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Fix null pointer deref for unknown class names.

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PiperOrigin-RevId: 610391077
Change-Id: I5abd62ff46e31e788f06fe111adb3c25287d4fdc
This commit is contained in:
Yuval Tassa
2024-02-26 06:38:03 -08:00
committed by Copybara-Service
parent b47d97652e
commit 8679c9fc59
4 changed files with 46 additions and 5 deletions
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src/user/user_api.cc
+12
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@@ -346,6 +346,18 @@ mjmDefault* mjm_getDefault(mjElement element) {
// find default in model by class name
mjmDefault* mjm_findDefault(mjmModel* modelspec, const char* classname) {
mjCModel* model = reinterpret_cast<mjCModel*>(modelspec->element);
mjCDef* cdef = model->FindDef(classname);
if (!cdef) {
return nullptr;
}
return &cdef->spec;
}
// find body in model by name
mjmBody* mjm_findBody(mjmModel* modelspec, const char* name) {
mjCModel* model = reinterpret_cast<mjCModel*>(modelspec->element);
src/user/user_api.h
+3
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@@ -821,6 +821,9 @@ MJAPI mjmModel* mjm_getModel(mjmBody* body);
// Get default corresponding to an mjElement.
MJAPI mjmDefault* mjm_getDefault(mjElement element);
// Find default in model by class name.
MJAPI mjmDefault* mjm_findDefault(mjmModel* model, const char* classname);
// Find body in model by name.
MJAPI mjmBody* mjm_findBody(mjmModel* model, const char* name);
src/xml/xml_native_reader.cc
+6 -4
View File
@@ -31,8 +31,8 @@
#include <mujoco/mjmodel.h>
#include <mujoco/mjplugin.h>
#include <mujoco/mjvisualize.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mjvisualize.h>
#include "engine/engine_plugin.h"
#include "engine/engine_util_errmem.h"
#include "engine/engine_util_misc.h"
@@ -3986,12 +3986,14 @@ void mjXReader::Keyframe(XMLElement* section) {
// get defaults class
mjmDefault* mjXReader::GetClass(XMLElement* section) {
string text;
mjmDefault* def = 0;
mjmDefault* def = nullptr;
if (ReadAttrTxt(section, "class", text)) {
def = &model->FindDef(text)->spec;
def = mjm_findDefault(&model->spec, text.c_str());
if (!def) {
throw mjXError(section, "unknown default class");
throw mjXError(
section,
std::string("unknown default class name '" + text + "'").c_str());
}
}
test/xml/xml_native_reader_test.cc
+25 -1
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@@ -33,12 +33,13 @@ namespace mujoco {
namespace {
using ::std::string;
using ::testing::AllOf;
using ::testing::Eq;
using ::testing::FloatEq;
using ::testing::HasSubstr;
using ::testing::IsNan;
using ::testing::IsNull;
using ::testing::NotNull;
using ::testing::FloatEq;
using XMLReaderTest = MujocoTest;
@@ -462,6 +463,29 @@ TEST_F(XMLReaderTest, RepeatedDefaultName) {
EXPECT_THAT(error.data(), HasSubstr("repeated default class name"));
}
TEST_F(XMLReaderTest, InvalidDefaultClassName) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="sphere">
<geom type="sphere" size="1"/>
</default>
</default>
<worldbody>
<body>
<geom class="invalid"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull()) << error.data();
EXPECT_THAT(error.data(),
AllOf(HasSubstr("unknown default class name 'invalid'"),
HasSubstr("Element 'geom'"), HasSubstr("line 10")));
}
// ------------------------ test including -------------------------------------
// credit: https://www.mjt.me.uk/posts/smallest-png/