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fix: rcl: rmw_serialize leaves interior CDR alignment padding uninitialized (zeroing serialization allocator) #178

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fix: rcl: rmw_serialize leaves interior CDR alignment padding uninitialized (zeroing serialization allocator) #178

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15 changes: 12 additions & 3 deletions Sources/CRclBridge/rcl_action_client.c
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,15 @@
// crcl_node_s body (stored rcl_context_t*) + crcl__set_error / crcl__capture_rcl_error.
#include "crcl_internal.h"

// Zeroing allocator for rmw_serialized_message to eliminate uninitialized CDR padding.
static rcutils_allocator_t crcl_zeroing_allocator = {
.allocate = calloc,
.deallocate = rcutils_deallocate,
.reallocate = rcutils_reallocate,
.zero_allocate = calloc,
.allocator_state = NULL
};

#include <pthread.h>
#include <stdatomic.h>
#include <stdbool.h>
Expand Down Expand Up @@ -52,7 +61,7 @@ static bool crcl__action_client_take_response(
const rosidl_message_type_support_t *(*ts_fn)(void),
rcl_ret_t (*take_fn)(const rcl_action_client_t *, rmw_request_id_t *, void *)) {
rcl_serialized_message_t msg = rmw_get_zero_initialized_serialized_message();
rcutils_allocator_t alloc = rcutils_get_default_allocator();
rcutils_allocator_t alloc = crcl_zeroing_allocator;
if (rmw_serialized_message_init(&msg, 0, &alloc) != RMW_RET_OK) {
rcl_reset_error();
return false;
Expand Down Expand Up @@ -89,7 +98,7 @@ static bool crcl__action_client_take_response(
// One drained feedback take: typed FeedbackMessage -> rmw_serialize -> bytes.
static bool crcl__action_client_take_feedback(crcl_action_client_t *c) {
rcl_serialized_message_t msg = rmw_get_zero_initialized_serialized_message();
rcutils_allocator_t alloc = rcutils_get_default_allocator();
rcutils_allocator_t alloc = crcl_zeroing_allocator;
if (rmw_serialized_message_init(&msg, 0, &alloc) != RMW_RET_OK) {
rcl_reset_error();
return false;
Expand Down Expand Up @@ -386,7 +395,7 @@ static int crcl__action_client_send(
ser.buffer = (uint8_t *)buf;
ser.buffer_length = len;
ser.buffer_capacity = len;
ser.allocator = rcutils_get_default_allocator();
ser.allocator = crcl_zeroing_allocator;
if (rmw_deserialize(&ser, ts_fn(), request) != RMW_RET_OK) {
crcl__capture_rcl_error();
destroy_fn(request);
Expand Down