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Guard against returning NULL or empty node names #570

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merged 6 commits into from
Mar 26, 2021
Merged

Guard against returning NULL or empty node names #570

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d6b6e34
Guard against returning NULL or empty node names
jacobperron Feb 4, 2020
4a082af
Update documentation
jacobperron Feb 4, 2020
f4858fc
Separate error messages for null vs empty
jacobperron Mar 12, 2020
5ae5e40
Guard against null namespaces
jacobperron Mar 12, 2020
42061bb
Fix variable name
jacobperron Mar 13, 2020
8db9fac
Use more specific error codes
jacobperron Mar 25, 2021
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3 changes: 2 additions & 1 deletion rcl/include/rcl/graph.h
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Original file line number Diff line number Diff line change
Expand Up @@ -406,7 +406,6 @@ rcl_names_and_types_fini(rcl_names_and_types_t * names_and_types);
*
* The `node_names` parameter must be allocated and zero initialized.
* `node_names` is the output for this function, and contains allocated memory.
* Note that entries in the array might contain `NULL` values.
* Use rcutils_get_zero_initialized_string_array() for initializing an empty
* rcutils_string_array_t struct.
* This `node_names` struct should therefore be passed to rcutils_string_array_fini()
Expand Down Expand Up @@ -445,6 +444,8 @@ rcl_names_and_types_fini(rcl_names_and_types_t * names_and_types);
* \return #RCL_RET_OK if the query was successful, or
* \return #RCL_RET_BAD_ALLOC if an error occurred while allocating memory, or
* \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* \return #RCL_RET_NODE_INVALID_NAME if a node with an invalid name is detected, or
* \return #RCL_RET_NODE_INVALID_NAMESPACE if a node with an invalid namespace is detected, or
* \return #RCL_RET_ERROR if an unspecified error occurs.
*/
RCL_PUBLIC
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25 changes: 24 additions & 1 deletion rcl/src/rcl/graph.c
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Expand Up @@ -341,7 +341,30 @@ rcl_get_node_names(
rcl_node_get_rmw_handle(node),
node_names,
node_namespaces);
return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);

if (RMW_RET_OK != rmw_ret) {
return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
}

// Check that none of the node names are NULL or empty
for (size_t i = 0u; i < node_names->size; ++i) {
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if (!node_names->data[i]) {
RCL_SET_ERROR_MSG("NULL node name returned by the RMW layer");
return RCL_RET_NODE_INVALID_NAME;
}
if (!strcmp(node_names->data[i], "")) {
RCL_SET_ERROR_MSG("empty node name returned by the RMW layer");
return RCL_RET_NODE_INVALID_NAME;
}
}
// Check that none of the node namespaces are NULL
for (size_t i = 0u; i < node_namespaces->size; ++i) {
if (!node_namespaces->data[i]) {
RCL_SET_ERROR_MSG("NULL node namespace returned by the RMW layer");
return RCL_RET_NODE_INVALID_NAMESPACE;
}
}
return RCL_RET_OK;
}

rcl_ret_t
Expand Down