ros2GH-23 Improve santization of topics

bosch-io · Sep 5, 2018 · 4f98d17 · 4f98d17
1 parent 21911c9
commit 4f98d17
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Showing 2 changed files with 45 additions and 2 deletions.
diff --git a/rosbag2/src/rosbag2/rosbag2_node.cpp b/rosbag2/src/rosbag2/rosbag2_node.cpp
@@ -109,8 +109,23 @@ std::map<std::string, std::string> Rosbag2Node::sanitize_topics_and_types(
           "Topic '%s' has several types associated. Only topics with one type are supported.",
           element.first.c_str());
         return true;
+      } else {
+        char type_separator = '/';
+        auto sep_position_back = element.second[0].find_last_of(type_separator);
+        auto sep_position_front = element.second[0].find_first_of(type_separator);
+        if (sep_position_back == std::string::npos ||
+        sep_position_back != sep_position_front ||
+        sep_position_back == 0 ||
+        sep_position_back == element.second[0].length() - 1)
+        {
+          RCUTILS_LOG_ERROR_NAMED(
+            "rosbag2",
+            "Topic '%s' has non-ROS type %s . Only ROS topics are supported.",
+            element.first.c_str(), element.second[0].c_str());
+          return true;
+        }
+        return false;
       }
-      return false;
     });
 
   std::map<std::string, std::string> topics_and_types_to_record;

diff --git a/rosbag2/test/rosbag2/rosbag2_rosbag_node_test.cpp b/rosbag2/test/rosbag2/rosbag2_rosbag_node_test.cpp
@@ -15,6 +15,7 @@
 #include <gmock/gmock.h>
 
 #include <future>
+#include <map>
 #include <memory>
 #include <string>
 #include <vector>
@@ -140,7 +141,7 @@ TEST_F(RosBag2NodeFixture,
   EXPECT_THAT(topics_and_types.begin()->second, StrEq("std_msgs/String"));
 }
 
-TEST_F(RosBag2NodeFixture, get_topics_with_types_returns_multiple_topics_for_multiple_inputs) {
+TEST_F(RosBag2NodeFixture, get_topics_with_types_returns_only_specified_topics) {
   std::string first_topic("/string_topic");
   std::string second_topic("/other_topic");
   std::string third_topic("/wrong_topic");
@@ -177,3 +178,30 @@ TEST_F(RosBag2NodeFixture, get_all_topics_with_types_returns_all_topics)
   EXPECT_THAT(
     topics_and_types.find("/parameter_events")->second, StrEq("rcl_interfaces/ParameterEvent"));
 }
+
+TEST_F(RosBag2NodeFixture, sanitize_topics_and_types_deletes_topics_with_multiple_types)
+{
+  std::map<std::string, std::vector<std::string>> topics_and_types = {
+    {"/topic", {"package1/type1"}},
+    {"/topic2", {"package1/type1", "package2/type2"}}};
+
+  auto sanitized_topics_and_types = node_->sanitize_topics_and_types(topics_and_types);
+
+  ASSERT_THAT(sanitized_topics_and_types, SizeIs(1));
+  EXPECT_THAT(sanitized_topics_and_types.find("/topic")->second, StrEq("package1/type1"));
+}
+
+TEST_F(RosBag2NodeFixture, sanitize_topics_and_types_deletes_topics_with_wrong_type_format)
+{
+  std::map<std::string, std::vector<std::string>> topics_and_types = {
+    {"/topic", {"package1/type1"}},
+    {"/topic2", {"package1/"}},
+    {"/topic3", {"package1/package2/type"}},
+    {"/topic4", {"/type"}}
+  };
+
+  auto sanitized_topics_and_types = node_->sanitize_topics_and_types(topics_and_types);
+
+  ASSERT_THAT(sanitized_topics_and_types, SizeIs(1));
+  EXPECT_THAT(sanitized_topics_and_types.find("/topic")->second, StrEq("package1/type1"));
+}