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[rcl] Bugfix: ensure NULL timeout is passed to rmw_wait() when min_timeout is not set

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Otherwise, there is a risk of integer overflow (e.g. in rmw_fastrtps) and rmw_wait() will wake immediately.
This commit is contained in:
Jacob Perron 2018-12-10 09:52:56 -08:00
parent 3b101540a2
commit f0aef34bd7
1 changed files with 1 additions and 5 deletions
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6
rcl/src/rcl/wait.c
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@ -484,13 +484,10 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
bool is_timer_timeout = false; bool is_timer_timeout = false;
int64_t min_timeout = timeout > 0 ? timeout : INT64_MAX; int64_t min_timeout = timeout > 0 ? timeout : INT64_MAX;
// calculate the number of valid (non-NULL and non-canceled) timers
size_t number_of_valid_timers = wait_set->size_of_timers;
{ // scope to prevent i from colliding below { // scope to prevent i from colliding below
uint64_t i = 0; uint64_t i = 0;
for (i = 0; i < wait_set->impl->timer_index; ++i) { for (i = 0; i < wait_set->impl->timer_index; ++i) {
if (!wait_set->timers[i]) { if (!wait_set->timers[i]) {
number_of_valid_timers--;
continue; // Skip NULL timers. continue; // Skip NULL timers.
} }
bool is_canceled = false; bool is_canceled = false;
@ -499,7 +496,6 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
return ret; // The rcl error state should already be set. return ret; // The rcl error state should already be set.
} }
if (is_canceled) { if (is_canceled) {
number_of_valid_timers--;
wait_set->timers[i] = NULL; wait_set->timers[i] = NULL;
continue; continue;
} }
@ -530,7 +526,7 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
temporary_timeout_storage.sec = 0; temporary_timeout_storage.sec = 0;
temporary_timeout_storage.nsec = 0; temporary_timeout_storage.nsec = 0;
timeout_argument = &temporary_timeout_storage; timeout_argument = &temporary_timeout_storage;
} else if (timeout > 0 || number_of_valid_timers > 0) { } else if (timeout > 0 || is_timer_timeout) {
// If min_timeout was negative, we need to wake up immediately. // If min_timeout was negative, we need to wake up immediately.
if (min_timeout < 0) { if (min_timeout < 0) {
min_timeout = 0; min_timeout = 0;