Harden rclcpp_action::convert(). (#2786) (#2789)

* Harden rclcpp_action::convert().

Signed-off-by: Tomoya Fujita <[email protected]>

* update docstring.

Signed-off-by: Tomoya Fujita <[email protected]>

---------

Signed-off-by: Tomoya Fujita <[email protected]>
(cherry picked from commit ce86ef7)

Co-authored-by: Tomoya Fujita <[email protected]>

Author: mergify[bot]

rclcpp_action/include/rclcpp_action/types.hpp

@@ -39,12 +39,22 @@ RCLCPP_ACTION_PUBLIC
 std::string
 to_string(const GoalUUID & goal_id);
 
-// Convert C++ GoalID to rcl_action_goal_info_t
+/// Convert C++ GoalID to rcl_action_goal_info_t
+/**
+ * \param[in] goal_id C++ GoalUUID reference to be converted.
+ * \param[inout] info rcl_action_goal_info_t structure to be filled.
+ * \throws std::runtime_error if info is null.
+ */
 RCLCPP_ACTION_PUBLIC
 void
 convert(const GoalUUID & goal_id, rcl_action_goal_info_t * info);
 
-// Convert rcl_action_goal_info_t to C++ GoalID
+/// Convert rcl_action_goal_info_t to C++ GoalID
+/**
+ * \param[in] info rcl_action_goal_info_t reference to be converted.
+ * \param[inout] goal_id C++ GoalUUID structure to be filled.
+ * \throws std::runtime_error if goal_id is null.
+ */
 RCLCPP_ACTION_PUBLIC
 void
 convert(const rcl_action_goal_info_t & info, GoalUUID * goal_id);

rclcpp_action/src/types.cpp

@@ -41,6 +41,9 @@ to_string(const GoalUUID & goal_id)
 void
 convert(const GoalUUID & goal_id, rcl_action_goal_info_t * info)
 {
+  if (info == nullptr) {
+    throw std::invalid_argument("info is nullptr");
+  }
   for (size_t i = 0; i < UUID_SIZE; ++i) {
     info->goal_id.uuid[i] = goal_id[i];
   }
@@ -49,6 +52,9 @@ convert(const GoalUUID & goal_id, rcl_action_goal_info_t * info)
 void
 convert(const rcl_action_goal_info_t & info, GoalUUID * goal_id)
 {
+  if (goal_id == nullptr) {
+    throw std::invalid_argument("goal_id is nullptr");
+  }
   for (size_t i = 0; i < UUID_SIZE; ++i) {
     (*goal_id)[i] = info.goal_id.uuid[i];
   }

rclcpp_action/test/test_types.cpp

@@ -41,6 +41,7 @@ TEST(TestActionTypes, goal_uuid_to_rcl_action_goal_info) {
   for (uint8_t i = 0; i < UUID_SIZE; ++i) {
     goal_id[i] = i;
   }
+  ASSERT_THROW(rclcpp_action::convert(goal_id, nullptr), std::invalid_argument);
   rcl_action_goal_info_t goal_info = rcl_action_get_zero_initialized_goal_info();
   rclcpp_action::convert(goal_id, &goal_info);
   for (uint8_t i = 0; i < UUID_SIZE; ++i) {
@@ -54,6 +55,7 @@ TEST(TestActionTypes, rcl_action_goal_info_to_goal_uuid) {
     goal_info.goal_id.uuid[i] = i;
   }
 
+  ASSERT_THROW(rclcpp_action::convert(goal_info, nullptr), std::invalid_argument);
   rclcpp_action::GoalUUID goal_id;
   rclcpp_action::convert(goal_info, &goal_id);
   for (uint8_t i = 0; i < UUID_SIZE; ++i) {