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provide message validation check API (#4276)
* provide validation_message.hpp Signed-off-by: goes <[email protected]> * fix typo Signed-off-by: goes <[email protected]> * add test_validation_messages.cpp Signed-off-by: goes <[email protected]> * change include-order Signed-off-by: goes <[email protected]> * reformat Signed-off-by: goes <[email protected]> * update test Signed-off-by: goes <[email protected]> --------- Signed-off-by: goes <[email protected]> Co-authored-by: goes <[email protected]>
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| // Copyright (c) 2024 GoesM | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef NAV2_UTIL__VALIDATE_MESSAGES_HPP_ | ||
| #define NAV2_UTIL__VALIDATE_MESSAGES_HPP_ | ||
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| #include <cmath> | ||
| #include <iostream> | ||
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| #include "nav_msgs/msg/occupancy_grid.hpp" | ||
| #include "nav_msgs/msg/odometry.hpp" | ||
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| // @brief Validation Check | ||
| // Check recieved message is safe or not for the nav2-system | ||
| // For each msg-type known in nav2, we could check it as following: | ||
| // if(!validateMsg()) RCLCPP_ERROR(,"malformed msg. Rejecting.") | ||
| // | ||
| // Workflow of validateMsg(): | ||
| // if here's a sub-msg-type in the recieved msg, | ||
| // the content of sub-msg would be checked as sub-msg-type | ||
| // then, check the whole recieved msg. | ||
| // | ||
| // Following conditions are involved in check: | ||
| // 1> Value Check: to avoid damaged value like like `nan`, `INF`, empty string and so on | ||
| // 2> Logic Check: to avoid value with bad logic, | ||
| // like the size of `map` should be equal to `height*width` | ||
| // 3> Any other needed condition could be joint here in future | ||
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| namespace nav2_util | ||
| { | ||
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| bool validateMsg(const double & num) | ||
| { | ||
| /* @brief double/float value check | ||
| * if here'a need to check message validation | ||
| * it should be avoid to use double value like `nan`, `inf` | ||
| * otherwise, we regard it as an invalid message | ||
| */ | ||
| if (std::isinf(num)) {return false;} | ||
| if (std::isnan(num)) {return false;} | ||
| return true; | ||
| } | ||
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| const int NSEC_PER_SEC = 1e9; // 1 second = 1e9 nanosecond | ||
| bool validateMsg(const builtin_interfaces::msg::Time & msg) | ||
| { | ||
| if (msg.nanosec >= NSEC_PER_SEC) { | ||
| return false; // invalid nanosec-stamp | ||
| } | ||
| return true; | ||
| } | ||
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| bool validateMsg(const std_msgs::msg::Header & msg) | ||
| { | ||
| // check sub-type | ||
| if (!validateMsg(msg.stamp)) {return false;} | ||
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| /* @brief frame_id check | ||
| * if here'a need to check message validation | ||
| * it should at least have a non-empty frame_id | ||
| * otherwise, we regard it as an invalid message | ||
| */ | ||
| if (msg.frame_id.empty()) {return false;} | ||
| return true; | ||
| } | ||
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| bool validateMsg(const geometry_msgs::msg::Point & msg) | ||
| { | ||
| // check sub-type | ||
| if (!validateMsg(msg.x)) {return false;} | ||
| if (!validateMsg(msg.y)) {return false;} | ||
| if (!validateMsg(msg.z)) {return false;} | ||
| return true; | ||
| } | ||
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| const double epsilon = 1e-4; | ||
| bool validateMsg(const geometry_msgs::msg::Quaternion & msg) | ||
| { | ||
| // check sub-type | ||
| if (!validateMsg(msg.x)) {return false;} | ||
| if (!validateMsg(msg.y)) {return false;} | ||
| if (!validateMsg(msg.z)) {return false;} | ||
| if (!validateMsg(msg.w)) {return false;} | ||
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| if (abs(msg.x * msg.x + msg.y * msg.y + msg.z * msg.z + msg.w * msg.w - 1.0) >= epsilon) { | ||
| return false; | ||
| } | ||
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| return true; | ||
| } | ||
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| bool validateMsg(const geometry_msgs::msg::Pose & msg) | ||
| { | ||
| // check sub-type | ||
| if (!validateMsg(msg.position)) {return false;} | ||
| if (!validateMsg(msg.orientation)) {return false;} | ||
| return true; | ||
| } | ||
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| // Function to verify map meta information | ||
| bool validateMsg(const nav_msgs::msg::MapMetaData & msg) | ||
| { | ||
| // check sub-type | ||
| if (!validateMsg(msg.origin)) {return false;} | ||
| if (!validateMsg(msg.resolution)) {return false;} | ||
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| // logic check | ||
| // 1> we don't need an empty map | ||
| if (msg.height == 0 || msg.width == 0) {return false;} | ||
| return true; | ||
| } | ||
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| // for msg-type like map, costmap and others as `OccupancyGrid` | ||
| bool validateMsg(const nav_msgs::msg::OccupancyGrid & msg) | ||
| { | ||
| // check sub-type | ||
| if (!validateMsg(msg.header)) {return false;} | ||
| // msg.data : @todo any check for it ? | ||
| if (!validateMsg(msg.info)) {return false;} | ||
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| // check logic | ||
| if (msg.data.size() != msg.info.width * msg.info.height) { | ||
| return false; // check map-size | ||
| } | ||
| return true; | ||
| } | ||
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| } // namespace nav2_util | ||
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| #endif // NAV2_UTIL__VALIDATE_MESSAGES_HPP_ |
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