use dynamic_pointer_cast to detect allocator mismatch in intra proces…

…s manager (backport #1643) (#1645)

* use dynamic_pointer_cast to detect allocator mismatch in intra process manager (#1643)

* use dynamic_pointer_cast to detect allocator mismatch in intra process manager

Signed-off-by: William Woodall <william@osrfoundation.org>

* add test case for mismatched allocators

Signed-off-by: William Woodall <william@osrfoundation.org>

* forward template arguments to avoid mismatched types in intra process manager

Signed-off-by: William Woodall <william@osrfoundation.org>

* style fixes

Signed-off-by: William Woodall <william@osrfoundation.org>

* refactor to test message address and count, more DRY

Signed-off-by: William Woodall <william@osrfoundation.org>

* update copyright

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix typo

Signed-off-by: William Woodall <william@osrfoundation.org>

Co-authored-by: Michel Hidalgo <michel@ekumenlabs.com>

Co-authored-by: Michel Hidalgo <michel@ekumenlabs.com>
(cherry picked from commit 79c2dd8)

# Conflicts:
#	rclcpp/include/rclcpp/experimental/intra_process_manager.hpp

* fix conflicts

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

* cpp14 compatibility

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

* More cpp14 compat

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

* fix

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

* Fix bug

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Co-authored-by: William Woodall <william@osrfoundation.org>
Co-authored-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

rclcpp/include/rclcpp/experimental/intra_process_manager.hpp

@@ -202,7 +202,8 @@ class IntraProcessManager
       // None of the buffers require ownership, so we promote the pointer
       std::shared_ptr<MessageT> msg = std::move(message);
 
-      this->template add_shared_msg_to_buffers<MessageT>(msg, sub_ids.take_shared_subscriptions);
+      this->template add_shared_msg_to_buffers<MessageT, Alloc, Deleter>(
+        msg, sub_ids.take_shared_subscriptions);
     } else if (!sub_ids.take_ownership_subscriptions.empty() && // NOLINT
       sub_ids.take_shared_subscriptions.size() <= 1)
     {
@@ -227,7 +228,7 @@ class IntraProcessManager
       // for the buffers that do not require ownership
       auto shared_msg = std::allocate_shared<MessageT, MessageAllocatorT>(*allocator, *message);
 
-      this->template add_shared_msg_to_buffers<MessageT>(
+      this->template add_shared_msg_to_buffers<MessageT, Alloc, Deleter>(
         shared_msg, sub_ids.take_shared_subscriptions);
       this->template add_owned_msg_to_buffers<MessageT, Alloc, Deleter>(
         std::move(message), sub_ids.take_ownership_subscriptions, allocator);
@@ -263,7 +264,7 @@ class IntraProcessManager
       // If there are no owning, just convert to shared.
       std::shared_ptr<MessageT> shared_msg = std::move(message);
       if (!sub_ids.take_shared_subscriptions.empty()) {
-        this->template add_shared_msg_to_buffers<MessageT>(
+        this->template add_shared_msg_to_buffers<MessageT, Alloc, Deleter>(
           shared_msg, sub_ids.take_shared_subscriptions);
       }
       return shared_msg;
@@ -273,7 +274,7 @@ class IntraProcessManager
       auto shared_msg = std::allocate_shared<MessageT, MessageAllocatorT>(*allocator, *message);
 
       if (!sub_ids.take_shared_subscriptions.empty()) {
-        this->template add_shared_msg_to_buffers<MessageT>(
+        this->template add_shared_msg_to_buffers<MessageT, Alloc, Deleter>(
           shared_msg,
           sub_ids.take_shared_subscriptions);
       }
@@ -350,7 +351,10 @@ class IntraProcessManager
   bool
   can_communicate(PublisherInfo pub_info, SubscriptionInfo sub_info) const;
 
-  template<typename MessageT>
+  template<
+    typename MessageT,
+    typename Alloc,
+    typename Deleter>
   void
   add_shared_msg_to_buffers(
     std::shared_ptr<const MessageT> message,
@@ -363,10 +367,16 @@ class IntraProcessManager
       }
       auto subscription_base = subscription_it->second.subscription;
 
-      auto subscription = std::static_pointer_cast<
-        rclcpp::experimental::SubscriptionIntraProcess<MessageT>
+      auto subscription = std::dynamic_pointer_cast<
+        rclcpp::experimental::SubscriptionIntraProcess<MessageT, Alloc, Deleter>
         >(subscription_base);
-
+      if (nullptr == subscription) {
+        throw std::runtime_error(
+                "failed to dynamic cast SubscriptionIntraProcessBase to "
+                "SubscriptionIntraProcess<MessageT, Alloc, Deleter>, which "
+                "can happen when the publisher and subscription use different "
+                "allocator types, which is not supported");
+      }
       subscription->provide_intra_process_message(message);
     }
   }
@@ -391,9 +401,16 @@ class IntraProcessManager
       }
       auto subscription_base = subscription_it->second.subscription;
 
-      auto subscription = std::static_pointer_cast<
-        rclcpp::experimental::SubscriptionIntraProcess<MessageT>
+      auto subscription = std::dynamic_pointer_cast<
+        rclcpp::experimental::SubscriptionIntraProcess<MessageT, Alloc, Deleter>
         >(subscription_base);
+      if (nullptr == subscription) {
+        throw std::runtime_error(
+                "failed to dynamic cast SubscriptionIntraProcessBase to "
+                "SubscriptionIntraProcess<MessageT, Alloc, Deleter>, which "
+                "can happen when the publisher and subscription use different "
+                "allocator types, which is not supported");
+      }
 
       if (std::next(it) == subscription_ids.end()) {
         // If this is the last subscription, give up ownership

rclcpp/test/rclcpp/CMakeLists.txt

@@ -134,6 +134,13 @@ if(TARGET test_intra_process_manager)
   )
   target_link_libraries(test_intra_process_manager ${PROJECT_NAME})
 endif()
+ament_add_gmock(test_intra_process_manager_with_allocators test_intra_process_manager_with_allocators.cpp)
+if(TARGET test_intra_process_manager_with_allocators)
+  ament_target_dependencies(test_intra_process_manager_with_allocators
+    "test_msgs"
+  )
+  target_link_libraries(test_intra_process_manager_with_allocators ${PROJECT_NAME})
+endif()
 ament_add_gtest(test_ring_buffer_implementation test_ring_buffer_implementation.cpp)
 if(TARGET test_ring_buffer_implementation)
   ament_target_dependencies(test_ring_buffer_implementation

rclcpp/test/rclcpp/test_intra_process_manager.cpp

@@ -216,7 +216,10 @@ class SubscriptionIntraProcessBase
   const char * topic_name;
 };
 
-template<typename MessageT>
+template<
+  typename MessageT,
+  typename Alloc = std::allocator<void>,
+  typename Deleter = std::default_delete<MessageT>>
 class SubscriptionIntraProcess : public SubscriptionIntraProcessBase
 {
 public: