Yuval Tassa
259e6c4dc6
PiperOrigin-RevId: 951656966 Change-Id: I51294e6a95c39f4037e8feb2aee45e69cb51beb0
77 lines
2.7 KiB
C
77 lines
2.7 KiB
C
// Copyright 2024 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_INCLUDE_MJSAN_H_
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#define MUJOCO_INCLUDE_MJSAN_H_
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// Define ADDRESS_SANITIZER if implied by other macros.
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#if !defined(ADDRESS_SANITIZER)
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#if defined(__SANITIZE_ADDRESS__)
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#define ADDRESS_SANITIZER
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#elif defined(__has_feature)
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#if __has_feature(address_sanitizer)
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#define ADDRESS_SANITIZER
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#endif
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#endif
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#endif
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// Define mjUSEASAN if ADDRESS_SANITIZER is active and we are not on MSVC.
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// MSVC asan (/fsanitize=address defines ADDRESS_SANITIZER via EnableASAN) cannot use the GCC/clang
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// attribute+asm instrumentation below, so we exclude it.
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#if defined(ADDRESS_SANITIZER) && !defined(_MSC_VER)
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#define mjUSEASAN
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#endif
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// Include asan interface header, or provide stubs for poison/unpoison macros when not using asan.
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#ifdef mjUSEASAN
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#include <sanitizer/asan_interface.h>
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#elif defined(_MSC_VER)
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#define ASAN_POISON_MEMORY_REGION(addr, size)
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#define ASAN_UNPOISON_MEMORY_REGION(addr, size)
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#else
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#define ASAN_POISON_MEMORY_REGION(addr, size) ((void)(addr), (void)(size))
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#define ASAN_UNPOISON_MEMORY_REGION(addr, size) ((void)(addr), (void)(size))
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#endif
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// When built and run under address sanitizer (asan), mj_markStack and mj_freeStack are instrumented
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// to detect leakage of mjData stack frames. When the compiler inlines several callees that call
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// into mark/free into the same function, this instrumentation requires that the compiler retains
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// separate mark/free calls for each original callee. The memory-clobbered asm blocks act as a
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// barrier to prevent mark/free calls from being combined under optimization.
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#ifdef mjUSEASAN
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#ifdef __cplusplus
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extern "C" {
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#endif
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void mj__markStack(mjData*) __attribute__((noinline));
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static inline void mj_markStack(mjData* d) __attribute__((always_inline)) {
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asm volatile("" ::: "memory");
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mj__markStack(d);
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asm volatile("" ::: "memory");
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}
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void mj__freeStack(mjData*) __attribute__((noinline));
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static inline void mj_freeStack(mjData* d) __attribute__((always_inline)) {
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asm volatile("" ::: "memory");
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mj__freeStack(d);
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asm volatile("" ::: "memory");
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}
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#ifdef __cplusplus
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}
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#endif // __cplusplus
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#endif // mjUSEASAN
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#endif // MUJOCO_INCLUDE_MJSAN_H_
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