From fabd65b9d3925445441e903c932d4f7d554b4d2b Mon Sep 17 00:00:00 2001
From: Tomoya Fujita <Tomoya.Fujita@sony.com>
Date: Mon, 22 Nov 2021 13:42:44 -0800
Subject: [PATCH] Length of size limited string is not checked

  https://github.com/ros2/rclcpp/issues/1827

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
---
 prover_interfaces/CMakeLists.txt           |  4 +++
 prover_interfaces/msg/StringLengthTest.msg |  1 +
 prover_rclcpp/CMakeLists.txt               |  3 ++
 prover_rclcpp/package.xml                  |  4 ++-
 prover_rclcpp/src/rclcpp_1827.cpp          | 38 ++++++++++++++++++++++
 5 files changed, 49 insertions(+), 1 deletion(-)
 create mode 100644 prover_interfaces/msg/StringLengthTest.msg
 create mode 100644 prover_rclcpp/src/rclcpp_1827.cpp

diff --git a/prover_interfaces/CMakeLists.txt b/prover_interfaces/CMakeLists.txt
index 5545305..ff04ef5 100644
--- a/prover_interfaces/CMakeLists.txt
+++ b/prover_interfaces/CMakeLists.txt
@@ -12,10 +12,14 @@ find_package(rosidl_default_generators REQUIRED)
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
 
+set(msg_files
+  "msg/StringLengthTest.msg"
+)
 set(srv_files
   "srv/Huge.srv"
 )
 rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
   ${srv_files}
   ADD_LINTER_TESTS
 )
diff --git a/prover_interfaces/msg/StringLengthTest.msg b/prover_interfaces/msg/StringLengthTest.msg
new file mode 100644
index 0000000..c56869f
--- /dev/null
+++ b/prover_interfaces/msg/StringLengthTest.msg
@@ -0,0 +1 @@
+string<=10 size_limited_string
\ No newline at end of file
diff --git a/prover_rclcpp/CMakeLists.txt b/prover_rclcpp/CMakeLists.txt
index eaba976..962b431 100644
--- a/prover_rclcpp/CMakeLists.txt
+++ b/prover_rclcpp/CMakeLists.txt
@@ -37,6 +37,7 @@ find_package(rcutils)
 find_package(rmw REQUIRED)
 find_package(std_srvs REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(prover_interfaces REQUIRED)
 find_package(example_interfaces REQUIRED)
 
 function(custom_executable target)
@@ -45,6 +46,7 @@ function(custom_executable target)
     "rclcpp"
     "std_srvs"
     "std_msgs"
+    "prover_interfaces"
     "lifecycle_msgs"
     "rclcpp_lifecycle"
     "example_interfaces")
@@ -82,6 +84,7 @@ custom_executable(rclcpp_1746)
 custom_executable(rclcpp_1766)
 custom_executable(rclcpp_1778)
 custom_executable(rclcpp_1785)
+custom_executable(rclcpp_1827)
 
 custom_executable(rmw_fastrtps_554)
 custom_executable(rmw_fastrtps_555)
diff --git a/prover_rclcpp/package.xml b/prover_rclcpp/package.xml
index 5b7c8ea..dfbe6ba 100644
--- a/prover_rclcpp/package.xml
+++ b/prover_rclcpp/package.xml
@@ -22,6 +22,7 @@
   <build_depend>rmw_implementation_cmake</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>std_srvs</build_depend>
+  <build_depend>prover_interfaces</build_depend>
   <build_depend>example_interfaces</build_depend>
 
   <exec_depend>lifecycle_msgs</exec_depend>
@@ -32,7 +33,8 @@
   <exec_depend>rmw</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>std_srvs</exec_depend>
-  <build_depend>example_interfaces</build_depend>
+  <exec_depend>prover_interfaces</exec_depend>
+  <exec_depend>example_interfaces</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/prover_rclcpp/src/rclcpp_1827.cpp b/prover_rclcpp/src/rclcpp_1827.cpp
new file mode 100644
index 0000000..dac0eba
--- /dev/null
+++ b/prover_rclcpp/src/rclcpp_1827.cpp
@@ -0,0 +1,38 @@
+#include <chrono>
+#include <memory>
+
+using namespace std::chrono_literals;
+
+#include "rclcpp/rclcpp.hpp"
+#include "prover_interfaces/msg/string_length_test.hpp"
+
+class TestPublisher : public rclcpp::Node
+{
+  public:
+    TestPublisher()
+    : Node("string_length_test_publisher")
+    {
+      publisher_ = this->create_publisher<prover_interfaces::msg::StringLengthTest>("oversized", 10);
+      timer_ = this->create_wall_timer(
+        1s, std::bind(&TestPublisher::timer_callback, this)); // 1kHz
+    }
+
+  private:
+    void timer_callback()
+    {
+      auto message = prover_interfaces::msg::StringLengthTest();
+      message.size_limited_string.resize(11, 'x');
+      publisher_->publish(message);
+    }
+    rclcpp::TimerBase::SharedPtr timer_;
+    rclcpp::Publisher<prover_interfaces::msg::StringLengthTest>::SharedPtr publisher_;
+};
+
+int main(int argc, char **argv)
+{
+    rclcpp::init(argc, argv);
+    std::shared_ptr<TestPublisher> pub = std::make_shared<TestPublisher>();
+    rclcpp::spin(pub);
+    rclcpp::shutdown();
+    return 0;
+}