Add support for testing if a portion of code allocates memory via Mem…

…oryAllocationMonitor (ami-iit#768)
traversaro · Apr 8, 2024 · 5ae4e0a · 5ae4e0a
1 parent b711a64
commit 5ae4e0a
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Showing 21 changed files with 593 additions and 22 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -13,6 +13,7 @@ All notable changes to this project are documented in this file.
 - Add getJointTorques to python binding in SensorBridge (https://github.com/ami-iit/bipedal-locomotion-framework/pull/825)
 - Add `System::TimeProfiler` class (https://github.com/ami-iit/bipedal-locomotion-framework/pull/826)
 - Add the possibility to programmatically build a `QPTSID` problem from the content of a `ParametersHandler` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/828)
+- Add support for testing if a portion of code allocates memory via `MemoryAllocationMonitor`` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/768)
 
 ### Changed
 - 🤖 [ergoCubSN001] Add logging of the wrist and fix the name of the waist imu (https://github.com/ami-iit/bipedal-locomotion-framework/pull/810)

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -120,7 +120,7 @@ install_basic_package_files(${PROJECT_NAME}
                             NAMESPACE BipedalLocomotion::
                             VERSION ${BipedalLocomotionFramework_VERSION}
                             COMPATIBILITY AnyNewerVersion
-                            TARGETS_PROPERTY BipedalLocomotionFramework_TARGETS
+                            TARGETS_PROPERTY BipedalLocomotionFramework_INSTALLED_TARGETS
                             VARS_PREFIX ${PROJECT_NAME}
                             NO_CHECK_REQUIRED_COMPONENTS_MACRO
                             DEPENDENCIES ${FRAMEWORK_PUBLIC_DEPENDENCIES}

diff --git a/cmake/AddBipedalLocomotionFrameworkTarget.cmake b/cmake/AddBipedalLocomotionFrameworkTarget.cmake
@@ -3,7 +3,7 @@
 # BSD-3-Clause license.
 
 get_property(umbrella_includes_list GLOBAL PROPERTY umbrella_includes)
-get_property(target_list GLOBAL PROPERTY BipedalLocomotionFramework_TARGETS)
+get_property(target_list GLOBAL PROPERTY BipedalLocomotionFramework_INSTALLED_TARGETS)
 
 configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/Framework.h.in"
                "${CMAKE_CURRENT_BINARY_DIR}/Autogenerated/BipedalLocomotion/Framework.h" @ONLY)
@@ -21,4 +21,4 @@ install(TARGETS        Framework
   COMPONENT            runtime)
 
 add_library(BipedalLocomotion::Framework ALIAS Framework)
-set_property(GLOBAL APPEND PROPERTY BipedalLocomotionFramework_TARGETS Framework)
+set_property(GLOBAL APPEND PROPERTY BipedalLocomotionFramework_INSTALLED_TARGETS Framework)
diff --git a/cmake/AddBipedalLocomotionLibrary.cmake b/cmake/AddBipedalLocomotionLibrary.cmake
@@ -4,7 +4,7 @@
 
 function(add_bipedal_locomotion_library)
 
-  set(options IS_INTERFACE SKIP_INSTALL_CHECK)
+  set(options IS_INTERFACE SKIP_INSTALL_CHECK SKIP_INSTALL)
   set(oneValueArgs NAME INSTALLATION_FOLDER)
   set(multiValueArgs
     SOURCES
@@ -26,6 +26,7 @@ function(add_bipedal_locomotion_library)
   set(installation_folder ${${prefix}_INSTALLATION_FOLDER})
   set(is_interface ${${prefix}_IS_INTERFACE})
   set(skip_install_check ${${prefix}_SKIP_INSTALL_CHECK})
+  set(skip_install ${${prefix}_SKIP_INSTALL})
   set(sources ${${prefix}_SOURCES})
   set(public_headers ${${prefix}_PUBLIC_HEADERS})
   set(private_headers ${${prefix}_PRIVATE_HEADERS})
@@ -58,8 +59,10 @@ function(add_bipedal_locomotion_library)
       EXPORT               ${PROJECT_NAME}
       COMPONENT            runtime)
 
-    install(FILES ${public_headers} DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/BipedalLocomotion/${installation_folder}")
-    install(FILES ${private_headers} DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/BipedalLocomotion/${installation_folder}/impl")
+    if (NOT ${skip_install})
+      install(FILES ${public_headers} DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/BipedalLocomotion/${installation_folder}")
+      install(FILES ${private_headers} DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/BipedalLocomotion/${installation_folder}/impl")
+    endif()
 
   else()
 
@@ -86,15 +89,17 @@ function(add_bipedal_locomotion_library)
     target_include_directories(${name} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
       "$<INSTALL_INTERFACE:$<INSTALL_PREFIX>/${CMAKE_INSTALL_INCLUDEDIR}>")
 
-    # Specify installation targets, typology and destination folders.
-    install(TARGETS    ${name}
-      EXPORT           ${PROJECT_NAME}
-      COMPONENT        runtime
-      LIBRARY          DESTINATION "${CMAKE_INSTALL_LIBDIR}"                                                    COMPONENT shlib
-      ARCHIVE          DESTINATION "${CMAKE_INSTALL_LIBDIR}"                                                    COMPONENT lib
-      RUNTIME          DESTINATION "${CMAKE_INSTALL_BINDIR}"                                                    COMPONENT bin
-      PUBLIC_HEADER    DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/BipedalLocomotion/${installation_folder}"       COMPONENT dev
-      PRIVATE_HEADER   DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/BipedalLocomotion/${installation_folder}/impl"  COMPONENT dev)
+    if (NOT ${skip_install})
+      # Specify installation targets, typology and destination folders.
+      install(TARGETS    ${name}
+        EXPORT           ${PROJECT_NAME}
+        COMPONENT        runtime
+        LIBRARY          DESTINATION "${CMAKE_INSTALL_LIBDIR}"                                                    COMPONENT shlib
+        ARCHIVE          DESTINATION "${CMAKE_INSTALL_LIBDIR}"                                                    COMPONENT lib
+        RUNTIME          DESTINATION "${CMAKE_INSTALL_BINDIR}"                                                    COMPONENT bin
+        PUBLIC_HEADER    DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/BipedalLocomotion/${installation_folder}"       COMPONENT dev
+        PRIVATE_HEADER   DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/BipedalLocomotion/${installation_folder}/impl"  COMPONENT dev)
+    endif()
 
   endif()
 
@@ -129,7 +134,9 @@ function(add_bipedal_locomotion_library)
     add_subdirectory(${subdir})
   endforeach()
 
-  set_property(GLOBAL APPEND PROPERTY BipedalLocomotionFramework_TARGETS ${name})
+  if (NOT ${skip_install})
+    set_property(GLOBAL APPEND PROPERTY BipedalLocomotionFramework_INSTALLED_TARGETS ${name})
+  endif()
 
   message(STATUS "Created target ${name} for export ${PROJECT_NAME}.")
 

diff --git a/cmake/AddBipedalLocomotionUnitTest.cmake b/cmake/AddBipedalLocomotionUnitTest.cmake
@@ -74,8 +74,32 @@ function(add_bipedal_test)
 
       add_test(NAME ${targetname} COMMAND ${targetname})
 
+      if(FRAMEWORK_RUN_MemoryAllocationMonitor_tests)
+        # When possible use `path_list_prepend` to permit to set other LD_PRELOAD
+        if (CMAKE_MINIMUM_REQUIRED_VERSION VERSION_GREATER_EQUAL 3.22)
+          message(AUTHOR_WARNING "cmake_minimum_required is now 3.22, cleanup the if following this message command.")
+        endif()
+        if (CMAKE_VERSION VERSION_GREATER_EQUAL 3.22)
+          set_tests_properties(${targetname} PROPERTIES
+            ENVIRONMENT_MODIFICATION "LD_PRELOAD=path_list_prepend:$<TARGET_FILE:BipedalLocomotion::MemoryAllocationMonitorPreload>")
+        else()
+          set_tests_properties(${targetname} PROPERTIES
+            ENVIRONMENT "LD_PRELOAD=$<TARGET_FILE:BipedalLocomotion::MemoryAllocationMonitorPreload>")
+        endif()
+      endif()
+
       if(FRAMEWORK_RUN_Valgrind_tests)
         add_test(NAME memcheck_${targetname} COMMAND ${MEMCHECK_COMMAND_COMPLETE} $<TARGET_FILE:${targetname}>)
+
+        if(FRAMEWORK_RUN_MemoryAllocationMonitor_tests)
+          if (CMAKE_VERSION VERSION_GREATER_EQUAL 3.22)
+            set_tests_properties(memcheck_${targetname} PROPERTIES
+              ENVIRONMENT_MODIFICATION "LD_PRELOAD=path_list_prepend:$<TARGET_FILE:BipedalLocomotion::MemoryAllocationMonitorPreload>")
+          else()
+            set_tests_properties(memcheck_${targetname} PROPERTIES
+              ENVIRONMENT "LD_PRELOAD=$<TARGET_FILE:BipedalLocomotion::MemoryAllocationMonitorPreload>")
+          endif()
+        endif()
       endif()
 
     endif()

diff --git a/cmake/AddBipedalLocomotionYARPThrift.cmake b/cmake/AddBipedalLocomotionYARPThrift.cmake
@@ -57,7 +57,7 @@ function(add_bipedal_locomotion_yarp_thrift)
       PUBLIC_HEADER    DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/BipedalLocomotion/${installation_folder}"       COMPONENT dev
       PRIVATE_HEADER   DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/BipedalLocomotion/${installation_folder}/impl"  COMPONENT dev)
 
-    set_property(GLOBAL APPEND PROPERTY BipedalLocomotionFramework_TARGETS ${name})
+    set_property(GLOBAL APPEND PROPERTY BipedalLocomotionFramework_INSTALLED_TARGETS ${name})
 
     message(STATUS "Created target ${name} for export ${PROJECT_NAME}.")
 

diff --git a/cmake/BipedalLocomotionFrameworkDependencies.cmake b/cmake/BipedalLocomotionFrameworkDependencies.cmake
@@ -114,11 +114,29 @@ checkandset_dependency(UnicyclePlanner)
 find_package(onnxruntime QUIET)
 checkandset_dependency(onnxruntime)
 
-##########################      Components       ##############################
+##########################      Test-related options       ##############################
+
+# MemoryAllocationMonitor require glibc >= 2.35
+set(FRAMEWORK_GLIBC_GEQ_2_35 OFF)
+if(BUILD_TESTING AND UNIX AND NOT APPLE)
+  execute_process(COMMAND ldd --version
+                  OUTPUT_VARIABLE FRAMEWORK_LDD_VERSION_OUTPUT)
+  string(REGEX MATCH "GLIBC ([0-9]+.[0-9]+)" FRAMEWORK_LDD_REGEX_OUTPUT ${FRAMEWORK_LDD_VERSION_OUTPUT})
+  set(FRAMEWORK_LDD_GLIBC_VERSION ${CMAKE_MATCH_1})
+  if(FRAMEWORK_LDD_GLIBC_VERSION VERSION_GREATER_EQUAL "2.35")
+    set(FRAMEWORK_GLIBC_GEQ_2_35 ON)
+  endif()
+endif()
+framework_dependent_option(FRAMEWORK_RUN_MemoryAllocationMonitor_tests
+  "Run MemoryAllocationMonitor tests?" ON
+  "BUILD_TESTING;UNIX;NOT APPLE;FRAMEWORK_GLIBC_GEQ_2_35" OFF)
+
 framework_dependent_option(FRAMEWORK_RUN_Valgrind_tests
   "Run Valgrind tests?" OFF
   "BUILD_TESTING;VALGRIND_FOUND" OFF)
 
+##########################      Components       ##############################
+
 framework_dependent_option(FRAMEWORK_COMPILE_YarpUtilities
   "Compile YarpHelper library?" ON
   "FRAMEWORK_USE_YARP" OFF)

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -2,6 +2,9 @@
 # This software may be modified and distributed under the terms of the
 # BSD-3-Clause license.
 
+# Not-installed library
+add_subdirectory(TestUtils)
+
 add_subdirectory(ContinuousDynamicalSystem)
 add_subdirectory(TextLogging)
 add_subdirectory(GenericContainer)

diff --git a/src/ContinuousDynamicalSystem/tests/CMakeLists.txt b/src/ContinuousDynamicalSystem/tests/CMakeLists.txt
@@ -5,20 +5,24 @@
 add_bipedal_test(
   NAME IntegratorLinearSystemTest
   SOURCES IntegratorLinearSystem.cpp
-  LINKS BipedalLocomotion::ContinuousDynamicalSystem Eigen3::Eigen)
+  LINKS BipedalLocomotion::ContinuousDynamicalSystem
+        BipedalLocomotion::TestUtils Eigen3::Eigen)
 
 
 add_bipedal_test(
   NAME IntegratorFloatingBaseSystemKinematicsTest
   SOURCES IntegratorFloatingBaseSystemKinematics.cpp
-  LINKS BipedalLocomotion::ContinuousDynamicalSystem Eigen3::Eigen)
+  LINKS BipedalLocomotion::ContinuousDynamicalSystem
+        BipedalLocomotion::TestUtils Eigen3::Eigen)
 
 add_bipedal_test(
   NAME FirstOrderSmootherTest
   SOURCES FirstOrderSmoother.cpp
-  LINKS BipedalLocomotion::ContinuousDynamicalSystem Eigen3::Eigen)
+  LINKS BipedalLocomotion::ContinuousDynamicalSystem
+        BipedalLocomotion::TestUtils Eigen3::Eigen)
 
 add_bipedal_test(
   NAME MultiStateWeightProviderTest
   SOURCES MultiStateWeightProvider.cpp
-  LINKS BipedalLocomotion::ContinuousDynamicalSystem Eigen3::Eigen)
+  LINKS BipedalLocomotion::ContinuousDynamicalSystem
+        BipedalLocomotion::TestUtils Eigen3::Eigen)
diff --git a/src/ContinuousDynamicalSystem/tests/FirstOrderSmoother.cpp b/src/ContinuousDynamicalSystem/tests/FirstOrderSmoother.cpp
@@ -16,8 +16,10 @@
 
 #include <BipedalLocomotion/ContinuousDynamicalSystem/FirstOrderSmoother.h>
 #include <BipedalLocomotion/ParametersHandler/StdImplementation.h>
+#include <BipedalLocomotion/TestUtils/MemoryAllocationMonitor.h>
 
 using namespace BipedalLocomotion::ContinuousDynamicalSystem;
+using namespace BipedalLocomotion::TestUtils;
 
 TEST_CASE("First order smoother")
 {
@@ -89,7 +91,18 @@ TEST_CASE("First order smoother")
         }
 
         // advance the smoother
+
+        // We only test no memory allocation from the second step,
+        // as FirstOrderSmoother allocates memory at the first step
+        if (i >= 1)
+        {
+            MemoryAllocationMonitor::startMonitor();
+        }
         REQUIRE(smoother.advance());
+        if (i >= 1)
+        {
+            REQUIRE(MemoryAllocationMonitor::endMonitorAndCheckNoMemoryAllocationInLastMonitor());
+        }
     }
 
     // check the settling time

diff --git a/src/ContinuousDynamicalSystem/tests/IntegratorFloatingBaseSystemKinematics.cpp b/src/ContinuousDynamicalSystem/tests/IntegratorFloatingBaseSystemKinematics.cpp
@@ -17,8 +17,10 @@
 
 #include <BipedalLocomotion/ContinuousDynamicalSystem/FloatingBaseSystemKinematics.h>
 #include <BipedalLocomotion/ContinuousDynamicalSystem/ForwardEuler.h>
+#include <BipedalLocomotion/TestUtils/MemoryAllocationMonitor.h>
 
 using namespace BipedalLocomotion::ContinuousDynamicalSystem;
+using namespace BipedalLocomotion::TestUtils;
 
 TEST_CASE("Integrator - Linear system")
 {
@@ -73,6 +75,14 @@ TEST_CASE("Integrator - Linear system")
         REQUIRE(basePosition.isApprox(basePositionExact, tolerance));
         REQUIRE(jointPosition.isApprox(jointPositionExact, tolerance));
 
+        if (i >= 1)
+        {
+            MemoryAllocationMonitor::startMonitor();
+        }
         REQUIRE(integrator.integrate(0s, dT));
+        if (i >= 1)
+        {
+            REQUIRE(MemoryAllocationMonitor::endMonitorAndCheckNoMemoryAllocationInLastMonitor());
+        }
     }
 }
diff --git a/src/ContinuousDynamicalSystem/tests/IntegratorLinearSystem.cpp b/src/ContinuousDynamicalSystem/tests/IntegratorLinearSystem.cpp
@@ -16,8 +16,10 @@
 #include <BipedalLocomotion/ContinuousDynamicalSystem/ForwardEuler.h>
 #include <BipedalLocomotion/ContinuousDynamicalSystem/LinearTimeInvariantSystem.h>
 #include <BipedalLocomotion/ContinuousDynamicalSystem/RK4.h>
+#include <BipedalLocomotion/TestUtils/MemoryAllocationMonitor.h>
 
 using namespace BipedalLocomotion::ContinuousDynamicalSystem;
+using namespace BipedalLocomotion::TestUtils;
 
 TEST_CASE("Integrator - Linear system")
 {
@@ -76,7 +78,18 @@ TEST_CASE("Integrator - Linear system")
             REQUIRE(
                 solution.isApprox(closeFormSolution(std::chrono::duration<double>(dT * i).count()),
                                   tolerance));
+
+            // We only test no memory allocation from the second step,
+            // as ForwardEuler allocates memory at the first step
+            if (i >= 1)
+            {
+                MemoryAllocationMonitor::startMonitor();
+            }
             REQUIRE(integrator.integrate(0s, dT));
+            if (i >= 1)
+            {
+                REQUIRE(MemoryAllocationMonitor::endMonitorAndCheckNoMemoryAllocationInLastMonitor());
+            }
         }
     }
 
@@ -94,7 +107,18 @@ TEST_CASE("Integrator - Linear system")
             REQUIRE(
                 solution.isApprox(closeFormSolution(std::chrono::duration<double>(dT * i).count()),
                                   tolerance));
+
+            // We only test no memory allocation from the second step,
+            // as RK4 allocates memory at the first step
+            if (i >= 1)
+            {
+                MemoryAllocationMonitor::startMonitor();
+            }
             REQUIRE(integrator.integrate(0s, dT));
+            if (i >=1)
+            {
+                REQUIRE(MemoryAllocationMonitor::endMonitorAndCheckNoMemoryAllocationInLastMonitor());
+            }
         }
     }
 }
diff --git a/src/ContinuousDynamicalSystem/tests/MultiStateWeightProvider.cpp b/src/ContinuousDynamicalSystem/tests/MultiStateWeightProvider.cpp
@@ -14,8 +14,10 @@
 
 #include <BipedalLocomotion/ContinuousDynamicalSystem/MultiStateWeightProvider.h>
 #include <BipedalLocomotion/ParametersHandler/StdImplementation.h>
+#include <BipedalLocomotion/TestUtils/MemoryAllocationMonitor.h>
 
 using namespace BipedalLocomotion::ContinuousDynamicalSystem;
+using namespace BipedalLocomotion::TestUtils;
 
 TEST_CASE("Multistate weight provider")
 {
@@ -58,7 +60,15 @@ TEST_CASE("Multistate weight provider")
 
         for (unsigned int i = 0; i < 50; i++)
         {
+            if (i >= 1)
+            {
+                MemoryAllocationMonitor::startMonitor();
+            }
             REQUIRE(provider.advance());
+            if (i >= 1)
+            {
+                REQUIRE(MemoryAllocationMonitor::endMonitorAndCheckNoMemoryAllocationInLastMonitor());
+            }
         }
 
         REQUIRE(provider.getOutput().isApprox(stanceWeight, tolerance));
@@ -74,7 +84,15 @@ TEST_CASE("Multistate weight provider")
 
         for (unsigned int i = 0; i < 50; i++)
         {
+            if (i >= 1)
+            {
+                MemoryAllocationMonitor::startMonitor();
+            }
             REQUIRE(provider.advance());
+            if (i >= 1)
+            {
+                REQUIRE(MemoryAllocationMonitor::endMonitorAndCheckNoMemoryAllocationInLastMonitor());
+            }
         }
 
         REQUIRE(provider.getOutput().isApprox(stanceWeight, tolerance));
@@ -84,7 +102,15 @@ TEST_CASE("Multistate weight provider")
         REQUIRE(provider.setState("walking"));
         for (unsigned int i = 0; i < 50; i++)
         {
+            if (i >= 1)
+            {
+                MemoryAllocationMonitor::startMonitor();
+            }
             REQUIRE(provider.advance());
+            if (i >= 1)
+            {
+                REQUIRE(MemoryAllocationMonitor::endMonitorAndCheckNoMemoryAllocationInLastMonitor());
+            }
         }
 
         REQUIRE(provider.getOutput().isApprox(walkingWeight, tolerance));