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Bugfix/segfault when getting surrounding interval of empty cache #116

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merged 7 commits into from
Aug 1, 2024
Merged

Bugfix/segfault when getting surrounding interval of empty cache #116

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86af191
add (failing) test for getting surrounding interval from empty cache
Cakem1x Mar 12, 2024
dd5bb14
fix edge case when cache is empty, fix codestyle
Cakem1x Mar 12, 2024
1264c82
fix codestyle: run ament_uncrustify reformat
Cakem1x Jul 31, 2024
09e3592
fix cpplint findings
Cakem1x Jul 31, 2024
ed81c02
use nicer formatting
Cakem1x Jul 31, 2024
b073139
use static cast
Cakem1x Jul 31, 2024
cfeff53
fix line length
Cakem1x Jul 31, 2024
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6 changes: 6 additions & 0 deletions include/message_filters/cache.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -209,6 +209,12 @@ class Cache : public SimpleFilter<M>
namespace mt = message_filters::message_traits;

std::lock_guard<std::mutex> lock(cache_lock_);
if (cache_.size() == 0) {
// Early return for empty cache
// Logic below is only valid for caches with at least one element
return {};
}

// Find the starting index. (Find the first index after [or at] the start of the interval)
int start_index = static_cast<int>(cache_.size()) - 1;
while (start_index > 0 &&
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10 changes: 10 additions & 0 deletions test/msg_cache_unittest.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,16 @@ void fillCacheEasy(message_filters::Cache<Msg> & cache, unsigned int start, unsi
}
}

TEST(Cache, emptySurroundingInterval)
{
message_filters::Cache<Msg> cache(10);
const std::vector<std::shared_ptr<Msg const>> interval_data = cache.getSurroundingInterval(
rclcpp::Time(5, 0), rclcpp::Time(9, 0));

// empty cache shall return empty interval
EXPECT_EQ(interval_data.size(), static_cast<unsigned int>(0));
}

TEST(Cache, easyInterval)
{
message_filters::Cache<Msg> cache(10);
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