fix rclc_example: memory leaking in msg.data allocation (#386)

Signed-off-by: zhangtonghe <[email protected]> Co-authored-by: zhangtonghe <[email protected]>
ros2 · Jul 28, 2023 · 7af2054 · 7af2054
1 parent 64fa8fe
commit 7af2054
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Showing 5 changed files with 7 additions and 6 deletions.
diff --git a/rclc_examples/src/example_executor.c b/rclc_examples/src/example_executor.c
@@ -109,7 +109,7 @@ int main(int argc, const char * argv[])
   // assign message to publisher
   std_msgs__msg__String__init(&pub_msg);
   const unsigned int PUB_MSG_CAPACITY = 20;
-  pub_msg.data.data = malloc(PUB_MSG_CAPACITY);
+  pub_msg.data.data = allocator.reallocate(pub_msg.data.data, PUB_MSG_CAPACITY, allocator.state);
   pub_msg.data.capacity = PUB_MSG_CAPACITY;
   snprintf(pub_msg.data.data, pub_msg.data.capacity, "Hello World!");
   pub_msg.data.size = strlen(pub_msg.data.data);

diff --git a/rclc_examples/src/example_executor_only_rcl.c b/rclc_examples/src/example_executor_only_rcl.c
@@ -127,7 +127,7 @@ int main(int argc, const char * argv[])
   // assign message to publisher
   std_msgs__msg__String__init(&pub_msg);
   const unsigned int PUB_MSG_CAPACITY = 20;
-  pub_msg.data.data = malloc(PUB_MSG_CAPACITY);
+  pub_msg.data.data = allocator.reallocate(pub_msg.data.data, PUB_MSG_CAPACITY, allocator.state);
   pub_msg.data.capacity = PUB_MSG_CAPACITY;
   snprintf(pub_msg.data.data, pub_msg.data.capacity, "Hello World!");
   pub_msg.data.size = strlen(pub_msg.data.data);

diff --git a/rclc_examples/src/example_executor_trigger.c b/rclc_examples/src/example_executor_trigger.c
@@ -139,14 +139,15 @@ void my_int_subscriber_callback(const void * msgin)
 void my_timer_string_callback(rcl_timer_t * timer, int64_t last_call_time)
 {
   rcl_ret_t rc;
+  rcl_allocator_t allocator = rcl_get_default_allocator();
   RCLC_UNUSED(last_call_time);
   if (timer != NULL) {
     //printf("Timer: time since last call %d\n", (int) last_call_time);
 
     std_msgs__msg__String pub_msg;
     std_msgs__msg__String__init(&pub_msg);
     const unsigned int PUB_MSG_CAPACITY = 20;
-    pub_msg.data.data = malloc(PUB_MSG_CAPACITY);
+    pub_msg.data.data = allocator.reallocate(pub_msg.data.data, PUB_MSG_CAPACITY, allocator.state);
     pub_msg.data.capacity = PUB_MSG_CAPACITY;
     snprintf(pub_msg.data.data, pub_msg.data.capacity, "Hello World!%d", string_pub_value++);
     pub_msg.data.size = strlen(pub_msg.data.data);

diff --git a/rclc_examples/src/example_pingpong.cpp b/rclc_examples/src/example_pingpong.cpp
@@ -181,7 +181,7 @@ int main(int argc, const char * argv[])
   // assign message to publisher
   std_msgs__msg__String__init(&pingNode_ping_msg);
   const unsigned int PUB_MSG_CAPACITY = 20;
-  pingNode_ping_msg.data.data = (char *) malloc(PUB_MSG_CAPACITY);
+  pingNode_ping_msg.data.data = (char *) allocator.reallocate(pingNode_ping_msg.data.data, PUB_MSG_CAPACITY, allocator.state);
   pingNode_ping_msg.data.capacity = PUB_MSG_CAPACITY;
   snprintf(pingNode_ping_msg.data.data, pingNode_ping_msg.data.capacity, "AAAAAAAAAAAAAAAAAAA");
   pingNode_ping_msg.data.size = strlen(pingNode_ping_msg.data.data);
@@ -258,7 +258,7 @@ int main(int argc, const char * argv[])
   // assign message to publisher
   std_msgs__msg__String__init(&pongNode_pong_msg);
   //const unsigned int PUB_MSG_CAPACITY = 20;
-  pongNode_pong_msg.data.data = (char *) malloc(PUB_MSG_CAPACITY);
+  pongNode_pong_msg.data.data = (char *) allocator.reallocate(pongNode_pong_msg.data.data, PUB_MSG_CAPACITY, allocator.state);
   pongNode_pong_msg.data.capacity = PUB_MSG_CAPACITY;
   snprintf(pongNode_pong_msg.data.data, pongNode_pong_msg.data.capacity, "BAAAAAAAAAAAAAAAAAAA");
   pongNode_pong_msg.data.size = strlen(pongNode_pong_msg.data.data);

diff --git a/rclc_examples/src/example_sub_context.c b/rclc_examples/src/example_sub_context.c
@@ -111,7 +111,7 @@ int main(int argc, const char * argv[])
     // assign message to publisher
     std_msgs__msg__String__init(&( pub_msgs[i] ) );
     const unsigned int PUB_MSG_CAPACITY = 40;
-    pub_msgs[i].data.data = malloc(PUB_MSG_CAPACITY);
+    pub_msgs[i].data.data = allocator.reallocate(pub_msgs[i].data.data, PUB_MSG_CAPACITY, allocator.state);
     pub_msgs[i].data.capacity = PUB_MSG_CAPACITY;
     snprintf(
       pub_msgs[i].data.data, pub_msgs[i].data.capacity, "Hello World! on %s",