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Detect use-after-free of hrpExecutionContext #1208

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merged 2 commits into from
Oct 13, 2017
Merged

Detect use-after-free of hrpExecutionContext #1208

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3a77a29
Detect use-after-free of hrpExecutionContext
jun0 Oct 12, 2017
73574d3
Remove C++11 dependency from previous commit
jun0 Oct 13, 2017
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14 changes: 14 additions & 0 deletions ec/hrpEC/hrpEC-common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,16 @@ namespace RTC
{
hrpExecutionContext::~hrpExecutionContext()
{
if (m_thread_pending)
abort ();
}
int hrpExecutionContext::svc(void)
{
int ret = svc_wrapped ();
m_thread_pending = false;
return ret;
}
int hrpExecutionContext::svc_wrapped(void)
{
if (open_iob() == FALSE){
std::cerr << "open_iob: failed to open" << std::endl;
Expand Down Expand Up @@ -191,6 +199,12 @@ namespace RTC
throw OpenHRP::ExecutionProfileService::ExecutionProfileServiceException("no such component");
}

void hrpExecutionContext::activate ()
{
m_thread_pending = true;
PeriodicExecutionContext::activate ();
}

void hrpExecutionContext::resetProfile()
{
m_profile.max_period = m_profile.avg_period = 0;
Expand Down
3 changes: 2 additions & 1 deletion ec/hrpEC/hrpEC.cpp
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Expand Up @@ -33,7 +33,8 @@ namespace RTC
#else
: RTC_exp::PeriodicExecutionContext(),
#endif
m_priority(49)
m_priority(49),
m_thread_pending (false)
{
resetProfile();
rtclog.setName("hrpEC");
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4 changes: 4 additions & 0 deletions ec/hrpEC/hrpEC.h
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Expand Up @@ -35,6 +35,7 @@ namespace RTC
#ifdef OPENRTM_VERSION_TRUNK
virtual void tick(){}
#endif
void activate ();

OpenHRP::ExecutionProfileService::Profile *getProfile();
OpenHRP::ExecutionProfileService::ComponentProfile getComponentProfile(RTC::LightweightRTObject_ptr obj);
Expand Down Expand Up @@ -64,10 +65,13 @@ namespace RTC
}
fprintf(stderr, "[ms]\n");
};
int svc_wrapped (void);

OpenHRP::ExecutionProfileService::Profile m_profile;
struct timeval m_tv;
int m_priority;
std::vector<std::string> rtc_names;
volatile bool m_thread_pending;
};
};

Expand Down