内存越界|内存泄漏检测方法

于 2024-07-31 16:28:17 发布

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分类专栏：自动驾驶中间件性能优化调试文章标签： linux 自动驾驶开发语言

本文链接：https://blog.csdn.net/John_ToStr/article/details/140826227

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内存泄漏检测可在CMakeLists.txt 文件中，添加 -fsanitize=leak

set(CMAKE_CXX_FLAGS "-fsanitize=leak -std=c++11 -g -Wall -Wno-unused-result -DROS ${CMAKE_CXX_FLAGS}")

g++ 加上 -fsanitize=leak 选项后，能打印内存泄漏时的堆栈。【进程运行结束或用 SIGINT 杀掉后，会打印内存泄漏的堆栈信息到标准出错】

set(CMAKE_CXX_FLAGS "-fsanitize=address -fno-omit-frame-pointer ${CMAKE_CXX_FLAGS}" )
当然，上述编译选项可以输出leak信息

内存错误操作：-fsanitize=address
多线程竞争：-fsanitize=thread
内存泄漏：-fsanitize=leak
未定义操作：-fsanitize=undefined（如：除0、空指针解引用、枚举值超范围、使用未初始化的变量值等）

#告诉address检测到异常不退出进程
set(ENV{ASAN_OPTIONS} "halt_on_error=0")

对输出的ERROR重定向报错日志： roslaunch perception_lidar.launch 2> /home/mogo/data/yangdaiyu/address.log

1、AddressSanitizer: stack-use-after-scope on address

2、AddressSanitizer: attempting free on address which was not malloc()-ed

/data/autocar/yangdaiyu/perception_ws/src/perception/lidar/robosense/modules/perception/lidar/ai_detection/src/pointpillars/pointpillars_ai_detection.cpp
msg_ptr->scan_ptr.reset(new PointCloud)
改：msg_ptr->resetMsg();

3、AddressSanitizer: alloc-dealloc-mismatch (operator new [] vs operator delete)

/data/autocar/yangdaiyu/perception_ws/src/perception/lidar/robosense/modules/perception/lidar/ai_detection/src/pointpillars/postprocess_cuda.cu
auto output = std::shared_ptr(new float[num_obj * 9]);
改：
auto output = std::shared_ptr(new float[num_obj * 9], [](float* p) { delete[] p; });
/data/autocar/yangdaiyu/perception_ws/src/perception/lidar/robosense/modules/perception/lidar/util/segmentor/src/rs_segmentor.cpp
seg_scan_x_mat.reset(new int[grid_size]);
seg_scan_y_mat.reset(new int[grid_size]);
智能指针对new的空间，若不指定释放方式，默认采用delete去释放，对于new数组空间无法全部释放，因此需要指定释放方式，如下：
seg_scan_x_mat.reset(new int[grid_size], [](int* p) { delete[] p; });
seg_scan_y_mat.reset(new int[grid_size], [](int* p) { delete[] p; });
seed_mat.reset(new int[grid_size], [](int* p) { delete[] p; });
bin_mat.reset(new int[grid_size], [](int* p) { delete[] p; });
label_mat.reset(new int[grid_size], [](int* p) { delete[] p; });
perception/lidar/robosense/modules/common/src/basic_type/rotate_box.cpp:198 std::shared_ptr distPt;
distPt.reset(new double[N * N], [](int* p) { delete[] p;});
std::shared_ptr ptDistRemap;
ptDistRemap.reset(new int[N], [](int* p) { delete[] p;});

4、AddressSanitizer: heap-buffer-overflow on address 堆缓冲区溢出

size越界保护
if(track_object->track_type != ObjectType::UNKNOW) //加上类型判断，AI的polygon是4个点，但RB目标可能只有3个点，会超出界限
{
for(int i = 1; i < 4; ++i){
if(track_object->object->polygons[i].norm() < track_object->object->polygons[index_corner_cur].norm()){
index_corner_cur = i;
index_corner_last = i;
}
}
}
Eigen::internal::handmade_aligned_free(void*)
在CMakeLists.txt里面加上add_definitions(-DPCL_NO_PRECOMPILE=ON)可以通过
此问题时PCL里的bug，升级PCL版本也可以解

5、LeakSanitizer: detected memory leaks