[rtss-devel] [ rtss-Bugs-3147698 ] Invalid memory management in rtss_dyn_accel()

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Bugs item #3147698, was opened at 2010-12-29 18:50
Message generated for change (Comment added) made by mmorelli
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Category: Software Stability
Group: version 1.0.0b1
>Status: Closed
>Resolution: Fixed
Priority: 7
Private: No
Submitted By: Matteo Morelli (mmorelli)
Assigned to: Matteo Morelli (mmorelli)
Summary: Invalid memory management in rtss_dyn_accel()

Initial Comment:
There is a memory management issue in the C function which computes the manipulator joint acceleration vector, namely rtss_dyn_accel_() located in src/rtss_dynamics.c.

The problem occurs when the robot to be simulated has less than 3 dof, and can be reproduced, e.g., just by simulating in Scicos the forward dynamics of such a robot. In some platforms this issue may led to a system crash.

The following is the (most significant) output of a debug session with Valgrind:

==20638== Invalid read of size 8
==20638==    at 0x7C6DB3E: rtss_dyn_accel_ (rtss_dynamics.c:833)
==20638==    by 0x7C726EC: rtss_scs_robot_inout_ (rtss_scs_robot.c:123)
==20638==    by 0x7C728DD: rtss_scs_robot_cf4 (rtss_scs_robot.c:195)

...

==20638==  Address 0xa5dce00 is 0 bytes after a block of size 16 alloc'd
==20638==    at 0x4024F20: malloc (vg_replace_malloc.c:236)
==20638==    by 0x8579033: MyAlloc (in /usr/lib/scicoslab-gtk-4.4b7/bin/scilex)
==20638==    by 0x7C6D09B: rtss_wsinertia_init (rtss_dynamics.c:590)
==20638==    by 0x7C6D59C: rtss_wsaccel_init (rtss_dynamics.c:703)
==20638==    by 0x7C7253B: rtss_scs_robot_init_ (rtss_scs_robot.c:85)
==20638==    by 0x7C72931: rtss_scs_robot_cf4 (rtss_scs_robot.c:205)


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>Comment By: Matteo Morelli (mmorelli)
Date: 2010-12-29 18:52

Message:
Fixed in the repository

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