Nimrod Gileadi
2a26bf1ba5
When using MSAN, mjData->buffer is marked as poisoned, despite being initialized with zeroes. This is useful for catching computations that accidentally use uninitialized values. However, when using engine_print, it's OK to assume the buffer is initialized to zeros. PiperOrigin-RevId: 456085776 Change-Id: I9d85e37fa82958eb54ac413140543a6581aa46ad
88 lines
2.2 KiB
C++
88 lines
2.2 KiB
C++
// Copyright 2022 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.
|
|
|
|
#include "src/engine/engine_print.h"
|
|
|
|
#include <array>
|
|
|
|
#include <gmock/gmock.h>
|
|
#include <gtest/gtest.h>
|
|
#include <mujoco/mjdata.h>
|
|
#include <mujoco/mjmodel.h>
|
|
#include <mujoco/mujoco.h>
|
|
#include "test/fixture.h"
|
|
|
|
#ifdef MEMORY_SANITIZER
|
|
#include <sanitizer/msan_interface.h>
|
|
#endif
|
|
|
|
namespace mujoco {
|
|
namespace {
|
|
|
|
#ifdef MEMORY_SANITIZER
|
|
using ::testing::Eq;
|
|
using ::testing::Not;
|
|
#endif
|
|
using ::testing::NotNull;
|
|
|
|
using EnginePrintTest = MujocoTest;
|
|
|
|
|
|
constexpr const char* NullFile() {
|
|
#ifdef _WIN32
|
|
return "NUL";
|
|
#else
|
|
return "/dev/null";
|
|
#endif
|
|
}
|
|
|
|
TEST_F(EnginePrintTest, PrintDataWorksWithMsan) {
|
|
constexpr char xml[] = R"(
|
|
<mujoco>
|
|
<worldbody>
|
|
<body>
|
|
<joint/>
|
|
<geom size="1"/>
|
|
</body>
|
|
</worldbody>
|
|
</mujoco>
|
|
)";
|
|
|
|
std::array<char, 1024> error;
|
|
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
|
|
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
|
|
mjData* data = mj_makeData(model);
|
|
ASSERT_THAT(data, NotNull());
|
|
|
|
// Mark qacc_smooth[0] as initialized.
|
|
data->qacc_smooth[0] = 0;
|
|
|
|
// This will read "uninitialized" values from mjData, but shouldn't fail.
|
|
mj_printData(model, data, NullFile());
|
|
|
|
// After mj_printData, poisoned status should be restored correctly, so
|
|
// qacc_smooth[0] should be marked initialzed.
|
|
EXPECT_EQ(data->qacc_smooth[0], 0);
|
|
|
|
#ifdef MEMORY_SANITIZER
|
|
EXPECT_THAT(__msan_test_shadow(data->buffer, data->nbuffer), Not(Eq(-1))) <<
|
|
"Expecting some of data->buffer to be marked uninitialized";
|
|
#endif
|
|
mj_deleteData(data);
|
|
mj_deleteModel(model);
|
|
}
|
|
|
|
} // namespace
|
|
} // namespace mujoco
|