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segmentation fault for NULL dereference #202

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merged 3 commits into from
Dec 13, 2017
Merged

segmentation fault for NULL dereference #202

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814ceb2
Invalid memory access for NULL dereference
gaoethan Dec 11, 2017
61a2eb2
Avoid crash while NULL returned from rcl_service_get_options()
gaoethan Dec 11, 2017
bb986de
tweak error string and null check for current_state
gaoethan Dec 13, 2017
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4 changes: 4 additions & 0 deletions rcl/src/rcl/service.c
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Original file line number Diff line number Diff line change
Expand Up @@ -247,6 +247,8 @@ rcl_take_request(
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Service server taking service request")
const rcl_service_options_t * options = rcl_service_get_options(service);
RCL_CHECK_FOR_NULL_WITH_MSG(
options, "Failed to get service options", return RCL_RET_ERROR, rcl_get_default_allocator());
RCL_CHECK_ARGUMENT_FOR_NULL(request_header, RCL_RET_INVALID_ARGUMENT, options->allocator);
RCL_CHECK_ARGUMENT_FOR_NULL(ros_request, RCL_RET_INVALID_ARGUMENT, options->allocator);

Expand All @@ -273,6 +275,8 @@ rcl_send_response(
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Sending service response")
const rcl_service_options_t * options = rcl_service_get_options(service);
RCL_CHECK_FOR_NULL_WITH_MSG(
options, "Failed to get service options", return RCL_RET_ERROR, rcl_get_default_allocator());
RCL_CHECK_ARGUMENT_FOR_NULL(request_header, RCL_RET_INVALID_ARGUMENT, options->allocator);
RCL_CHECK_ARGUMENT_FOR_NULL(ros_response, RCL_RET_INVALID_ARGUMENT, options->allocator);

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6 changes: 6 additions & 0 deletions rcl_lifecycle/src/rcl_lifecycle.c
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Original file line number Diff line number Diff line change
Expand Up @@ -285,15 +285,20 @@ rcl_lifecycle_is_valid_transition(
const rcl_lifecycle_state_t * current_state = rcl_lifecycle_get_state(
&state_machine->transition_map, current_id);

RCL_CHECK_FOR_NULL_WITH_MSG(current_state,
"rcl_lifecycle_get_state returns NULL", return NULL, rcl_get_default_allocator());

for (unsigned int i = 0; i < current_state->valid_transition_size; ++i) {
if (current_state->valid_transition_keys[i] == key) {
return &current_state->valid_transitions[i];
}
}

RCUTILS_LOG_WARN_NAMED(
ROS_PACKAGE_NAME,
"No callback transition matching %d found for current state %s",
key, state_machine->current_state->label)

return NULL;
}

Expand All @@ -318,6 +323,7 @@ rcl_lifecycle_trigger_transition(
if (!transition->goal) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME, "No valid goal is set")
return RCL_RET_ERROR;
}
state_machine->current_state = transition->goal;
if (publish_notification) {
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