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Jul 18, 2025
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Test failing deserialization of invalid sequence length (backport #261) #263

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116 changes: 116 additions & 0 deletions test_rmw_implementation/test/test_serialize_deserialize.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
// limitations under the License.

#include <gtest/gtest.h>
#include <cstring>

#include "osrf_testing_tools_cpp/scope_exit.hpp"

Expand All @@ -31,8 +32,87 @@
#include "test_msgs/msg/bounded_plain_sequences.h"
#include "test_msgs/msg/bounded_plain_sequences.hpp"

#include "test_msgs/msg/unbounded_sequences.h"
#include "test_msgs/msg/unbounded_sequences.hpp"

#include "./allocator_testing_utils.h"

static void check_bad_cdr_sequence_cases(
const rosidl_message_type_support_t * ts,
void * message)
{
// Serialized CDR buffer for a data with all sequences empty.
constexpr size_t kBufferSize = 132;
const uint8_t valid_data[kBufferSize] = {
0x01, 0x00, 0x00, 0x00, // representation header (CDR little endian)
0x00, 0x00, 0x00, 0x00, // bool[] bool_values
0x00, 0x00, 0x00, 0x00, // byte[] byte_values
0x00, 0x00, 0x00, 0x00, // char[] char_values
0x00, 0x00, 0x00, 0x00, // float32[] float32_values
0x00, 0x00, 0x00, 0x00, // float64[] float64_values
0x00, 0x00, 0x00, 0x00, // int8[] int8_values
0x00, 0x00, 0x00, 0x00, // uint8[] uint8_values
0x00, 0x00, 0x00, 0x00, // int16[] int16_values
0x00, 0x00, 0x00, 0x00, // uint16[] uint16_values
0x00, 0x00, 0x00, 0x00, // int32[] int32_values
0x00, 0x00, 0x00, 0x00, // uint32[] uint32_values
0x00, 0x00, 0x00, 0x00, // int64[] int64_values
0x00, 0x00, 0x00, 0x00, // uint64[] uint64_values
0x00, 0x00, 0x00, 0x00, // string[] string_values
0x00, 0x00, 0x00, 0x00, // BasicTypes[] basic_types_values
0x00, 0x00, 0x00, 0x00, // Constants[] constants_values
0x00, 0x00, 0x00, 0x00, // Defaults[] defaults_values
0x00, 0x00, 0x00, 0x00, // bool[] bool_values_default
0x00, 0x00, 0x00, 0x00, // byte[] byte_values_default
0x00, 0x00, 0x00, 0x00, // char[] char_values_default
0x00, 0x00, 0x00, 0x00, // float32[] float32_values_default
0x00, 0x00, 0x00, 0x00, // float64[] float64_values_default
0x00, 0x00, 0x00, 0x00, // int8[] int8_values_default
0x00, 0x00, 0x00, 0x00, // uint8[] uint8_values_default
0x00, 0x00, 0x00, 0x00, // int16[] int16_values_default
0x00, 0x00, 0x00, 0x00, // uint16[] uint16_values_default
0x00, 0x00, 0x00, 0x00, // int32[] int32_values_default
0x00, 0x00, 0x00, 0x00, // uint32[] uint32_values_default
0x00, 0x00, 0x00, 0x00, // int64[] int64_values_default
0x00, 0x00, 0x00, 0x00, // uint64[] uint64_values_default
0x00, 0x00, 0x00, 0x00, // string[] string_values_default
0x00, 0x00, 0x00, 0x00 // int32 alignment_check
};

uint8_t buffer[kBufferSize];
memcpy(buffer, valid_data, kBufferSize);

// The first 4 bytes are the CDR representation header, which we don't modify.
constexpr size_t kFirstSequenceOffset = 4;
// The last 4 bytes are the alignment check, which we also don't modify.
constexpr size_t kLastSequenceOffset = kBufferSize - 4;
// Each sequence length is stored as a 4-byte unsigned integer.
constexpr size_t kSequenceLengthSize = 4;

for (size_t i = kFirstSequenceOffset; i < kLastSequenceOffset; i += kSequenceLengthSize) {
// Corrupt the buffer by changing the size of a sequence to an invalid value.
buffer[i] = 0xFF;
buffer[i + 1] = 0xFF;
buffer[i + 2] = 0xFF;
buffer[i + 3] = 0xFF;

// Expect the deserialization to fail.
rmw_serialized_message_t serialized_message = rmw_get_zero_initialized_serialized_message();
serialized_message.buffer = const_cast<uint8_t *>(buffer);
serialized_message.buffer_length = sizeof(buffer);
serialized_message.buffer_capacity = sizeof(buffer);
rmw_ret_t ret = rmw_deserialize(&serialized_message, ts, message);
EXPECT_NE(RMW_RET_OK, ret);
rmw_reset_error();

// Restore the buffer to a valid state.
buffer[i] = 0x00;
buffer[i + 1] = 0x00;
buffer[i + 2] = 0x00;
buffer[i + 3] = 0x00;
}
}

TEST(TestSerializeDeserialize, get_serialization_format) {
const char * serialization_format = rmw_get_serialization_format();
EXPECT_NE(nullptr, serialization_format);
Expand Down Expand Up @@ -171,6 +251,26 @@ TEST(TestSerializeDeserialize, clean_round_trip_for_c_bounded_message) {
EXPECT_EQ(input_message.uint16_values.data[0], output_message.uint16_values.data[0]);
}

TEST(TestSerializeDeserialize, bad_cdr_sequence_correctly_fails_for_c) {
{
const char * serialization_format = rmw_get_serialization_format();
if (0 != strcmp(serialization_format, "cdr")) {
GTEST_SKIP();
}
}

const rosidl_message_type_support_t * ts{
ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, UnboundedSequences)};
test_msgs__msg__UnboundedSequences output_message{};
ASSERT_TRUE(test_msgs__msg__UnboundedSequences__init(&output_message));
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
test_msgs__msg__UnboundedSequences__fini(&output_message);
});

check_bad_cdr_sequence_cases(ts, &output_message);
}

TEST(TestSerializeDeserialize, clean_round_trip_for_cpp_message) {
const rosidl_message_type_support_t * ts =
rosidl_typesupport_cpp::get_message_type_support_handle<test_msgs::msg::BasicTypes>();
Expand Down Expand Up @@ -244,6 +344,22 @@ TEST(TestSerializeDeserialize, clean_round_trip_for_cpp_bounded_message) {
EXPECT_EQ(input_message, output_message);
}

TEST(TestSerializeDeserialize, bad_cdr_sequence_correctly_fails_for_cpp) {
{
const char * serialization_format = rmw_get_serialization_format();
if (0 != strcmp(serialization_format, "cdr")) {
GTEST_SKIP();
}
}

using TestMessage = test_msgs::msg::UnboundedSequences;
const rosidl_message_type_support_t * ts =
rosidl_typesupport_cpp::get_message_type_support_handle<TestMessage>();
TestMessage output_message{};

check_bad_cdr_sequence_cases(ts, &output_message);
}

TEST(TestSerializeDeserialize, rmw_get_serialized_message_size)
{
if (rmw_get_serialized_message_size(nullptr, nullptr, nullptr) != RMW_RET_UNSUPPORTED) {
Expand Down