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Added checks after dynamic memory allocations in osqp_setup
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@gbanjac
gbanjac committed May 29, 2019
1 parent 12fad29 commit a5a9591
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Showing 5 changed files with 94 additions and 100 deletions.
9 changes: 8 additions & 1 deletion include/auxil.h
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Original file line number Diff line number Diff line change
Expand Up @@ -167,10 +167,17 @@ c_int validate_data(const OSQPData *data);
/**
* Validate problem settings
* @param settings OSQPSettings to be validated
* @return Exitflag to check
* @return Exitflag to check
*/
c_int validate_settings(const OSQPSettings *settings);


/**
* Memory allocation problem
* @return OSQP_MEMORY_ALLOCATION_ERROR
*/
c_int memory_alloc_error(void);

# endif // #ifndef EMBEDDED


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7 changes: 7 additions & 0 deletions src/auxil.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1046,4 +1046,11 @@ c_int validate_settings(const OSQPSettings *settings) {
return 0;
}

c_int memory_alloc_error(void) {
# ifdef PRINTING
c_eprint("Workspace allocation failure");
# endif
return OSQP_MEMORY_ALLOCATION_ERROR;
}

#endif // #ifndef EMBEDDED
5 changes: 4 additions & 1 deletion src/cs.c
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,8 @@ csc* csc_matrix(c_int m, c_int n, c_int nzmax, c_float *x, c_int *i, c_int *p)
{
csc *M = (csc *)c_malloc(sizeof(csc));

if (!M) return OSQP_NULL;

M->m = m;
M->n = n;
M->nz = -1;
Expand Down Expand Up @@ -206,6 +208,8 @@ csc* csc_symperm(const csc *A, const c_int *pinv, c_int *AtoC, c_int values) {
csc* copy_csc_mat(const csc *A) {
csc *B = csc_spalloc(A->m, A->n, A->p[A->n], 1, 0);

if (!B) return OSQP_NULL;

prea_int_vec_copy(A->p, B->p, A->n + 1);
prea_int_vec_copy(A->i, B->i, A->p[A->n]);
prea_vec_copy(A->x, B->x, A->p[A->n]);
Expand Down Expand Up @@ -246,7 +250,6 @@ csc* csc_to_triu(csc *M) {
#ifdef PRINTING
c_eprint("Matrix M not square");
#endif /* ifdef PRINTING */

return OSQP_NULL;
}
n = M->n;
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150 changes: 66 additions & 84 deletions src/osqp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -96,12 +96,7 @@ c_int osqp_setup(OSQPWorkspace** workp, const OSQPData *data, const OSQPSettings
work = c_calloc(1, sizeof(OSQPWorkspace));
*workp = work;

if (!(work)) {
# ifdef PRINTING
c_eprint("Workspace allocation failure");
# endif /* ifdef PRINTING */
return OSQP_MEMORY_ALLOCATION_ERROR;
}
if (!(work)) return memory_alloc_error();


// Start and allocate directly timer
Expand All @@ -111,31 +106,38 @@ c_int osqp_setup(OSQPWorkspace** workp, const OSQPData *data, const OSQPSettings
# endif /* ifdef PROFILING */

// Copy problem data into workspace
work->data = c_malloc(sizeof(OSQPData));
work->data = c_malloc(sizeof(OSQPData));
if (!(work->data)) return memory_alloc_error();
work->data->n = data->n; // Number of variables
work->data->m = data->m; // Number of linear constraints
work->data->P = copy_csc_mat(data->P); // Cost function matrix
work->data->q = vec_copy(data->q, data->n); // Linear part of cost function
work->data->A = copy_csc_mat(data->A); // Linear constraints matrix
work->data->l = vec_copy(data->l, data->m); // Lower bounds on constraints
work->data->u = vec_copy(data->u, data->m); // Upper bounds on constraints
if (!(work->data->P) || !(work->data->q) || !(work->data->A) ||
!(work->data->l) || !(work->data->u))
return memory_alloc_error();

// Vectorized rho parameter
work->rho_vec = c_malloc(work->data->m * sizeof(c_float));
work->rho_inv_vec = c_malloc(work->data->m * sizeof(c_float));
if (!(work->rho_vec) || !(work->rho_inv_vec)) return memory_alloc_error();

// Type of constraints
work->constr_type = c_calloc(work->data->m, sizeof(c_int));
if (!(work->constr_type)) return memory_alloc_error();

/*
* Allocate internal solver variables (ADMM steps)
*/
// Allocate internal solver variables (ADMM steps)
work->x = c_calloc(work->data->n, sizeof(c_float));
work->z = c_calloc(work->data->m, sizeof(c_float));
work->xz_tilde = c_calloc(work->data->n + work->data->m, sizeof(c_float));
work->x_prev = c_calloc(work->data->n, sizeof(c_float));
work->z_prev = c_calloc(work->data->m, sizeof(c_float));
work->y = c_calloc(work->data->m, sizeof(c_float));
if (!(work->x) || !(work->z) || !(work->xz_tilde) ||
!(work->x_prev) || !(work->z_prev) || !(work->y))
return memory_alloc_error();

// Initialize variables x, y, z to 0
cold_start(work);
Expand All @@ -154,27 +156,38 @@ c_int osqp_setup(OSQPWorkspace** workp, const OSQPData *data, const OSQPSettings
work->Pdelta_x = c_calloc(work->data->n, sizeof(c_float));
work->Adelta_x = c_calloc(work->data->m, sizeof(c_float));

if (!(work->Ax) || !(work->Px) || !(work->Aty) ||
!(work->delta_y) || !(work->Atdelta_y) ||
!(work->delta_x) || !(work->Pdelta_x) || !(work->Adelta_x))
return memory_alloc_error();

// Copy settings
work->settings = copy_settings(settings);
if (!(work->settings)) return memory_alloc_error();

// Perform scaling
if (settings->scaling) {
// Allocate scaling structure
work->scaling = c_malloc(sizeof(OSQPScaling));
work->scaling = c_malloc(sizeof(OSQPScaling));
if (!(work->scaling)) return memory_alloc_error();
work->scaling->D = c_malloc(work->data->n * sizeof(c_float));
work->scaling->Dinv = c_malloc(work->data->n * sizeof(c_float));
work->scaling->E = c_malloc(work->data->m * sizeof(c_float));
work->scaling->Einv = c_malloc(work->data->m * sizeof(c_float));
if (!(work->scaling->D) || !(work->scaling->Dinv) ||
!(work->scaling->E) || !(work->scaling->Einv))
return memory_alloc_error();

// Allocate workspace variables used in scaling
work->D_temp = c_malloc(work->data->n * sizeof(c_float));
work->D_temp_A = c_malloc(work->data->n * sizeof(c_float));
work->E_temp = c_malloc(work->data->m * sizeof(c_float));
if (!(work->D_temp) || !(work->D_temp_A) || !(work->E_temp))
return memory_alloc_error();

// Scale data
scale_data(work);
}
else {
} else {
work->scaling = OSQP_NULL;
}

Expand Down Expand Up @@ -203,25 +216,30 @@ c_int osqp_setup(OSQPWorkspace** workp, const OSQPData *data, const OSQPSettings
return exitflag;
}


// Initialize active constraints structure
work->pol = c_malloc(sizeof(OSQPPolish));
work->pol = c_malloc(sizeof(OSQPPolish));
if (!(work->pol)) return memory_alloc_error();
work->pol->Alow_to_A = c_malloc(work->data->m * sizeof(c_int));
work->pol->Aupp_to_A = c_malloc(work->data->m * sizeof(c_int));
work->pol->A_to_Alow = c_malloc(work->data->m * sizeof(c_int));
work->pol->A_to_Aupp = c_malloc(work->data->m * sizeof(c_int));
work->pol->x = c_malloc(work->data->n * sizeof(c_float));
work->pol->z = c_malloc(work->data->m * sizeof(c_float));
work->pol->y = c_malloc(work->data->m * sizeof(c_float));

if (!(work->pol->Alow_to_A) || !(work->pol->Aupp_to_A) ||
!(work->pol->A_to_Alow) || !(work->pol->A_to_Aupp) ||
!(work->pol->x) || !(work->pol->z) || !(work->pol->y))
return memory_alloc_error();

// Allocate solution
work->solution = c_calloc(1, sizeof(OSQPSolution));
work->solution = c_calloc(1, sizeof(OSQPSolution));
if (!(work->solution)) return memory_alloc_error();
work->solution->x = c_calloc(1, work->data->n * sizeof(c_float));
work->solution->y = c_calloc(1, work->data->m * sizeof(c_float));
if (!(work->solution->x) || !(work->solution->y)) return memory_alloc_error();

// Allocate and initialize information
work->info = c_calloc(1, sizeof(OSQPInfo));
work->info = c_calloc(1, sizeof(OSQPInfo));
work->info->status_polish = 0; // Polishing not performed
update_status(work->info, OSQP_UNSOLVED);
# ifdef PROFILING
Expand All @@ -234,26 +252,19 @@ c_int osqp_setup(OSQPWorkspace** workp, const OSQPData *data, const OSQPSettings
work->clear_update_time = 0;
work->rho_update_from_solve = 0;
# endif /* ifdef PROFILING */
# if EMBEDDED != 1
work->info->rho_updates = 0; // Rho updates set to 0
work->info->rho_estimate = work->settings->rho; // Best rho estimate
# endif /* if EMBEDDED != 1 */

// Print header
# ifdef PRINTING

if (work->settings->verbose) print_setup_header(work);
work->summary_printed = 0; // Initialize last summary to not printed
# endif /* ifdef PRINTING */



# if EMBEDDED != 1

// If adaptive rho and automatic interval, but profiling disabled, we need to
// set the interval to a default value
# ifndef PROFILING

# ifndef PROFILING
if (work->settings->adaptive_rho && !work->settings->adaptive_rho_interval) {
if (work->settings->check_termination) {
// If check_termination is enabled, we set it to a multiple of the check
Expand All @@ -265,8 +276,7 @@ c_int osqp_setup(OSQPWorkspace** workp, const OSQPData *data, const OSQPSettings
work->settings->adaptive_rho_interval = ADAPTIVE_RHO_FIXED;
}
}
# endif /* ifndef PROFILING */
# endif /* if EMBEDDED != 1 */
# endif /* ifndef PROFILING */

// Return exit flag
return 0;
Expand Down Expand Up @@ -638,36 +648,27 @@ c_int osqp_cleanup(OSQPWorkspace *work) {
// Free Data
if (work->data) {
if (work->data->P) csc_spfree(work->data->P);

if (work->data->A) csc_spfree(work->data->A);

if (work->data->q) c_free(work->data->q);

if (work->data->l) c_free(work->data->l);

if (work->data->u) c_free(work->data->u);
c_free(work->data);
}

// Free scaling
if (work->settings->scaling) {
if (work->scaling){
if (work->scaling->D) c_free(work->scaling->D);

if (work->scaling->D) c_free(work->scaling->D);
if (work->scaling->Dinv) c_free(work->scaling->Dinv);

if (work->scaling->E) c_free(work->scaling->E);

if (work->scaling->E) c_free(work->scaling->E);
if (work->scaling->Einv) c_free(work->scaling->Einv);
}
c_free(work->scaling);

// Free workspace variables
if (work->D_temp) c_free(work->D_temp);

if (work->D_temp) c_free(work->D_temp);
if (work->D_temp_A) c_free(work->D_temp_A);

if (work->E_temp) c_free(work->E_temp);
if (work->E_temp) c_free(work->E_temp);
}

// Free linear system solver structure
Expand All @@ -680,59 +681,40 @@ c_int osqp_cleanup(OSQPWorkspace *work) {
// Unload linear system solver after free
exitflag = unload_linsys_solver(work->settings->linsys_solver);


#ifndef EMBEDDED
// Free active constraints structure
if (work->pol) {
if (work->pol->Alow_to_A) c_free(work->pol->Alow_to_A);

if (work->pol->Aupp_to_A) c_free(work->pol->Aupp_to_A);

if (work->pol->A_to_Alow) c_free(work->pol->A_to_Alow);

if (work->pol->A_to_Aupp) c_free(work->pol->A_to_Aupp);

if (work->pol->x) c_free(work->pol->x);

if (work->pol->z) c_free(work->pol->z);

if (work->pol->y) c_free(work->pol->y);
if (work->pol->x) c_free(work->pol->x);
if (work->pol->z) c_free(work->pol->z);
if (work->pol->y) c_free(work->pol->y);
c_free(work->pol);
}
#endif /* ifndef EMBEDDED */

// Free other Variables
if (work->constr_type) c_free(work->constr_type);

if (work->rho_vec) c_free(work->rho_vec);

if (work->rho_vec) c_free(work->rho_vec);
if (work->rho_inv_vec) c_free(work->rho_inv_vec);

if (work->x) c_free(work->x);

if (work->z) c_free(work->z);

if (work->xz_tilde) c_free(work->xz_tilde);

if (work->x_prev) c_free(work->x_prev);

if (work->z_prev) c_free(work->z_prev);

if (work->y) c_free(work->y);

if (work->Ax) c_free(work->Ax);

if (work->Px) c_free(work->Px);

if (work->Aty) c_free(work->Aty);

if (work->delta_y) c_free(work->delta_y);

if (work->Atdelta_y) c_free(work->Atdelta_y);

if (work->delta_x) c_free(work->delta_x);

if (work->Pdelta_x) c_free(work->Pdelta_x);

if (work->Adelta_x) c_free(work->Adelta_x);
#if EMBEDDED != 1
if (work->constr_type) c_free(work->constr_type);
#endif
if (work->x) c_free(work->x);
if (work->z) c_free(work->z);
if (work->xz_tilde) c_free(work->xz_tilde);
if (work->x_prev) c_free(work->x_prev);
if (work->z_prev) c_free(work->z_prev);
if (work->y) c_free(work->y);
if (work->Ax) c_free(work->Ax);
if (work->Px) c_free(work->Px);
if (work->Aty) c_free(work->Aty);
if (work->delta_y) c_free(work->delta_y);
if (work->Atdelta_y) c_free(work->Atdelta_y);
if (work->delta_x) c_free(work->delta_x);
if (work->Pdelta_x) c_free(work->Pdelta_x);
if (work->Adelta_x) c_free(work->Adelta_x);

// Free Settings
if (work->settings) c_free(work->settings);
Expand Down Expand Up @@ -985,8 +967,8 @@ c_int osqp_warm_start_y(OSQPWorkspace *work, const c_float *y) {
return 0;
}

#if EMBEDDED != 1

#if EMBEDDED != 1

c_int osqp_update_P(OSQPWorkspace *work,
const c_float *Px_new,
Expand Down

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