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Fix MSVC ASan compilation by avoiding GCC/Clang specific stack instrumentation

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PiperOrigin-RevId: 951656966
Change-Id: I51294e6a95c39f4037e8feb2aee45e69cb51beb0
This commit is contained in:
Yuval Tassa
2026-07-21 13:08:39 -07:00
committed by Copybara-Service
parent 8ccd2b6db5
commit 259e6c4dc6
12 changed files with 41 additions and 29 deletions
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include/mujoco/mjsan.h
+10 -3
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@@ -26,8 +26,15 @@
#endif
#endif
// Define mjUSEASAN if ADDRESS_SANITIZER is active and we are not on MSVC.
// MSVC asan (/fsanitize=address defines ADDRESS_SANITIZER via EnableASAN) cannot use the GCC/clang
// attribute+asm instrumentation below, so we exclude it.
#if defined(ADDRESS_SANITIZER) && !defined(_MSC_VER)
#define mjUSEASAN
#endif
// Include asan interface header, or provide stubs for poison/unpoison macros when not using asan.
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
#include <sanitizer/asan_interface.h>
#elif defined(_MSC_VER)
#define ASAN_POISON_MEMORY_REGION(addr, size)
@@ -42,7 +49,7 @@
// into mark/free into the same function, this instrumentation requires that the compiler retains
// separate mark/free calls for each original callee. The memory-clobbered asm blocks act as a
// barrier to prevent mark/free calls from being combined under optimization.
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
#ifdef __cplusplus
extern "C" {
#endif
@@ -64,6 +71,6 @@ static inline void mj_freeStack(mjData* d) __attribute__((always_inline)) {
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // ADDRESS_SANITIZER
#endif // mjUSEASAN
#endif // MUJOCO_INCLUDE_MJSAN_H_
include/mujoco/mujoco.h
+1 -1
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@@ -267,7 +267,7 @@ MJAPI void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_va
// Reset data. If 0 <= key < nkey, set fields from specified keyframe.
MJAPI void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key);
#ifndef ADDRESS_SANITIZER // Stack management functions declared in mjsan.h if ASAN is active.
#ifndef mjUSEASAN // Stack management functions declared in mjsan.h if ASAN is active.
// Mark a new frame on the mjData stack.
MJAPI void mj_markStack(mjData* d);
src/engine/engine_collision_driver.c
+1 -1
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@@ -178,7 +178,7 @@ static inline mjtNum getGap(const mjModel* m, int g1, int g2, int ipair) {
// move arena pointer back to the end of the contact array
static inline void resetArena(mjData* d) {
d->parena = d->ncon * sizeof(mjContact);
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
ASAN_POISON_MEMORY_REGION(
(char*)d->arena + d->parena, d->narena - d->pstack - d->parena);
#endif
src/engine/engine_core_constraint.c
+2 -2
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@@ -137,7 +137,7 @@ static int arenaAllocEfc(const mjModel* m, mjData* d) {
d->parena = d->ncon * sizeof(mjContact);
// poison remaining memory
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
ASAN_POISON_MEMORY_REGION(
(char*)d->arena + d->parena, d->narena - d->pstack - d->parena);
#endif
@@ -390,7 +390,7 @@ static int mj_vertBodyWeight(const mjModel* m, const mjData* d, int f, int* v,
int mj_addContact(const mjModel* m, mjData* d, const mjContact* con) {
// move arena pointer back to the end of the existing contact array and invalidate efc_ arrays
d->parena = d->ncon * sizeof(mjContact);
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
ASAN_POISON_MEMORY_REGION(
(char*)d->arena + d->parena, d->narena - d->pstack - d->parena);
#endif
src/engine/engine_crossplatform.cc
+1 -1
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@@ -43,7 +43,7 @@ void CheckRosetta() {
} // namespace
#endif // defined(__APPLE__) && defined(__AVX__)
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
#include <sanitizer/common_interface_defs.h>
#include <array>
src/engine/engine_crossplatform.h
+5 -1
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@@ -75,6 +75,10 @@
#endif
#endif
#if defined(ADDRESS_SANITIZER) && !defined(_MSC_VER)
#define mjUSEASAN
#endif
// Atomics helper for size_t.
#if defined(_MSC_VER) && !defined(__clang__)
#include <intrin.h>
@@ -103,7 +107,7 @@
extern "C" {
#endif
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
int mj__comparePcFuncName(void* pc1, void* pc2);
const char* mj__getPcDebugInfo(void* pc);
#endif
src/engine/engine_io.c
+4 -4
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@@ -38,7 +38,7 @@
#include "engine/engine_util_errmem.h"
#include "engine/engine_util_misc.h"
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
#include <sanitizer/asan_interface.h>
#include <sanitizer/common_interface_defs.h>
#endif
@@ -1037,7 +1037,7 @@ void mj_initPlugin(const mjModel* m, mjData* d) {
// free mjData memory without destroying the struct
static void freeDataBuffers(mjData* d) {
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
// raise an error if there's a dangling stack frame
mj_freeStack(d);
#endif
@@ -1315,7 +1315,7 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
d->parena = 0;
// poison the entire arena+stack memory region when built with asan
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
ASAN_POISON_MEMORY_REGION(d->arena, d->narena);
#endif
@@ -1371,7 +1371,7 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
//------------------------------ clear buffer, set defaults
// fill buffer with debug_value (normally 0)
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
{
#define X(type, name, nr, nc) memset(d->name, (int)debug_value, sizeof(type)*(m->nr)*(nc));
MJDATA_POINTERS
src/engine/engine_island.c
+1 -1
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@@ -45,7 +45,7 @@ static void clearIsland(mjData* d, size_t parena) {
d->parena = parena;
// poison remaining memory
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
ASAN_POISON_MEMORY_REGION(
(char*)d->arena + d->parena, d->narena - d->pstack - d->parena);
#endif
src/engine/engine_memory.c
+13 -13
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@@ -28,7 +28,7 @@
#include "engine/engine_util_errmem.h"
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
#include <sanitizer/asan_interface.h>
#include <sanitizer/common_interface_defs.h>
#endif
@@ -42,7 +42,7 @@
#endif
// add red zone padding when built with asan, to detect out-of-bound accesses
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
#define mjREDZONE 32
#else
#define mjREDZONE 0
@@ -82,7 +82,7 @@ static inline mjStackInfo get_stack_info_from_data(const mjData* d) {
}
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
// get stack usage from red-zone (under ASAN)
static size_t stack_usage_redzone(const mjStackInfo* stack_info) {
size_t usage = 0;
@@ -117,7 +117,7 @@ void* mj_arenaAllocByte(mjData* d, size_t bytes, size_t alignment) {
size_t stack_usage = d->pstack;
// under ASAN, get stack usage from red zone
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
mjStackInfo stack_info = get_stack_info_from_data(d);
stack_usage = stack_usage_redzone(&stack_info);
#endif
@@ -127,7 +127,7 @@ void* mj_arenaAllocByte(mjData* d, size_t bytes, size_t alignment) {
d->parena += padding + bytes;
d->maxuse_arena = mjMAX(d->maxuse_arena, stack_usage + d->parena);
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
ASAN_UNPOISON_MEMORY_REGION(result, bytes);
#endif
@@ -179,7 +179,7 @@ static inline void* stackallocinternal(mjData* d, mjStackInfo* stack_info, size_
stack_required_bytes, d->nefc, d->ncon);
}
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
usage = current_alloc_usage + stack_usage_redzone(stack_info);
// store new stack usage in the red zone
@@ -250,7 +250,7 @@ static inline void* stackalloc(mjData* d, size_t size, size_t alignment,
// mjStackInfo mark stack frame, inline so ASAN errors point to correct code unit
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
__attribute__((always_inline))
#endif
static inline void markstackinternal(mjData* d, mjStackInfo* stack_info) {
@@ -259,7 +259,7 @@ static inline void markstackinternal(mjData* d, mjStackInfo* stack_info) {
(mjStackFrame*) stackallocinternal(d, stack_info, sizeof(mjStackFrame), _Alignof(mjStackFrame), NULL, 0);
s->pbase = stack_info->stack_base;
s->pstack = top_old;
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
// store the program counter to the caller so that we can compare against mj_freeStack later
s->pc = __sanitizer_return_address();
#endif
@@ -268,7 +268,7 @@ static inline void markstackinternal(mjData* d, mjStackInfo* stack_info) {
// mjData mark stack frame
#ifndef ADDRESS_SANITIZER
#ifndef mjUSEASAN
void mj_markStack(mjData* d)
#else
void mj__markStack(mjData* d)
@@ -286,7 +286,7 @@ void mj__markStack(mjData* d)
}
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
__attribute__((always_inline))
#endif
static inline void freestackinternal(mjStackInfo* stack_info) {
@@ -295,7 +295,7 @@ static inline void freestackinternal(mjStackInfo* stack_info) {
}
mjStackFrame* s = (mjStackFrame*) stack_info->stack_base;
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
// raise an error if caller function name doesn't match the most recent caller of mj_markStack
if (!mj__comparePcFuncName(s->pc, __sanitizer_return_address())) {
mjERROR("mj_markStack %s has no corresponding mj_freeStack (detected %s)",
@@ -310,14 +310,14 @@ static inline void freestackinternal(mjStackInfo* stack_info) {
stack_info->top = s->pstack;
// if running under asan, poison the newly freed memory region
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
ASAN_POISON_MEMORY_REGION((char*)old_top, stack_info->top - old_top);
#endif
}
// mjData free stack frame
#ifndef ADDRESS_SANITIZER
#ifndef mjUSEASAN
void mj_freeStack(mjData* d)
#else
void mj__freeStack(mjData* d)
src/engine/engine_memory.h
+1 -1
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@@ -34,7 +34,7 @@ extern "C" {
// mjData arena allocate
MJAPI void* mj_arenaAllocByte(mjData* d, size_t bytes, size_t alignment);
#ifndef ADDRESS_SANITIZER
#ifndef mjUSEASAN
// mjData mark stack frame
MJAPI void mj_markStack(mjData* d);
test/engine/engine_io_test.cc
+1 -1
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@@ -812,7 +812,7 @@ TEST_F(EngineIoTest, TestStackShardingForThreads) {
}
}
#ifdef ADDRESS_SANITIZER
#ifdef mjUSEASAN
void MarkFreeStack(mjData* d, bool free) {
mj_markStack(d);
if (free) {
unity/Runtime/Bindings/MjBindings.cs
+1
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@@ -65,6 +65,7 @@ public const int mjMAXMATERIAL = 1000;
public const bool THIRD_PARTY_MUJOCO_MJRFILAMENT_H_ = true;
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJSAN_H_ = true;
public const bool ADDRESS_SANITIZER = true;
public const bool mjUSEASAN = true;
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJSPEC_H_ = true;
public const bool THIRD_PARTY_MUJOCO_MJSPECMACRO_H_ = true;
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTYPE_H_ = true;