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Asan-poison padding regions in mjModel and mjData buffers.

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This allows us to detect reads and writes that are logically out of bounds.

PiperOrigin-RevId: 451520772
Change-Id: I614a8062c404d97148166bcd37db399420956d8b
This commit is contained in:
Saran Tunyasuvunakool
2022-05-27 17:33:56 -07:00
committed by Copybara-Service
parent 185b79f664
commit b5a6a725e5
1 changed files with 18 additions and 0 deletions
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src/engine/engine_io.c
+18
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@@ -27,6 +27,13 @@
#include "engine/engine_util_errmem.h" #include "engine/engine_util_errmem.h"
#include "engine/engine_vfs.h" #include "engine/engine_vfs.h"
#ifdef ADDRESS_SANITIZER
#include <sanitizer/asan_interface.h>
#else
#define ASAN_POISON_MEMORY_REGION(addr, size) ((void)(addr), (void)(size))
#define ASAN_UNPOISON_MEMORY_REGION(addr, size) ((void)(addr), (void)(size))
#endif
#ifdef MEMORY_SANITIZER #ifdef MEMORY_SANITIZER
#include <sanitizer/msan_interface.h> #include <sanitizer/msan_interface.h>
#endif #endif
@@ -330,6 +337,7 @@ static void mj_setPtrModel(mjModel* m) {
// assign pointers with padding // assign pointers with padding
#define X(type, name, nr, nc) \ #define X(type, name, nr, nc) \
m->name = (type*)(ptr + SKIP((intptr_t)ptr, sizeof(type))); \ m->name = (type*)(ptr + SKIP((intptr_t)ptr, sizeof(type))); \
ASAN_POISON_MEMORY_REGION(ptr, PTRDIFF(m->name, ptr)); \
ptr += SKIP((intptr_t)ptr, sizeof(type)) + sizeof(type)*(m->nr)*(nc); ptr += SKIP((intptr_t)ptr, sizeof(type)) + sizeof(type)*(m->nr)*(nc);
MJMODEL_POINTERS MJMODEL_POINTERS
@@ -754,6 +762,7 @@ static void mj_setPtrData(const mjModel* m, mjData* d) {
// assign pointers with padding // assign pointers with padding
#define X(type, name, nr, nc) \ #define X(type, name, nr, nc) \
d->name = (type*)(ptr + SKIP((intptr_t)ptr, sizeof(type))); \ d->name = (type*)(ptr + SKIP((intptr_t)ptr, sizeof(type))); \
ASAN_POISON_MEMORY_REGION(ptr, PTRDIFF(d->name, ptr)); \
ptr += SKIP((intptr_t)ptr, sizeof(type)) + sizeof(type)*(m->nr)*(nc); ptr += SKIP((intptr_t)ptr, sizeof(type)) + sizeof(type)*(m->nr)*(nc);
MJDATA_POINTERS MJDATA_POINTERS
@@ -919,7 +928,16 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
//------------------------------ clear buffer, set defaults //------------------------------ clear buffer, set defaults
// fill buffer with debug_value (normally 0) // fill buffer with debug_value (normally 0)
#ifdef ADDRESS_SANITIZER
{
#define X(type, name, nr, nc) memset(d->name, (int)debug_value, sizeof(type)*(m->nr)*(nc));
MJDATA_POINTERS_PREAMBLE(m)
MJDATA_POINTERS
#undef X
}
#else
memset(d->buffer, (int)debug_value, d->nbuffer); memset(d->buffer, (int)debug_value, d->nbuffer);
#endif
#ifdef MEMORY_SANITIZER #ifdef MEMORY_SANITIZER
// Tell msan to treat the entire buffer as uninitialized // Tell msan to treat the entire buffer as uninitialized