Fix potential unsafe initialization in the Graph class by caguero · Pull Request #606 · gazebosim/gz-math

caguero · 2024-07-02T20:59:42Z

🦟 Bug fix

Partially fixes #269 (Graph class).

Summary

I implemented the "Construct on first use" idiom (https://www.freecodecamp.org/news/cpp-static-initialization-order-fiasco/) to avoid the potential unsafe construction.

Checklist

Signed all commits for DCO
Added tests
Updated documentation (as needed)
Updated migration guide (as needed)
Consider updating Python bindings (if the library has them)
codecheck passed (See contributing)
All tests passed (See test coverage)
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Signed-off-by: Carlos Agüero <caguero@openrobotics.org>

codecov · 2024-07-02T21:12:59Z

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 95.98%. Comparing base (c32e96e) to head (05b847d).
Report is 6 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main     #606   +/-   ##
=======================================
  Coverage   95.97%   95.98%           
=======================================
  Files         147      147           
  Lines       10122    10130    +8     
=======================================
+ Hits         9715     9723    +8     
  Misses        407      407

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scpeters · 2024-07-04T04:46:36Z

include/gz/math/graph/Graph.hh

          std::cerr << "[Graph::AddVertex()] The limit of vertices has been "
                    << "reached. Ignoring vertex." << std::endl;
-          return Vertex<V>::NullVertex;
+          return NullVertex<V>();


this seems like an API change; we may need to do it, but let me check if sdformat will be affected

yes, this will require changes in sdformat:

https://github.com/gazebosim/sdformat/blob/main/src/FrameSemantics.cc#L89

I restored the original static members and added deprecations. It should be possible to keep using them.
15b8975

scpeters

we should update the migration guide to document the API break / deprecation, depending on which route we take

scpeters · 2024-07-04T04:48:22Z

include/gz/math/graph/Graph.hh

          std::cerr << "[Graph::AddVertex()] The limit of vertices has been "
                    << "reached. Ignoring vertex." << std::endl;
-          return Vertex<V>::NullVertex;
+          return NullVertex<V>();


yes, this will require changes in sdformat:

https://github.com/gazebosim/sdformat/blob/main/src/FrameSemantics.cc#L89

scpeters · 2024-07-04T04:51:32Z

include/gz/math/graph/Edge.hh

  class UndirectedEdge : public Edge<E>
  {
-    /// \brief An invalid undirected edge.
-    public: static UndirectedEdge<E> NullEdge;


We may choose to make a hard API break here, but I'd prefer to not remove these static types in this pull request, but to deprecate them instead, so that we can coordinate fixes for sdformat and any other gz-* packages in separate pull requests.

Let me know if the changes in 15b8975 are sufficient to keep sdformat and friends compiling.

it looks like sdformat15 will still compile with this change as of 5f606f0 (tested using the ci_matching_branch/ trick partially documented in gazebosim/docs#377)

https://build.osrfoundation.org/view/gz-ionic/job/sdformat15-install_bottle-homebrew-amd64/210/

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>

caguero · 2024-07-11T20:00:05Z

we should update the migration guide to document the API break / deprecation, depending on which route we take

Migration guide updated. See 15b8975 and 5f606f0.

scpeters · 2024-07-12T07:42:46Z

Migration.md

+    + The functions `Graph::AddEdge()`, `Graph::LinkEdge()`,
+      `Graph::EdgeFromVertices()` and `Graph::EdgeFromId()` functions might
+      return NullEdge() instead of NullEdge.
+      E.g.: https://github.com/gazebosim/gz-math/pull/606/files#diff-0c0220a7e72be70337975433eeddc3f5e072ade5cd80dfb1ac03da233c39c983L222-R222


I don't think these are breaking change in Graph.hh. I had originall commented on Graph.hh because that is where I noticed that our API was changing due to the previously removed type, but for this PR, I think the only needed change to the Migration guide is the deprecations below

You're right, we're not changing the function signature so it should be fine.

Migration.md

Co-authored-by: Steve Peters <scpeters@openrobotics.org> Signed-off-by: Carlos Agüero <cen.aguero@gmail.com>

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>

This reverts commit 17585a9. Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters · 2024-07-17T17:31:19Z

include/gz/math/graph/Edge.hh

+  {
+    static auto e = std::make_unique<EdgeType>(
+      VertexId_P(kNullId, kNullId), E(), 1.0, kNullId);
+    return *e;


looking at Material::Predefined(), I wonder if the unique pointer should be made and released from inside a static lambda function?

I think it would be better to use gz::utils::NeverDestroyed (e.g. https://github.com/gazebosim/sdformat/blob/f05f4e7ad1a6784f9ff1a6c1b362191677baa70d/src/Types.cc#L149). However, the fact that this function returns a non-const reference could be problematic since anyone can modify the value.

regarding the non-const reference, I think the behavior in gz-math7 and earlier with static variables has a similar issue right? I tried changing the NullEdge and NullVertex functions to return a const reference, but lots of Graph.hh functions that currently return non-const references like to return references to NullEdge or NullVertex and fail to compile. This seems like a bigger issue with the API that we could open an issue about.

trying again in #612

* Avoid constructor/destructor fiascos in graph class * Deprecations and migration guide. Signed-off-by: Carlos Agüero <caguero@openrobotics.org> Signed-off-by: Carlos Agüero <cen.aguero@gmail.com> Co-authored-by: Steve Peters <scpeters@openrobotics.org>

Avoid constructor/destructor fiascos in graph class

be6caa9

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>

caguero requested review from adityapande-1995 and scpeters as code owners July 2, 2024 20:59

github-actions bot added the 🏛️ ionic Gazebo Ionic label Jul 2, 2024

Merge branch 'main' into caguero/issue_269_graph

05b847d

ahcorde approved these changes Jul 3, 2024

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scpeters reviewed Jul 4, 2024

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scpeters requested changes Jul 4, 2024

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caguero and others added 3 commits July 10, 2024 18:16

Merge branch 'main' into caguero/issue_269_graph

a805fcd

Deprecations and migration guide.

15b8975

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>

Breaking changes.

5f606f0

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>

scpeters reviewed Jul 12, 2024

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Migration.md Outdated Show resolved Hide resolved

caguero and others added 2 commits July 12, 2024 14:22

Update Migration.md

3ea9feb

Co-authored-by: Steve Peters <scpeters@openrobotics.org> Signed-off-by: Carlos Agüero <cen.aguero@gmail.com>

Tweak

a08852b

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>

scpeters approved these changes Jul 12, 2024

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scpeters merged commit 17585a9 into main Jul 12, 2024

scpeters deleted the caguero/issue_269_graph branch July 12, 2024 17:29

This was referenced Jul 12, 2024

FrameSemantics: fix NullVertex warnings gazebosim/sdformat#1458

Merged

Unsafe Constant Initialization #269

Open

scpeters added a commit that referenced this pull request Jul 17, 2024

Revert "Fix potential unsafe initialization in the Graph class (#606)"

797da92

This reverts commit 17585a9. Signed-off-by: Steve Peters <scpeters@openrobotics.org>

This was referenced Jul 17, 2024

dontmerge: test graph init changes gazebosim/gz-sim#2482

Closed

Revert "Fix potential unsafe initialization in the Graph class (#606)" #609

Merged

Revert "FrameSemantics: fix NullVertex warnings (#1458)" gazebosim/sdformat#1459

Merged

scpeters added a commit that referenced this pull request Jul 17, 2024

Revert "Fix potential unsafe initialization in the Graph class (#606)"

2b8a2bb

This reverts commit 17585a9. Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters mentioned this pull request Jul 17, 2024

Remove systems if their parent entity is removed gazebosim/gz-sim#2232

Merged

8 tasks

scpeters reviewed Jul 17, 2024

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This was referenced Jul 19, 2024

Retry fix for unsafe initialization in graph classes #612

Merged

Retry fix for unsafe initialization in graph classes gazebosim/sdformat#1460

Merged

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caguero commented Jul 2, 2024

🦟 Bug fix

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codecov bot commented Jul 2, 2024

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caguero commented Jul 11, 2024

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