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Capture cdr exceptions #505

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merged 4 commits into from
Feb 4, 2021
+67 −44
Merged

Capture cdr exceptions #505

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cd8b23d
Capturing fastcdr exceptions.
MiguelCompany Jan 22, 2021
22024c4
Bubble up deserialization errors.
MiguelCompany Jan 22, 2021
8c39a10
Keep linters happy.
MiguelCompany Jan 22, 2021
ef9b2b9
Added error messages.
MiguelCompany Feb 1, 2021
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30 changes: 18 additions & 12 deletions rmw_fastrtps_cpp/src/type_support_common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include <fastcdr/exceptions/Exception.h>

#include <string>

#include "rmw/error_handling.h"
Expand Down Expand Up @@ -88,20 +90,24 @@ bool TypeSupport::deserializeROSmessage(
assert(ros_message);
assert(impl);

// Deserialize encapsulation.
deser.read_encapsulation();

// If type is not empty, deserialize message
if (has_data_) {
auto callbacks = static_cast<const message_type_support_callbacks_t *>(impl);
return callbacks->cdr_deserialize(deser, ros_message);
try {
// Deserialize encapsulation.
deser.read_encapsulation();

// If type is not empty, deserialize message
if (has_data_) {
auto callbacks = static_cast<const message_type_support_callbacks_t *>(impl);
return callbacks->cdr_deserialize(deser, ros_message);
}

// Otherwise, consume dummy byte
uint8_t dump = 0;
deser >> dump;
(void)dump;
} catch (const eprosima::fastcdr::exception::Exception &) {
return false;
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what about using RCUTILS_LOG_ERROR_NAMED to notify the user what happened?

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If I may, I'm slight inclined towards RMW_SET_ERROR_MSG instead (see here).

}

// Otherwise, consume dummy byte
uint8_t dump = 0;
deser >> dump;
(void)dump;

return true;
}

Expand Down
26 changes: 18 additions & 8 deletions rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/TypeSupport_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,8 @@

#include <fastcdr/FastBuffer.h>
#include <fastcdr/Cdr.h>
#include <fastcdr/exceptions/Exception.h>

#include <cassert>
#include <string>
#include <vector>
Expand Down Expand Up @@ -771,7 +773,9 @@ bool TypeSupport<MembersType>::deserializeROSmessage(
{
auto sub_members = static_cast<const MembersType *>(member->members_->data);
if (!member->is_array_) {
deserializeROSmessage(deser, sub_members, field);
if (!deserializeROSmessage(deser, sub_members, field)) {
return false;
}
} else {
size_t array_size = 0;

Expand All @@ -794,7 +798,9 @@ bool TypeSupport<MembersType>::deserializeROSmessage(
return false;
}
for (size_t index = 0; index < array_size; ++index) {
deserializeROSmessage(deser, sub_members, member->get_function(field, index));
if (!deserializeROSmessage(deser, sub_members, member->get_function(field, index))) {
return false;
}
}
}
}
Expand Down Expand Up @@ -936,16 +942,20 @@ bool TypeSupport<MembersType>::deserializeROSmessage(
assert(ros_message);
assert(members_);

// Deserialize encapsulation.
deser.read_encapsulation();
try {
// Deserialize encapsulation.
deser.read_encapsulation();

(void)impl;
if (members_->member_count_ != 0) {
return TypeSupport::deserializeROSmessage(deser, members_, ros_message);
}

(void)impl;
if (members_->member_count_ != 0) {
TypeSupport::deserializeROSmessage(deser, members_, ros_message);
} else {
uint8_t dump = 0;
deser >> dump;
(void)dump;
} catch (const eprosima::fastcdr::exception::Exception &) {
return false;
}

return true;
Expand Down
28 changes: 14 additions & 14 deletions rmw_fastrtps_shared_cpp/src/rmw_request.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,22 +96,22 @@ __rmw_take_request(
if (request.buffer_ != nullptr) {
eprosima::fastcdr::Cdr deser(*request.buffer_, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
eprosima::fastcdr::Cdr::DDS_CDR);
info->request_type_support_->deserializeROSmessage(
deser, ros_request, info->request_type_support_impl_);

// Get header
rmw_fastrtps_shared_cpp::copy_from_fastrtps_guid_to_byte_array(
request.sample_identity_.writer_guid(),
request_header->request_id.writer_guid);
request_header->request_id.sequence_number =
((int64_t)request.sample_identity_.sequence_number().high) <<
32 | request.sample_identity_.sequence_number().low;
request_header->source_timestamp = request.sample_info_.sourceTimestamp.to_ns();
request_header->received_timestamp = request.sample_info_.receptionTimestamp.to_ns();
if (info->request_type_support_->deserializeROSmessage(
deser, ros_request, info->request_type_support_impl_))
{
// Get header
rmw_fastrtps_shared_cpp::copy_from_fastrtps_guid_to_byte_array(
request.sample_identity_.writer_guid(),
request_header->request_id.writer_guid);
request_header->request_id.sequence_number =
((int64_t)request.sample_identity_.sequence_number().high) <<
32 | request.sample_identity_.sequence_number().low;
request_header->source_timestamp = request.sample_info_.sourceTimestamp.to_ns();
request_header->received_timestamp = request.sample_info_.receptionTimestamp.to_ns();
*taken = true;
}

delete request.buffer_;

*taken = true;
}

return RMW_RET_OK;
Expand Down
21 changes: 11 additions & 10 deletions rmw_fastrtps_shared_cpp/src/rmw_response.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,16 +59,17 @@ __rmw_take_response(
*response.buffer_,
eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
eprosima::fastcdr::Cdr::DDS_CDR);
info->response_type_support_->deserializeROSmessage(
deser, ros_response, info->response_type_support_impl_);

request_header->source_timestamp = response.sample_info_.sourceTimestamp.to_ns();
request_header->received_timestamp = response.sample_info_.receptionTimestamp.to_ns();
request_header->request_id.sequence_number =
((int64_t)response.sample_identity_.sequence_number().high) <<
32 | response.sample_identity_.sequence_number().low;

*taken = true;
if (info->response_type_support_->deserializeROSmessage(
deser, ros_response, info->response_type_support_impl_))
{
request_header->source_timestamp = response.sample_info_.sourceTimestamp.to_ns();
request_header->received_timestamp = response.sample_info_.receptionTimestamp.to_ns();
request_header->request_id.sequence_number =
((int64_t)response.sample_identity_.sequence_number().high) <<
32 | response.sample_identity_.sequence_number().low;

*taken = true;
}
}

return RMW_RET_OK;
Expand Down