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Make asan instrumentation in mj_(mark|free)Stack cheaper.

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Symbolization and string comparison results are now cached.

PiperOrigin-RevId: 564697198
Change-Id: I0447f283a90143e2f67ecd90d895a36a078b3981
This commit is contained in:
Saran Tunyasuvunakool
2023-09-12 06:05:15 -07:00
committed by Copybara-Service
parent 2b192cebb6
commit 2f14a7c102
5 changed files with 115 additions and 57 deletions
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src/engine/engine_io.c
+3 -15
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@@ -1351,29 +1351,17 @@ void mj_freeStack(mjData* d) {
mjStackFrame* s = (mjStackFrame*) ((char*)d->arena + d->narena - d->pbase);
#ifdef ADDRESS_SANITIZER
#define mjSYMBOLIZELEN 256
// symbolize s->pc to get the function name of most recent caller to mj_markStack
char markstack_func[mjSYMBOLIZELEN];
__sanitizer_symbolize_pc(s->pc, "%f", markstack_func, mjSYMBOLIZELEN);
markstack_func[mjSYMBOLIZELEN - 1] = '\0';
// symbolize current program counter to get the function name of caller to this function
char freestack_func[mjSYMBOLIZELEN];
__sanitizer_symbolize_pc(__sanitizer_return_address(), "%f", freestack_func, mjSYMBOLIZELEN);
freestack_func[mjSYMBOLIZELEN - 1] = '\0';
// raise an error if caller function name doesn't match the most recent caller of mj_markStack
if (strncmp(markstack_func, freestack_func, mjSYMBOLIZELEN)) {
if (!_mj_comparePcFuncName(s->pc, __sanitizer_return_address())) {
#define mjSYMBOLIZELEN 256
char dbginfo[mjSYMBOLIZELEN];
__sanitizer_symbolize_pc(
s->pc, "mj_markStack %F at %S has no corresponding mj_freeStack",
dbginfo, sizeof(dbginfo));
dbginfo[mjSYMBOLIZELEN - 1] = '\0';
mjERROR("%s", dbginfo);
#undef mjSYMBOLIZELEN
}
#undef mjSYMBOLIZELEN
#endif
// restore pbase and pstack