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[rcl_action] Bugfix: check if number of elements to allocate for message is greater than zero

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This commit is contained in:
Jacob Perron 2018-10-31 17:29:36 -07:00
parent 4d8cb487f8
commit e64fcaf5a8
3 changed files with 41 additions and 9 deletions
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12
rcl_action/include/rcl_action/types.h
View file

@ -162,7 +162,8 @@ rcl_action_get_zero_initialized_cancel_response(void);
*
* \param[out] status_array a preallocated, zero-initialized, goal status array message
* to be initialized.
* \param[in] num_status the number of status messages to allocate space for
* \param[in] num_status the number of status messages to allocate space for.
* Must be greater than zero
* \param[in] allocator a valid allocator
* \return `RCL_RET_OK` if cancel response was initialized successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
@ -217,10 +218,10 @@ rcl_action_goal_status_array_fini(
*
* rcl_action_cancel_response_t cancel_response =
* rcl_action_get_zero_initialized_cancel_response();
* size_t num_goals = 10;
* size_t num_goals_canceling = 10;
* ret = rcl_action_cancel_response_init(
* &cancel_response,
* num_goals,
* num_goals_canceling,
* rcl_get_default_allocator());
* // ... error handling, and when done processing response, finalize
* ret = rcl_action_cancel_response_fini(&cancel_response, rcl_get_default_allocator());
@ -237,7 +238,8 @@ rcl_action_goal_status_array_fini(
*
* \param[out] cancel_response a preallocated, zero-initialized, cancel response message
* to be initialized.
* \param[in] num_goals the number of goals that are canceling to add to the response
* \param[in] num_goals_canceling the number of goals that are canceling to add to the response.
* Must be greater than zero
* \param[in] allocator a valid allocator
* \return `RCL_RET_OK` if cancel response was initialized successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
@ -250,7 +252,7 @@ RCL_WARN_UNUSED
rcl_ret_t
rcl_action_cancel_response_init(
rcl_action_cancel_response_t * cancel_response,
const size_t num_goals,
const size_t num_goals_canceling,
const rcl_allocator_t allocator);
/// Finalize a rcl_action_cancel_response_t.

10
rcl_action/src/rcl_action/types.c
View file

@ -56,6 +56,11 @@ rcl_action_goal_status_array_init(
{
RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(status_array, RCL_RET_INVALID_ARGUMENT);
// Size of array to allocate must be greater than 0
if (0 == num_status) {
RCL_SET_ERROR_MSG("num_status must be greater than zero");
return RCL_RET_INVALID_ARGUMENT;
}
// Ensure status array is zero initialized
if (status_array->status_list.size > 0) {
RCL_SET_ERROR_MSG("status_array already inititalized");
@ -93,6 +98,11 @@ rcl_action_cancel_response_init(
{
RCL_CHECK_ALLOCATOR_WITH_MSG(&allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(cancel_response, RCL_RET_INVALID_ARGUMENT);
// Size of array to allocate must be greater than 0
if (0 == num_goals_canceling) {
RCL_SET_ERROR_MSG("num_goals_canceling must be greater than zero");
return RCL_RET_INVALID_ARGUMENT;
}
// Ensure cancel response is zero initialized
if (cancel_response->goals_canceling.size > 0) {
RCL_SET_ERROR_MSG("cancel_response already inititalized");

28
rcl_action/test/rcl_action/test_types.cpp
View file

@ -87,14 +87,24 @@ TEST(TestActionTypes, test_init_fini_goal_status_array)
ASSERT_EQ(status_array.status_list.size, 0u);
ret = rcl_action_goal_status_array_init(&status_array, num_status, invalid_allocator);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
EXPECT_EQ(status_array.status_list.size, 0u);
EXPECT_EQ(status_array.status_list.data, nullptr);
// Initialize with zero size
status_array = rcl_action_get_zero_initialized_goal_status_array();
ASSERT_EQ(status_array.status_list.size, 0u);
ret = rcl_action_goal_status_array_init(&status_array, 0, rcl_get_default_allocator());
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
EXPECT_EQ(status_array.status_list.size, 0u);
EXPECT_EQ(status_array.status_list.data, nullptr);
// Initialize with valid arguments
status_array = rcl_action_get_zero_initialized_goal_status_array();
ASSERT_EQ(status_array.status_list.size, 0u);
ret = rcl_action_goal_status_array_init(&status_array, num_status, rcl_get_default_allocator());
EXPECT_EQ(ret, RCL_RET_OK);
EXPECT_EQ(num_status, status_array.status_list.size);
EXPECT_NE(nullptr, status_array.status_list.data);
EXPECT_EQ(status_array.status_list.size, num_status);
EXPECT_NE(status_array.status_list.data, nullptr);
// Finalize with invalid status array
ret = rcl_action_goal_status_array_fini(nullptr, rcl_get_default_allocator());
@ -126,6 +136,16 @@ TEST(TestActionTypes, test_init_fini_cancel_response)
ASSERT_EQ(cancel_response.goals_canceling.size, 0u);
ret = rcl_action_cancel_response_init(&cancel_response, num_goals_canceling, invalid_allocator);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
EXPECT_EQ(cancel_response.goals_canceling.size, 0u);
EXPECT_EQ(cancel_response.goals_canceling.data, nullptr);
// Initialize with zero size
cancel_response = rcl_action_get_zero_initialized_cancel_response();
ASSERT_EQ(cancel_response.goals_canceling.size, 0u);
ret = rcl_action_cancel_response_init(&cancel_response, 0, rcl_get_default_allocator());
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT);
EXPECT_EQ(cancel_response.goals_canceling.size, 0u);
EXPECT_EQ(cancel_response.goals_canceling.data, nullptr);
// Initialize with valid arguments
cancel_response = rcl_action_get_zero_initialized_cancel_response();
@ -135,8 +155,8 @@ TEST(TestActionTypes, test_init_fini_cancel_response)
num_goals_canceling,
rcl_get_default_allocator());
EXPECT_EQ(ret, RCL_RET_OK);
EXPECT_EQ(num_goals_canceling, cancel_response.goals_canceling.size);
EXPECT_NE(nullptr, cancel_response.goals_canceling.data);
EXPECT_EQ(cancel_response.goals_canceling.size, num_goals_canceling);
EXPECT_NE(cancel_response.goals_canceling.data, nullptr);
// Finalize with invalid cancel response
ret = rcl_action_cancel_response_fini(nullptr, rcl_get_default_allocator());