From ffabc1d4bbead44ab76139a0f300486033c53a95 Mon Sep 17 00:00:00 2001
From: Le Quang Anh <43576719+Toefinder@users.noreply.github.com>
Date: Wed, 9 Mar 2022 14:41:50 +0100
Subject: [PATCH] Fix segv: stop using iterator on mutated deque
Previously the code has segmentation fault during one of the solutions
(not every one). This was because when an item is inserted into the
deque, iterators are invalidated. Incrementing the iterator causes
undefined behavior, which somehow worked until that point in the program
but not afterwards. We have changed to use index instead of iterator on
the deque.
---
src/path-planner/states-path-finder.cc | 22 +++++++---------------
1 file changed, 7 insertions(+), 15 deletions(-)
diff --git a/src/path-planner/states-path-finder.cc b/src/path-planner/states-path-finder.cc
index cc7de79d..68f02dbd 100644
--- a/src/path-planner/states-path-finder.cc
+++ b/src/path-planner/states-path-finder.cc
@@ -195,9 +195,9 @@ namespace hpp {
StateMap_t parent1;
Deque_t queue1;
- // keep track of the first transition that has not been checked out
+ // track index of the first transition that has not been checked out
// only needed when goal is set of constraints
- Deque_t::iterator queueIt;
+ size_t queueIt;
const state_with_depth& getParent(const state_with_depth_ptr_t& _p) const
{
@@ -359,14 +359,14 @@ namespace hpp {
if (d.queue1.empty()) return true;
// all the state sequences should be attempted before finding more
- assert (d.queueIt == d.queue1.end());
- bool itReassigned = false;
+ assert (d.queueIt == d.queue1.size());
GraphSearchData::state_with_depth_ptr_t _state = d.queue1.front();
const GraphSearchData::state_with_depth& parent = d.getParent(_state);
if (parent.l >= d.maxDepth) return true;
d.queue1.pop_front();
+ d.queueIt = d.queue1.size();
const Neighbors_t& neighbors = _state.state->first->neighbors();
for (Neighbors_t::const_iterator _n = neighbors.begin();
@@ -386,16 +386,8 @@ namespace hpp {
d.queue1.push_back (
d.addParent (_state, transition)
);
-
- if (!itReassigned) {
- // assign iterator to the first new state sequence added
- d.queueIt = d.queue1.end() - 1;
- itReassigned = true;
- }
}
- // the queue is empty if search is exhausted and goal state not found
- if (d.queue1.empty()) return true;
return false;
}
@@ -431,8 +423,8 @@ namespace hpp {
{
assert (goalDefinedByConstraints_);
Edges_t transitions;
- if (d.queueIt == d.queue1.end()) return transitions;
- GraphSearchData::state_with_depth_ptr_t _state = *(d.queueIt);
+ if (d.queueIt == d.queue1.size()) return transitions;
+ GraphSearchData::state_with_depth_ptr_t _state = d.queue1.at(d.queueIt);
const GraphSearchData::state_with_depth* current = &d.getParent(_state);
transitions.reserve (current->l);
@@ -1447,7 +1439,7 @@ namespace hpp {
// Find
d.queue1.push_back (d.addInitState());
- d.queueIt = d.queue1.end();
+ d.queueIt = d.queue1.size();
std::size_t idxSol = (d.s1 == d.s2 ? 1 : 0);
if (idxSol_ < idxSol) idxSol_ = idxSol;
--
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