Saran Tunyasuvunakool
b04de39e4e
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 in the same function, this instrumentation requires that the compiler retains separate mark/free calls for each original callee. This change adds necessary optimization barriers to ensure that this is the case. PiperOrigin-RevId: 609373993 Change-Id: I30dfd998fb66530735348e9715d92ee713f28210
92 lines
2.7 KiB
C
92 lines
2.7 KiB
C
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_SRC_ENGINE_ENGINE_CROSSPLATFORM_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_CROSSPLATFORM_H_
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// IWYU pragma: begin_keep
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#if !defined(__cplusplus)
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#include <stddef.h>
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#include <stdlib.h>
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#else
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#include <cstddef>
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#include <cstdlib>
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#endif
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// IWYU pragma: end_keep
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// Sorting and case-insensitive comparison functions.
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#ifdef _WIN32
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#define strcasecmp _stricmp
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#define strncasecmp _strnicmp
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#define mjQUICKSORT(buf, elnum, elsz, func, context) \
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qsort_s(buf, elnum, elsz, func, context)
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#define quicksortfunc(name, context, el1, el2) \
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static int name(void* context, const void* el1, const void* el2)
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#else // assumes POSIX
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#include <strings.h>
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#ifdef __APPLE__
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#define mjQUICKSORT(buf, elnum, elsz, func, context) \
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qsort_r(buf, elnum, elsz, context, func)
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#define quicksortfunc(name, context, el1, el2) \
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static int name(void* context, const void* el1, const void* el2)
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#else // non-Apple
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#define mjQUICKSORT(buf, elnum, elsz, func, context) \
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qsort_r(buf, elnum, elsz, func, context)
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#define quicksortfunc(name, context, el1, el2) \
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static int name(const void* el1, const void* el2, void* context)
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#endif
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#endif
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// Switch-case fallthrough annotation.
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#if defined(__cplusplus)
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#define mjFALLTHROUGH [[fallthrough]]
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#elif defined(__clang__) || (defined(__GNUC__) && __GNUC__ >= 7)
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#define mjFALLTHROUGH __attribute__((fallthrough))
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#else
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#define mjFALLTHROUGH ((void) 0)
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#endif
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// MSVC only provides max_align_t in C++.
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#if defined(_MSC_VER) && !defined(__clang__) && !defined(__cplusplus)
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typedef long double mjtMaxAlign;
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#else
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typedef max_align_t mjtMaxAlign;
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#endif
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// Branch prediction hints.
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#if defined(__GNUC__)
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#define mjLIKELY(x) __builtin_expect(!!(x), 1)
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#define mjUNLIKELY(x) __builtin_expect(!!(x), 0)
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#else
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#define mjLIKELY(x) (x)
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#define mjUNLIKELY(x) (x)
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#endif
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#ifdef __cplusplus
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extern "C" {
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#endif
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#ifdef ADDRESS_SANITIZER
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int mj__comparePcFuncName(void* pc1, void* pc2);
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const char* mj__getPcDebugInfo(void* pc);
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#endif
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#ifdef __cplusplus
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} // extern "C"
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_CROSSPLATFORM_H_
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