fix(route_handler): dereference to null cause avoidance module crash #1098

zulfaqar-azmi-t4 · 2022-06-14T12:58:32Z

This crash will not appear unless drivable area boundary is added.

Signed-off-by: Muhammad Zulfaqar Azmi zulfaqar.azmi@tier4.jp

Description

Currently there is a possibility of behavior_path_planner crashes, due to improper use ofget function for boost::optional in the route handler's lanelet getter. To avoid this issue, it is essential to check for nullptr before get the data.

This will not affect any behavior of the module.

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This crash will not appear unless drivable area boundary is added. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

codecov · 2022-06-14T13:33:03Z

Codecov Report

Merging #1098 (a915fcb) into main (785c8d6) will decrease coverage by 0.03%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main   #1098      +/-   ##
========================================
- Coverage   8.98%   8.94%   -0.04%     
========================================
  Files       1024    1024              
  Lines      69430   69702     +272     
  Branches   11697   11838     +141     
========================================
  Hits        6238    6238              
- Misses     58008   58265     +257     
- Partials    5184    5199      +15

Flag	Coverage Δ		*Carryforward flag
differential	`2.55% <0.00%> (?)`
total	`8.96% <0.00%> (ø)`		Carriedforward from 785c8d6

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
planning/route_handler/src/route_handler.cpp	`0.00% <0.00%> (ø)`
...or_path_planner/src/behavior_path_planner_node.cpp	`0.00% <0.00%> (ø)`
...or_path_planner/src/scene_module/pull_out/util.cpp	`0.00% <0.00%> (ø)`

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taikitanaka3

LGTM
@zulfaqar-azmi-t4
can you also check other nullptr case for avoidance or lanechange too?

zulfaqar-azmi-t4 · 2022-06-15T04:26:10Z

@taikitanaka3
Thank you!
Yes, I will check them and make another PR if they exist.

taikitanaka3 · 2022-06-15T04:34:56Z

@zulfaqar-azmi-t4

Can you write this to release note?
Can you also check which commit is going to affect this problem? we need to cherry-pick this commit to product branch.

zulfaqar-azmi-t4 · 2022-06-15T05:07:53Z

@taikitanaka3
Yes sure. I will write the in the release note.

Just for reference, this issue might start from #486.

…utowarefoundation#1098) This crash will not appear unless drivable area boundary is added. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: SoohyeokPark-MORAI <shpark.morai@gmail.com>

…utowarefoundation#1098) This crash will not appear unless drivable area boundary is added. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

…1098) This crash will not appear unless drivable area boundary is added. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

…ier4#1098) This crash will not appear unless drivable area boundary is added. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

…refoundation#5459) (autowarefoundation#1098) * add debug info of qp solver * no info for EigenLeastSquareLLT * return 0 in base class --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* feat(avoidance): keep stopping until all shift lines are registered Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(map_loader): display curbstone as marker array (autowarefoundation#4958) display curbstone as marker array Signed-off-by: Shohei Sakai <saka1s.jp@gmail.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> * revert refactoring due to cherry-pick * feat(ndt_scan_matcher): use glog (autowarefoundation#5465) (autowarefoundation#1031) * feat(ndt_scan_matcher): use glog * style(pre-commit): autofix * update * style(pre-commit): autofix --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(out_of_lane): improve reuse of previous decision (autowarefoundation#1017) * Do not directly reuse a prev stop point but project it on the new path Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Improve reuse of the previously inserted stop point Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * Fix precision of inserted stop point Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> --------- Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * fix(system_monitor): output command line (autowarefoundation#5430) (autowarefoundation#1057) * fix(system_monitor): output command line * style(pre-commit): autofix --------- Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: takeshi-iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * chore: pull tracking object merger from awf/main Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * feat(intersection): check path margin for overshoot vehicles on red light (autowarefoundation#5394) (autowarefoundation#1056) Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp> * fix(ndt_scan_matcher): delete diagnostics thread (autowarefoundation#5532) Signed-off-by: yamato-ando <Yamato ANDO> Co-authored-by: yamato-ando <Yamato ANDO> * fix(ndt_scan_matcher): delete unmerged feature * fix(ndt_scan_matcher): fixed a lock scope in update_ndt (autowarefoundation#5951) Fixed the lock scope in update_ndt Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> * fix(static_drivable_area_expansion): fix bug in expansion logic for hatched road marking (autowarefoundation#5842) (autowarefoundation#1075) fix(utils): fix drivable area expansion logic for zebra zone Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(bvp): traffic light state debug (autowarefoundation#1083) Signed-off-by: Mehmet Dogru <mdogru@leodrive.ai> * fix(traffic_light): stop if the traffic light signal timed out (autowarefoundation#5819) (autowarefoundation#1124) * fix(traffic_light): stop if the traffic light signal timed out * fix(traffic_light): fix README format --------- Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> * refactor(mpc_lateral_controller): add debug info of qp solver (autowarefoundation#5459) (autowarefoundation#1098) * add debug info of qp solver * no info for EigenLeastSquareLLT * return 0 in base class --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Shohei Sakai <saka1s.jp@gmail.com> Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> Signed-off-by: yamato-ando <Yamato ANDO> Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> Signed-off-by: Mehmet Dogru <mdogru@leodrive.ai> Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: satoshi-ota <satoshi.ota928@gmail.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: Tomohito ANDO <tomohito.ando@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: takeshi-iwanari <takeshi.iwanari@tier4.jp> Co-authored-by: yoshiri <yoshiyoshidetteiu@gmail.com> Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Co-authored-by: Yamato Ando <yamato.ando@gmail.com> Co-authored-by: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp> Co-authored-by: SakodaShintaro <shintaro.sakoda@tier4.jp> Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: Mehmet Dogru <48479081+mehmetdogru@users.noreply.github.com> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>

fix(route_handler): dereference to null cause avoidance module crash

a915fcb

This crash will not appear unless drivable area boundary is added. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

zulfaqar-azmi-t4 requested a review from taikitanaka3 June 14, 2022 12:58

zulfaqar-azmi-t4 marked this pull request as ready for review June 14, 2022 12:58

zulfaqar-azmi-t4 marked this pull request as draft June 14, 2022 13:06

zulfaqar-azmi-t4 marked this pull request as ready for review June 14, 2022 13:14

taikitanaka3 approved these changes Jun 15, 2022

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zulfaqar-azmi-t4 merged commit bc96bd0 into autowarefoundation:main Jun 15, 2022

zulfaqar-azmi-t4 deleted the fix/get-shared-lanelet-bug-in-route-handler branch June 15, 2022 04:27

tier4-autoware-public-bot bot mentioned this pull request Jun 16, 2022

chore: sync upstream tier4/autoware.universe#65

Merged

TomohitoAndo mentioned this pull request Jun 21, 2022

chore: cherry-pick bug fixes tier4/autoware.universe#69

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fix(route_handler): dereference to null cause avoidance module crash #1098

fix(route_handler): dereference to null cause avoidance module crash #1098

zulfaqar-azmi-t4 commented Jun 14, 2022

codecov bot commented Jun 14, 2022 •

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zulfaqar-azmi-t4 commented Jun 15, 2022

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zulfaqar-azmi-t4 commented Jun 15, 2022

fix(route_handler): dereference to null cause avoidance module crash #1098

fix(route_handler): dereference to null cause avoidance module crash #1098

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zulfaqar-azmi-t4 commented Jun 14, 2022

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