RJD-1495/fix

[robomic]

Abstract

This PR contains a bug fix for the issue described here.

Details

The reference to a value managed by the shared pointer escapes (Line 30).

scenario_simulator_v2/external/concealer/include/concealer/subscriber.hpp

Lines 21 to 56 in fa9ca06

	namespace concealer
	{
	template <typename Message>
	struct Subscriber
	{
	typename Message::ConstSharedPtr current_value = std::make_shared<const Message>();
	typename rclcpp::Subscription<Message>::SharedPtr subscription;
	auto operator()() const -> const auto & { return *std::atomic_load(&current_value); }
	template <typename Autoware, typename Callback>
	explicit Subscriber(
	const std::string & topic, const rclcpp::QoS & quality_of_service, Autoware & autoware,
	const Callback & callback)
	: subscription(autoware.template create_subscription<Message>(
	topic, quality_of_service,
	[this, callback](const typename Message::ConstSharedPtr & message) {
	if (std::atomic_store(&current_value, message); current_value) {
	callback(*std::atomic_load(&current_value));
	}
	}))
	{
	}
	template <typename Autoware>
	explicit Subscriber(
	const std::string & topic, const rclcpp::QoS & quality_of_service, Autoware & autoware)
	: subscription(autoware.template create_subscription<Message>(
	topic, quality_of_service, [this](const typename Message::ConstSharedPtr & message) {
	std::atomic_store(&current_value, message);
	}))
	{
	}
	};
	} // namespace concealer

When that const & is used and the underlying value is modified by the owner, a race condition occurs.
Return by value instead of by const & to force a copy and avoid the problem.

References

Regressions OK

[sonarqubecloud]

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
28.6% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud