fix: harden encoder/decoder against UB, data races, and corrupted input#57
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facontidavide merged 5 commits intomainfrom Feb 21, 2026
Merged
fix: harden encoder/decoder against UB, data races, and corrupted input#57facontidavide merged 5 commits intomainfrom
facontidavide merged 5 commits intomainfrom
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Address issues found during code review: - Fix decodeVarint shift UB: check overflow before shift operation - Fix decodeVarint underflow: guard against uval==0 on corrupted data - Fix worker thread deadlock: detect dead worker on subsequent encode() - Fix WASM encode: avoid extra allocation by encoding directly when buffer fits - Clean up waitForCompressionComplete: only set worker_failed_ in error path - Optimize encode(BufferView&): use header_.size() instead of YAML reserialization - Improve readability and error messages in DecodeHeader/MaxSerializedFieldSize - Add explicit <cstring> include in encoding_utils.hpp - Fix pre-existing FloatLossy test bug: use float instead of double for kResolution - Re-enable previously commented-out tests Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
…d safety - Add per-point bounds check in decodeChunk to replace per-field checks in fixed-size decoders (FieldDecoderCopy, FieldDecoderFloat_XOR), eliminating 12-14% decode overhead while maintaining safety - Keep per-field checks for variable-size decoders (Float_Lossy, FloatN_Lossy) where overhead is negligible relative to varint decoding - Fix encoder deadlock on re-use after worker thread failure by joining dead thread and re-spawning; protect shared state resets with mutex - Tighten decodeVarint overflow check from shift>=64 to shift>=63 - Derive point count from actual data size in ROS conversion instead of trusting metadata width*height to prevent over-allocation DoS Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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python3-ament-package does not exist on Ubuntu 24.04. The setup-ros action and action-ros-ci already handle installing colcon and ament dependencies, matching the working Humble CI workflow. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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Summary
uval==0(corrupted data) wrappinguint64_ttoUINT64_MAXencode()calls instead of hanging foreverMaxCompressedSizefirst and encode directly into caller's buffer when it fits, avoiding unnecessary heap allocation + memcpyworker_failed_(notcompression_done_) in catch block for clearer signal separationencode(BufferView&): useheader_.size()directly instead of re-serializing YAML viaMaxCompressedSizeMaxSerializedFieldSizeerrors<cstring>include: makememcpydependency explicit inencoding_utils.hppkResolutionwasdouble, causing CTAD to deduce<double>template onfloatdata — changed tofloattest_field_encoders.cpp,test_intrinsics.cpp,test_header.cppin CMakeLists and removeskip-testsfrom CITest plan
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