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Fix memory allocation error when memory size is larger than 2G. Fixes #1606

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PiperOrigin-RevId: 627058355
Change-Id: Iebef647a0107d1f112a876d705f5b3ea888b4a41
This commit is contained in:
Yuval Tassa
2024-04-22 09:14:43 -07:00
committed by Copybara-Service
parent 6540289eb1
commit 546a27ca72
9 changed files with 102 additions and 26 deletions
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test/engine/engine_io_test.cc
+67
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@@ -667,6 +667,73 @@ TEST_F(EngineIoTest, CanMarkAndFreeStack) {
mj_deleteModel(model);
}
TEST_F(EngineIoTest, LargeMemory) {
constexpr char xml[] = R"(
<mujoco>
<size memory="2400M"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
mjData* data = mj_makeData(model);
ASSERT_THAT(data, NotNull());
// allocate 2.3G of mjtNums
mj_markStack(data);
size_t num = 2300000000 / sizeof(mjtNum);
mjtNum* testNum = mj_stackAllocNum(data, num);
testNum[num-1] = 1;
mj_freeStack(data);
// allocate 2.3G of bytes
mj_markStack(data);
num = 2300000000;
char* testByte = (char*) mj_stackAllocByte(data, num, alignof(char));
testByte[num-1] = 1;
mj_freeStack(data);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(EngineIoTest, VeryLargeMemory) {
constexpr char xml[] = R"(
<mujoco>
<size memory="64G"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
if (!model) {
// in some test environments, 64GB is too large
EXPECT_THAT(error.data(), HasSubstr("Could not allocate memory"));
} else {
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
mjData* data = mj_makeData(model);
ASSERT_THAT(data, NotNull());
// allocate 63G of mjtNums
mj_markStack(data);
size_t num = 63000000000 / sizeof(mjtNum);
mjtNum* testNum = mj_stackAllocNum(data, num);
testNum[num-1] = 1;
mj_freeStack(data);
// allocate 63G of bytes
mj_markStack(data);
num = 63000000000;
char* testByte = (char*) mj_stackAllocByte(data, num, alignof(char));
testByte[num-1] = 1;
mj_freeStack(data);
mj_deleteData(data);
mj_deleteModel(model);
}
}
struct TestFunctionArgs_ {
mjData* d;
int input;