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node_parameters: reject non-finite values in floating-point range check #3143

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node_parameters: reject non-finite values in floating-point range check #3143

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5 changes: 4 additions & 1 deletion rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -180,6 +180,9 @@ RCLCPP_LOCAL
bool
__are_doubles_equal(double x, double y, double ulp = 100.0)
{
if (!std::isfinite(x) || !std::isfinite(y)) {
return x == y;
}
return std::abs(x - y) <= std::numeric_limits<double>::epsilon() * std::abs(x + y) * ulp;
}

Expand Down Expand Up @@ -234,7 +237,7 @@ __check_double_range(
{
return result;
}
if ((value < fp_range.from_value) || (value > fp_range.to_value)) {
if (!(value >= fp_range.from_value && value <= fp_range.to_value)) {
result.successful = false;
result.reason = format_range_reason(descriptor.name, "floating point");
return result;
Expand Down
22 changes: 21 additions & 1 deletion rclcpp/test/rclcpp/test_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1732,6 +1732,26 @@ TEST_F(TestNode, set_parameter_undeclared_parameters_not_allowed) {
EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, 9.999)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<double>(), 11.0);
}
{
// floating point range must reject non-finite values (issue #2898).
auto name = "parameter"_unq;
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.floating_point_range.resize(1);
auto & floating_point_range = descriptor.floating_point_range.at(0);
floating_point_range.from_value = 0.0;
floating_point_range.to_value = 100.0;
floating_point_range.step = 0.0;
node->declare_parameter(name, 50.0, descriptor);

constexpr double inf = std::numeric_limits<double>::infinity();
constexpr double nan = std::numeric_limits<double>::quiet_NaN();
EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, inf)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<double>(), 50.0);
EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, -inf)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<double>(), 50.0);
EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, nan)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<double>(), 50.0);
}
{
// setting an array parameter with floating point range descriptor
auto name = "parameter"_unq;
Expand Down Expand Up @@ -1969,7 +1989,7 @@ TEST_F(TestNode, set_parameter_undeclared_parameters_not_allowed) {
RCPPUTILS_SCOPE_EXIT(
{node->remove_pre_set_parameters_callback(handler.get());}); // always reset
}
}
} // NOLINT(readability/fn_size)

TEST_F(TestNode, set_parameter_undeclared_parameters_allowed) {
rclcpp::NodeOptions no;
Expand Down