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Add additional null check for timer argument #973

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Mar 30, 2022
Merged

Add additional null check for timer argument #973

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23 changes: 12 additions & 11 deletions rcl/include/rcl/timer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -225,7 +225,7 @@ rcl_timer_fini(rcl_timer_t * timer);
* \param[inout] timer the handle to the timer to call
* \return #RCL_RET_OK if the timer was called successfully, or
* \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* \return #RCL_RET_TIMER_INVALID if the timer is invalid, or
* \return #RCL_RET_TIMER_INVALID if the timer->impl is invalid, or
* \return #RCL_RET_TIMER_CANCELED if the timer has been canceled, or
* \return #RCL_RET_ERROR an unspecified error occur.
*/
Expand All @@ -250,10 +250,9 @@ rcl_timer_call(rcl_timer_t * timer);
*
* \param[in] timer the handle to the timer which is being queried
* \param[out] clock the rcl_clock_t * in which the clock is stored
* \return #RCL_RET_OK if the period was retrieved successfully, or
* \return #RCL_RET_OK if the clock was retrieved successfully, or
* \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* \return #RCL_RET_TIMER_INVALID if the timer is invalid, or
* \return #RCL_RET_ERROR an unspecified error occur.
* \return #RCL_RET_TIMER_INVALID if the timer is invalid.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
Expand Down Expand Up @@ -282,7 +281,7 @@ rcl_timer_clock(rcl_timer_t * timer, rcl_clock_t ** clock);
* \param[out] is_ready the bool used to store the result of the calculation
* \return #RCL_RET_OK if the last call time was retrieved successfully, or
* \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* \return #RCL_RET_TIMER_INVALID if the timer is invalid, or
* \return #RCL_RET_TIMER_INVALID if the timer->impl is invalid, or
* \return #RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
Expand Down Expand Up @@ -317,7 +316,7 @@ rcl_timer_is_ready(const rcl_timer_t * timer, bool * is_ready);
* \param[out] time_until_next_call the output variable for the result
* \return #RCL_RET_OK if the timer until next call was successfully calculated, or
* \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* \return #RCL_RET_TIMER_INVALID if the timer is invalid, or
* \return #RCL_RET_TIMER_INVALID if the timer->impl is invalid, or
* \return #RCL_RET_TIMER_CANCELED if the timer is canceled, or
* \return #RCL_RET_ERROR an unspecified error occur.
*/
Expand Down Expand Up @@ -350,7 +349,7 @@ rcl_timer_get_time_until_next_call(const rcl_timer_t * timer, int64_t * time_unt
* \param[out] time_since_last_call the struct in which the time is stored
* \return #RCL_RET_OK if the last call time was retrieved successfully, or
* \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* \return #RCL_RET_TIMER_INVALID if the timer is invalid, or
* \return #RCL_RET_TIMER_INVALID if the timer->impl is invalid, or
* \return #RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
Expand All @@ -377,6 +376,7 @@ rcl_timer_get_time_since_last_call(const rcl_timer_t * timer, int64_t * time_sin
* \param[out] period the int64_t in which the period is stored
* \return #RCL_RET_OK if the period was retrieved successfully, or
* \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* \return #RCL_RET_TIMER_INVALID if the timer->impl is invalid, or
* \return #RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
Expand Down Expand Up @@ -407,6 +407,7 @@ rcl_timer_get_period(const rcl_timer_t * timer, int64_t * period);
* \param[out] old_period the int64_t in which the previous period is stored
* \return #RCL_RET_OK if the period was retrieved successfully, or
* \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* \return #RCL_RET_TIMER_INVALID if the timer->impl is invalid, or
* \return #RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
Expand Down Expand Up @@ -482,10 +483,9 @@ rcl_timer_exchange_callback(rcl_timer_t * timer, const rcl_timer_callback_t new_
* <i>[1] if `atomic_is_lock_free()` returns true for `atomic_int_least64_t`</i>
*
* \param[inout] timer the timer to be canceled
* \return #RCL_RET_OK if the last call time was retrieved successfully, or
* \return #RCL_RET_OK if the timer was canceled successfully, or
* \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* \return #RCL_RET_TIMER_INVALID if the timer is invalid, or
* \return #RCL_RET_ERROR an unspecified error occur.
* \return #RCL_RET_TIMER_INVALID if the timer is invalid.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
Expand Down Expand Up @@ -513,6 +513,7 @@ rcl_timer_cancel(rcl_timer_t * timer);
* \param[out] is_canceled storage for the is canceled bool
* \return #RCL_RET_OK if the last call time was retrieved successfully, or
* \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* \return #RCL_RET_TIMER_INVALID if the timer->impl is invalid, or
* \return #RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
Expand All @@ -536,7 +537,7 @@ rcl_timer_is_canceled(const rcl_timer_t * timer, bool * is_canceled);
* <i>[1] if `atomic_is_lock_free()` returns true for `atomic_int_least64_t`</i>
*
* \param[inout] timer the timer to be reset
* \return #RCL_RET_OK if the last call time was retrieved successfully, or
* \return #RCL_RET_OK if the timer was reset successfully, or
* \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* \return #RCL_RET_TIMER_INVALID if the timer is invalid, or
* \return #RCL_RET_ERROR an unspecified error occur.
Expand Down
7 changes: 7 additions & 0 deletions rcl/src/rcl/timer.c
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Original file line number Diff line number Diff line change
Expand Up @@ -244,6 +244,7 @@ rcl_timer_call(rcl_timer_t * timer)
{
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Calling timer");
RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(timer->impl, RCL_RET_TIMER_INVALID);
if (rcutils_atomic_load_bool(&timer->impl->canceled)) {
RCL_SET_ERROR_MSG("timer is canceled");
return RCL_RET_TIMER_CANCELED;
Expand Down Expand Up @@ -294,6 +295,7 @@ rcl_ret_t
rcl_timer_is_ready(const rcl_timer_t * timer, bool * is_ready)
{
RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(timer->impl, RCL_RET_TIMER_INVALID);
RCL_CHECK_ARGUMENT_FOR_NULL(is_ready, RCL_RET_INVALID_ARGUMENT);
int64_t time_until_next_call;
rcl_ret_t ret = rcl_timer_get_time_until_next_call(timer, &time_until_next_call);
Expand All @@ -311,6 +313,7 @@ rcl_ret_t
rcl_timer_get_time_until_next_call(const rcl_timer_t * timer, int64_t * time_until_next_call)
{
RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(timer->impl, RCL_RET_TIMER_INVALID);
RCL_CHECK_ARGUMENT_FOR_NULL(time_until_next_call, RCL_RET_INVALID_ARGUMENT);
if (rcutils_atomic_load_bool(&timer->impl->canceled)) {
return RCL_RET_TIMER_CANCELED;
Expand All @@ -331,6 +334,7 @@ rcl_timer_get_time_since_last_call(
rcl_time_point_value_t * time_since_last_call)
{
RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(timer->impl, RCL_RET_TIMER_INVALID);
RCL_CHECK_ARGUMENT_FOR_NULL(time_since_last_call, RCL_RET_INVALID_ARGUMENT);
rcl_time_point_value_t now;
rcl_ret_t ret = rcl_clock_get_now(timer->impl->clock, &now);
Expand All @@ -346,6 +350,7 @@ rcl_ret_t
rcl_timer_get_period(const rcl_timer_t * timer, int64_t * period)
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{
RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(timer->impl, RCL_RET_TIMER_INVALID);
RCL_CHECK_ARGUMENT_FOR_NULL(period, RCL_RET_INVALID_ARGUMENT);
*period = rcutils_atomic_load_uint64_t(&timer->impl->period);
return RCL_RET_OK;
Expand All @@ -357,6 +362,7 @@ rcl_timer_exchange_period(const rcl_timer_t * timer, int64_t new_period, int64_t
RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_INVALID_ARGUMENT);

RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(timer->impl, RCL_RET_TIMER_INVALID);
RCL_CHECK_ARGUMENT_FOR_NULL(old_period, RCL_RET_INVALID_ARGUMENT);
*old_period = rcutils_atomic_exchange_uint64_t(&timer->impl->period, new_period);
RCUTILS_LOG_DEBUG_NAMED(
Expand Down Expand Up @@ -400,6 +406,7 @@ rcl_ret_t
rcl_timer_is_canceled(const rcl_timer_t * timer, bool * is_canceled)
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{
RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(timer->impl, RCL_RET_TIMER_INVALID);
RCL_CHECK_ARGUMENT_FOR_NULL(is_canceled, RCL_RET_INVALID_ARGUMENT);
*is_canceled = rcutils_atomic_load_bool(&timer->impl->canceled);
return RCL_RET_OK;
Expand Down