Validation in deserializer (#36)
* Validation in Deserializer Added validation in CDR deserialization: max buffer length is checked when deserializing fields and strings are checked for null-terminator (except for wstrings, which are serialized without null-terminator). Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com> * Catch exceptions in serdata functions In serdata functions rmw_print, rmw_to_sample and rmw_from_sample catch exceptions so that correct return code is given when functions are called from ddsi. Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com> * Improve deserialisation validation Refactored the deserialisation validation functions so that sequence length is checked more properly and protection against overflows. Renamed source files for exceptions so that it conforms to ros2 / google c++ style guide. Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
This commit is contained in:
dennis-adlink
eboasson
parent
b39efafd62
commit
0e6fd30a8c
11 changed files with 379 additions and 160 deletions
230
rmw_cyclonedds_cpp/src/serdata.cpp
Normal file → Executable file
230
rmw_cyclonedds_cpp/src/serdata.cpp
Normal file → Executable file
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@ -166,44 +166,52 @@ static struct ddsi_serdata * serdata_rmw_from_sample(
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enum ddsi_serdata_kind kind,
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const void * sample)
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{
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const struct sertopic_rmw * topic = static_cast<const struct sertopic_rmw *>(topiccmn);
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struct serdata_rmw * d = rmw_serdata_new(topic, kind);
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if (kind != SDK_DATA) {
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/* ROS2 doesn't do keys, so SDK_KEY is trivial */
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} else if (!topic->is_request_header) {
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cycser sd(d->data);
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if (using_introspection_c_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_c *>(topic->type_support.type_support_);
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(void) typed_typesupport->serializeROSmessage(sample, sd);
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} else if (using_introspection_cpp_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_cpp *>(topic->type_support.type_support_);
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(void) typed_typesupport->serializeROSmessage(sample, sd);
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try {
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const struct sertopic_rmw * topic = static_cast<const struct sertopic_rmw *>(topiccmn);
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struct serdata_rmw * d = rmw_serdata_new(topic, kind);
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if (kind != SDK_DATA) {
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/* ROS2 doesn't do keys, so SDK_KEY is trivial */
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} else if (!topic->is_request_header) {
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cycser sd(d->data);
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if (using_introspection_c_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_c *>(topic->type_support.type_support_);
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(void) typed_typesupport->serializeROSmessage(sample, sd);
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} else if (using_introspection_cpp_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_cpp *>(topic->type_support.type_support_);
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(void) typed_typesupport->serializeROSmessage(sample, sd);
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}
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} else {
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/* The "prefix" lambda is there to inject the service invocation header data into the CDR
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stream -- I haven't checked how it is done in the official RMW implementations, so it is
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probably incompatible. */
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const cdds_request_wrapper_t * wrap = static_cast<const cdds_request_wrapper_t *>(sample);
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auto prefix = [wrap](cycser & ser) {ser << wrap->header.guid; ser << wrap->header.seq;};
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cycser sd(d->data);
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if (using_introspection_c_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_c *>(topic->type_support.type_support_);
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(void) typed_typesupport->serializeROSmessage(wrap->data, sd, prefix);
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} else if (using_introspection_cpp_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_cpp *>(topic->type_support.type_support_);
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(void) typed_typesupport->serializeROSmessage(wrap->data, sd, prefix);
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}
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}
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} else {
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/* The "prefix" lambda is there to inject the service invocation header data into the CDR
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stream -- I haven't checked how it is done in the official RMW implementations, so it is
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probably incompatible. */
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const cdds_request_wrapper_t * wrap = static_cast<const cdds_request_wrapper_t *>(sample);
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auto prefix = [wrap](cycser & ser) {ser << wrap->header.guid; ser << wrap->header.seq;};
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cycser sd(d->data);
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if (using_introspection_c_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_c *>(topic->type_support.type_support_);
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(void) typed_typesupport->serializeROSmessage(wrap->data, sd, prefix);
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} else if (using_introspection_cpp_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_cpp *>(topic->type_support.type_support_);
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(void) typed_typesupport->serializeROSmessage(wrap->data, sd, prefix);
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/* FIXME: CDR padding in DDSI makes me do this to avoid reading beyond the bounds of the vector
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when copying data to network. Should fix Cyclone to handle that more elegantly. */
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while (d->data.size() % 4) {
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d->data.push_back(0);
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}
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return d;
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} catch (rmw_cyclonedds_cpp::Exception & e) {
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RMW_SET_ERROR_MSG(e.what());
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return nullptr;
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} catch (std::runtime_error & e) {
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RMW_SET_ERROR_MSG(e.what());
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return nullptr;
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}
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/* FIXME: CDR padding in DDSI makes me do this to avoid reading beyond the bounds of the vector
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when copying data to network. Should fix Cyclone to handle that more elegantly. */
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while (d->data.size() % 4) {
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d->data.push_back(0);
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}
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return d;
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}
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struct ddsi_serdata * serdata_rmw_from_serialized_message(
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@ -257,42 +265,51 @@ static bool serdata_rmw_to_sample(
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const struct ddsi_serdata * dcmn, void * sample, void ** bufptr,
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void * buflim)
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{
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static_cast<void>(bufptr); // unused
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static_cast<void>(buflim); // unused
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const struct serdata_rmw * d = static_cast<const struct serdata_rmw *>(dcmn);
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const struct sertopic_rmw * topic = static_cast<const struct sertopic_rmw *>(d->topic);
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assert(bufptr == NULL);
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assert(buflim == NULL);
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if (d->kind != SDK_DATA) {
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/* ROS2 doesn't do keys in a meaningful way yet */
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} else if (!topic->is_request_header) {
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cycdeser sd(static_cast<const void *>(d->data.data()), d->data.size());
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if (using_introspection_c_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_c *>(topic->type_support.type_support_);
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return typed_typesupport->deserializeROSmessage(sd, sample);
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} else if (using_introspection_cpp_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_cpp *>(topic->type_support.type_support_);
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return typed_typesupport->deserializeROSmessage(sd, sample);
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}
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} else {
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/* The "prefix" lambda is there to inject the service invocation header data into the CDR
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stream -- I haven't checked how it is done in the official RMW implementations, so it is
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probably incompatible. */
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cdds_request_wrapper_t * const wrap = static_cast<cdds_request_wrapper_t *>(sample);
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auto prefix = [wrap](cycdeser & ser) {ser >> wrap->header.guid; ser >> wrap->header.seq;};
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cycdeser sd(static_cast<const void *>(d->data.data()), d->data.size());
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if (using_introspection_c_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_c *>(topic->type_support.type_support_);
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return typed_typesupport->deserializeROSmessage(sd, wrap->data, prefix);
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} else if (using_introspection_cpp_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_cpp *>(topic->type_support.type_support_);
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return typed_typesupport->deserializeROSmessage(sd, wrap->data, prefix);
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try {
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static_cast<void>(bufptr); // unused
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static_cast<void>(buflim); // unused
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const struct serdata_rmw * d = static_cast<const struct serdata_rmw *>(dcmn);
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const struct sertopic_rmw * topic = static_cast<const struct sertopic_rmw *>(d->topic);
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assert(bufptr == NULL);
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assert(buflim == NULL);
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if (d->kind != SDK_DATA) {
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/* ROS2 doesn't do keys in a meaningful way yet */
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} else if (!topic->is_request_header) {
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cycdeser sd(static_cast<const void *>(d->data.data()), d->data.size());
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if (using_introspection_c_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_c *>(topic->type_support.type_support_);
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return typed_typesupport->deserializeROSmessage(sd, sample);
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} else if (using_introspection_cpp_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_cpp *>(topic->type_support.type_support_);
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return typed_typesupport->deserializeROSmessage(sd, sample);
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}
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} else {
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/* The "prefix" lambda is there to inject the service invocation header data into the CDR
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stream -- I haven't checked how it is done in the official RMW implementations, so it is
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probably incompatible. */
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cdds_request_wrapper_t * const wrap = static_cast<cdds_request_wrapper_t *>(sample);
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auto prefix = [wrap](cycdeser & ser) {ser >> wrap->header.guid; ser >> wrap->header.seq;};
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cycdeser sd(static_cast<const void *>(d->data.data()), d->data.size());
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if (using_introspection_c_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_c *>(topic->type_support.type_support_);
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return typed_typesupport->deserializeROSmessage(sd, wrap->data, prefix);
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} else if (using_introspection_cpp_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_cpp *>(topic->type_support.type_support_);
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return typed_typesupport->deserializeROSmessage(sd, wrap->data, prefix);
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}
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}
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} catch (rmw_cyclonedds_cpp::Exception & e) {
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RMW_SET_ERROR_MSG(e.what());
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return false;
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} catch (std::runtime_error & e) {
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RMW_SET_ERROR_MSG(e.what());
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return false;
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}
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return false;
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}
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@ -322,41 +339,50 @@ static bool serdata_rmw_eqkey(const struct ddsi_serdata * a, const struct ddsi_s
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static size_t serdata_rmw_print(
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const struct ddsi_sertopic * tpcmn, const struct ddsi_serdata * dcmn, char * buf, size_t bufsize)
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{
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const struct serdata_rmw * d = static_cast<const struct serdata_rmw *>(dcmn);
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const struct sertopic_rmw * topic = static_cast<const struct sertopic_rmw *>(tpcmn);
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if (d->kind != SDK_DATA) {
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/* ROS2 doesn't do keys in a meaningful way yet */
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return static_cast<size_t>(snprintf(buf, bufsize, ":k:{}"));
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} else if (!topic->is_request_header) {
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cycprint sd(buf, bufsize, static_cast<const void *>(d->data.data()), d->data.size());
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if (using_introspection_c_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_c *>(topic->type_support.type_support_);
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return typed_typesupport->printROSmessage(sd);
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} else if (using_introspection_cpp_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_cpp *>(topic->type_support.type_support_);
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return typed_typesupport->printROSmessage(sd);
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}
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} else {
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/* The "prefix" lambda is there to inject the service invocation header data into the CDR
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stream -- I haven't checked how it is done in the official RMW implementations, so it is
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probably incompatible. */
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cdds_request_wrapper_t wrap;
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auto prefix = [&wrap](cycprint & ser) {
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ser >> wrap.header.guid; ser.print_constant(","); ser >> wrap.header.seq;
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};
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cycprint sd(buf, bufsize, static_cast<const void *>(d->data.data()), d->data.size());
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if (using_introspection_c_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_c *>(topic->type_support.type_support_);
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return typed_typesupport->printROSmessage(sd, prefix);
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} else if (using_introspection_cpp_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_cpp *>(topic->type_support.type_support_);
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return typed_typesupport->printROSmessage(sd, prefix);
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try {
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const struct serdata_rmw * d = static_cast<const struct serdata_rmw *>(dcmn);
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const struct sertopic_rmw * topic = static_cast<const struct sertopic_rmw *>(tpcmn);
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if (d->kind != SDK_DATA) {
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/* ROS2 doesn't do keys in a meaningful way yet */
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return static_cast<size_t>(snprintf(buf, bufsize, ":k:{}"));
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} else if (!topic->is_request_header) {
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cycprint sd(buf, bufsize, static_cast<const void *>(d->data.data()), d->data.size());
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if (using_introspection_c_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_c *>(topic->type_support.type_support_);
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return typed_typesupport->printROSmessage(sd);
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} else if (using_introspection_cpp_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_cpp *>(topic->type_support.type_support_);
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return typed_typesupport->printROSmessage(sd);
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}
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} else {
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/* The "prefix" lambda is there to inject the service invocation header data into the CDR
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stream -- I haven't checked how it is done in the official RMW implementations, so it is
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probably incompatible. */
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cdds_request_wrapper_t wrap;
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auto prefix = [&wrap](cycprint & ser) {
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ser >> wrap.header.guid; ser.print_constant(","); ser >> wrap.header.seq;
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};
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cycprint sd(buf, bufsize, static_cast<const void *>(d->data.data()), d->data.size());
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if (using_introspection_c_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_c *>(topic->type_support.type_support_);
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return typed_typesupport->printROSmessage(sd, prefix);
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} else if (using_introspection_cpp_typesupport(topic->type_support.typesupport_identifier_)) {
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auto typed_typesupport =
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static_cast<MessageTypeSupport_cpp *>(topic->type_support.type_support_);
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return typed_typesupport->printROSmessage(sd, prefix);
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}
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}
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} catch (rmw_cyclonedds_cpp::Exception & e) {
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RMW_SET_ERROR_MSG(e.what());
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return false;
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} catch (std::runtime_error & e) {
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RMW_SET_ERROR_MSG(e.what());
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return false;
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}
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return false;
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}
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#endif
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