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Add ASAN and MSAN instrumentation for arena and mjData stack.

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PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
This commit is contained in:
Saran Tunyasuvunakool
2023-05-26 09:16:39 -07:00
committed by Copybara-Service
parent 1d79657512
commit f887c1e928
54 changed files with 266 additions and 105 deletions
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python/mujoco/structs.cc
+6 -8
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@@ -38,6 +38,7 @@
#include "function_traits.h"
#include "indexers.h"
#include "mjdata_meta.h"
#include "private.h"
#include "raw.h"
#include "serialization.h"
#include <pybind11/numpy.h>
@@ -695,7 +696,6 @@ void MjDataWrapper::Serialize(std::ostream& output) const {
// Write struct and scalar fields
#define X(var) WriteBytes(output, &ptr_->var, sizeof(ptr_->var))
X(parena);
X(maxuse_stack);
X(maxuse_arena);
X(maxuse_con);
@@ -727,7 +727,6 @@ void MjDataWrapper::Serialize(std::ostream& output) const {
#define MJ_D(x) this->ptr_->x
#define X(type, name, nr, nc) \
if ((nr) * (nc)) { \
WriteInt(output, PTRDIFF(ptr_->name, ptr_->arena)); \
WriteBytes(output, ptr_->name, sizeof(type) * (nr) * (nc)); \
}
@@ -786,7 +785,6 @@ MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
ReadBytes(input, (void*) &d->var, sizeof(d->var)); \
CheckInput(input, "mjData");
X(parena);
X(maxuse_stack);
X(maxuse_arena);
X(maxuse_con);
@@ -816,11 +814,11 @@ MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
#define MJ_M(x) m.x
#undef MJ_D
#define MJ_D(x) d->x
#define X(type, name, nr, nc) \
if ((nr) * (nc)) { \
d->name = reinterpret_cast<decltype(d->name)>( \
static_cast<char*>(d->arena) + ReadInt(input)); \
ReadBytes(input, d->name, sizeof(type) * (nr) * (nc)); \
#define X(type, name, nr, nc) \
if ((nr) * (nc)) { \
d->name = static_cast<decltype(d->name)>( \
mj_arenaAlloc(d, sizeof(type) * (nr) * (nc), alignof(type))); \
ReadBytes(input, d->name, sizeof(type) * (nr) * (nc)); \
}
MJDATA_ARENA_POINTERS_CONTACT