Merge pull request #61 from benaliabderrahmane/fix/event-init-reject-unsupported

fix(rmw_event): reject unsupported event types in *_event_init

Author: benaliabderrahmane

rmw_unix_socket_cpp/CMakeLists.txt

@@ -211,6 +211,11 @@ if(BUILD_TESTING)
   target_link_libraries(test_rmw_qos ${_rmw_test_libs} ${_test_msg_deps})
   target_include_directories(test_rmw_qos PRIVATE src)
 
+  # RMW API: publisher/subscription events
+  ament_add_gtest(test_rmw_event test/test_rmw_event.cpp)
+  target_link_libraries(test_rmw_event ${_rmw_test_libs} ${_test_msg_deps})
+  target_include_directories(test_rmw_event PRIVATE src)
+
   # Integration: fork()-based two-process tests pushing >4 MB payloads across
   # a real PID boundary through the shared-memory path.
   ament_add_gtest(test_rmw_cross_process test/test_rmw_cross_process.cpp)

rmw_unix_socket_cpp/src/rmw_event.cpp

@@ -29,6 +29,10 @@ rmw_ret_t rmw_publisher_event_init(
 {
   RMW_CHECK_ARGUMENT_FOR_NULL(rmw_event, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(publisher, RMW_RET_INVALID_ARGUMENT);
+  if (!rmw_event_type_is_supported(event_type)) {
+    RMW_SET_ERROR_MSG("event type not supported");
+    return RMW_RET_UNSUPPORTED;
+  }
   // Initialize the event struct so rcl can add it to a wait set without crashing.
   // We don't actually generate events, but the struct must be valid.
   rmw_event->implementation_identifier = rmw_uds::identifier;
@@ -44,6 +48,10 @@ rmw_ret_t rmw_subscription_event_init(
 {
   RMW_CHECK_ARGUMENT_FOR_NULL(rmw_event, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(subscription, RMW_RET_INVALID_ARGUMENT);
+  if (!rmw_event_type_is_supported(event_type)) {
+    RMW_SET_ERROR_MSG("event type not supported");
+    return RMW_RET_UNSUPPORTED;
+  }
   rmw_event->implementation_identifier = rmw_uds::identifier;
   rmw_event->data = subscription->data;
   rmw_event->event_type = event_type;

rmw_unix_socket_cpp/test/test_rmw_event.cpp

@@ -0,0 +1,86 @@
+// Copyright 2026 Abderahmane BENALI
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "test_base.hpp"
+
+#include <cstring>
+
+#include "test_msgs/msg/basic_types.hpp"
+
+#include "rmw/event.h"
+#include "rmw/qos_profiles.h"
+#include "rosidl_typesupport_cpp/message_type_support.hpp"
+
+class EventTest : public RmwUdsNodeTest
+{
+protected:
+  rmw_publisher_t * pub = nullptr;
+  rmw_subscription_t * sub = nullptr;
+  const rosidl_message_type_support_t * ts = nullptr;
+  rmw_qos_profile_t qos;
+
+  void SetUp() override
+  {
+    RmwUdsNodeTest::SetUp();
+    ts = rosidl_typesupport_cpp::get_message_type_support_handle<
+      test_msgs::msg::BasicTypes>();
+    std::memset(&qos, 0, sizeof(qos));
+    qos.history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
+    qos.depth = 10;
+    qos.reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+    qos.durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+
+    auto pub_opts = rmw_get_default_publisher_options();
+    pub = rmw_create_publisher(node, ts, "/event_test_topic", &qos, &pub_opts);
+    ASSERT_NE(nullptr, pub);
+
+    auto sub_opts = rmw_get_default_subscription_options();
+    sub = rmw_create_subscription(node, ts, "/event_test_topic", &qos, &sub_opts);
+    ASSERT_NE(nullptr, sub);
+  }
+
+  void TearDown() override
+  {
+    if (sub) { auto _r [[maybe_unused]] = rmw_destroy_subscription(node, sub); }
+    if (pub) { auto _r [[maybe_unused]] = rmw_destroy_publisher(node, pub); }
+    RmwUdsNodeTest::TearDown();
+  }
+};
+
+// rmw_event_type_is_supported() reports no event types as supported, so
+// rclcpp expects *_event_init() to fail with RMW_RET_UNSUPPORTED for those
+// event types (it only swallows initialization failures reported this way,
+// via UnsupportedEventTypeException). If init instead reports success,
+// rclcpp constructs a live event handler for it, and the failure only
+// surfaces later - unhandled - when the executor registers its callback,
+// crashing with "failed to set the on new message callback for Event".
+TEST_F(EventTest, SubscriptionEventInitRejectsUnsupportedEventType)
+{
+  ASSERT_FALSE(rmw_event_type_is_supported(RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE));
+
+  rmw_event_t event = rmw_get_zero_initialized_event();
+  EXPECT_EQ(
+    RMW_RET_UNSUPPORTED,
+    rmw_subscription_event_init(&event, sub, RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE));
+}
+
+TEST_F(EventTest, PublisherEventInitRejectsUnsupportedEventType)
+{
+  ASSERT_FALSE(rmw_event_type_is_supported(RMW_EVENT_OFFERED_QOS_INCOMPATIBLE));
+
+  rmw_event_t event = rmw_get_zero_initialized_event();
+  EXPECT_EQ(
+    RMW_RET_UNSUPPORTED,
+    rmw_publisher_event_init(&event, pub, RMW_EVENT_OFFERED_QOS_INCOMPATIBLE));
+}