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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/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