Running an IKOS scan from tutorial does not work

[xfiderek]

After trying to run IKOS scan as per this tutorial, I've encountered 3 problems.

Problem A: colcon build command throws basic errors

Following the readme, I try to execute

spaceros-user@d10d85c68f0e:~/spaceros$ CC="ikos-scan-cc" CXX="ikos-scan-c++" LD="ikos-scan-cc" colcon build --build-base build_ikos --install-base install_ikos --cmake-args -DSECURITY=ON -DINSTALL_EXAMPLES=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --no-warn-unused-cli

First impediment is that ikos-scan-cc executable is missing, which can easily be fixed. Apart from that, we also need to set IKOS_SCAN_NOTIFIER_FILES env variable in the container. Otherwise it throws:

error: ikos-scan-cc: missing environment variable IKOS_SCAN_SERVER or IKOS_SCAN_NOTIFIER_FILES

Problem B: building cobra_vendor package fails when ikos-scan-cc is used as a compiler

The exact error thrown by cobra_vendor package is:

# compile command
ikos-scan-cc -Wall -pedantic -Werror -Wshadow -O2 -DYY_NO_INPUT -I. -std=c99 -o scope_check scope_check.c cwe_util.c c.ar -pthread
# error
clang: error: c.ar: 'linker' input unused [-Werror,-Wunused-command-line-argument]

c.ar is a library that is build earlier and which should be linked at this step.

Changing the end of compile command from c.ar -pthread to -Wl,c.ar -pthread fixes the issue, so i presume there is something wrong with how ikos-scan-cc forwards arguments to clang. The easiest will be to fix that in ament’s cobra_vendor package. Two other alternatives are to either fix it in ikos side or directly in cobra.

Problem C: ament_ikos timeouts for large packages (e.g. rclcpp)

The reason is that ament_ikos uses default timeout time of 60 seconds. We should modify this value in the repo.

After addressing these 3 issues, I was able to run ikos scan as expected in spaceros workspace. I will create 3 PRs, first for this repo (problem A), second for ament_cobra repo (problem B), and third for ament_ikos repo (problem C)

[xfiderek]

@ivanperez-keera, tagging you for visibility.

I have created 3 PRs:
Problem A: #139
Problem B: ament/ament_cobra#16
Problem C: ament/ament_ikos#4

[ivanperez-keera]

This is extremely useful! Thank you @xfiderek for doing this.

[ivanperez-keera]

(I'll review in more detail later but I wanted to send you that quick note 😃 )