Fix memory leak in exception catching.

Reformat according to ament_uncrustify. Fix memory leak in exception catching. Finish fixing memory-leak
ICube-Robotics · Jun 7, 2024 · 4bae5ec · 4bae5ec
1 parent b850c4b
commit 4bae5ec
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Showing 2 changed files with 39 additions and 11 deletions.
diff --git a/ethercat_generic_plugins/ethercat_generic_slave/src/generic_ec_slave.cpp b/ethercat_generic_plugins/ethercat_generic_slave/src/generic_ec_slave.cpp
@@ -68,16 +68,24 @@ void GenericEcSlave::setup_syncs()
   if (sm_configs_.size() == 0) {
     syncs_.push_back({0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE});
     syncs_.push_back({1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE});
-    syncs_.push_back({2, EC_DIR_OUTPUT, (unsigned int)(rpdos_.size()), rpdos_.data(), EC_WD_ENABLE});
-    syncs_.push_back({3, EC_DIR_INPUT, (unsigned int)(tpdos_.size()), tpdos_.data(), EC_WD_DISABLE});
+    syncs_.push_back(
+      {2, EC_DIR_OUTPUT, (unsigned int)(rpdos_.size()), rpdos_.data(),
+        EC_WD_ENABLE});
+    syncs_.push_back(
+      {3, EC_DIR_INPUT, (unsigned int)(tpdos_.size()), tpdos_.data(),
+        EC_WD_DISABLE});
   } else {
     for (auto & sm : sm_configs_) {
       if (sm.pdo_name == "null") {
         syncs_.push_back({sm.index, sm.type, 0, NULL, sm.watchdog});
       } else if (sm.pdo_name == "rpdo") {
-        syncs_.push_back({sm.index, sm.type, (unsigned int)(rpdos_.size()), rpdos_.data(), sm.watchdog});
+        syncs_.push_back(
+          {sm.index, sm.type, (unsigned int)(rpdos_.size()),
+            rpdos_.data(), sm.watchdog});
       } else if (sm.pdo_name == "tpdo") {
-        syncs_.push_back({sm.index, sm.type, (unsigned int)(tpdos_.size()), tpdos_.data(), sm.watchdog});
+        syncs_.push_back(
+          {sm.index, sm.type, (unsigned int)(tpdos_.size()),
+            tpdos_.data(), sm.watchdog});
       }
     }
   }

diff --git a/ethercat_manager/src/ethercat_sdo_srv_server.cpp b/ethercat_manager/src/ethercat_sdo_srv_server.cpp
@@ -24,7 +24,6 @@
 #include "ethercat_manager/ec_master_async.hpp"
 #include "ethercat_manager/data_convertion_tools.hpp"
 
-
 namespace ethercat_manager
 {
 void upload(
@@ -60,6 +59,9 @@ void upload(
     response->success = false;
     RCLCPP_ERROR(rclcpp::get_logger("ethercat_manager"), return_stream.str().c_str());
     response->sdo_return_message = return_stream.str();
+    if (nullptr != data.target) {
+      delete[] data.target;
+    }
     return;
   }
 
@@ -70,6 +72,9 @@ void upload(
     response->success = false;
     RCLCPP_ERROR(rclcpp::get_logger("ethercat_manager"), return_stream.str().c_str());
     response->sdo_return_message = return_stream.str();
+    if (nullptr != data.target) {
+      delete[] data.target;
+    }
     return;
   }
 
@@ -78,11 +83,13 @@ void upload(
   try {
     buffer2data(data_stream, data_value, data_type, data.target, data.data_size);
   } catch (SizeException & e) {
-    delete[] data.target;
     return_stream << e.what();
     response->success = false;
     RCLCPP_ERROR(rclcpp::get_logger("ethercat_manager"), return_stream.str().c_str());
     response->sdo_return_message = return_stream.str();
+    if (nullptr != data.target) {
+      delete[] data.target;
+    }
     return;
   }
   return_stream << "SDO upload done successfully";
@@ -91,7 +98,9 @@ void upload(
   response->sdo_return_value = data_value;
   response->sdo_return_message = return_stream.str();
 
-  delete[] data.target;
+  if (nullptr != data.target) {
+    delete[] data.target;
+  }
   RCLCPP_INFO(rclcpp::get_logger("ethercat_sdo_srv_server"), return_stream.str().c_str());
 }
 
@@ -122,18 +131,22 @@ void download(
     data.data_size = data2buffer(
       data_type, request->sdo_value, data.data, data.data_size);
   } catch (SizeException & e) {
-    delete[] data.data;
     return_stream << e.what();
     response->success = false;
     response->sdo_return_message = return_stream.str();
     RCLCPP_ERROR(rclcpp::get_logger("ethercat_manager"), return_stream.str().c_str());
+    if (nullptr != data.target) {
+      delete[] data.target;
+    }
     return;
   } catch (std::ios::failure & e) {
-    delete[] data.data;
     return_stream << "Invalid value for type '" << data_type->name << "'!";
     response->success = false;
     response->sdo_return_message = return_stream.str();
     RCLCPP_ERROR(rclcpp::get_logger("ethercat_manager"), return_stream.str().c_str());
+    if (nullptr != data.target) {
+      delete[] data.target;
+    }
     return;
   }
 
@@ -145,6 +158,9 @@ void download(
     response->success = false;
     RCLCPP_ERROR(rclcpp::get_logger("ethercat_manager"), return_stream.str().c_str());
     response->sdo_return_message = return_stream.str();
+    if (nullptr != data.target) {
+      delete[] data.target;
+    }
     return;
   }
 
@@ -155,6 +171,9 @@ void download(
     response->success = false;
     RCLCPP_ERROR(rclcpp::get_logger("ethercat_manager"), return_stream.str().c_str());
     response->sdo_return_message = return_stream.str();
+    if (nullptr != data.target) {
+      delete[] data.target;
+    }
     return;
   }
 
@@ -164,12 +183,13 @@ void download(
   response->success = true;
   response->sdo_return_message = return_stream.str();
 
-  delete[] data.data;
+  if (nullptr != data.target) {
+    delete[] data.target;
+  }
   RCLCPP_INFO(rclcpp::get_logger("ethercat_sdo_srv_server"), return_stream.str().c_str());
 }
 }  // namespace ethercat_manager
 
-
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);