ON",
+                "-DFASTDDS_STATISTICS=ON",
+                "-DCMAKE_C_FLAGS='-fsanitize=thread -O2 -g -fno-omit-frame-pointer'",
+                "-DCMAKE_CXX_FLAGS='-fsanitize=thread -O2 -g -fno-omit-frame-pointer'"
+            ]
+        }
+
+    }
+}
diff --git a/.github/workflows/thread-sanitizer-v2.yaml b/.github/workflows/thread-sanitizer-v2.yaml
new file mode 100644
index 00000000000..242e07432b7
--- /dev/null
+++ b/.github/workflows/thread-sanitizer-v2.yaml
@@ -0,0 +1,163 @@
+name: Thread Sanitizer analysis v2
+
+on:
+  workflow_dispatch:
+    inputs:
+      fastdds_branch:
+        description: 'Branch or tag of Fast DDS repository (https://github.com/eProsima/Fast-DDS)'
+        required: true
+        default: 'master'
+  pull_request:
+  push:
+    branches:
+      - master
+  schedule:
+    - cron: '0 1 * * *'
+
+jobs:
+
+  tsan-test:
+
+    if: ${{ !(contains(github.event.pull_request.labels.*.name, 'no-test') ||
+              contains(github.event.pull_request.labels.*.name, 'skip-ci')) }}
+
+    runs-on: ubuntu-22.04
+
+    env:
+        FASTDDS_BRANCH: ${{ github.head_ref || github.event.inputs.fastdds_branch || 'master' }}
+        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:
+      - uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
+        with:
+          packages: wget
+
+      - uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+        with:
+          packages: vcstool
+
+      - uses: eProsima/eProsima-CI/ubuntu/get_file_from_repo@v0
+        with:
+          source_repository: eProsima/Fast-DDS
+          source_repository_branch: ${{ env.FASTDDS_BRANCH }}
+          file_name: fastrtps.repos
+          file_result: fastrtps.repos
+
+      - name: Fetch Fast DDS & dependencies
+        uses: eProsima/eProsima-CI/ubuntu/vcs_import@v0
+        with:
+          vcs_repos_file: fastrtps.repos
+          destination_workspace: src
+
+      - name: Checkout Fast DDS branch
+        run: |
+          cd ./src/fastrtps
+          git checkout ${{ env.FASTDDS_BRANCH }}
+
+      - name: Install apt packages
+        uses: ./src/fastrtps/.github/actions/install-apt-packages
+
+      - name: Install Python packages
+        uses: ./src/fastrtps/.github/actions/install-python-packages
+
+      - name: Install GTest
+        uses: eProsima/eProsima-CI/ubuntu/install_gtest@v0
+        with:
+          version: v1.12.1
+
+      - name: Build workspace
+        run: |
+          cat src/fastrtps/.github/workflows/config/tsan_colcon.meta
+          colcon build \
+            --event-handlers=console_direct+ \
+            --metas src/fastrtps/.github/workflows/config/tsan_colcon.meta
+
+      - name: Run tests Fast DDS
+        run: |
+          source install/setup.bash && \
+          colcon test \
+            --packages-select fastrtps \
+            --event-handlers=console_direct+ \
+            --return-code-on-test-failure \
+            --ctest-args \
+              --label-exclude xfail \
+              --timeout 300
+        continue-on-error: true
+
+      - name: Upload Logs
+        uses: actions/upload-artifact@v3
+        with:
+          name: tsan-logs
+          path: log/
+        if: always()
+
+      - 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 ./ws/exports
+          # Move to the reports dir
+          pushd ./ws/build/fastdds/reports
+          # Install the report parser module
+          Find-Module -Repository PSGallery -Name SanReportParser | Install-Module -Scope CurrentUser -Force
+          # Parse the report files
+          $rp = Show-Tsan (gci)
+          # 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: Archive sanitation results
+        uses: actions/upload-artifact@v3
+        with:
+          name: sanitation-report
+          path: /home/runner/work/ws/exports/*
+
+      - name: Check on failures
+        if: ${{ steps.report_summary.outcome == 'failure' }}
+        shell: pwsh
+        run: |
+          Write-Host ${{ steps.report_summary.outcome }}
+          exit 1

From 6ce077c8283ee846b484da5124a44267b58d925f Mon Sep 17 00:00:00 2001
From: Miguel Company <MiguelCompany@eprosima.com>
Date: Tue, 17 Oct 2023 10:57:53 +0200
Subject: [PATCH 02/10] Refs #19727. Cancel in-progress jobs.

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
---
 .github/workflows/thread-sanitizer-v2.yaml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/.github/workflows/thread-sanitizer-v2.yaml b/.github/workflows/thread-sanitizer-v2.yaml
index 242e07432b7..ad7a8b38f89 100644
--- a/.github/workflows/thread-sanitizer-v2.yaml
+++ b/.github/workflows/thread-sanitizer-v2.yaml
@@ -14,6 +14,10 @@ on:
   schedule:
     - cron: '0 1 * * *'
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
+
 jobs:
 
   tsan-test:

From cfe589d6a5ab052f7805ae4a4482fa2cec282700 Mon Sep 17 00:00:00 2001
From: Miguel Company <MiguelCompany@eprosima.com>
Date: Tue, 17 Oct 2023 11:08:00 +0200
Subject: [PATCH 03/10] Refs #19727. Build all packages with
 CMAKE_BUILD_TYPE=Debug.

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
---
 .github/workflows/config/tsan_colcon.meta  | 2 +-
 .github/workflows/thread-sanitizer-v2.yaml | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/config/tsan_colcon.meta b/.github/workflows/config/tsan_colcon.meta
index a7d46a38cc1..3ed6fd5c6c4 100644
--- a/.github/workflows/config/tsan_colcon.meta
+++ b/.github/workflows/config/tsan_colcon.meta
@@ -5,7 +5,7 @@
         {
             "cmake-args":
             [
-                "-DCMAKE_BUILD_TYPE=Debug",
+                "-DCOMPILE_EXAMPLES=OFF",
                 "-DEPROSIMA_BUILD_TESTS=ON",
                 "-DGTEST_INDIVIDUAL=ON",
                 "-DRTPS_API_TESTS=ON",
diff --git a/.github/workflows/thread-sanitizer-v2.yaml b/.github/workflows/thread-sanitizer-v2.yaml
index ad7a8b38f89..fc459087f2f 100644
--- a/.github/workflows/thread-sanitizer-v2.yaml
+++ b/.github/workflows/thread-sanitizer-v2.yaml
@@ -78,7 +78,8 @@ jobs:
           cat src/fastrtps/.github/workflows/config/tsan_colcon.meta
           colcon build \
             --event-handlers=console_direct+ \
-            --metas src/fastrtps/.github/workflows/config/tsan_colcon.meta
+            --metas src/fastrtps/.github/workflows/config/tsan_colcon.meta \
+            --cmake-args -DCMAKE_BUILD_TYPE=Debug
 
       - name: Run tests Fast DDS
         run: |

From cb030e9702966e511a0100fa809eb1b90bf1d880 Mon Sep 17 00:00:00 2001
From: Miguel Company <MiguelCompany@eprosima.com>
Date: Tue, 17 Oct 2023 16:07:06 +0200
Subject: [PATCH 04/10] Refs #19727. Change ctest args.

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
---
 .github/workflows/thread-sanitizer-v2.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/thread-sanitizer-v2.yaml b/.github/workflows/thread-sanitizer-v2.yaml
index fc459087f2f..b7ae237f60e 100644
--- a/.github/workflows/thread-sanitizer-v2.yaml
+++ b/.github/workflows/thread-sanitizer-v2.yaml
@@ -89,8 +89,8 @@ jobs:
             --event-handlers=console_direct+ \
             --return-code-on-test-failure \
             --ctest-args \
-              --label-exclude xfail \
-              --timeout 300
+              --timeout 30 \
+              -V -E DDSSQLFilterValueTests
         continue-on-error: true
 
       - name: Upload Logs

From fa3eb62b6e42739ee4c36b4cd1f53c24e75f419d Mon Sep 17 00:00:00 2001
From: Miguel Company <MiguelCompany@eprosima.com>
Date: Tue, 17 Oct 2023 16:07:45 +0200
Subject: [PATCH 05/10] Refs #19727. Fix report steps.

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
---
 .github/workflows/thread-sanitizer-v2.yaml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/thread-sanitizer-v2.yaml b/.github/workflows/thread-sanitizer-v2.yaml
index b7ae237f60e..1c02fc93947 100644
--- a/.github/workflows/thread-sanitizer-v2.yaml
+++ b/.github/workflows/thread-sanitizer-v2.yaml
@@ -106,13 +106,13 @@ jobs:
         continue-on-error: true
         run: |
           # Create a dir for the exports
-          $exports = New-Item -ItemType Directory -Path ./ws/exports
+          $exports = New-Item -ItemType Directory -Path ./exports
           # Move to the reports dir
-          pushd ./ws/build/fastdds/reports
+          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 (gci)
+          $rp = Show-Tsan -Path ./stdout_stderr.log
           # filter duplicates
           $rp = $rp | group md5hash | % { $_.group[0] }
           # Export raw data
@@ -158,7 +158,7 @@ jobs:
         uses: actions/upload-artifact@v3
         with:
           name: sanitation-report
-          path: /home/runner/work/ws/exports/*
+          path: exports/*
 
       - name: Check on failures
         if: ${{ steps.report_summary.outcome == 'failure' }}

From cc929df4dce9271604cd6fd51c4b25dc10ab542d Mon Sep 17 00:00:00 2001
From: Miguel Company <MiguelCompany@eprosima.com>
Date: Fri, 20 Oct 2023 16:02:07 +0200
Subject: [PATCH 06/10] Refs #19727. Move changes back into old workflow.

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
---
 .github/workflows/thread-sanitizer.yaml | 204 ++++++++++--------------
 1 file changed, 84 insertions(+), 120 deletions(-)

diff --git a/.github/workflows/thread-sanitizer.yaml b/.github/workflows/thread-sanitizer.yaml
index 7c402fffa2f..299350bb597 100644
--- a/.github/workflows/thread-sanitizer.yaml
+++ b/.github/workflows/thread-sanitizer.yaml
@@ -2,14 +2,10 @@ name: Thread Sanitizer analysis
 on:
   workflow_dispatch:
     inputs:
-      optional_cmake_args:
-        description: 'Optional CMake Compilation Flags'
-        required: false
-        type: string
-      optional_ctest_args:
-        description: 'Optional CTest Testing Flags'
-        required: false
-        type: string
+      fastdds_branch:
+        description: 'Branch or tag of Fast DDS repository (https://github.com/eProsima/Fast-DDS)'
+        required: true
+        default: 'master'
 
   push:
     branches:
@@ -27,139 +23,106 @@ on:
       - '**.txt'
       - '!**/CMakeLists.txt'
 
-env:
-  TSAN_OPTIONS: second_deadlock_stack=1 history_size=7 memory_limit_mb=5000
-  # ubuntu host doesn't have an environment SHELL value (docker and vm images does)???
-  SHELL: /bin/bash
-  # 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
-
-defaults:
-  run:
-    shell: pwsh
-    working-directory: /home/runner/work
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
+
 jobs:
+
   ubuntu-sanitizer-run:
     name: Sanitizer Evaluation
+
     if: ${{ !(contains(github.event.pull_request.labels.*.name, 'no-test') ||
               contains(github.event.pull_request.labels.*.name, 'skip-ci')) }}
+
     runs-on: ubuntu-22.04
+
+    env:
+        FASTDDS_BRANCH: ${{ github.head_ref || github.event.inputs.fastdds_branch || 'master' }}
+        TSAN_OPTIONS: second_deadlock_stack=1 history_size=7 memory_limit_mb=5000
+        # GCC 11.3 (Ubuntu Jammy default) produces several false positives regarding timed synchronization protocols
+        # These issues were fixed in GCC 12 so we upgrade to that version.
+        CC: gcc-12
+        CXX: g++-12
+
     steps:
-      - name: Download the sanitizers cmake module and apply some fixes
-        run: |
-          git config --global user.email "dummy@mail.com"
-          git config --global user.name "dummy"
-          cd (New-Item -ItemType Directory -Path ./ws)
-          git clone https://github.com/arsenm/sanitizers-cmake
-          cd sanitizers-cmake
-          git remote add efork https://github.com/MiguelBarro/sanitizers-cmake.git
-          git fetch efork
-          git merge --no-edit efork/bugfix/cmake_updates
-
-      - name: Download googletest and make it sanitizer aware
-        run: |
-          cd ws
-          git clone --branch release-1.11.0 https://github.com/google/googletest.git
-          cd googletest
-          git remote add efork https://github.com/MiguelBarro/googletest.git
-          git fetch efork
-          git merge --no-edit efork/bugfix/add_sanitizer_support
-
-      - name: Build & install googletest
-        run: |
-          cd ws
-          cmake -DCMAKE_MODULE_PATH="$(pwd)/sanitizers-cmake/cmake" -DCMAKE_INSTALL_PREFIX="./install" `
-                -DBUILD_GMOCK=ON -DSANITIZE_THREAD=ON -DCMAKE_BUILD_TYPE=Debug `
-                -DCMAKE_VERBOSE_MAKEFILE=ON -B ./build/googletest ./googletest
-          cmake --build ./build/googletest --target install --verbose
+      - uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
+        with:
+          packages: wget
 
-      - name: Download Fast-CDR and make it sanitizer aware
-        run: |
-          cd ws
-          git clone --branch 1.1.x https://github.com/eProsima/Fast-CDR.git
-          cd Fast-CDR
-          git remote add efork https://github.com/MiguelBarro/Fast-CDR.git
-          git fetch efork
-          git merge --no-edit efork/bugfix/add_sanitizer_support
-
-      - name: Build & install Fast-CDR
-        run: |
-          cd ws
-          cmake -DCMAKE_INSTALL_PREFIX="./install" -DCMAKE_PREFIX_PATH="./install" `
-                -DCMAKE_MODULE_PATH="$(pwd)/sanitizers-cmake/cmake" -DCMAKE_VERBOSE_MAKEFILE=ON `
-                -DSANITIZE_THREAD=ON -DCMAKE_BUILD_TYPE=Debug -B ./build/fastcdr ./Fast-CDR
-          cmake --build ./build/fastcdr --target install --verbose
+      - uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+        with:
+          packages: vcstool
 
-      - name: Download foonathan/memory and make it sanitizer aware
-        run: |
-          cd ws
-          git clone https://github.com/foonathan/memory.git
-          cd memory
-          git remote add efork https://github.com/MiguelBarro/memory.git
-          git fetch efork
-          git merge --no-edit efork/bugfix/add_sanitizer_support
-
-      - name: Build & install foonathan/memory
-        run: |
-          cd ws
-          cmake -DCMAKE_MODULE_PATH="$(pwd)/sanitizers-cmake/cmake" -DCMAKE_VERBOSE_MAKEFILE=ON -DSANITIZE_THREAD=ON `
-                -DCMAKE_INSTALL_PREFIX="./install" -DFOONATHAN_MEMORY_BUILD_TOOLS=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON `
-                -DFOONATHAN_MEMORY_BUILD_TESTS=ON -DFOONATHAN_MEMORY_BUILD_EXAMPLES=ON -DFOONATHAN_MEMORY_BUILD_TOOLS=ON  `
-                -DCMAKE_BUILD_TYPE=Debug -B ./build/memory ./memory
-          cmake --build ./build/memory --target install --verbose
-
-      - name: Download Fast-DDS and make it sanitizer aware
+      - uses: eProsima/eProsima-CI/ubuntu/get_file_from_repo@v0
+        with:
+          source_repository: eProsima/Fast-DDS
+          source_repository_branch: ${{ env.FASTDDS_BRANCH }}
+          file_name: fastrtps.repos
+          file_result: fastrtps.repos
+
+      - name: Fetch Fast DDS & dependencies
+        uses: eProsima/eProsima-CI/ubuntu/vcs_import@v0
+        with:
+          vcs_repos_file: fastrtps.repos
+          destination_workspace: src
+
+      - name: Checkout Fast DDS branch
         run: |
-          cd ws
-          git clone https://github.com/eProsima/Fast-DDS.git
-          cd Fast-DDS
-          git fetch origin ${{ github.ref }}:merge-branch
-          git checkout merge-branch
-          echo "Modified files against destination branch"
-          git diff --name-only HEAD~1
-          git remote add efork https://github.com/MiguelBarro/Fast-DDS.git
-          git fetch efork
-          git merge --no-edit efork/bugfix/add_sanitizer_support
-
-      - name: Build & install Fast-DDS
+          cd ./src/fastrtps
+          git checkout ${{ env.FASTDDS_BRANCH }}
+
+      - name: Install apt packages
+        uses: ./src/fastrtps/.github/actions/install-apt-packages
+
+      - name: Install Python packages
+        uses: ./src/fastrtps/.github/actions/install-python-packages
+
+      - name: Install GTest
+        uses: eProsima/eProsima-CI/ubuntu/install_gtest@v0
+        with:
+          version: v1.12.1
+
+      - name: Build workspace
         run: |
-          cd ws
-          cmake -DCMAKE_PREFIX_PATH="$(pwd)/install" -DCMAKE_INSTALL_PREFIX='./install' `
-                -DCMAKE_MODULE_PATH="$(pwd)/sanitizers-cmake/cmake" -DCMAKE_VERBOSE_MAKEFILE=ON -DSANITIZE_THREAD=ON `
-                -DGTEST_INDIVIDUAL=ON -DFASTDDS_STATISTICS=ON -DTHIRDPARTY=ON `
-                -DCOMPILE_EXAMPLES=OFF -DEPROSIMA_BUILD_TESTS=ON -DSECURITY=ON `
-                -DRTPS_API_TESTS=ON -DFASTRTPS_API_TESTS=ON -DFASTDDS_PIM_API_TESTS=ON `
-                -DCMAKE_BUILD_TYPE=Debug ${{ inputs.optional_cmake_args }} -B ./build/fastdds ./Fast-DDS
-          # Create a symlink to the reports folder
-          $report_dir = gci -Path ./build/fastdds -Attributes D |
-            ? Name -like "$(Get-Date -Format 'MMMM-dd-yyyy')*"
-          $report_dir = Join-Path $report_dir tsan | gi
-          echo "report folder is: $report_dir"
-          New-Item -ItemType SymbolicLink -Target $report_dir -Path ./build/fastdds/reports
-          cmake --build ./build/fastdds --target install -j 2 --verbose
-
-      - name: Run Fast-DDS test & generate sanitizer reports
+          cat src/fastrtps/.github/workflows/config/tsan_colcon.meta
+          colcon build \
+            --event-handlers=console_direct+ \
+            --metas src/fastrtps/.github/workflows/config/tsan_colcon.meta \
+            --cmake-args -DCMAKE_BUILD_TYPE=Debug
+
+      - name: Run tests Fast DDS
         run: |
-          cd ws/build/fastdds
-          # Exclude DDSSQLFilterValueTests tests to prevent hitting GH Actions resource limits
-          ctest --timeout 30 -j 2 -V -E DDSSQLFilterValueTests ${{ inputs.optional_ctest_args }}
-          # ctest fails if sanitizer reports are present
-          $LASTEXITCODE=0
+          source install/setup.bash && \
+          colcon test \
+            --packages-select fastrtps \
+            --event-handlers=console_direct+ \
+            --return-code-on-test-failure \
+            --ctest-args \
+              --timeout 30 \
+              -V -E DDSSQLFilterValueTests
+        continue-on-error: true
+
+      - name: Upload Logs
+        uses: actions/upload-artifact@v3
+        with:
+          name: tsan-logs
+          path: log/
+        if: always()
 
       - 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 ./ws/exports
+          $exports = New-Item -ItemType Directory -Path ./exports
           # Move to the reports dir
-          pushd ./ws/build/fastdds/reports
+          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 (gci)
+          $rp = Show-Tsan -Path ./stdout_stderr.log
           # filter duplicates
           $rp = $rp | group md5hash | % { $_.group[0] }
           # Export raw data
@@ -205,10 +168,11 @@ jobs:
         uses: actions/upload-artifact@v3
         with:
           name: sanitation-report
-          path: /home/runner/work/ws/exports/*
+          path: exports/*
 
       - name: Check on failures
         if: ${{ steps.report_summary.outcome == 'failure' }}
+        shell: pwsh
         run: |
           Write-Host ${{ steps.report_summary.outcome }}
           exit 1

From 92256ae8a9f5b95a51a97e4c73a6a538623b6403 Mon Sep 17 00:00:00 2001
From: Miguel Company <MiguelCompany@eprosima.com>
Date: Fri, 20 Oct 2023 16:08:47 +0200
Subject: [PATCH 07/10] Refs #19727. Removed v2 workflow.

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
---
 .github/workflows/thread-sanitizer-v2.yaml | 168 ---------------------
 1 file changed, 168 deletions(-)
 delete mode 100644 .github/workflows/thread-sanitizer-v2.yaml

diff --git a/.github/workflows/thread-sanitizer-v2.yaml b/.github/workflows/thread-sanitizer-v2.yaml
deleted file mode 100644
index 1c02fc93947..00000000000
--- a/.github/workflows/thread-sanitizer-v2.yaml
+++ /dev/null
@@ -1,168 +0,0 @@
-name: Thread Sanitizer analysis v2
-
-on:
-  workflow_dispatch:
-    inputs:
-      fastdds_branch:
-        description: 'Branch or tag of Fast DDS repository (https://github.com/eProsima/Fast-DDS)'
-        required: true
-        default: 'master'
-  pull_request:
-  push:
-    branches:
-      - master
-  schedule:
-    - cron: '0 1 * * *'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-
-  tsan-test:
-
-    if: ${{ !(contains(github.event.pull_request.labels.*.name, 'no-test') ||
-              contains(github.event.pull_request.labels.*.name, 'skip-ci')) }}
-
-    runs-on: ubuntu-22.04
-
-    env:
-        FASTDDS_BRANCH: ${{ github.head_ref || github.event.inputs.fastdds_branch || 'master' }}
-        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:
-      - uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
-        with:
-          packages: wget
-
-      - uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
-        with:
-          packages: vcstool
-
-      - uses: eProsima/eProsima-CI/ubuntu/get_file_from_repo@v0
-        with:
-          source_repository: eProsima/Fast-DDS
-          source_repository_branch: ${{ env.FASTDDS_BRANCH }}
-          file_name: fastrtps.repos
-          file_result: fastrtps.repos
-
-      - name: Fetch Fast DDS & dependencies
-        uses: eProsima/eProsima-CI/ubuntu/vcs_import@v0
-        with:
-          vcs_repos_file: fastrtps.repos
-          destination_workspace: src
-
-      - name: Checkout Fast DDS branch
-        run: |
-          cd ./src/fastrtps
-          git checkout ${{ env.FASTDDS_BRANCH }}
-
-      - name: Install apt packages
-        uses: ./src/fastrtps/.github/actions/install-apt-packages
-
-      - name: Install Python packages
-        uses: ./src/fastrtps/.github/actions/install-python-packages
-
-      - name: Install GTest
-        uses: eProsima/eProsima-CI/ubuntu/install_gtest@v0
-        with:
-          version: v1.12.1
-
-      - name: Build workspace
-        run: |
-          cat src/fastrtps/.github/workflows/config/tsan_colcon.meta
-          colcon build \
-            --event-handlers=console_direct+ \
-            --metas src/fastrtps/.github/workflows/config/tsan_colcon.meta \
-            --cmake-args -DCMAKE_BUILD_TYPE=Debug
-
-      - name: Run tests Fast DDS
-        run: |
-          source install/setup.bash && \
-          colcon test \
-            --packages-select fastrtps \
-            --event-handlers=console_direct+ \
-            --return-code-on-test-failure \
-            --ctest-args \
-              --timeout 30 \
-              -V -E DDSSQLFilterValueTests
-        continue-on-error: true
-
-      - name: Upload Logs
-        uses: actions/upload-artifact@v3
-        with:
-          name: tsan-logs
-          path: log/
-        if: always()
-
-      - 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: Archive sanitation results
-        uses: actions/upload-artifact@v3
-        with:
-          name: sanitation-report
-          path: exports/*
-
-      - name: Check on failures
-        if: ${{ steps.report_summary.outcome == 'failure' }}
-        shell: pwsh
-        run: |
-          Write-Host ${{ steps.report_summary.outcome }}
-          exit 1

From a156a745182177f4333e29bafec3345b96aab995 Mon Sep 17 00:00:00 2001
From: Miguel Company <MiguelCompany@eprosima.com>
Date: Mon, 23 Oct 2023 07:37:13 +0200
Subject: [PATCH 08/10] Refs #19727. Optional cmake and ctest arguments on
 dispatch inputs.

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
---
 .github/workflows/thread-sanitizer.yaml | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/thread-sanitizer.yaml b/.github/workflows/thread-sanitizer.yaml
index 299350bb597..2c4b6432aab 100644
--- a/.github/workflows/thread-sanitizer.yaml
+++ b/.github/workflows/thread-sanitizer.yaml
@@ -6,6 +6,14 @@ on:
         description: 'Branch or tag of Fast DDS repository (https://github.com/eProsima/Fast-DDS)'
         required: true
         default: 'master'
+      optional_cmake_args:
+        description: 'Optional CMake Compilation Flags'
+        required: false
+        type: string
+      optional_ctest_args:
+        description: 'Optional CTest Testing Flags'
+        required: false
+        type: string
 
   push:
     branches:
@@ -89,7 +97,7 @@ jobs:
           colcon build \
             --event-handlers=console_direct+ \
             --metas src/fastrtps/.github/workflows/config/tsan_colcon.meta \
-            --cmake-args -DCMAKE_BUILD_TYPE=Debug
+            --cmake-args -DCMAKE_BUILD_TYPE=Debug ${{ inputs.optional_cmake_args }}
 
       - name: Run tests Fast DDS
         run: |
@@ -100,7 +108,7 @@ jobs:
             --return-code-on-test-failure \
             --ctest-args \
               --timeout 30 \
-              -V -E DDSSQLFilterValueTests
+              -V -E DDSSQLFilterValueTests  ${{ inputs.optional_ctest_args }}
         continue-on-error: true
 
       - name: Upload Logs

From 58c192a50d6faea25014bee1f431641a3b0b35d8 Mon Sep 17 00:00:00 2001
From: Miguel Company <MiguelCompany@eprosima.com>
Date: Mon, 23 Oct 2023 07:39:37 +0200
Subject: [PATCH 09/10] Refs #19727. Add build flags to fastcdr.

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
---
 .github/workflows/config/tsan_colcon.meta | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/.github/workflows/config/tsan_colcon.meta b/.github/workflows/config/tsan_colcon.meta
index 3ed6fd5c6c4..3b45525dec8 100644
--- a/.github/workflows/config/tsan_colcon.meta
+++ b/.github/workflows/config/tsan_colcon.meta
@@ -1,6 +1,14 @@
 {
     "names":
     {
+        "fastcdr":
+        {
+            "cmake-args":
+            [
+                "-DCMAKE_C_FLAGS='-fsanitize=thread -O2 -g -fno-omit-frame-pointer'",
+                "-DCMAKE_CXX_FLAGS='-fsanitize=thread -O2 -g -fno-omit-frame-pointer'"
+            ]
+        },
         "fastrtps":
         {
             "cmake-args":

From 2e660346d2bc940987c4ebf85cc12cfb13f1f890 Mon Sep 17 00:00:00 2001
From: Miguel Company <miguelcompany@eprosima.com>
Date: Mon, 23 Oct 2023 12:40:51 +0200
Subject: [PATCH 10/10] Refs #19727. Change google test version.

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Co-authored-by: Eduardo Ponz Segrelles <eduardoponz@eprosima.com>
---
 .github/workflows/thread-sanitizer.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/thread-sanitizer.yaml b/.github/workflows/thread-sanitizer.yaml
index 2c4b6432aab..712e001d4dc 100644
--- a/.github/workflows/thread-sanitizer.yaml
+++ b/.github/workflows/thread-sanitizer.yaml
@@ -89,7 +89,7 @@ jobs:
       - name: Install GTest
         uses: eProsima/eProsima-CI/ubuntu/install_gtest@v0
         with:
-          version: v1.12.1
+          version: release-1.11.0
 
       - name: Build workspace
         run: |