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HAL_SITL: pre-fill stack on each loop with NaN

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this allows us to catch use of uninitialised stack variables in SITL
without having valgrind running
This commit is contained in:
Andrew Tridgell 2019-09-28 17:39:30 +10:00
parent b1e0299a0f
commit 8984a8fa85
1 changed files with 13 additions and 0 deletions
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13
libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
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@ -136,6 +136,16 @@ void HAL_SITL::setup_signal_handlers() const
sigaction(SIGTERM, &sa, NULL); sigaction(SIGTERM, &sa, NULL);
} }
/*
fill 8k of stack with NaN. This allows us to find uses of
uninitialised memory without valgrind
*/
static void fill_stack_nan(void)
{
float stk[2048];
fill_nanf(stk, ARRAY_SIZE(stk));
}
void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const
{ {
assert(callbacks); assert(callbacks);
@ -168,6 +178,8 @@ void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const
new_argv[new_argv_offset++] = argv[i]; new_argv[new_argv_offset++] = argv[i];
} }
fill_stack_nan();
callbacks->setup(); callbacks->setup();
scheduler->system_initialized(); scheduler->system_initialized();
@ -197,6 +209,7 @@ void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const
::fprintf(stderr, "Exitting\n"); ::fprintf(stderr, "Exitting\n");
exit(0); exit(0);
} }
fill_stack_nan();
callbacks->loop(); callbacks->loop();
HALSITL::Scheduler::_run_io_procs(); HALSITL::Scheduler::_run_io_procs();