Add sanitizer flags to Gradle build

README.md

@@ -118,6 +118,16 @@ Run with `--build-cache` on the command-line to use the shared [build cache](htt
 ./gradlew build --build-cache
 ```
 
+### C++ sanitizers
+
+The C++ compiler's address, thread, and undefined behavior sanitizers can be enabled with the `-Pasan`, `-Ptsan`, and `-Pubsan` flags respectively.
+
+```bash
+./gradlew build -Pasan
+./gradlew build -Ptsan
+./gradlew build -Pubsan
+```
+
 ### Using Development Builds
 
 Please read the documentation available [here](DevelopmentBuilds.md)

shared/config.gradle

@@ -39,6 +39,51 @@ nativeUtils.platformConfigs.each {
   }
 }
 
+// Add address sanitizer flag
+if (project.hasProperty('asan')) {
+    nativeUtils.platformConfigs.each {
+        if (it.name.contains('windows') || it.name == nativeUtils.wpi.platforms.roborio) {
+            return
+        }
+        it.cppCompiler.args.add('-g3')
+        it.cppCompiler.args.add('-fsanitize=address')
+        it.linker.args.add('-fsanitize=address')
+        if (it.name == nativeUtils.wpi.platforms.linuxx64) {
+            it.linker.args.add('-static-libasan')
+        }
+    }
+}
+
+// Add thread sanitizer flag
+if (project.hasProperty('tsan')) {
+    nativeUtils.platformConfigs.each {
+        if (it.name.contains('windows') || it.name == nativeUtils.wpi.platforms.roborio) {
+            return
+        }
+        it.cppCompiler.args.add('-g3')
+        it.cppCompiler.args.add('-fsanitize=thread')
+        it.linker.args.add('-fsanitize=thread')
+        if (it.name == nativeUtils.wpi.platforms.linuxx64) {
+            it.linker.args.add('-static-libtsan')
+        }
+    }
+}
+
+// Add undefined behavior sanitizer flag
+if (project.hasProperty('ubsan')) {
+    nativeUtils.platformConfigs.each {
+        if (it.name.contains('windows') || it.name == nativeUtils.wpi.platforms.roborio) {
+            return
+        }
+        it.cppCompiler.args.add('-g3')
+        it.cppCompiler.args.add('-fsanitize=undefined')
+        it.linker.args.add('-fsanitize=undefined')
+        if (it.name == nativeUtils.wpi.platforms.linuxx64) {
+            it.linker.args.add('-static-libubsan')
+        }
+    }
+}
+
 nativeUtils.platformConfigs.linuxathena.linker.args.add("-Wl,--fatal-warnings")
 
 if (project.hasProperty('ntcoreffibuild')) {