From 2a49ee0f0b656e80759ee8a1ea997122b8a3f090 Mon Sep 17 00:00:00 2001
From: Vincent Richard <richard-v@macnica.co.jp>
Date: Wed, 12 Apr 2023 19:46:41 +0900
Subject: [PATCH] fix(perception): remove UB reinterpret_cast

see https://github.com/autowarefoundation/autoware.universe/issues/3215

Signed-off-by: Vincent Richard <richard-v@macnica.co.jp>
---
 perception/tensorrt_yolo/lib/src/plugins/nms_plugin.cpp     | 6 +++---
 .../tensorrt_yolo/lib/src/plugins/yolo_layer_plugin.cpp     | 6 +++---
 system/system_monitor/reader/hdd_reader/hdd_reader.cpp      | 4 ++--
 3 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/perception/tensorrt_yolo/lib/src/plugins/nms_plugin.cpp b/perception/tensorrt_yolo/lib/src/plugins/nms_plugin.cpp
index 4ff96bf15257b..b486595a2cb7b 100644
--- a/perception/tensorrt_yolo/lib/src/plugins/nms_plugin.cpp
+++ b/perception/tensorrt_yolo/lib/src/plugins/nms_plugin.cpp
@@ -39,10 +39,10 @@
 
 #include <cuda_runtime_api.h>
 #include <stdio.h>
-#include <string.h>
 
 #include <cassert>
 #include <cmath>
+#include <cstring>
 
 using nvinfer1::DataType;
 using nvinfer1::DimsExprs;
@@ -62,14 +62,14 @@ const char * NMS_PLUGIN_NAMESPACE{""};
 template <typename T>
 void write(char *& buffer, const T & val)
 {
-  *reinterpret_cast<T *>(buffer) = val;
+  std::memcpy(buffer, &val, sizeof(T));
   buffer += sizeof(T);
 }
 
 template <typename T>
 void read(const char *& buffer, T & val)
 {
-  val = *reinterpret_cast<const T *>(buffer);
+  std::memcpy(&val, buffer, sizeof(T));
   buffer += sizeof(T);
 }
 
diff --git a/perception/tensorrt_yolo/lib/src/plugins/yolo_layer_plugin.cpp b/perception/tensorrt_yolo/lib/src/plugins/yolo_layer_plugin.cpp
index 78edc568bb7c4..dc12921dc1e96 100644
--- a/perception/tensorrt_yolo/lib/src/plugins/yolo_layer_plugin.cpp
+++ b/perception/tensorrt_yolo/lib/src/plugins/yolo_layer_plugin.cpp
@@ -63,10 +63,10 @@
 
 #include <cuda_runtime_api.h>
 #include <stdio.h>
-#include <string.h>
 
 #include <cassert>
 #include <cmath>
+#include <cstring>
 #include <vector>
 
 using nvinfer1::DataType;
@@ -87,14 +87,14 @@ const char * YOLO_LAYER_PLUGIN_NAMESPACE{""};
 template <typename T>
 void write(char *& buffer, const T & val)
 {
-  *reinterpret_cast<T *>(buffer) = val;
+  std::memcpy(buffer, &val, sizeof(T));
   buffer += sizeof(T);
 }
 
 template <typename T>
 void read(const char *& buffer, T & val)
 {
-  val = *reinterpret_cast<const T *>(buffer);
+  std::memcpy(&val, buffer, sizeof(T));
   buffer += sizeof(T);
 }
 }  // namespace
diff --git a/system/system_monitor/reader/hdd_reader/hdd_reader.cpp b/system/system_monitor/reader/hdd_reader/hdd_reader.cpp
index 9d8b54de0773e..43cf0394e742d 100644
--- a/system/system_monitor/reader/hdd_reader/hdd_reader.cpp
+++ b/system/system_monitor/reader/hdd_reader/hdd_reader.cpp
@@ -385,11 +385,11 @@ int get_nvme_smart_data(int fd, HddInfo * info)
   // is from 1 to 1,000, three indicates that the number of 512 byte data
   // units written is from 2,001 to 3,000)
   info->is_valid_total_data_written_ = true;
-  info->total_data_written_ = *(reinterpret_cast<uint64_t *>(&data[48]));
+  std::memcpy(&info->total_data_written_, &data[48], sizeof(uint64_t));
 
   // Bytes 143:128 Power On Hours
   info->is_valid_power_on_hours_ = true;
-  info->power_on_hours_ = *(reinterpret_cast<uint64_t *>(&data[128]));
+  std::memcpy(&info->power_on_hours_, &data[128], sizeof(uint64_t));
 
   // NVMe S.M.A.R.T has no information of recovered error count
   info->is_valid_recovered_error_ = false;