Make parsing of values syntactically more strict with bad values gene…

…rating an error (#244) Currently, libsdformat silently ignores syntax errors when parsing values. For example, <pose>bad 0 0 0 0 0</pose> or <pose>0.1 0.2 0.3 0.4 0.5</pose> are both bad values for the <pose> tag, but the parsed values are <pose>0 0 0 0 0 0</pose> and <pose>0.1 0.2 0.3 0.4 0.5 0</pose> respectively. With this PR, libsdformat will generate an error for such values.
gazebosim · Jun 9, 2020 · 55029bb · 55029bb
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diff --git a/Changelog.md b/Changelog.md
@@ -16,6 +16,9 @@
 
 ### libsdformat 10.0.0 (202X-XX-XX)
 
+1. Make parsing of values syntactically more strict with bad values generating an error
+    * [Pull request 244](https://github.com/osrf/sdformat/pull/244)
+
 1. Don't install deprecated parser_urdf.hh header file, fix cmake warning about newline file, fix cmake warning about newlines.
     * [Pull request 276](https://github.com/osrf/sdformat/pull/276)
 

diff --git a/include/sdf/Types.hh b/include/sdf/Types.hh
@@ -74,6 +74,12 @@ namespace sdf
   SDFORMAT_VISIBLE
   std::string trim(const char *_in);
 
+  /// \brief Trim leading and trailing whitespace from a string.
+  /// \param[in] _in The string to trim.
+  /// \return A string containing the trimmed value.
+  SDFORMAT_VISIBLE
+  std::string trim(const std::string &_in);
+
   /// \brief check if two values are equal, within a tolerance
   /// \param[in] _a the first value
   /// \param[in] _b the second value

diff --git a/src/Param.cc b/src/Param.cc
@@ -16,6 +16,7 @@
  */
 
 #include <algorithm>
+#include <cctype>
 #include <cstdint>
 #include <locale>
 #include <sstream>
@@ -271,16 +272,39 @@ std::string Param::GetDefaultAsString() const
   return ss.str();
 }
 
+//////////////////////////////////////////////////
+/// \brief Helper function for Param::ValueFromString
+/// \param[in] _input Input string.
+/// \param[in] _key Key of the parameter, used for error message.
+/// \param[out] _value This will be set with the parsed value.
+/// \return True if parsing succeeded.
+template <typename T>
+bool ParseUsingStringStream(const std::string &_input, const std::string &_key,
+                            ParamPrivate::ParamVariant &_value)
+{
+  StringStreamClassicLocale ss(_input);
+  T _val;
+  ss >> _val;
+  if (ss.fail())
+  {
+    sdferr << "Unknown error. Unable to set value [" << _input << " ] for key["
+           << _key << "]\n";
+    return false;
+  }
+  _value = _val;
+  return true;
+}
+
 //////////////////////////////////////////////////
 bool Param::ValueFromString(const std::string &_value)
 {
   // Under some circumstances, latin locales (es_ES or pt_BR) will return a
   // comma for decimal position instead of a dot, making the conversion
   // to fail. See bug #60 for more information. Force to use always C
   setlocale(LC_NUMERIC, "C");
-
-  std::string tmp(_value);
-  std::string lowerTmp = lowercase(_value);
+  std::string trimmed = sdf::trim(_value);
+  std::string tmp(trimmed);
+  std::string lowerTmp = lowercase(trimmed);
 
   // "true" and "false" doesn't work properly
   if (lowerTmp == "true")
@@ -335,11 +359,8 @@ bool Param::ValueFromString(const std::string &_value)
     }
     else if (this->dataPtr->typeName == "uint64_t")
     {
-      StringStreamClassicLocale ss(tmp);
-      std::uint64_t u64tmp;
-
-      ss >> u64tmp;
-      this->dataPtr->value = u64tmp;
+      return ParseUsingStringStream<std::uint64_t>(tmp, this->dataPtr->key,
+                                                   this->dataPtr->value);
     }
     else if (this->dataPtr->typeName == "unsigned int")
     {
@@ -357,66 +378,62 @@ bool Param::ValueFromString(const std::string &_value)
     else if (this->dataPtr->typeName == "sdf::Time" ||
              this->dataPtr->typeName == "time")
     {
-      StringStreamClassicLocale ss(tmp);
-      sdf::Time timetmp;
-
-      ss >> timetmp;
-      this->dataPtr->value = timetmp;
+      return ParseUsingStringStream<sdf::Time>(tmp, this->dataPtr->key,
+                                               this->dataPtr->value);
     }
     else if (this->dataPtr->typeName == "ignition::math::Color" ||
              this->dataPtr->typeName == "color")
     {
-      StringStreamClassicLocale ss(tmp);
-      ignition::math::Color colortmp;
+      // The insertion operator (>>) expects 4 values, but the last value (the
+      // alpha) is optional. We first try to parse assuming the alpha is
+      // specified. If that fails, we append the default value of alpha to the
+      // string and try to parse again.
+      bool result = ParseUsingStringStream<ignition::math::Color>(
+          tmp, this->dataPtr->key, this->dataPtr->value);
 
-      ss >> colortmp;
-      this->dataPtr->value = colortmp;
+      if (!result)
+      {
+        ignition::math::Color colortmp;
+        return ParseUsingStringStream<ignition::math::Color>(
+            tmp + " " + std::to_string(colortmp.A()), this->dataPtr->key,
+            this->dataPtr->value);
+      }
+      else
+        return true;
     }
     else if (this->dataPtr->typeName == "ignition::math::Vector2i" ||
              this->dataPtr->typeName == "vector2i")
     {
-      StringStreamClassicLocale ss(tmp);
-      ignition::math::Vector2i vectmp;
-
-      ss >> vectmp;
-      this->dataPtr->value = vectmp;
+      return ParseUsingStringStream<ignition::math::Vector2i>(
+          tmp, this->dataPtr->key, this->dataPtr->value);
     }
     else if (this->dataPtr->typeName == "ignition::math::Vector2d" ||
              this->dataPtr->typeName == "vector2d")
     {
-      StringStreamClassicLocale ss(tmp);
-      ignition::math::Vector2d vectmp;
-
-      ss >> vectmp;
-      this->dataPtr->value = vectmp;
+      return ParseUsingStringStream<ignition::math::Vector2d>(
+          tmp, this->dataPtr->key, this->dataPtr->value);
     }
     else if (this->dataPtr->typeName == "ignition::math::Vector3d" ||
              this->dataPtr->typeName == "vector3")
     {
-      StringStreamClassicLocale ss(tmp);
-      ignition::math::Vector3d vectmp;
-
-      ss >> vectmp;
-      this->dataPtr->value = vectmp;
+      return ParseUsingStringStream<ignition::math::Vector3d>(
+          tmp, this->dataPtr->key, this->dataPtr->value);
     }
     else if (this->dataPtr->typeName == "ignition::math::Pose3d" ||
              this->dataPtr->typeName == "pose" ||
              this->dataPtr->typeName == "Pose")
     {
-      StringStreamClassicLocale ss(tmp);
-      ignition::math::Pose3d posetmp;
-
-      ss >> posetmp;
-      this->dataPtr->value = posetmp;
+      if (!tmp.empty())
+      {
+        return ParseUsingStringStream<ignition::math::Pose3d>(
+            tmp, this->dataPtr->key, this->dataPtr->value);
+      }
     }
     else if (this->dataPtr->typeName == "ignition::math::Quaterniond" ||
              this->dataPtr->typeName == "quaternion")
     {
-      StringStreamClassicLocale ss(tmp);
-      ignition::math::Quaterniond quattmp;
-
-      ss >> quattmp;
-      this->dataPtr->value = quattmp;
+      return ParseUsingStringStream<ignition::math::Quaterniond>(
+          tmp, this->dataPtr->key, this->dataPtr->value);
     }
     else
     {

diff --git a/src/Types.cc b/src/Types.cc
@@ -53,17 +53,21 @@ std::vector<std::string> split(const std::string &_str,
 //////////////////////////////////////////////////
 std::string trim(const char *_in)
 {
-  std::string str(_in);
+  return sdf::trim(std::string(_in));
+}
 
-  const size_t strBegin = str.find_first_not_of(" \t");
+//////////////////////////////////////////////////
+std::string trim(const std::string &_in)
+{
+  const size_t strBegin = _in.find_first_not_of(" \t");
   if (strBegin == std::string::npos)
   {
     return "";
   }
 
-  const size_t strRange = str.find_last_not_of(" \t") - strBegin + 1;
+  const size_t strRange = _in.find_last_not_of(" \t") - strBegin + 1;
 
-  return str.substr(strBegin, strRange);
+  return _in.substr(strBegin, strRange);
 }
 
 /////////////////////////////////////////////////

diff --git a/src/parser_TEST.cc b/src/parser_TEST.cc
@@ -472,6 +472,67 @@ TEST(Parser, NameUniqueness)
   }
 }
 
+/////////////////////////////////////////////////
+/// Check that _a contains _b
+static bool contains(const std::string &_a, const std::string &_b)
+{
+  return _a.find(_b) != std::string::npos;
+}
+
+/////////////////////////////////////////////////
+TEST(Parser, SyntaxErrorInValues)
+{
+  std::string pathBase = PROJECT_SOURCE_PATH;
+  pathBase += "/test/sdf";
+
+  // Capture sdferr output
+  std::stringstream buffer;
+  auto old = std::cerr.rdbuf(buffer.rdbuf());
+
+#ifdef _WIN32
+  sdf::Console::Instance()->SetQuiet(false);
+#endif
+
+  {
+    std::string path = pathBase +"/bad_syntax_pose.sdf";
+    sdf::SDFPtr sdf(new sdf::SDF());
+    sdf::init(sdf);
+
+    sdf::readFile(path, sdf);
+    EXPECT_PRED2(contains, buffer.str(),
+                 "Unable to set value [bad 0 0 0 0 0 ] for key[pose]");
+  }
+  {
+    // clear the contents of the buffer
+    buffer.str("");
+    std::string path = pathBase +"/bad_syntax_double.sdf";
+    sdf::SDFPtr sdf(new sdf::SDF());
+    sdf::init(sdf);
+
+    sdf::readFile(path, sdf);
+    EXPECT_PRED2(contains, buffer.str(),
+                 "Unable to set value [bad ] for key[linear]");
+  }
+  {
+    // clear the contents of the buffer
+    buffer.str("");
+    std::string path = pathBase +"/bad_syntax_vector.sdf";
+    sdf::SDFPtr sdf(new sdf::SDF());
+    sdf::init(sdf);
+
+    sdf::readFile(path, sdf);
+    EXPECT_PRED2(contains, buffer.str(),
+                 "Unable to set value [0 1 bad ] for key[gravity]");
+  }
+
+  // Revert cerr rdbug so as to not interfere with other tests
+  std::cerr.rdbuf(old);
+#ifdef _WIN32
+  sdf::Console::Instance()->SetQuiet(true);
+#endif
+}
+
+/////////////////////////////////////////////////
 /////////////////////////////////////////////////
 /// Main
 int main(int argc, char **argv)

diff --git a/test/sdf/bad_syntax_double.sdf b/test/sdf/bad_syntax_double.sdf
@@ -0,0 +1,13 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="default">
+    <model name="robot1">
+      <link name="link">
+        <velocity_decay>
+          <linear>bad</linear>
+        </velocity_decay>
+      </link>
+    </model>
+  </world>
+</sdf>
+
diff --git a/test/sdf/bad_syntax_pose.sdf b/test/sdf/bad_syntax_pose.sdf
@@ -0,0 +1,10 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="default">
+    <model name="robot1">
+      <pose>bad 0 0 0 0 0</pose>
+      <link name="link"/>
+    </model>
+  </world>
+</sdf>
+
diff --git a/test/sdf/bad_syntax_vector.sdf b/test/sdf/bad_syntax_vector.sdf
@@ -0,0 +1,7 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="default">
+    <gravity>0 1 bad</gravity>
+  </world>
+</sdf>
+
diff --git a/test/sdf/box_bad_test.world b/test/sdf/box_bad_test.world
@@ -2,7 +2,7 @@
 <sdf version="1.6">
   <world name="default">
     <model name="box">
-    <pose>0 0.5 0.0 0.0 0.0</pose>
+    <pose>0 0.5 0.0 0.0 0.0 0.0</pose>
       <link>
         <inertial>
           <mass>0.05</mass>