Fix NULL allocator and racy condition. (#1188)

Signed-off-by: Tomoya Fujita <[email protected]>
ros2 · Sep 21, 2024 · 3762d86 · 3762d86
1 parent bfe00f7
commit 3762d86
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Showing 19 changed files with 50 additions and 60 deletions.
diff --git a/rcl/src/rcl/arguments.c b/rcl/src/rcl/arguments.c
@@ -797,10 +797,9 @@ rcl_arguments_get_unparsed_ros(
 rcl_arguments_t
 rcl_get_zero_initialized_arguments(void)
 {
-  static rcl_arguments_t default_arguments = {
-    .impl = NULL
-  };
-  return default_arguments;
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static rcl_arguments_t zero_arguments;
+  return zero_arguments;
 }
 
 rcl_ret_t

diff --git a/rcl/src/rcl/client.c b/rcl/src/rcl/client.c
@@ -55,7 +55,8 @@ struct rcl_client_impl_s
 rcl_client_t
 rcl_get_zero_initialized_client(void)
 {
-  static rcl_client_t null_client = {0};
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static rcl_client_t null_client;
   return null_client;
 }
 
@@ -279,7 +280,7 @@ rcl_client_options_t
 rcl_client_get_default_options(void)
 {
   // !!! MAKE SURE THAT CHANGES TO THESE DEFAULTS ARE REFLECTED IN THE HEADER DOC STRING
-  static rcl_client_options_t default_options;
+  rcl_client_options_t default_options;
   // Must set the allocator and qos after because they are not a compile time constant.
   default_options.qos = rmw_qos_profile_services_default;
   default_options.allocator = rcl_get_default_allocator();

diff --git a/rcl/src/rcl/context.c b/rcl/src/rcl/context.c
@@ -28,7 +28,7 @@ extern "C"
 rcl_context_t
 rcl_get_zero_initialized_context(void)
 {
-  static rcl_context_t context = {
+  rcl_context_t context = {
     .impl = NULL,
     .instance_id_storage = {0},
   };

diff --git a/rcl/src/rcl/event.c b/rcl/src/rcl/event.c
@@ -38,7 +38,8 @@ extern "C"
 rcl_event_t
 rcl_get_zero_initialized_event(void)
 {
-  static rcl_event_t null_event = {0};
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static rcl_event_t null_event;
   return null_event;
 }
 

diff --git a/rcl/src/rcl/guard_condition.c b/rcl/src/rcl/guard_condition.c
@@ -36,10 +36,8 @@ struct rcl_guard_condition_impl_s
 rcl_guard_condition_t
 rcl_get_zero_initialized_guard_condition(void)
 {
-  static rcl_guard_condition_t null_guard_condition = {
-    .context = 0,
-    .impl = 0
-  };
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static rcl_guard_condition_t null_guard_condition;
   return null_guard_condition;
 }
 
@@ -144,7 +142,7 @@ rcl_guard_condition_options_t
 rcl_guard_condition_get_default_options(void)
 {
   // !!! MAKE SURE THAT CHANGES TO THESE DEFAULTS ARE REFLECTED IN THE HEADER DOC STRING
-  static rcl_guard_condition_options_t default_options;
+  rcl_guard_condition_options_t default_options;
   default_options.allocator = rcl_get_default_allocator();
   return default_options;
 }

diff --git a/rcl/src/rcl/lexer_lookahead.c b/rcl/src/rcl/lexer_lookahead.c
@@ -36,9 +36,8 @@ struct rcl_lexer_lookahead2_impl_s
 rcl_lexer_lookahead2_t
 rcl_get_zero_initialized_lexer_lookahead2(void)
 {
-  static rcl_lexer_lookahead2_t zero_initialized = {
-    .impl = NULL,
-  };
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static rcl_lexer_lookahead2_t zero_initialized;
   return zero_initialized;
 }
 

diff --git a/rcl/src/rcl/node.c b/rcl/src/rcl/node.c
@@ -97,10 +97,8 @@ const char * rcl_create_node_logger_name(
 rcl_node_t
 rcl_get_zero_initialized_node(void)
 {
-  static rcl_node_t null_node = {
-    .context = 0,
-    .impl = 0
-  };
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static rcl_node_t null_node;
   return null_node;
 }
 

diff --git a/rcl/src/rcl/publisher.c b/rcl/src/rcl/publisher.c
@@ -39,7 +39,8 @@ extern "C"
 rcl_publisher_t
 rcl_get_zero_initialized_publisher(void)
 {
-  static rcl_publisher_t null_publisher = {0};
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static rcl_publisher_t null_publisher;
   return null_publisher;
 }
 
@@ -219,7 +220,7 @@ rcl_publisher_options_t
 rcl_publisher_get_default_options(void)
 {
   // !!! MAKE SURE THAT CHANGES TO THESE DEFAULTS ARE REFLECTED IN THE HEADER DOC STRING
-  static rcl_publisher_options_t default_options;
+  rcl_publisher_options_t default_options;
   // Must set the allocator and qos after because they are not a compile time constant.
   default_options.qos = rmw_qos_profile_default;
   default_options.allocator = rcl_get_default_allocator();

diff --git a/rcl/src/rcl/remap.c b/rcl/src/rcl/remap.c
@@ -31,9 +31,8 @@ extern "C"
 rcl_remap_t
 rcl_get_zero_initialized_remap(void)
 {
-  static rcl_remap_t default_rule = {
-    .impl = NULL
-  };
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static rcl_remap_t default_rule;
   return default_rule;
 }
 

diff --git a/rcl/src/rcl/service.c b/rcl/src/rcl/service.c
@@ -54,7 +54,8 @@ struct rcl_service_impl_s
 rcl_service_t
 rcl_get_zero_initialized_service(void)
 {
-  static rcl_service_t null_service = {0};
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static rcl_service_t null_service;
   return null_service;
 }
 
@@ -285,7 +286,7 @@ rcl_service_options_t
 rcl_service_get_default_options(void)
 {
   // !!! MAKE SURE THAT CHANGES TO THESE DEFAULTS ARE REFLECTED IN THE HEADER DOC STRING
-  static rcl_service_options_t default_options;
+  rcl_service_options_t default_options;
   // Must set the allocator and qos after because they are not a compile time constant.
   default_options.qos = rmw_qos_profile_services_default;
   default_options.allocator = rcl_get_default_allocator();

diff --git a/rcl/src/rcl/service_event_publisher.c b/rcl/src/rcl/service_event_publisher.c
@@ -31,7 +31,8 @@
 
 rcl_service_event_publisher_t rcl_get_zero_initialized_service_event_publisher(void)
 {
-  static rcl_service_event_publisher_t zero_service_event_publisher = {0};
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static rcl_service_event_publisher_t zero_service_event_publisher;
   return zero_service_event_publisher;
 }
 

diff --git a/rcl/src/rcl/subscription.c b/rcl/src/rcl/subscription.c
@@ -42,7 +42,8 @@ extern "C"
 rcl_subscription_t
 rcl_get_zero_initialized_subscription(void)
 {
-  static rcl_subscription_t null_subscription = {0};
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static rcl_subscription_t null_subscription;
   return null_subscription;
 }
 
@@ -227,7 +228,7 @@ rcl_subscription_options_t
 rcl_subscription_get_default_options(void)
 {
   // !!! MAKE SURE THAT CHANGES TO THESE DEFAULTS ARE REFLECTED IN THE HEADER DOC STRING
-  static rcl_subscription_options_t default_options;
+  rcl_subscription_options_t default_options;
   // Must set these after declaration because they are not a compile time constants.
   default_options.qos = rmw_qos_profile_default;
   default_options.allocator = rcl_get_default_allocator();

diff --git a/rcl/src/rcl/timer.c b/rcl/src/rcl/timer.c
@@ -58,7 +58,8 @@ struct rcl_timer_impl_s
 rcl_timer_t
 rcl_get_zero_initialized_timer(void)
 {
-  static rcl_timer_t null_timer = {0};
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static rcl_timer_t null_timer;
   return null_timer;
 }
 

diff --git a/rcl/src/rcl/wait.c b/rcl/src/rcl/wait.c
@@ -63,21 +63,8 @@ struct rcl_wait_set_impl_s
 rcl_wait_set_t
 rcl_get_zero_initialized_wait_set(void)
 {
-  static rcl_wait_set_t null_wait_set = {
-    .subscriptions = NULL,
-    .size_of_subscriptions = 0,
-    .guard_conditions = NULL,
-    .size_of_guard_conditions = 0,
-    .clients = NULL,
-    .size_of_clients = 0,
-    .services = NULL,
-    .size_of_services = 0,
-    .timers = NULL,
-    .size_of_timers = 0,
-    .events = NULL,
-    .size_of_events = 0,
-    .impl = NULL,
-  };
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static rcl_wait_set_t null_wait_set;
   return null_wait_set;
 }
 

diff --git a/rcl_action/src/rcl_action/action_client.c b/rcl_action/src/rcl_action/action_client.c
@@ -43,7 +43,8 @@ extern "C"
 rcl_action_client_t
 rcl_action_get_zero_initialized_client(void)
 {
-  static rcl_action_client_t null_action_client = {0};
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static rcl_action_client_t null_action_client;
   return null_action_client;
 }
 
@@ -269,7 +270,7 @@ rcl_action_client_fini(rcl_action_client_t * action_client, rcl_node_t * node)
 rcl_action_client_options_t
 rcl_action_client_get_default_options(void)
 {
-  static rcl_action_client_options_t default_options;
+  rcl_action_client_options_t default_options;
   default_options.goal_service_qos = rmw_qos_profile_services_default;
   default_options.cancel_service_qos = rmw_qos_profile_services_default;
   default_options.result_service_qos = rmw_qos_profile_services_default;

diff --git a/rcl_action/src/rcl_action/action_server.c b/rcl_action/src/rcl_action/action_server.c
@@ -44,7 +44,8 @@ rcl_action_goal_handle_set_goal_terminal_timestamp(
 rcl_action_server_t
 rcl_action_get_zero_initialized_server(void)
 {
-  static rcl_action_server_t null_action_server = {0};
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static rcl_action_server_t null_action_server;
   return null_action_server;
 }
 
@@ -285,7 +286,7 @@ rcl_action_server_options_t
 rcl_action_server_get_default_options(void)
 {
   // !!! MAKE SURE THAT CHANGES TO THESE DEFAULTS ARE REFLECTED IN THE HEADER DOC STRING
-  static rcl_action_server_options_t default_options;
+  rcl_action_server_options_t default_options;
   default_options.goal_service_qos = rmw_qos_profile_services_default;
   default_options.cancel_service_qos = rmw_qos_profile_services_default;
   default_options.result_service_qos = rmw_qos_profile_services_default;

diff --git a/rcl_action/src/rcl_action/goal_handle.c b/rcl_action/src/rcl_action/goal_handle.c
@@ -35,7 +35,8 @@ typedef struct rcl_action_goal_handle_impl_s
 rcl_action_goal_handle_t
 rcl_action_get_zero_initialized_goal_handle(void)
 {
-  static rcl_action_goal_handle_t null_handle = {0};
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static rcl_action_goal_handle_t null_handle;
   return null_handle;
 }
 

diff --git a/rcl_action/src/rcl_action/types.c b/rcl_action/src/rcl_action/types.c
@@ -24,28 +24,32 @@ extern "C"
 rcl_action_goal_info_t
 rcl_action_get_zero_initialized_goal_info(void)
 {
-  static rcl_action_goal_info_t goal_info = {{{0}}, {0, 0}};
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static rcl_action_goal_info_t goal_info;
   return goal_info;
 }
 
 rcl_action_goal_status_array_t
 rcl_action_get_zero_initialized_goal_status_array(void)
 {
-  static rcl_action_goal_status_array_t status_array = {{{0, 0, 0}}, {0, 0, 0, 0, 0}};
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static rcl_action_goal_status_array_t status_array;
   return status_array;
 }
 
 rcl_action_cancel_request_t
 rcl_action_get_zero_initialized_cancel_request(void)
 {
-  static rcl_action_cancel_request_t request = {{{{0}}, {0, 0}}};
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static rcl_action_cancel_request_t request;
   return request;
 }
 
 rcl_action_cancel_response_t
 rcl_action_get_zero_initialized_cancel_response(void)
 {
-  static rcl_action_cancel_response_t response = {{0, {0, 0, 0}}, {0, 0, 0, 0, 0}};
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
+  static rcl_action_cancel_response_t response;
   return response;
 }
 

diff --git a/rcl_lifecycle/src/transition_map.c b/rcl_lifecycle/src/transition_map.c
@@ -30,12 +30,8 @@ extern "C"
 rcl_lifecycle_transition_map_t
 rcl_lifecycle_get_zero_initialized_transition_map(void)
 {
+  // All members are initialized to 0 or NULL by C99 6.7.8/10.
   static rcl_lifecycle_transition_map_t transition_map;
-  transition_map.states = NULL;
-  transition_map.states_size = 0;
-  transition_map.transitions = NULL;
-  transition_map.transitions_size = 0;
-
   return transition_map;
 }