QoSInitialization::from_rmw does not validate invalid history policy … (backport #2841) (#2844)

Signed-off-by: Alejandro Hernandez Cordero <[email protected]>
Co-authored-by: Alejandro Hernández Cordero <[email protected]>

Author: mergify[bot]

rclcpp/src/rclcpp/qos.cpp

@@ -56,8 +56,10 @@ QoSInitialization::from_rmw(const rmw_qos_profile_t & rmw_qos)
     case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
     case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
     case RMW_QOS_POLICY_HISTORY_UNKNOWN:
-    default:
       return KeepLast(rmw_qos.depth);
+    default:
+      throw std::invalid_argument(
+              "Invalid history policy enum value passed to QoSInitialization::from_rmw");
   }
 }
 

rclcpp/test/rclcpp/test_qos.cpp

@@ -250,3 +250,15 @@ TEST(TestQoS, qos_check_compatible)
     EXPECT_FALSE(ret.reason.empty());
   }
 }
+
+TEST(TestQoS, from_rmw_validity)
+{
+  rmw_qos_profile_t invalid_qos;
+  memset(&invalid_qos, 0, sizeof(invalid_qos));
+  reinterpret_cast<uint32_t &>(invalid_qos.history) = 999;
+
+  EXPECT_THROW(
+  {
+    rclcpp::QoSInitialization::from_rmw(invalid_qos);
+  }, std::invalid_argument);
+}