class_loader make sanitizer happy

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related to https://github.com/ros/class_loader/pull/201#issuecomment-1287109359

The CI logs will be expired in the future and might no longer be available, so I copy the log as follows,

MultiLibraryClassLoader memory leak

    ==6769==ERROR: LeakSanitizer: detected memory leaks
    
    Direct leak of 144 byte(s) in 1 object(s) allocated from:
        #0 0x7efc617811c7 in operator new(unsigned long) ../../../../src/libsanitizer/asan/asan_new_delete.cpp:99
        #1 0x7efc616bac16 in class_loader::MultiLibraryClassLoader::loadLibrary(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /root/target_ws/src/class_loader/src/multi_library_class_loader.cpp:96
        #2 0x56419df31a12 in MultiClassLoaderTest_noWarningOnLazyLoad_Test::TestBody() /root/target_ws/src/class_loader/test/utest.cpp:380
        #3 0x56419df88576 in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /opt/ros/rolling/src/gtest_vendor/./src/gtest.cc:2433
        #4 0x56419df8129e in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /opt/ros/rolling/src/gtest_vendor/./src/gtest.cc:2469
        #5 0x56419df5b755 in testing::Test::Run() /opt/ros/rolling/src/gtest_vendor/./src/gtest.cc:2508
        #6 0x56419df5c19a in testing::TestInfo::Run() /opt/ros/rolling/src/gtest_vendor/./src/gtest.cc:2684
        #7 0x56419df5c8fb in testing::TestSuite::Run() /opt/ros/rolling/src/gtest_vendor/./src/gtest.cc:2816
        #8 0x56419df68f10 in testing::internal::UnitTestImpl::RunAllTests() /opt/ros/rolling/src/gtest_vendor/./src/gtest.cc:5338
        #9 0x56419df89a68 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /opt/ros/rolling/src/gtest_vendor/./src/gtest.cc:2433
        #10 0x56419df824b2 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /opt/ros/rolling/src/gtest_vendor/./src/gtest.cc:2469
        #11 0x56419df676f2 in testing::UnitTest::Run() /opt/ros/rolling/src/gtest_vendor/./src/gtest.cc:4925
        #12 0x56419df3871f in RUN_ALL_TESTS() (/root/target_ws/build/class_loader/test/class_loader_utest+0x3271f)
        #13 0x56419df33fe6 in main /root/target_ws/src/class_loader/test/utest.cpp:448
        #14 0x7efc6110fd8f  (/lib/x86_64-linux-gnu/libc.so.6+0x29d8f)
    
    Direct leak of 144 byte(s) in 1 object(s) allocated from:
        #0 0x7efc617811c7 in operator new(unsigned long) ../../../../src/libsanitizer/asan/asan_new_delete.cpp:99
        #1 0x7efc616bac16 in class_loader::MultiLibraryClassLoader::loadLibrary(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /root/target_ws/src/class_loader/src/multi_library_class_loader.cpp:96
        #2 0x56419df31a2b in MultiClassLoaderTest_noWarningOnLazyLoad_Test::TestBody() /root/target_ws/src/class_loader/test/utest.cpp:381
        #3 0x56419df88576 in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /opt/ros/rolling/src/gtest_vendor/./src/gtest.cc:2433
        #4 0x56419df8129e in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /opt/ros/rolling/src/gtest_vendor/./src/gtest.cc:2469
        #5 0x56419df5b755 in testing::Test::Run() /opt/ros/rolling/src/gtest_vendor/./src/gtest.cc:2508
        #6 0x56419df5c19a in testing::TestInfo::Run() /opt/ros/rolling/src/gtest_vendor/./src/gtest.cc:2684
        #7 0x56419df5c8fb in testing::TestSuite::Run() /opt/ros/rolling/src/gtest_vendor/./src/gtest.cc:2816
        #8 0x56419df68f10 in testing::internal::UnitTestImpl::RunAllTests() /opt/ros/rolling/src/gtest_vendor/./src/gtest.cc:5338
        #9 0x56419df89a68 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /opt/ros/rolling/src/gtest_vendor/./src/gtest.cc:2433
        #10 0x56419df824b2 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /opt/ros/rolling/src/gtest_vendor/./src/gtest.cc:2469
        #11 0x56419df676f2 in testing::UnitTest::Run() /opt/ros/rolling/src/gtest_vendor/./src/gtest.cc:4925
        #12 0x56419df3871f in RUN_ALL_TESTS() (/root/target_ws/build/class_loader/test/class_loader_utest+0x3271f)
        #13 0x56419df33fe6 in main /root/target_ws/src/class_loader/test/utest.cpp:448
        #14 0x7efc6110fd8f  (/lib/x86_64-linux-gnu/libc.so.6+0x29d8f)
    
    Indirect leak of 64 byte(s) in 2 object(s) allocated from:
        #0 0x7efc617811c7 in operator new(unsigned long) ../../../../src/libsanitizer/asan/asan_new_delete.cpp:99
        #1 0x7efc61563ad9 in void std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_construct<char*>(char*, char*, std::forward_iterator_tag) (/lib/x86_64-linux-gnu/libstdc++.so.6+0x14ead9)
    
    SUMMARY: AddressSanitizer: 352 byte(s) leaked in 4 allocation(s).

potential dead lock

    WARNING: ThreadSanitizer: lock-order-inversion (potential deadlock) (pid=7271)
      Cycle in lock order graph: M98 (0x7b24000001e8) => M99 (0x7b2400000218) => M98
    
      Mutex M99 acquired here while holding mutex M98 in main thread:
        #0 pthread_mutex_lock ../../../../src/libsanitizer/sanitizer_common/sanitizer_common_interceptors.inc:4240 (libtsan.so.0+0x53908)
        #1 __gthread_mutex_lock(pthread_mutex_t*) <null> (class_loader_unique_ptr_test+0x1d1ff)
        #2 __gthread_recursive_mutex_lock(pthread_mutex_t*) <null> (class_loader_unique_ptr_test+0x1d283)
        #3 std::recursive_mutex::lock() <null> (class_loader_unique_ptr_test+0x1d852)
        #4 class_loader::ClassLoader::unloadLibraryInternal(bool) /root/target_ws/src/class_loader/src/class_loader.cpp:122 (libclass_loader.so+0x37513)
        #5 void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /opt/ros/rolling/src/gtest_vendor/./src/gtest.cc:2433 (class_loader_unique_ptr_test+0x64238)
        #6 main /root/target_ws/src/class_loader/test/unique_ptr_test.cpp:295 (class_loader_unique_ptr_test+0x1baf8)
    
        Hint: use TSAN_OPTIONS=second_deadlock_stack=1 to get more informative warning message
    
      Mutex M98 acquired here while holding mutex M99 in main thread:
        #0 pthread_mutex_lock ../../../../src/libsanitizer/sanitizer_common/sanitizer_common_interceptors.inc:4240 (libtsan.so.0+0x53908)
        #1 __gthread_mutex_lock(pthread_mutex_t*) <null> (class_loader_unique_ptr_test+0x1d1ff)
        #2 __gthread_recursive_mutex_lock(pthread_mutex_t*) <null> (class_loader_unique_ptr_test+0x1d283)
        #3 std::recursive_mutex::lock() <null> (class_loader_unique_ptr_test+0x1d852)
        #4 std::lock_guard<std::recursive_mutex>::lock_guard(std::recursive_mutex&) <null> (class_loader_unique_ptr_test+0x22be4)
        #5 class_loader::ClassLoader::unloadLibraryInternal(bool) /root/target_ws/src/class_loader/src/class_loader.cpp:120 (libclass_loader.so+0x374fd)
        #6 void std::__invoke_impl<void, void (class_loader::ClassLoader::*&)(Base*), class_loader::ClassLoader*&, Base*>(std::__invoke_memfun_deref, void (class_loader::ClassLoader::*&)(Base*), class_loader::ClassLoader*&, Base*&&) <null> (class_loader_unique_ptr_test+0x2b939)
        #7 std::__invoke_result<void (class_loader::ClassLoader::*&)(Base*), class_loader::ClassLoader*&, Base*>::type std::__invoke<void (class_loader::ClassLoader::*&)(Base*), class_loader::ClassLoader*&, Base*>(void (class_loader::ClassLoader::*&)(Base*), class_loader::ClassLoader*&, Base*&&) <null> (class_loader_unique_ptr_test+0x2ad29)
        #8 void std::_Bind<void (class_loader::ClassLoader::*(class_loader::ClassLoader*, std::_Placeholder<1>))(Base*)>::__call<void, Base*&&, 0ul, 1ul>(std::tuple<Base*&&>&&, std::_Index_tuple<0ul, 1ul>) <null> (class_loader_unique_ptr_test+0x29efd)
        #9 void std::_Bind<void (class_loader::ClassLoader::*(class_loader::ClassLoader*, std::_Placeholder<1>))(Base*)>::operator()<Base*, void>(Base*&&) <null> (class_loader_unique_ptr_test+0x286fe)
        #10 void std::__invoke_impl<void, std::_Bind<void (class_loader::ClassLoader::*(class_loader::ClassLoader*, std::_Placeholder<1>))(Base*)>&, Base*>(std::__invoke_other, std::_Bind<void (class_loader::ClassLoader::*(class_loader::ClassLoader*, std::_Placeholder<1>))(Base*)>&, Base*&&) <null> (class_loader_unique_ptr_test+0x26557)
        #11 std::enable_if<std::__and_<std::is_void<void>, std::__is_invocable<std::_Bind<void (class_loader::ClassLoader::*(class_loader::ClassLoader*, std::_Placeholder<1>))(Base*)>&, Base*> >::value, void>::type std::__invoke_r<void, std::_Bind<void (class_loader::ClassLoader::*(class_loader::ClassLoader*, std::_Placeholder<1>))(Base*)>&, Base*>(std::_Bind<void (class_loader::ClassLoader::*(class_loader::ClassLoader*, std::_Placeholder<1>))(Base*)>&, Base*&&) <null> (class_loader_unique_ptr_test+0x24783)
        #12 std::_Function_handler<void (Base*), std::_Bind<void (class_loader::ClassLoader::*(class_loader::ClassLoader*, std::_Placeholder<1>))(Base*)> >::_M_invoke(std::_Any_data const&, Base*&&) <null> (class_loader_unique_ptr_test+0x22def)
        #13 std::function<void (Base*)>::operator()(Base*) const <null> (class_loader_unique_ptr_test+0x2118c)
        #14 std::unique_ptr<Base, std::function<void (Base*)> >::~unique_ptr() <null> (class_loader_unique_ptr_test+0x1efe8)
        #15 MultiClassLoaderUniquePtrTest_noWarningOnLazyLoad_Test::TestBody() /root/target_ws/src/class_loader/test/unique_ptr_test.cpp:284 (class_loader_unique_ptr_test+0x1b76e)
        #16 void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /opt/ros/rolling/src/gtest_vendor/./src/gtest.cc:2433 (class_loader_unique_ptr_test+0x64238)
        #17 main /root/target_ws/src/class_loader/test/unique_ptr_test.cpp:295 (class_loader_unique_ptr_test+0x1baf8)
    
    SUMMARY: ThreadSanitizer: lock-order-inversion (potential deadlock) (/root/target_ws/build/class_loader/test/class_loader_unique_ptr_test+0x1d1ff) in __gthread_mutex_lock(pthread_mutex_t*)
    ==================
    ==================
    WARNING: ThreadSanitizer: lock-order-inversion (potential deadlock) (pid=7271)
      Cycle in lock order graph: M96 (0x7b24000000c8) => M97 (0x7b24000000f8) => M96
    
      Mutex M97 acquired here while holding mutex M96 in main thread:
        #0 pthread_mutex_lock ../../../../src/libsanitizer/sanitizer_common/sanitizer_common_interceptors.inc:4240 (libtsan.so.0+0x53908)
        #1 __gthread_mutex_lock(pthread_mutex_t*) <null> (class_loader_unique_ptr_test+0x1d1ff)
        #2 __gthread_recursive_mutex_lock(pthread_mutex_t*) <null> (class_loader_unique_ptr_test+0x1d283)
        #3 std::recursive_mutex::lock() <null> (class_loader_unique_ptr_test+0x1d852)
        #4 class_loader::ClassLoader::unloadLibraryInternal(bool) /root/target_ws/src/class_loader/src/class_loader.cpp:122 (libclass_loader.so+0x37513)
        #5 void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /opt/ros/rolling/src/gtest_vendor/./src/gtest.cc:2433 (class_loader_unique_ptr_test+0x64238)
        #6 main /root/target_ws/src/class_loader/test/unique_ptr_test.cpp:295 (class_loader_unique_ptr_test+0x1baf8)
    
        Hint: use TSAN_OPTIONS=second_deadlock_stack=1 to get more informative warning message
    
      Mutex M96 acquired here while holding mutex M97 in main thread:
        #0 pthread_mutex_lock ../../../../src/libsanitizer/sanitizer_common/sanitizer_common_interceptors.inc:4240 (libtsan.so.0+0x53908)
        #1 __gthread_mutex_lock(pthread_mutex_t*) <null> (class_loader_unique_ptr_test+0x1d1ff)
        #2 __gthread_recursive_mutex_lock(pthread_mutex_t*) <null> (class_loader_unique_ptr_test+0x1d283)
        #3 std::recursive_mutex::lock() <null> (class_loader_unique_ptr_test+0x1d852)
        #4 std::lock_guard<std::recursive_mutex>::lock_guard(std::recursive_mutex&) <null> (class_loader_unique_ptr_test+0x22be4)
        #5 class_loader::ClassLoader::unloadLibraryInternal(bool) /root/target_ws/src/class_loader/src/class_loader.cpp:120 (libclass_loader.so+0x374fd)
        #6 void std::__invoke_impl<void, void (class_loader::ClassLoader::*&)(Base*), class_loader::ClassLoader*&, Base*>(std::__invoke_memfun_deref, void (class_loader::ClassLoader::*&)(Base*), class_loader::ClassLoader*&, Base*&&) <null> (class_loader_unique_ptr_test+0x2b939)
        #7 std::__invoke_result<void (class_loader::ClassLoader::*&)(Base*), class_loader::ClassLoader*&, Base*>::type std::__invoke<void (class_loader::ClassLoader::*&)(Base*), class_loader::ClassLoader*&, Base*>(void (class_loader::ClassLoader::*&)(Base*), class_loader::ClassLoader*&, Base*&&) <null> (class_loader_unique_ptr_test+0x2ad29)
        #8 void std::_Bind<void (class_loader::ClassLoader::*(class_loader::ClassLoader*, std::_Placeholder<1>))(Base*)>::__call<void, Base*&&, 0ul, 1ul>(std::tuple<Base*&&>&&, std::_Index_tuple<0ul, 1ul>) <null> (class_loader_unique_ptr_test+0x29efd)
        #9 void std::_Bind<void (class_loader::ClassLoader::*(class_loader::ClassLoader*, std::_Placeholder<1>))(Base*)>::operator()<Base*, void>(Base*&&) <null> (class_loader_unique_ptr_test+0x286fe)
        #10 void std::__invoke_impl<void, std::_Bind<void (class_loader::ClassLoader::*(class_loader::ClassLoader*, std::_Placeholder<1>))(Base*)>&, Base*>(std::__invoke_other, std::_Bind<void (class_loader::ClassLoader::*(class_loader::ClassLoader*, std::_Placeholder<1>))(Base*)>&, Base*&&) <null> (class_loader_unique_ptr_test+0x26557)
        #11 std::enable_if<std::__and_<std::is_void<void>, std::__is_invocable<std::_Bind<void (class_loader::ClassLoader::*(class_loader::ClassLoader*, std::_Placeholder<1>))(Base*)>&, Base*> >::value, void>::type std::__invoke_r<void, std::_Bind<void (class_loader::ClassLoader::*(class_loader::ClassLoader*, std::_Placeholder<1>))(Base*)>&, Base*>(std::_Bind<void (class_loader::ClassLoader::*(class_loader::ClassLoader*, std::_Placeholder<1>))(Base*)>&, Base*&&) <null> (class_loader_unique_ptr_test+0x24783)
        #12 std::_Function_handler<void (Base*), std::_Bind<void (class_loader::ClassLoader::*(class_loader::ClassLoader*, std::_Placeholder<1>))(Base*)> >::_M_invoke(std::_Any_data const&, Base*&&) <null> (class_loader_unique_ptr_test+0x22def)
        #13 std::function<void (Base*)>::operator()(Base*) const <null> (class_loader_unique_ptr_test+0x2118c)
        #14 std::unique_ptr<Base, std::function<void (Base*)> >::~unique_ptr() <null> (class_loader_unique_ptr_test+0x1efe8)
        #15 MultiClassLoaderUniquePtrTest_noWarningOnLazyLoad_Test::TestBody() /root/target_ws/src/class_loader/test/unique_ptr_test.cpp:284 (class_loader_unique_ptr_test+0x1b78c)
        #16 void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /opt/ros/rolling/src/gtest_vendor/./src/gtest.cc:2433 (class_loader_unique_ptr_test+0x64238)
        #17 main /root/target_ws/src/class_loader/test/unique_ptr_test.cpp:295 (class_loader_unique_ptr_test+0x1baf8)
    
    SUMMARY: ThreadSanitizer: lock-order-inversion (potential deadlock)

Signed-off-by: Chen Lihui [email protected]