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[upstream_utils] Upgrade Sleipnir to avoid pool allocator crash on Windows #6821

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merged 1 commit into from
Jul 10, 2024
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[upstream_utils] Upgrade Sleipnir to avoid pool allocator crash on Windows #6821

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4 changes: 2 additions & 2 deletions upstream_utils/update_sleipnir.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,8 +15,8 @@
def main():
upstream_root = clone_repo(
"https://github.com/SleipnirGroup/Sleipnir",
# main on 2024-07-05
"b90f89d343379dd8dc88f22e0462eb7b59006b2c",
# main on 2024-07-09
"b6ffa2d4fdb99cab1bf79491f715a6a9a86633b5",
shallow=False,
)
wpilib_root = get_repo_root()
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24 changes: 19 additions & 5 deletions wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/autodiff/Expression.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,14 @@

namespace sleipnir::detail {

// The global pool allocator uses a thread-local static pool resource, which
// isn't guaranteed to be initialized properly across DLL boundaries on Windows
#ifdef _WIN32
inline constexpr bool kUsePoolAllocator = false;
#else
inline constexpr bool kUsePoolAllocator = true;
#endif

struct SLEIPNIR_DLLEXPORT Expression;

inline void IntrusiveSharedPtrIncRefCount(Expression* expr);
Expand All @@ -38,8 +46,12 @@ using ExpressionPtr = IntrusiveSharedPtr<Expression>;
*/
template <typename... Args>
static ExpressionPtr MakeExpressionPtr(Args&&... args) {
return AllocateIntrusiveShared<Expression>(GlobalPoolAllocator<Expression>(),
std::forward<Args>(args)...);
if constexpr (kUsePoolAllocator) {
return AllocateIntrusiveShared<Expression>(
GlobalPoolAllocator<Expression>(), std::forward<Args>(args)...);
} else {
return MakeIntrusiveShared<Expression>(std::forward<Args>(args)...);
}
}

/**
Expand Down Expand Up @@ -437,9 +449,11 @@ inline void IntrusiveSharedPtrDecRefCount(Expression* expr) {

// Not calling the destructor here is safe because it only decrements
// refcounts, which was already done above.
auto alloc = GlobalPoolAllocator<Expression>();
std::allocator_traits<decltype(alloc)>::deallocate(alloc, elem,
sizeof(Expression));
if constexpr (kUsePoolAllocator) {
auto alloc = GlobalPoolAllocator<Expression>();
std::allocator_traits<decltype(alloc)>::deallocate(alloc, elem,
sizeof(Expression));
}
}
}
}
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