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Fix false positives from mjData stack leakage detection.

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When built and run under address sanitizer (asan), `mj_markStack` and `mj_freeStack` are instrumented to detect leakage of mjData stack frames. When the compiler inlines several callees that call into mark/free in the same function, this instrumentation requires that the compiler retains separate mark/free calls for each original callee.

This change adds necessary optimization barriers to ensure that this is the case.

PiperOrigin-RevId: 609373993
Change-Id: I30dfd998fb66530735348e9715d92ee713f28210
This commit is contained in:
Saran Tunyasuvunakool
2024-02-22 08:02:46 -08:00
committed by Copybara-Service
parent 34d4a69027
commit b04de39e4e
5 changed files with 107 additions and 22 deletions
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include/mujoco/mujoco.h
+34 -2
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@@ -19,7 +19,7 @@
// this is a C-API
#if defined(__cplusplus)
#ifdef __cplusplus
extern "C" {
#endif
@@ -187,6 +187,8 @@ 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
// Mark a new frame on the mjData stack.
MJAPI void mj_markStack(mjData* d);
@@ -194,6 +196,8 @@ MJAPI void mj_markStack(mjData* d);
// to mj_markStack must no longer be used afterwards.
MJAPI void mj_freeStack(mjData* d);
#endif // ADDRESS_SANITIZER
// Allocate a number of bytes on mjData stack at a specific alignment.
// Call mju_error on stack overflow.
MJAPI void* mj_stackAllocByte(mjData* d, size_t bytes, size_t alignment);
@@ -1340,8 +1344,36 @@ MJAPI void mju_defaultTask(mjTask* task);
// Wait for a task to complete.
MJAPI void mju_taskJoin(mjTask* task);
//---------------------- Sanitizer instrumentation helpers -----------------------------------------
//
// Most MuJoCo users can ignore these functions, the following comments are aimed primarily at
// MuJoCo developers.
//
// When built and run under address sanitizer (asan), mj_markStack and mj_freeStack are instrumented
// to detect leakage of mjData stack frames. When the compiler inlines several callees that call
// 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.
#if defined(__cplusplus)
#ifdef ADDRESS_SANITIZER
void mj__markStack(mjData*) __attribute__((noinline));
static inline void mj_markStack(mjData* d) __attribute__((always_inline)) {
asm volatile("" ::: "memory");
mj__markStack(d);
asm volatile("" ::: "memory");
}
void mj__freeStack(mjData*) __attribute__((noinline));
static inline void mj_freeStack(mjData* d) __attribute__((always_inline)) {
asm volatile("" ::: "memory");
mj__freeStack(d);
asm volatile("" ::: "memory");
}
#endif // ADDRESS_SANITIZER
#ifdef __cplusplus
}
#endif