fix: improve error handling during ROS2 message serialization and des…

…erialization Enhance robustness by adding exception handling to ensure the process correctly handles serialization and deserialization failures, improving overall stability in handling ROS2 messages.
AimRT · AimRT · Nov 21, 2024 · Nov 7, 2024 · Nov 7, 2024 · Nov 8, 2024
commit 78a442593427c525cab33d2dc7033bc699412f8c
diff --git a/src/interface/aimrt_module_ros2_interface/util/ros2_type_support.h b/src/interface/aimrt_module_ros2_interface/util/ros2_type_support.h
@@ -97,7 +97,7 @@ const aimrt_type_support_base_t* GetRos2MessageTypeSupport() {
           if (aimrt::util::ToStdStringView(serialization_type) == "ros2") {
             if (buffer_array_view.len == 1) {
               rcl_serialized_message_t serialized_msg = rmw_get_zero_initialized_serialized_message();
-              serialized_msg.buffer = const_cast<uint8_t*>(static_cast<const uint8_t*>(buffer_array_view.data[0].data)),
+              serialized_msg.buffer = const_cast<uint8_t*>(static_cast<const uint8_t*>(buffer_array_view.data[0].data));
               serialized_msg.buffer_length = buffer_array_view.data[0].len;
               serialized_msg.buffer_capacity = buffer_array_view.data[0].len;
               rcl_ret_t ret = rmw_deserialize(&serialized_msg, ts_ptr, msg);
@@ -120,7 +120,7 @@ const aimrt_type_support_base_t* GetRos2MessageTypeSupport() {
               }
 
               rcl_serialized_message_t serialized_msg = rmw_get_zero_initialized_serialized_message();
-              serialized_msg.buffer = buffer,
+              serialized_msg.buffer = buffer;
               serialized_msg.buffer_length = total_size;
               serialized_msg.buffer_capacity = total_size;
               rcl_ret_t ret = rmw_deserialize(&serialized_msg, ts_ptr, msg);

diff --git a/src/runtime/python_runtime/export_ros2_type_support.h b/src/runtime/python_runtime/export_ros2_type_support.h
@@ -56,54 +56,61 @@ class PyRos2TypeSupport {
       const void* msg,
       const aimrt_buffer_array_allocator_t* allocator,
       aimrt_buffer_array_t* buffer_array) const {
-    if (aimrt::util::ToStdStringView(serialization_type) == "ros2") {
-      aimrt_buffer_array_with_allocator_t bawa{.buffer_array = buffer_array, .allocator = allocator};
-      Ros2RclSerializedMessageAdapter serialized_msg_adapter(&bawa);
-      rcl_ret_t ret = rmw_serialize(msg, msg_type_support_, serialized_msg_adapter.GetRclSerializedMessage());
-      return (ret == RMW_RET_OK);
+    try {
+      if (aimrt::util::ToStdStringView(serialization_type) == "ros2") {
+        aimrt_buffer_array_with_allocator_t bawa{.buffer_array = buffer_array, .allocator = allocator};
+        Ros2RclSerializedMessageAdapter serialized_msg_adapter(&bawa);
+        rcl_ret_t ret = rmw_serialize(msg, msg_type_support_, serialized_msg_adapter.GetRclSerializedMessage());
+        return (ret == RMW_RET_OK);
+      }
+      return false;
+    } catch (const std::exception& e) {
+      return false;
     }
-    return false;
   }
 
   bool Deserialize(
       aimrt_string_view_t serialization_type,
       aimrt_buffer_array_view_t buffer_array_view,
       void* msg) const {
-    if (aimrt::util::ToStdStringView(serialization_type) == "ros2") {
-      if (buffer_array_view.len == 1) {
-        rcl_serialized_message_t serialized_msg = rmw_get_zero_initialized_serialized_message();
-        serialized_msg.buffer = const_cast<uint8_t*>(static_cast<const uint8_t*>(buffer_array_view.data[0].data)),
-        serialized_msg.buffer_length = buffer_array_view.data[0].len;
-        serialized_msg.buffer_capacity = buffer_array_view.data[0].len;
-        rcl_ret_t ret = rmw_deserialize(&serialized_msg, msg_type_support_, msg);
-        return (ret == RMW_RET_OK);
-      }
-
-      if (buffer_array_view.len > 1) {
-        size_t total_size = 0;
-        for (size_t ii = 0; ii < buffer_array_view.len; ++ii) {
-          total_size += buffer_array_view.data[ii].len;
-        }
-        std::vector<uint8_t> buffer_vec(total_size);
-        uint8_t* buffer = buffer_vec.data();
-        size_t cur_size = 0;
-        for (size_t ii = 0; ii < buffer_array_view.len; ++ii) {
-          memcpy(buffer + cur_size,
-                 buffer_array_view.data[ii].data,
-                 buffer_array_view.data[ii].len);
-          cur_size += buffer_array_view.data[ii].len;
+    try {
+      if (aimrt::util::ToStdStringView(serialization_type) == "ros2") {
+        if (buffer_array_view.len == 1) {
+          rcl_serialized_message_t serialized_msg = rmw_get_zero_initialized_serialized_message();
+          serialized_msg.buffer = const_cast<uint8_t*>(static_cast<const uint8_t*>(buffer_array_view.data[0].data));
+          serialized_msg.buffer_length = buffer_array_view.data[0].len;
+          serialized_msg.buffer_capacity = buffer_array_view.data[0].len;
+          rcl_ret_t ret = rmw_deserialize(&serialized_msg, msg_type_support_, msg);
+          return (ret == RMW_RET_OK);
         }
 
-        rcl_serialized_message_t serialized_msg = rmw_get_zero_initialized_serialized_message();
-        serialized_msg.buffer = buffer,
-        serialized_msg.buffer_length = total_size;
-        serialized_msg.buffer_capacity = total_size;
-        rcl_ret_t ret = rmw_deserialize(&serialized_msg, msg_type_support_, msg);
-        return (ret == RMW_RET_OK);
+        if (buffer_array_view.len > 1) {
+          size_t total_size = 0;
+          for (size_t ii = 0; ii < buffer_array_view.len; ++ii) {
+            total_size += buffer_array_view.data[ii].len;
+          }
+          std::vector<uint8_t> buffer_vec(total_size);
+          uint8_t* buffer = buffer_vec.data();
+          size_t cur_size = 0;
+          for (size_t ii = 0; ii < buffer_array_view.len; ++ii) {
+            memcpy(buffer + cur_size,
+                   buffer_array_view.data[ii].data,
+                   buffer_array_view.data[ii].len);
+            cur_size += buffer_array_view.data[ii].len;
+          }
+
+          rcl_serialized_message_t serialized_msg = rmw_get_zero_initialized_serialized_message();
+          serialized_msg.buffer = buffer;
+          serialized_msg.buffer_length = total_size;
+          serialized_msg.buffer_capacity = total_size;
+          rcl_ret_t ret = rmw_deserialize(&serialized_msg, msg_type_support_, msg);
+          return (ret == RMW_RET_OK);
+        }
       }
       return false;
+    } catch (const std::exception& e) {
+      return false;
     }
-    return false;
   }
 
   aimrt_type_support_base_t GenBase(PyRos2TypeSupport* impl, py::object pymsg_type) {