From 6d6b78f28d706eeb9cba83ef6398ea11058394c5 Mon Sep 17 00:00:00 2001
From: Jacob Perron <jacob@openrobotics.org>
Date: Tue, 20 Sep 2022 13:17:30 -0700
Subject: [PATCH] Handle allocation errors during message deserialization
 (#313) (#419)

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
Co-authored-by: Michel Hidalgo <michel@ekumenlabs.com>
---
 .../rmw_cyclonedds_cpp/TypeSupport_impl.hpp   | 32 +++++++++++++++++--
 rmw_cyclonedds_cpp/src/rmw_node.cpp           |  3 ++
 2 files changed, 33 insertions(+), 2 deletions(-)

diff --git a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport_impl.hpp b/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport_impl.hpp
index bf2d229..bbe9d47 100644
--- a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport_impl.hpp
+++ b/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport_impl.hpp
@@ -127,6 +127,32 @@ align_int_(size_t __align, T __int) noexcept
   return (__int - 1u + __align) & ~(__align - 1);
 }
 
+inline void resize_field(
+  const rosidl_typesupport_introspection_cpp::MessageMember * member,
+  void * field,
+  size_t size)
+{
+  if (!member->resize_function) {
+    throw std::runtime_error("unexpected error: resize function is null");
+  }
+
+  member->resize_function(field, size);
+}
+
+inline void resize_field(
+  const rosidl_typesupport_introspection_c__MessageMember * member,
+  void * field,
+  size_t size)
+{
+  if (!member->resize_function) {
+    throw std::runtime_error("unexpected error: resize function is null");
+  }
+
+  if (!member->resize_function(field, size)) {
+    throw std::runtime_error("unable to resize field");
+  }
+}
+
 template<typename T>
 static inline T *
 align_ptr_(size_t __align, T * __ptr) noexcept
@@ -315,7 +341,7 @@ inline void deserialize_field<std::wstring>(
       size = static_cast<uint32_t>(member->array_size_);
     } else {
       deser >> size;
-      member->resize_function(field, size);
+      resize_field(member, field, size);
     }
     for (size_t i = 0; i < size; ++i) {
       void * element = member->get_function(field, i);
@@ -342,7 +368,9 @@ void deserialize_field(
     auto & data = *reinterpret_cast<typename GenericCSequence<T>::type *>(field);
     int32_t dsize = 0;
     deser >> dsize;
-    GenericCSequence<T>::init(&data, dsize);
+    if (!GenericCSequence<T>::init(&data, dsize)) {
+      throw std::runtime_error("unable initialize generic sequence");
+    }
     deser.deserializeA(reinterpret_cast<T *>(data.data), dsize);
   }
 }
diff --git a/rmw_cyclonedds_cpp/src/rmw_node.cpp b/rmw_cyclonedds_cpp/src/rmw_node.cpp
index 9a5c62a..393e522 100644
--- a/rmw_cyclonedds_cpp/src/rmw_node.cpp
+++ b/rmw_cyclonedds_cpp/src/rmw_node.cpp
@@ -1445,6 +1445,9 @@ extern "C" rmw_ret_t rmw_deserialize(
   } catch (rmw_cyclonedds_cpp::Exception & e) {
     RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("rmw_serialize: %s", e.what());
     ok = false;
+  } catch (std::runtime_error & e) {
+    RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("rmw_serialize: %s", e.what());
+    ok = false;
   }
 
   return ok ? RMW_RET_OK : RMW_RET_ERROR;