From 8dda269c8a1b96bdce65c21a28edb9efe8e83502 Mon Sep 17 00:00:00 2001
From: DeepMind <noreply@deepmind.com>
Date: Mon, 13 Jun 2022 12:58:33 -0700
Subject: [PATCH] Avoid msan reports on globals destructors

Somehow tests load these libs twice, and construct/destruct globals twice.
Can be preproduced even without sanitizers with logging from GlobalModel::~GlobalModel.

themodel does not need to be visible. If it's static each instance will have own a copy.
_mjMap does not need to use string and avoid lifecycle issues at all.

PiperOrigin-RevId: 454678814
Change-Id: I8fca5e1f06cbc2b413beabcece1219445482c0ed
---
 src/xml/xml_api.cc | 5 ++---
 src/xml/xml_util.h | 2 +-
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/src/xml/xml_api.cc b/src/xml/xml_api.cc
index e39b2a9c..ae9abe53 100644
--- a/src/xml/xml_api.cc
+++ b/src/xml/xml_api.cc
@@ -62,9 +62,8 @@ void GlobalModel::Clear() {
 
 
 // single instance of global model, protected with mutex
-GlobalModel themodel;
-std::mutex themutex;
-
+static GlobalModel themodel;
+static std::mutex themutex;
 
 //---------------------------------- Functions -----------------------------------------------------
 
diff --git a/src/xml/xml_util.h b/src/xml/xml_util.h
index 91e4bb09..5ba32aa3 100644
--- a/src/xml/xml_util.h
+++ b/src/xml/xml_util.h
@@ -76,7 +76,7 @@ class mjXSchema {
 
 // key(string) : value(int) map
 struct _mjMap {
-  std::string key;
+  const char* key;
   int value;
 };
 typedef struct _mjMap mjMap;