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Fix memory leak in mjCModel::Compile.

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This is a very subtle leak caused interaction between longjmp and compiler optimisation. Specifically, at the point where the setjmp takes places, these pointers have never been reassigned from its nullptr initialization. Without the volatile keyword, the compiler is free to assume that these pointers remain nullptr when the setjmp returns, and therefore to pass nullptr directly to the mj_deleteModel and mj_deleteData calls in the subsequent catch block, without ever reading the actual pointer values.

PiperOrigin-RevId: 466649447
Change-Id: I51e82ec8b566deb144221e11a99d5124a8267de4
This commit is contained in:
Saran Tunyasuvunakool
2022-08-10 05:11:15 -07:00
committed by Copybara-Service
parent c2aff3a9f2
commit e3ded23c66
2 changed files with 316 additions and 305 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_model.cc
+314 -305
View File
@@ -2271,9 +2271,16 @@ static void warninghandler(const char* msg) {
// compiler
mjModel* mjCModel::Compile(const mjVFS* vfs) {
unsigned int i;
mjModel* m = 0;
mjData* data = 0;
// The volatile keyword is necessary to prevent a possible memory leak due to
// an interaction between longjmp and compiler optimization. Specifically, at
// the point where the setjmp takes places, these pointers have never been
// reassigned from their nullptr initialization. Without the volatile keyword,
// the compiler is free to assume that these pointers remain nullptr when the
// setjmp returns, and therefore to pass nullptr directly to the
// mj_deleteModel and mj_deleteData calls in the subsequent catch block,
// without ever reading the actual pointer values.
mjModel* volatile m = nullptr;
mjData* volatile data = nullptr;
// save error and warning handlers
void (*save_error)(const char*) = _mjPRIVATE__get_tls_error_fn();
@@ -2289,312 +2296,13 @@ mjModel* mjCModel::Compile(const mjVFS* vfs) {
// init random number generator, to make textures reproducible
srand(123);
// guard for exceptions
try {
if (setjmp(error_jmp_buf) != 0) {
// TryCompile resulted in an mju_error which was converted to a longjmp.
throw mjCError(0, "engine error: %s", errortext);
}
// check if nan test works
double test = mjNAN;
if (mjuu_defined(test)) {
throw mjCError(0, "NaN test does not work for present compiler/options");
}
// check for repeated compilation
if (compiled) {
throw mjCError(0, "model already compiled");
}
// check for joints in world body
if (!bodies[0]->joints.empty()) {
throw mjCError(0, "joint found in world body");
}
// append directory separator
if (!meshdir.empty()) {
int n = meshdir.length();
if (meshdir[n-1]!='/' && meshdir[n-1]!='\\') {
meshdir += '/';
}
}
if (!texturedir.empty()) {
int n = texturedir.length();
if (texturedir[n-1]!='/' && texturedir[n-1]!='\\') {
texturedir += '/';
}
}
// add missing keyframes
for (i=keys.size(); i<nkey; i++) {
AddKey();
}
// make lists of objects created in kinematic tree
MakeLists(bodies[0]);
// set object ids and default names, check for repeated names
processlist(bodies, "body");
processlist(joints, "joint");
processlist(geoms, "geom");
processlist(sites, "site");
processlist(cameras, "camera");
processlist(lights, "light");
processlist(meshes, "mesh");
processlist(skins, "skin");
processlist(hfields, "hfield");
processlist(textures, "texture");
processlist(materials, "material");
processlist(pairs, "pair");
processlist(excludes, "exclude");
processlist(equalities, "equality");
processlist(tendons, "tendon");
processlist(actuators, "actuator");
processlist(sensors, "sensor");
processlist(numerics, "numeric");
processlist(texts, "text");
processlist(tuples, "tuple");
processlist(keys, "key");
// set default names, convert names into indices
SetDefaultNames();
IndexAssets();
// mark meshes that need convex hull
for (i=0; i<geoms.size(); i++) {
if (geoms[i]->meshid>=0 && geoms[i]->type==mjGEOM_MESH &&
(geoms[i]->contype || geoms[i]->conaffinity)) {
meshes[geoms[i]->meshid]->needhull = true;
}
}
// compile meshes (needed for geom compilation)
for (i=0; i<meshes.size(); i++) {
meshes[i]->Compile(vfs);
}
// automatically set nuser fields
if (nuser_body == -1) {
nuser_body = 0;
for (i=0; i<bodies.size(); i++) {
nuser_body = mjMAX(nuser_body, bodies[i]->userdata.size());
}
}
if (nuser_jnt == -1) {
nuser_jnt = 0;
for (i=0; i<joints.size(); i++) {
nuser_jnt = mjMAX(nuser_jnt, joints[i]->userdata.size());
}
}
if (nuser_geom == -1) {
nuser_geom = 0;
for (i=0; i<geoms.size(); i++) {
nuser_geom = mjMAX(nuser_geom, geoms[i]->userdata.size());
}
}
if (nuser_site == -1) {
nuser_site = 0;
for (i=0; i<sites.size(); i++) {
nuser_site = mjMAX(nuser_site, sites[i]->userdata.size());
}
}
if (nuser_cam == -1) {
nuser_cam = 0;
for (i=0; i<cameras.size(); i++) {
nuser_cam = mjMAX(nuser_cam, cameras[i]->userdata.size());
}
}
if (nuser_tendon == -1) {
nuser_tendon = 0;
for (i=0; i<tendons.size(); i++) {
nuser_tendon = mjMAX(nuser_tendon, tendons[i]->userdata.size());
}
}
if (nuser_actuator == -1) {
nuser_actuator = 0;
for (i=0; i<actuators.size(); i++) {
nuser_actuator = mjMAX(nuser_actuator, actuators[i]->userdata.size());
}
}
if (nuser_sensor == -1) {
nuser_sensor = 0;
for (i=0; i<sensors.size(); i++) {
nuser_sensor = mjMAX(nuser_sensor, sensors[i]->userdata.size());
}
}
// compile objects in kinematic tree
for (i=0; i<bodies.size(); i++) {
bodies[i]->Compile(); // also compiles joints, geoms, sites, cameras, lights
}
// compile all other objects except for keyframes
for (i=0; i<skins.size(); i++) skins[i]->Compile(vfs);
for (i=0; i<hfields.size(); i++) hfields[i]->Compile(vfs);
for (i=0; i<textures.size(); i++) textures[i]->Compile(vfs);
for (i=0; i<materials.size(); i++) materials[i]->Compile();
for (i=0; i<pairs.size(); i++) pairs[i]->Compile();
for (i=0; i<excludes.size(); i++) excludes[i]->Compile();
for (i=0; i<equalities.size(); i++) equalities[i]->Compile();
for (i=0; i<tendons.size(); i++) tendons[i]->Compile();
for (i=0; i<actuators.size(); i++) actuators[i]->Compile();
for (i=0; i<sensors.size(); i++) sensors[i]->Compile();
for (i=0; i<numerics.size(); i++) numerics[i]->Compile();
for (i=0; i<texts.size(); i++) texts[i]->Compile();
for (i=0; i<tuples.size(); i++) tuples[i]->Compile();
// compile defaults: to enforce userdata length for writer
for (i=0; i<defaults.size(); i++) {
defaults[i]->Compile(this);
}
// sort pair, exclude in increasing signature order; reassign ids
sort(pairs.begin(), pairs.end(), comparePair);
sort(excludes.begin(), excludes.end(), compareBodyPair);
reassignid(pairs);
reassignid(excludes);
// resolve asset references, compute sizes
IndexAssets();
SetSizes();
// fuse static if enabled
if (fusestatic) {
FuseStatic();
}
// set nmocap and body.mocapid
for (i=0; i<bodies.size(); i++) {
if (bodies[i]->mocap) {
bodies[i]->mocapid = nmocap;
nmocap++;
} else {
bodies[i]->mocapid = -1;
}
}
// check body mass and inertia
for (i=1; i<bodies.size(); i++) {
mjCBody* b = bodies[i];
// find moving body with small mass or inertia
if (!b->joints.empty() &&
(b->mass<mjMINVAL ||
b->inertia[0]<mjMINVAL ||
b->inertia[1]<mjMINVAL ||
b->inertia[2]<mjMINVAL)) {
// does it have static children with mass and inertia
bool ok = false;
for (size_t j=0; j<b->bodies.size(); j++) {
if (b->bodies[j]->joints.empty() &&
b->bodies[j]->mass>=mjMINVAL &&
b->bodies[j]->inertia[0]>=mjMINVAL &&
b->bodies[j]->inertia[1]>=mjMINVAL &&
b->bodies[j]->inertia[2]>=mjMINVAL) {
ok = true;
break;
}
}
// error
if (!ok) {
throw mjCError(b, "mass and inertia of moving bodies must be larger than mjMINVAL");
}
}
}
// create low-level model
m = mj_makeModel(nq, nv, nu, na, nbody, njnt, ngeom, nsite, ncam, nlight,
nmesh, nmeshvert, nmeshtexvert, nmeshface, nmeshgraph,
nskin, nskinvert, nskintexvert, nskinface, nskinbone, nskinbonevert,
nhfield, nhfielddata, ntex, ntexdata, nmat, npair, nexclude,
neq, ntendon, nwrap, nsensor,
nnumeric, nnumericdata, ntext, ntextdata,
ntuple, ntupledata, nkey, nmocap,
nuser_body, nuser_jnt, nuser_geom, nuser_site, nuser_cam,
nuser_tendon, nuser_actuator, nuser_sensor, nnames);
if (!m) {
throw mjCError(0, "could not create mjModel");
}
// copy everything into low-level model
m->opt = option;
m->vis = visual;
CopyNames(m);
CopyTree(m);
// keyframe compilation needs access to nq, nv, na, nmocap, qpos0
for (i=0; i<keys.size(); i++) {
keys[i]->Compile(m);
}
// copy objects outsite kinematic tree (including keyframes)
CopyObjects(m);
// scale mass
if (settotalmass>0) {
mj_setTotalmass(m, settotalmass);
}
// set stack size: user-specified or conservative heuristic
if (nstack>0) {
m->nstack = nstack;
} else {
m->nstack = mjMAX(1000,
5*(m->njmax + m->neq + m->nv)*(m->njmax + m->neq + m->nv) +
20*(m->nq + m->nv + m->nu + m->na + m->nbody + m->njnt +
m->ngeom + m->nsite + m->neq + m->ntendon + m->nwrap));
}
// create data
data = mj_makeData(m);
if (!data) {
throw mjCError(0, "could not create mjData");
}
// normalize keyframe quaternions
for (i=0; i<m->nkey; i++) {
mj_normalizeQuat(m, m->key_qpos+i*m->nq);
}
// set constant fields
mj_setConst(m, data);
// automatic spring-damper adjustment
AutoSpringDamper(m);
// actuator lengthrange computation
LengthRange(m, data);
// override model statistics if defined by user
if (mjuu_defined(extent)) m->stat.extent = (mjtNum)extent;
if (mjuu_defined(meaninertia)) m->stat.meaninertia = (mjtNum)meaninertia;
if (mjuu_defined(meanmass)) m->stat.meanmass = (mjtNum)meanmass;
if (mjuu_defined(meansize)) m->stat.meansize = (mjtNum)meansize;
if (mjuu_defined(center[0])) copyvec(m->stat.center, center, 3);
// assert that model has valid references
const char* validationerr = mj_validateReferences(m);
if (validationerr) { // SHOULD NOT OCCUR
throw mjCError(0, validationerr);
}
// test forward simulation
mj_resetData(m, data);
mj_step(m, data);
// delete data
mj_deleteData(data);
data = NULL;
// pass warning back
if (warningtext[0]) {
mju::strcpy_arr(errInfo.message, warningtext);
errInfo.warning = true;
}
}
// handle mjCError exceptions
catch (mjCError err) {
TryCompile(const_cast<mjModel**>(&m), const_cast<mjData**>(&data), vfs);
} catch (mjCError err) {
// deallocate everything allocated in Compile
mj_deleteModel(m);
mj_deleteData(data);
@@ -2619,6 +2327,307 @@ mjModel* mjCModel::Compile(const mjVFS* vfs) {
}
void mjCModel::TryCompile(mjModel** m, mjData** data, const mjVFS* vfs) {
// check if nan test works
double test = mjNAN;
if (mjuu_defined(test)) {
throw mjCError(0, "NaN test does not work for present compiler/options");
}
// check for repeated compilation
if (compiled) {
throw mjCError(0, "model already compiled");
}
// check for joints in world body
if (!bodies[0]->joints.empty()) {
throw mjCError(0, "joint found in world body");
}
// append directory separator
if (!meshdir.empty()) {
int n = meshdir.length();
if (meshdir[n-1]!='/' && meshdir[n-1]!='\\') {
meshdir += '/';
}
}
if (!texturedir.empty()) {
int n = texturedir.length();
if (texturedir[n-1]!='/' && texturedir[n-1]!='\\') {
texturedir += '/';
}
}
// add missing keyframes
for (int i=keys.size(); i<nkey; i++) {
AddKey();
}
// make lists of objects created in kinematic tree
MakeLists(bodies[0]);
// set object ids and default names, check for repeated names
processlist(bodies, "body");
processlist(joints, "joint");
processlist(geoms, "geom");
processlist(sites, "site");
processlist(cameras, "camera");
processlist(lights, "light");
processlist(meshes, "mesh");
processlist(skins, "skin");
processlist(hfields, "hfield");
processlist(textures, "texture");
processlist(materials, "material");
processlist(pairs, "pair");
processlist(excludes, "exclude");
processlist(equalities, "equality");
processlist(tendons, "tendon");
processlist(actuators, "actuator");
processlist(sensors, "sensor");
processlist(numerics, "numeric");
processlist(texts, "text");
processlist(tuples, "tuple");
processlist(keys, "key");
// set default names, convert names into indices
SetDefaultNames();
IndexAssets();
// mark meshes that need convex hull
for (int i=0; i<geoms.size(); i++) {
if (geoms[i]->meshid>=0 && geoms[i]->type==mjGEOM_MESH &&
(geoms[i]->contype || geoms[i]->conaffinity)) {
meshes[geoms[i]->meshid]->needhull = true;
}
}
// compile meshes (needed for geom compilation)
for (int i=0; i<meshes.size(); i++) {
meshes[i]->Compile(vfs);
}
// automatically set nuser fields
if (nuser_body == -1) {
nuser_body = 0;
for (int i=0; i<bodies.size(); i++) {
nuser_body = mjMAX(nuser_body, bodies[i]->userdata.size());
}
}
if (nuser_jnt == -1) {
nuser_jnt = 0;
for (int i=0; i<joints.size(); i++) {
nuser_jnt = mjMAX(nuser_jnt, joints[i]->userdata.size());
}
}
if (nuser_geom == -1) {
nuser_geom = 0;
for (int i=0; i<geoms.size(); i++) {
nuser_geom = mjMAX(nuser_geom, geoms[i]->userdata.size());
}
}
if (nuser_site == -1) {
nuser_site = 0;
for (int i=0; i<sites.size(); i++) {
nuser_site = mjMAX(nuser_site, sites[i]->userdata.size());
}
}
if (nuser_cam == -1) {
nuser_cam = 0;
for (int i=0; i<cameras.size(); i++) {
nuser_cam = mjMAX(nuser_cam, cameras[i]->userdata.size());
}
}
if (nuser_tendon == -1) {
nuser_tendon = 0;
for (int i=0; i<tendons.size(); i++) {
nuser_tendon = mjMAX(nuser_tendon, tendons[i]->userdata.size());
}
}
if (nuser_actuator == -1) {
nuser_actuator = 0;
for (int i=0; i<actuators.size(); i++) {
nuser_actuator = mjMAX(nuser_actuator, actuators[i]->userdata.size());
}
}
if (nuser_sensor == -1) {
nuser_sensor = 0;
for (int i=0; i<sensors.size(); i++) {
nuser_sensor = mjMAX(nuser_sensor, sensors[i]->userdata.size());
}
}
// compile objects in kinematic tree
for (int i=0; i<bodies.size(); i++) {
bodies[i]->Compile(); // also compiles joints, geoms, sites, cameras, lights
}
// compile all other objects except for keyframes
for (int i=0; i<skins.size(); i++) skins[i]->Compile(vfs);
for (int i=0; i<hfields.size(); i++) hfields[i]->Compile(vfs);
for (int i=0; i<textures.size(); i++) textures[i]->Compile(vfs);
for (int i=0; i<materials.size(); i++) materials[i]->Compile();
for (int i=0; i<pairs.size(); i++) pairs[i]->Compile();
for (int i=0; i<excludes.size(); i++) excludes[i]->Compile();
for (int i=0; i<equalities.size(); i++) equalities[i]->Compile();
for (int i=0; i<tendons.size(); i++) tendons[i]->Compile();
for (int i=0; i<actuators.size(); i++) actuators[i]->Compile();
for (int i=0; i<sensors.size(); i++) sensors[i]->Compile();
for (int i=0; i<numerics.size(); i++) numerics[i]->Compile();
for (int i=0; i<texts.size(); i++) texts[i]->Compile();
for (int i=0; i<tuples.size(); i++) tuples[i]->Compile();
// compile defaults: to enforce userdata length for writer
for (int i=0; i<defaults.size(); i++) {
defaults[i]->Compile(this);
}
// sort pair, exclude in increasing signature order; reassign ids
sort(pairs.begin(), pairs.end(), comparePair);
sort(excludes.begin(), excludes.end(), compareBodyPair);
reassignid(pairs);
reassignid(excludes);
// resolve asset references, compute sizes
IndexAssets();
SetSizes();
// fuse static if enabled
if (fusestatic) {
FuseStatic();
}
// set nmocap and body.mocapid
for (int i=0; i<bodies.size(); i++) {
if (bodies[i]->mocap) {
bodies[i]->mocapid = nmocap;
nmocap++;
} else {
bodies[i]->mocapid = -1;
}
}
// check body mass and inertia
for (int i=1; i<bodies.size(); i++) {
mjCBody* b = bodies[i];
// find moving body with small mass or inertia
if (!b->joints.empty() &&
(b->mass<mjMINVAL ||
b->inertia[0]<mjMINVAL ||
b->inertia[1]<mjMINVAL ||
b->inertia[2]<mjMINVAL)) {
// does it have static children with mass and inertia
bool ok = false;
for (size_t j=0; j<b->bodies.size(); j++) {
if (b->bodies[j]->joints.empty() &&
b->bodies[j]->mass>=mjMINVAL &&
b->bodies[j]->inertia[0]>=mjMINVAL &&
b->bodies[j]->inertia[1]>=mjMINVAL &&
b->bodies[j]->inertia[2]>=mjMINVAL) {
ok = true;
break;
}
}
// error
if (!ok) {
throw mjCError(b, "mass and inertia of moving bodies must be larger than mjMINVAL");
}
}
}
// create low-level model
*m = mj_makeModel(nq, nv, nu, na, nbody, njnt, ngeom, nsite, ncam, nlight,
nmesh, nmeshvert, nmeshtexvert, nmeshface, nmeshgraph,
nskin, nskinvert, nskintexvert, nskinface, nskinbone, nskinbonevert,
nhfield, nhfielddata, ntex, ntexdata, nmat, npair, nexclude,
neq, ntendon, nwrap, nsensor,
nnumeric, nnumericdata, ntext, ntextdata,
ntuple, ntupledata, nkey, nmocap,
nuser_body, nuser_jnt, nuser_geom, nuser_site, nuser_cam,
nuser_tendon, nuser_actuator, nuser_sensor, nnames);
if (!*m) {
throw mjCError(0, "could not create mjModel");
}
// copy everything into low-level model
(*m)->opt = option;
(*m)->vis = visual;
CopyNames(*m);
CopyTree(*m);
// keyframe compilation needs access to nq, nv, na, nmocap, qpos0
for (int i=0; i<keys.size(); i++) {
keys[i]->Compile(*m);
}
// copy objects outsite kinematic tree (including keyframes)
CopyObjects(*m);
// scale mass
if (settotalmass>0) {
mj_setTotalmass(*m, settotalmass);
}
// set stack size: user-specified or conservative heuristic
if (nstack>0) {
(*m)->nstack = nstack;
} else {
(*m)->nstack = mjMAX(
1000,
5*((*m)->njmax + (*m)->neq + (*m)->nv)*((*m)->njmax + (*m)->neq + (*m)->nv) +
20*((*m)->nq + (*m)->nv + (*m)->nu + (*m)->na + (*m)->nbody + (*m)->njnt +
(*m)->ngeom + (*m)->nsite + (*m)->neq + (*m)->ntendon + (*m)->nwrap));
}
// create data
*data = mj_makeData(*m);
if (!data) {
throw mjCError(0, "could not create mjData");
}
// normalize keyframe quaternions
for (int i=0; i<(*m)->nkey; i++) {
mj_normalizeQuat(*m, (*m)->key_qpos+i*(*m)->nq);
}
// set constant fields
mj_setConst(*m, *data);
// automatic spring-damper adjustment
AutoSpringDamper(*m);
// actuator lengthrange computation
LengthRange(*m, *data);
// override model statistics if defined by user
if (mjuu_defined(extent)) (*m)->stat.extent = (mjtNum)extent;
if (mjuu_defined(meaninertia)) (*m)->stat.meaninertia = (mjtNum)meaninertia;
if (mjuu_defined(meanmass)) (*m)->stat.meanmass = (mjtNum)meanmass;
if (mjuu_defined(meansize)) (*m)->stat.meansize = (mjtNum)meansize;
if (mjuu_defined(center[0])) copyvec((*m)->stat.center, center, 3);
// assert that model has valid references
const char* validationerr = mj_validateReferences(*m);
if (validationerr) { // SHOULD NOT OCCUR
throw mjCError(0, validationerr);
}
// test forward simulation
mj_resetData(*m, *data);
mj_step(*m, *data);
// delete data
mj_deleteData(*data);
data = nullptr;
// pass warning back
if (warningtext[0]) {
mju::strcpy_arr(errInfo.message, warningtext);
errInfo.warning = true;
}
}
//------------------------------- DECOMPILER -------------------------------------------------------
src/user/user_model.h
+2
View File
@@ -153,6 +153,8 @@ class mjCModel {
int nuser_sensor; // number of mjtNums in sensor_user
private:
void TryCompile(mjModel** m, mjData** data, const mjVFS* vfs);
void Clear(void); // clear objects allocated by Compile
template <class T> // add object of any type