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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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src/engine/engine_io.c
+14 -15
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@@ -1439,10 +1439,12 @@ static inline void markstackinternal(mjData* d, mjStackInfo* stack_info) {
// mjData mark stack frame
#ifdef ADDRESS_SANITIZER
__attribute__((noinline))
#ifndef ADDRESS_SANITIZER
void mj_markStack(mjData* d)
#else
void mj__markStack(mjData* d)
#endif
void mj_markStack(mjData* d) {
{
if (!d->threadpool) {
mjStackInfo stack_info = get_stack_info_from_data(d);
markstackinternal(d, &stack_info);
@@ -1469,15 +1471,10 @@ static inline void freestackinternal(mjStackInfo* stack_info) {
mjStackFrame* s = (mjStackFrame*) stack_info->stack_base;
#ifdef ADDRESS_SANITIZER
// raise an error if caller function name doesn't match the most recent caller of mj_markStack
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
if (!mj__comparePcFuncName(s->pc, __sanitizer_return_address())) {
mjERROR("mj_markStack %s has no corresponding mj_freeStack (detected %s)",
mj__getPcDebugInfo(s->pc),
mj__getPcDebugInfo(__sanitizer_return_address()));
}
#endif
@@ -1494,10 +1491,12 @@ static inline void freestackinternal(mjStackInfo* stack_info) {
// mjData free stack frame
#ifdef ADDRESS_SANITIZER
__attribute__((noinline))
#ifndef ADDRESS_SANITIZER
void mj_freeStack(mjData* d)
#else
void mj__freeStack(mjData* d)
#endif
void mj_freeStack(mjData* d) {
{
if (!d->threadpool) {
mjStackInfo stack_info = get_stack_info_from_data(d);
freestackinternal(&stack_info);