fix bug UAF #5720
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fix bug UAF #5720
+143
−14
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8 tasks
SteveMacenski
requested changes
Nov 26, 2025
Comment on lines
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| KinematicParameters* ptr = kinematics_.load(); | ||
| // Check for nullptr before dereferencing | ||
| if (ptr == nullptr) { | ||
| throw std::runtime_error( | ||
| "KinematicsHandler::getKinematics() called before kinematics_ is initialized"); | ||
| } | ||
| return *ptr; | ||
| } |
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The intends here are incorrect for the code styping
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| if (ptr != nullptr) { | ||
| delete ptr; | ||
| } |
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| KinematicParameters* ptr = kinematics_.load(); | ||
| if (ptr == nullptr) { | ||
| return; // Nothing to update | ||
| } | ||
| KinematicParameters kinematics(*ptr); |
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ALl this is incorrect too
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| KinematicParameters* ptr = kinematics_.load(); | ||
| if (ptr == nullptr) { | ||
| return; // Nothing to update | ||
| } | ||
| KinematicParameters kinematics(*ptr); |
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| KinematicParameters* new_kinematics = new KinematicParameters(kinematics); | ||
| KinematicParameters* old_kinematics = kinematics_.exchange(new_kinematics); | ||
|
|
||
| if (old_kinematics != nullptr) { | ||
| delete old_kinematics; | ||
| } |
Member
|
There's some linting problems here that needs resolution - CI also picked up on some of them. Also look at the DCO sign off. |
suifengersan123
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Contributor
Author
|
I have fixed the linting errors and made the commit. Please take your time to check if there are any other issues. |
mini-1235
suggested changes
Dec 1, 2025
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mini-1235
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mini-1235
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@suifengersan123 Please add test for the following lines
| rcl_interfaces::msg::SetParametersResult result; | ||
| KinematicParameters kinematics(*kinematics_.load()); | ||
| KinematicParameters * ptr = kinematics_.load(); | ||
| if (ptr == nullptr) { |
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Can you add test for the line here
| KinematicParameters kinematics(*kinematics_.load()); | ||
| KinematicParameters * ptr = kinematics_.load(); | ||
| if (ptr == nullptr) { | ||
| return; // Nothing to update |
Contributor
|
@suifengersan123, your PR has failed to build. Please check CI outputs and resolve issues. |
Signed-off-by: suifengersan123 <[email protected]>
….com> Signed-off-by: suifengersan123 <[email protected]>
….com> Signed-off-by: suifengersan123 <[email protected]>
….com> Signed-off-by: suifengersan123 <[email protected]>
….com> Signed-off-by: suifengersan123 <[email protected]>
….com> Signed-off-by: suifengersan123 <[email protected]>
….com> Signed-off-by: suifengersan123 <[email protected]>
Signed-off-by: suifengersan123 <[email protected]>
Signed-off-by: suifengersan123 <[email protected]>
Signed-off-by: suifengersan123 <[email protected]>
Signed-off-by: suifengersan123 <[email protected]>
Contributor
Author
|
I have added test. Please have a look and let me know if there are any other issues. |
mini-1235
approved these changes
Dec 1, 2025
SteveMacenski
approved these changes
Dec 1, 2025
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Basic Info
Description of contribution in a few bullet points
I applied the same repair logic from the previous PR (#5707) to the main branch.
For Maintainers:
backport-*.