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Fix segfault when checking for required elements in joint #610

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merged 3 commits into from
Jun 29, 2021
Merged

Fix segfault when checking for required elements in joint #610

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46fc431
Used xml instead of elemXml, added test for this particular case
aaronchongth Jun 29, 2021
c995ccb
Fixed code_check error
aaronchongth Jun 29, 2021
0344644
Removed unused findFileCb from new test
aaronchongth Jun 29, 2021
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8 changes: 4 additions & 4 deletions src/parser.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -1495,13 +1495,13 @@ bool readXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf,
if (_sdf->GetName() == "joint" &&
_sdf->Get<std::string>("type") != "ball")
{
Error err(
Error missingElementError(
ErrorCode::ELEMENT_MISSING,
"XML Missing required element[" + elemDesc->GetName() +
"], child of element[" + _sdf->GetName() + "]",
errorSourcePath, elemXml->GetLineNum());
err.SetXmlPath(elemXmlPath);
_errors.push_back(err);
errorSourcePath, _xml->GetLineNum());
missingElementError.SetXmlPath(elemXmlPath);
_errors.push_back(missingElementError);
return false;
}
else
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39 changes: 39 additions & 0 deletions src/parser_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -767,6 +767,45 @@ TEST(Parser, ElementFilePath)
EXPECT_EQ("", directModel->FilePath());
}

/////////////////////////////////////////////////
/// Check for missing element segfault, #590
TEST(Parser, MissingRequiredElement)
{
const std::string testString = R"(<?xml version="1.0" ?>
<sdf version="1.8">
<world name="default">
<model name="test_model">
<link name="link_0"/>
<link name="link_1"/>
<joint name="joint" type="revolute">
<parent>link_0</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-1</lower>
<upper>1</upper>
</limit>
</axis>
</joint>
</model>
</world>
</sdf>)";

sdf::Errors errors;
sdf::SDFPtr sdf = InitSDF();
EXPECT_FALSE(sdf::readString(testString, sdf, errors));

ASSERT_NE(errors.size(), 0u);
std::cerr << errors[0] << std::endl;

EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::ELEMENT_MISSING);
ASSERT_TRUE(errors[0].FilePath().has_value());
EXPECT_EQ(errors[0].FilePath().value(),
"<" + std::string(sdf::kSdfStringSource) + ">");
ASSERT_TRUE(errors[0].LineNumber().has_value());
EXPECT_EQ(errors[0].LineNumber().value(), 7);
}

/////////////////////////////////////////////////
/// Main
int main(int argc, char **argv)
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