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Move sanitizer instrumentation to a separate header file. Fixes #2049.

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PiperOrigin-RevId: 672986547
Change-Id: I42522f4925237a73168e965364a2dd65c0f067cb
This commit is contained in:
Yuval Tassa
2024-09-10 09:04:19 -07:00
committed by Copybara-Service
parent 8fa7fe7f5b
commit e4d4153352
27 changed files with 89 additions and 45 deletions
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include/mujoco/mjmacro.h
-11
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@@ -15,17 +15,6 @@
#ifndef MUJOCO_MJMACRO_H_
#define MUJOCO_MJMACRO_H_
// include asan interface header, or provide stubs for poison/unpoison macros when not using asan
#ifdef ADDRESS_SANITIZER
#include <sanitizer/asan_interface.h>
#elif defined(_MSC_VER)
#define ASAN_POISON_MEMORY_REGION(addr, size)
#define ASAN_UNPOISON_MEMORY_REGION(addr, size)
#else
#define ASAN_POISON_MEMORY_REGION(addr, size) ((void)(addr), (void)(size))
#define ASAN_UNPOISON_MEMORY_REGION(addr, size) ((void)(addr), (void)(size))
#endif
// max and min (use only for primitive types)
#define mjMAX(a, b) (((a) > (b)) ? (a) : (b))
#define mjMIN(a, b) (((a) < (b)) ? (a) : (b))
include/mujoco/mjsan.h
+58
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@@ -0,0 +1,58 @@
// Copyright 2024 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MUJOCO_INCLUDE_MJSAN_H_
#define MUJOCO_INCLUDE_MJSAN_H_
// Include asan interface header, or provide stubs for poison/unpoison macros when not using asan.
#ifdef ADDRESS_SANITIZER
#include <sanitizer/asan_interface.h>
#elif defined(_MSC_VER)
#define ASAN_POISON_MEMORY_REGION(addr, size)
#define ASAN_UNPOISON_MEMORY_REGION(addr, size)
#else
#define ASAN_POISON_MEMORY_REGION(addr, size) ((void)(addr), (void)(size))
#define ASAN_UNPOISON_MEMORY_REGION(addr, size) ((void)(addr), (void)(size))
#endif
// 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.
#ifdef ADDRESS_SANITIZER
#ifdef __cplusplus
extern "C" {
#endif
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");
}
#ifdef __cplusplus
}
#endif // __cplusplus
#endif // ADDRESS_SANITIZER
#endif // MUJOCO_INCLUDE_MJSAN_H_
include/mujoco/mujoco.h
+2 -30
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@@ -29,6 +29,7 @@
#include <mujoco/mjmacro.h>
#include <mujoco/mjplugin.h>
#include <mujoco/mjrender.h>
#include <mujoco/mjsan.h>
#include <mujoco/mjspec.h>
#include <mujoco/mjthread.h>
#include <mujoco/mjtnum.h>
@@ -197,7 +198,7 @@ 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
#ifndef ADDRESS_SANITIZER // Stack management functions declared in mjsan.h if ASAN is active.
// Mark a new frame on the mjData stack.
MJAPI void mj_markStack(mjData* d);
@@ -1766,35 +1767,6 @@ MJAPI void mjs_defaultKey(mjsKey* key);
// Default plugin attributes.
MJAPI void mjs_defaultPlugin(mjsPlugin* plugin);
//---------------------------------- Sanitizer instrumentation -------------------------------------
// Most users can ignore these functions, the following comments are primarily for 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.
#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