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Make msan treat mjData buffer as uninitialized in mj_resetData.

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Indiscriminate memset into d->buffer and m->buffer previously caused msan to not detect uninitialized reads.

Also fix tests with uninitialized read bugs that are detected by msan after this change.

PiperOrigin-RevId: 451508224
Change-Id: I1f4b080a8ef765c34ba7a0adc2c686419f6e5516
This commit is contained in:
Saran Tunyasuvunakool
2022-05-27 16:33:38 -07:00
committed by Copybara-Service
parent ef9fa9dfe4
commit 185b79f664
5 changed files with 108 additions and 38 deletions
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python/mujoco/bindings_test.py
+1
View File
@@ -909,6 +909,7 @@ Euler integrator, semi-implicit in velocity.
def test_mj_ray(self):
# mj_ray has tricky argument types
geomid = np.zeros(1, np.int32)
mujoco.mj_forward(self.model, self.data)
mujoco.mj_ray(self.model, self.data, [0, 0, 0], [0, 0, 1], None, 0, 0,
geomid)
mujoco.mj_ray(self.model, self.data, [0, 0, 0], [0, 0, 1],
python/mujoco/structs.cc
+14 -2
View File
@@ -806,7 +806,13 @@ void MjDataWrapper::Serialize(std::ostream& output) const {
#undef X
// Write buffer contents
WriteBytes(output, ptr_->buffer, ptr_->nbuffer);
{
MJDATA_POINTERS_PREAMBLE((&this->metadata_))
#define X(type, name, nr, nc) \
WriteBytes(output, ptr_->name, sizeof(type)*(this->metadata_.nr)*(nc));
MJDATA_POINTERS
#undef X
}
}
MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
@@ -857,7 +863,13 @@ MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
#undef X
// Read buffer contents
ReadBytes(input, d->buffer, d->nbuffer);
{
MJDATA_POINTERS_PREAMBLE((&m))
#define X(type, name, nr, nc) \
ReadBytes(input, d->name, sizeof(type)*(m.nr)*(nc));
MJDATA_POINTERS
#undef X
}
CheckInput(input, "mjData");
// All bytes should have been used.