Fix checks for invalid arguments (#497)

Signed-off-by: yadunund <[email protected]>
Co-authored-by: Alejandro Hernández Cordero <[email protected]>

rmw_zenoh_cpp/src/rmw_get_service_names_and_types.cpp

@@ -12,10 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "detail/identifier.hpp"
 #include "detail/rmw_context_impl_s.hpp"
 
 #include "rcutils/allocator.h"
 
+#include "rmw/check_type_identifiers_match.h"
 #include "rmw/error_handling.h"
 #include "rmw/get_service_names_and_types.h"
 #include "rmw/types.h"
@@ -31,13 +33,23 @@ rmw_get_service_names_and_types(
   rmw_names_and_types_t * service_names_and_types)
 {
   RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    rmw_zenoh_cpp::rmw_zenoh_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
   RMW_CHECK_ARGUMENT_FOR_NULL(node->context, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(node->context->impl, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(allocator, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(service_names_and_types, RMW_RET_INVALID_ARGUMENT);
   rmw_context_impl_t * context_impl = static_cast<rmw_context_impl_t *>(node->context->impl);
   RMW_CHECK_ARGUMENT_FOR_NULL(context_impl, RMW_RET_INVALID_ARGUMENT);
-
+  RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
+    allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
+  rmw_ret_t ret = rmw_names_and_types_check_zero(service_names_and_types);
+  if (RMW_RET_OK != ret) {
+    return ret;
+  }
   return context_impl->graph_cache()->get_service_names_and_types(
     allocator, service_names_and_types);
 }

rmw_zenoh_cpp/src/rmw_get_topic_endpoint_info.cpp

@@ -45,6 +45,12 @@ rmw_get_publishers_info_by_topic(
   RMW_CHECK_ARGUMENT_FOR_NULL(node->context->impl, RMW_RET_INVALID_ARGUMENT);
   rmw_context_impl_t * context_impl = static_cast<rmw_context_impl_t *>(node->context->impl);
   RMW_CHECK_ARGUMENT_FOR_NULL(context_impl, RMW_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
+    allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, RMW_RET_INVALID_ARGUMENT);
+  if (RMW_RET_OK != rmw_topic_endpoint_info_array_check_zero(publishers_info)) {
+    return RMW_RET_INVALID_ARGUMENT;
+  }
   return context_impl->graph_cache()->get_entities_info_by_topic(
     rmw_zenoh_cpp::liveliness::EntityType::Publisher,
     allocator,
@@ -73,6 +79,12 @@ rmw_get_subscriptions_info_by_topic(
   RMW_CHECK_ARGUMENT_FOR_NULL(node->context->impl, RMW_RET_INVALID_ARGUMENT);
   rmw_context_impl_t * context_impl = static_cast<rmw_context_impl_t *>(node->context->impl);
   RMW_CHECK_ARGUMENT_FOR_NULL(context_impl, RMW_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
+    allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, RMW_RET_INVALID_ARGUMENT);
+  if (RMW_RET_OK != rmw_topic_endpoint_info_array_check_zero(subscriptions_info)) {
+    return RMW_RET_INVALID_ARGUMENT;
+  }
   return context_impl->graph_cache()->get_entities_info_by_topic(
     rmw_zenoh_cpp::liveliness::EntityType::Subscription,
     allocator,

rmw_zenoh_cpp/src/rmw_get_topic_names_and_types.cpp

@@ -12,10 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "detail/identifier.hpp"
 #include "detail/rmw_context_impl_s.hpp"
 
 #include "rcutils/allocator.h"
 
+#include "rmw/check_type_identifiers_match.h"
 #include "rmw/error_handling.h"
 #include "rmw/get_topic_names_and_types.h"
 #include "rmw/types.h"
@@ -32,11 +34,18 @@ rmw_get_topic_names_and_types(
   rmw_names_and_types_t * topic_names_and_types)
 {
   RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    rmw_zenoh_cpp::rmw_zenoh_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
   RMW_CHECK_ARGUMENT_FOR_NULL(node->context, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(node->context->impl, RMW_RET_INVALID_ARGUMENT);
-  RMW_CHECK_ARGUMENT_FOR_NULL(allocator, RMW_RET_INVALID_ARGUMENT);
-  RMW_CHECK_ARGUMENT_FOR_NULL(topic_names_and_types, RMW_RET_INVALID_ARGUMENT);
-
+  RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
+    allocator, "allocator argument is invalid", return RMW_RET_INVALID_ARGUMENT);
+  if (RMW_RET_OK != rmw_names_and_types_check_zero(topic_names_and_types)) {
+    return RMW_RET_INVALID_ARGUMENT;
+  }
   rmw_context_impl_t * context_impl = static_cast<rmw_context_impl_t *>(node->context->impl);
   RMW_CHECK_ARGUMENT_FOR_NULL(context_impl, RMW_RET_INVALID_ARGUMENT);
   return context_impl->graph_cache()->get_topic_names_and_types(

rmw_zenoh_cpp/src/rmw_zenoh.cpp

@@ -1304,13 +1304,13 @@ __rmw_take_serialized(
   RMW_CHECK_ARGUMENT_FOR_NULL(subscription, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(subscription->topic_name, RMW_RET_ERROR);
   RMW_CHECK_ARGUMENT_FOR_NULL(subscription->data, RMW_RET_ERROR);
-  RMW_CHECK_ARGUMENT_FOR_NULL(serialized_message, RMW_RET_INVALID_ARGUMENT);
-  RMW_CHECK_ARGUMENT_FOR_NULL(taken, RMW_RET_INVALID_ARGUMENT);
-  RMW_CHECK_ARGUMENT_FOR_NULL(message_info, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
     subscription handle,
     subscription->implementation_identifier, rmw_zenoh_cpp::rmw_zenoh_identifier,
     return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RMW_CHECK_ARGUMENT_FOR_NULL(serialized_message, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(taken, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(message_info, RMW_RET_INVALID_ARGUMENT);
   rmw_zenoh_cpp::SubscriptionData * sub_data =
     static_cast<rmw_zenoh_cpp::SubscriptionData *>(subscription->data);
   RMW_CHECK_ARGUMENT_FOR_NULL(sub_data, RMW_RET_INVALID_ARGUMENT);
@@ -2360,6 +2360,11 @@ rmw_get_node_names(
   rcutils_string_array_t * node_namespaces)
 {
   RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    rmw_zenoh_cpp::rmw_zenoh_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
   RMW_CHECK_ARGUMENT_FOR_NULL(node->context, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(node->context->impl, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(node_names, RMW_RET_INVALID_ARGUMENT);
@@ -2382,6 +2387,11 @@ rmw_get_node_names_with_enclaves(
   rcutils_string_array_t * enclaves)
 {
   RMW_CHECK_ARGUMENT_FOR_NULL(node, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    node,
+    node->implementation_identifier,
+    rmw_zenoh_cpp::rmw_zenoh_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
   RMW_CHECK_ARGUMENT_FOR_NULL(node->context, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(node->context->impl, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(node_names, RMW_RET_INVALID_ARGUMENT);
@@ -2521,6 +2531,11 @@ rmw_ret_t
 rmw_get_gid_for_publisher(const rmw_publisher_t * publisher, rmw_gid_t * gid)
 {
   RMW_CHECK_ARGUMENT_FOR_NULL(publisher, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    publisher,
+    publisher->implementation_identifier,
+    rmw_zenoh_cpp::rmw_zenoh_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
   RMW_CHECK_ARGUMENT_FOR_NULL(gid, RMW_RET_INVALID_ARGUMENT);
   rmw_node_t * node =
     static_cast<rmw_node_t *>(publisher->data);
@@ -2545,6 +2560,11 @@ rmw_ret_t
 rmw_get_gid_for_client(const rmw_client_t * client, rmw_gid_t * gid)
 {
   RMW_CHECK_ARGUMENT_FOR_NULL(client, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    client,
+    client->implementation_identifier,
+    rmw_zenoh_cpp::rmw_zenoh_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
   RMW_CHECK_ARGUMENT_FOR_NULL(gid, RMW_RET_INVALID_ARGUMENT);
   rmw_zenoh_cpp::ClientData * client_data =
     static_cast<rmw_zenoh_cpp::ClientData *>(client->data);
@@ -2595,6 +2615,11 @@ rmw_service_server_is_available(
     rmw_zenoh_cpp::rmw_zenoh_identifier,
     return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
   RMW_CHECK_ARGUMENT_FOR_NULL(client, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    client,
+    client->implementation_identifier,
+    rmw_zenoh_cpp::rmw_zenoh_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
   RMW_CHECK_ARGUMENT_FOR_NULL(client->data, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(is_available, RMW_RET_INVALID_ARGUMENT);
   rmw_zenoh_cpp::ClientData * client_data =