Segfault when adding annotation to dynamic type [13595]

[evading]

Expected Behavior

It should be possible to add annotations when building dynamic types.

Current Behavior

Adding builder->apply_annotation("Foo", "Bar", "Baz"); to an otherwise working example leads to segfault when trying to run.

Steps to Reproduce

// main.cpp
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastrtps/types/DynamicDataFactory.h>
#include <fastrtps/types/DynamicTypeBuilderFactory.h>
#include <fastrtps/types/DynamicTypeBuilderPtr.h>

using namespace eprosima::fastdds::dds;
using namespace eprosima::fastrtps::rtps;
using namespace eprosima::fastrtps::types;

class Annotations {

public:
    Annotations();
    void create_type();
    void create_publisher(void);

private:
    eprosima::fastdds::dds::DomainParticipant* m_dp = nullptr;
    eprosima::fastrtps::types::DynamicData_ptr m_data;
    eprosima::fastdds::dds::Topic* m_topic = nullptr;
    eprosima::fastdds::dds::DataWriter* m_writer = nullptr;
    eprosima::fastdds::dds::Publisher* m_publisher;
};

Annotations::Annotations()
{
    auto dp_qos = DomainParticipantQos {};

    auto config = &dp_qos.wire_protocol().builtin.discovery_config;
    config->discoveryProtocol = DiscoveryProtocol_t::SIMPLE;
    config->use_SIMPLE_EndpointDiscoveryProtocol = true;
    config->m_simpleEDP.use_PublicationReaderANDSubscriptionWriter = true;
    config->m_simpleEDP.use_PublicationWriterANDSubscriptionReader = true;
    config->leaseDuration = eprosima::fastrtps::c_TimeInfinite;
    dp_qos.name("Annotations Participant");

    m_dp = DomainParticipantFactory::get_instance()->create_participant(0, dp_qos, nullptr);
}

void Annotations::create_type()
{
    const auto type_name = "TypeName";
    DynamicTypeBuilder_ptr bldr = DynamicTypeBuilderFactory::get_instance()->create_struct_builder();

    bldr->set_name(type_name);

    bldr->add_member(
        0, "IntMember",
        DynamicTypeBuilderFactory::get_instance()->create_int32_type());

    bldr->add_member(
        1, "StringMember",
        DynamicTypeBuilderFactory::get_instance()->create_string_type());

    //bldr->apply_annotation("Foo", "Bar", "Baz");

    auto dyn_type = bldr->build();

    m_data = DynamicDataFactory::get_instance()->create_data(dyn_type);

    auto t = TypeSupport { new DynamicPubSubType { dyn_type } };
    t.get()->auto_fill_type_information(true);
    t.get()->auto_fill_type_object(true);

    t.register_type(m_dp);

    m_topic = m_dp->create_topic("Topic", type_name, TOPIC_QOS_DEFAULT);
}

void Annotations::create_publisher(void)
{
    m_publisher = this->m_dp->create_publisher(PUBLISHER_QOS_DEFAULT, nullptr);

    auto param_w_qos = DataWriterQos {};
    param_w_qos.history().kind = eprosima::fastrtps::KEEP_ALL_HISTORY_QOS;
    param_w_qos.history().depth = 20;
    param_w_qos.reliability().kind = eprosima::fastrtps::RELIABLE_RELIABILITY_QOS;
    param_w_qos.durability().kind = eprosima::fastrtps::TRANSIENT_LOCAL_DURABILITY_QOS;

    m_writer = m_publisher->create_datawriter(
        this->m_topic,
        param_w_qos,
        nullptr);

    auto val_id = this->m_data->get_member_id_by_name("IntMember");
    this->m_data->set_int32_value(42, val_id);
    val_id = this->m_data->get_member_id_by_name("StringMember");
    this->m_data->set_string_value("FooBarBaz", val_id);

    m_writer->write(this->m_data.get());
}

int main(void)
{
    Annotations a;
    a.create_type();
    a.create_publisher();

    std::cin.ignore();
    return 0;
}

# Makefile
CXXFLAGS += -std=c++17
LDLIBS += -L/usr/local/lib -lfastrtps

all: main

.PHONY: clean
clean:
	rm -f main

Uncommenting //bldr->apply_annotation("Foo", "Bar", "Baz"); leads to segfault when trying to run.

System information

• Fast-DDS version: 70e2ad09001cbe92eea7bfe66830099b96b6f7d4
• OS: Linux lnx 4.19.0-14-amd64 #1 SMP Debian 4.19.171-2 (2021-01-30) x86_64 GNU/Linux

Additional context

Additional resources

Starting program: /home/einar/tmp/delme/main
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7ffff6550700 (LWP 9094)]
[New Thread 0x7ffff5d4f700 (LWP 9095)]
[New Thread 0x7ffff554e700 (LWP 9096)]
[New Thread 0x7ffff4d4d700 (LWP 9097)]
[New Thread 0x7ffff454c700 (LWP 9098)]
[New Thread 0x7ffff3d4b700 (LWP 9099)]
[New Thread 0x7ffff354a700 (LWP 9100)]
[New Thread 0x7ffff2c49700 (LWP 9101)]

Thread 1 "main" received signal SIGSEGV, Segmentation fault.
0x00007ffff798435a in eprosima::fastrtps::types::TypeIdentifier::operator= (this=0x7fffffff85e0, x=...) at /home/einar/repos/Fast-DDS/src/cpp/dynamic-types/TypeIdentifier.cpp:147
147         m__d = x.m__d;
(gdb) bt
#0  0x00007ffff798435a in eprosima::fastrtps::types::TypeIdentifier::operator= (this=0x7fffffff85e0, x=...) at /home/einar/repos/Fast-DDS/src/cpp/dynamic-types/TypeIdentifier.cpp:147
#1  0x00007ffff796cc17 in eprosima::fastrtps::types::AppliedAnnotation::annotation_typeid (this=0x7fffffff85e0, _annotation_typeid=...)
    at /home/einar/repos/Fast-DDS/include/fastrtps/types/AnnotationParameterValue.h:1036
#2  0x00007ffff796aa9f in eprosima::fastrtps::types::DynamicTypeBuilderFactory::apply_type_annotations (this=0x55555563a5c0, annotations=std::vector of length 0, capacity 0,
    descriptor=0x5555556a6380) at /home/einar/repos/Fast-DDS/src/cpp/dynamic-types/DynamicTypeBuilderFactory.cpp:2747
#3  0x00007ffff7962677 in eprosima::fastrtps::types::DynamicTypeBuilderFactory::build_struct_type_code (this=0x55555563a5c0, descriptor=0x5555556a6380, object=...,
    members=std::vector of length 2, capacity 2 = {...}, complete=true) at /home/einar/repos/Fast-DDS/src/cpp/dynamic-types/DynamicTypeBuilderFactory.cpp:1677
#4  0x00007ffff795dbd9 in eprosima::fastrtps::types::DynamicTypeBuilderFactory::build_type_object (this=0x55555563a5c0, descriptor=0x5555556a6380, object=..., members=0x7fffffffdda0,
    complete=true, force=false) at /home/einar/repos/Fast-DDS/src/cpp/dynamic-types/DynamicTypeBuilderFactory.cpp:1124
#5  0x00007ffff7874b7d in eprosima::fastdds::dds::DomainParticipantImpl::register_dynamic_type_to_factories (this=0x5555555ef000, type=...)
    at /home/einar/repos/Fast-DDS/src/cpp/fastdds/domain/DomainParticipantImpl.cpp:1079
#6  0x00007ffff787481f in eprosima::fastdds::dds::DomainParticipantImpl::register_type (this=0x5555555ef000, type=..., type_name="TypeName")
    at /home/einar/repos/Fast-DDS/src/cpp/fastdds/domain/DomainParticipantImpl.cpp:1053
#7  0x00007ffff788c025 in eprosima::fastdds::dds::DomainParticipant::register_type (this=0x5555555eefb0, type=..., type_name="TypeName")
    at /home/einar/repos/Fast-DDS/src/cpp/fastdds/domain/DomainParticipant.cpp:401
#8  0x00007ffff784737b in eprosima::fastdds::dds::TypeSupport::register_type (this=0x7fffffffe370, participant=0x5555555eefb0)
    at /home/einar/repos/Fast-DDS/src/cpp/fastdds/topic/TypeSupport.cpp:39
#9  0x000055555557ca74 in Annotations::create_type() ()
#10 0x000055555557d096 in main ()
(gdb) p &x
$1 = (const eprosima::fastrtps::types::TypeIdentifier *) 0x0
(gdb)

[JLBuenoLopez]

There are several known issues related with Dynamic Types in Fast DDS. Thus, a refactor is being undertaken in order to fix the Dynamic Types implementation. It is expected to be released with Fast DDS v2.11.0 scheduled for June 2023.