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fix: Converter memleak #21

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merged 4 commits into from
Jul 10, 2024
Merged

fix: Converter memleak #21

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0da0b14
fix: Converter memleak
v0-e Jul 9, 2024
027c38c
also free encoded buffer in conversion node
lreiher Jul 10, 2024
10a1615
Merge remote-tracking branch 'ika/main' into fix-converter-memleak
lreiher Jul 10, 2024
54aa935
Merge pull request #2 from lreiher/fix-converter-memleak
v0-e Jul 10, 2024
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52 changes: 38 additions & 14 deletions etsi_its_conversion/etsi_its_conversion/src/Converter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -292,77 +292,85 @@ void Converter::udpCallback(const udp_msgs::msg::UdpPacket::UniquePtr udp_msg) {
if (detected_etsi_type == "cam") {

// decode ASN1 bitstring to struct
cam_CAM_t* asn1_struct = nullptr;
asn_dec_rval_t ret = asn_decode(0, ATS_UNALIGNED_BASIC_PER, &asn_DEF_cam_CAM, (void **)&asn1_struct, &udp_msg->data[etsi_message_payload_offset_], msg_size);
cam_CAM_t asn1_struct{};
cam_CAM_t* asn1_structp = &asn1_struct;
asn_dec_rval_t ret = asn_decode(0, ATS_UNALIGNED_BASIC_PER, &asn_DEF_cam_CAM, (void **)&asn1_structp, &udp_msg->data[etsi_message_payload_offset_], msg_size);
if (ret.code != RC_OK) {
#ifdef ROS1
NODELET_ERROR(
#else
RCLCPP_ERROR(this->get_logger(),
#endif
"Failed to decode message");
ASN_STRUCT_FREE_CONTENTS_ONLY(asn_DEF_cam_CAM, asn1_structp);
return;
}
if (logLevelIsDebug()) asn_fprint(stdout, &asn_DEF_cam_CAM, asn1_struct);
if (logLevelIsDebug()) asn_fprint(stdout, &asn_DEF_cam_CAM, asn1_structp);

// convert struct to ROS msg and publish
#ifdef ROS1
etsi_its_cam_msgs::CAM msg;
#else
etsi_its_cam_msgs::msg::CAM msg;
#endif
etsi_its_cam_conversion::toRos_CAM(*asn1_struct, msg);
etsi_its_cam_conversion::toRos_CAM(asn1_struct, msg);

// publish msg
#ifdef ROS1
publishers_["cam"].publish(msg);
#else
publisher_cam_->publish(msg);
#endif
ASN_STRUCT_FREE_CONTENTS_ONLY(asn_DEF_cam_CAM, asn1_structp);

} else if (detected_etsi_type == "denm") {

// decode ASN1 bitstring to struct
denm_DENM_t* asn1_struct = nullptr;
asn_dec_rval_t ret = asn_decode(0, ATS_UNALIGNED_BASIC_PER, &asn_DEF_denm_DENM, (void **)&asn1_struct, &udp_msg->data[etsi_message_payload_offset_], msg_size);
denm_DENM_t asn1_struct{};
denm_DENM_t* asn1_structp = &asn1_struct;
asn_dec_rval_t ret = asn_decode(0, ATS_UNALIGNED_BASIC_PER, &asn_DEF_denm_DENM, (void **)&asn1_structp, &udp_msg->data[etsi_message_payload_offset_], msg_size);
if (ret.code != RC_OK) {
#ifdef ROS1
NODELET_ERROR(
#else
RCLCPP_ERROR(this->get_logger(),
#endif
"Failed to decode message");
ASN_STRUCT_FREE_CONTENTS_ONLY(asn_DEF_denm_DENM, asn1_structp);
return;
}
if (logLevelIsDebug()) asn_fprint(stdout, &asn_DEF_denm_DENM, asn1_struct);
if (logLevelIsDebug()) asn_fprint(stdout, &asn_DEF_denm_DENM, asn1_structp);

// convert struct to ROS msg and publish
#ifdef ROS1
etsi_its_denm_msgs::DENM msg;
#else
etsi_its_denm_msgs::msg::DENM msg;
#endif
etsi_its_denm_conversion::toRos_DENM(*asn1_struct, msg);
etsi_its_denm_conversion::toRos_DENM(asn1_struct, msg);

// publish msg
#ifdef ROS1
publishers_["denm"].publish(msg);
#else
publisher_denm_->publish(msg);
#endif
ASN_STRUCT_FREE_CONTENTS_ONLY(asn_DEF_denm_DENM, asn1_structp);

} else if (detected_etsi_type == "cpm_ts") {

// decode ASN1 bitstring to struct
cpm_ts_CollectivePerceptionMessage_t* asn1_struct = nullptr;
asn_dec_rval_t ret = asn_decode(0, ATS_UNALIGNED_BASIC_PER, &asn_DEF_cpm_ts_CollectivePerceptionMessage, (void **)&asn1_struct, &udp_msg->data[etsi_message_payload_offset_], msg_size);
cpm_ts_CollectivePerceptionMessage_t asn1_struct{};
cpm_ts_CollectivePerceptionMessage_t* asn1_structp = &asn1_struct;
asn_dec_rval_t ret = asn_decode(0, ATS_UNALIGNED_BASIC_PER, &asn_DEF_cpm_ts_CollectivePerceptionMessage, (void **)&asn1_structp, &udp_msg->data[etsi_message_payload_offset_], msg_size);
if (ret.code != RC_OK) {
#ifdef ROS1
NODELET_ERROR(
#else
RCLCPP_ERROR(this->get_logger(),
#endif
"Failed to decode message");
ASN_STRUCT_FREE_CONTENTS_ONLY(asn_DEF_cpm_ts_CollectivePerceptionMessage, asn1_structp);
return;
}
if (logLevelIsDebug()) asn_fprint(stdout, &asn_DEF_cpm_ts_CollectivePerceptionMessage, asn1_struct);
Expand All @@ -373,14 +381,15 @@ void Converter::udpCallback(const udp_msgs::msg::UdpPacket::UniquePtr udp_msg) {
#else
etsi_its_cpm_ts_msgs::msg::CollectivePerceptionMessage msg;
#endif
etsi_its_cpm_ts_conversion::toRos_CollectivePerceptionMessage(*asn1_struct, msg);
etsi_its_cpm_ts_conversion::toRos_CollectivePerceptionMessage(asn1_struct, msg);

// publish msg
#ifdef ROS1
publishers_["cpm_ts"].publish(msg);
#else
publisher_cpm_ts_->publish(msg);
#endif
ASN_STRUCT_FREE_CONTENTS_ONLY(asn_DEF_cpm_CollectivePerceptionMessage, asn1_structp);

} else {
#ifdef ROS1
Expand Down Expand Up @@ -415,7 +424,7 @@ void Converter::rosCallbackCam(const etsi_its_cam_msgs::msg::CAM::UniquePtr msg)
"Received CAM");

// convert ROS msg to struct
cam_CAM_t asn1_struct;
cam_CAM_t asn1_struct{};
etsi_its_cam_conversion::toStruct_CAM(*msg, asn1_struct);
if (logLevelIsDebug()) asn_fprint(stdout, &asn_DEF_cam_CAM, &asn1_struct);

Expand All @@ -430,6 +439,7 @@ void Converter::rosCallbackCam(const etsi_its_cam_msgs::msg::CAM::UniquePtr msg)
RCLCPP_ERROR(this->get_logger(),
#endif
"Check of struct failed: %s", error_buffer);
ASN_STRUCT_FREE_CONTENTS_ONLY(asn_DEF_cam_CAM, &asn1_struct);
return;
}
asn_encode_to_new_buffer_result_t ret = asn_encode_to_new_buffer(0, ATS_UNALIGNED_BASIC_PER, &asn_DEF_cam_CAM, &asn1_struct);
Expand All @@ -440,6 +450,8 @@ void Converter::rosCallbackCam(const etsi_its_cam_msgs::msg::CAM::UniquePtr msg)
RCLCPP_ERROR(this->get_logger(),
#endif
"Failed to encode message: %s", ret.result.failed_type->xml_tag);
ASN_STRUCT_FREE_CONTENTS_ONLY(asn_DEF_cam_CAM, &asn1_struct);
free(ret.buffer);
return;
}

Expand Down Expand Up @@ -469,6 +481,8 @@ void Converter::rosCallbackCam(const etsi_its_cam_msgs::msg::CAM::UniquePtr msg)
RCLCPP_DEBUG(this->get_logger(),
#endif
"Published CAM bitstring");
ASN_STRUCT_FREE_CONTENTS_ONLY(asn_DEF_cam_CAM, &asn1_struct);
free(ret.buffer);
}


Expand All @@ -486,7 +500,7 @@ void Converter::rosCallbackDenm(const etsi_its_denm_msgs::msg::DENM::UniquePtr m
"Received DENM");

// convert ROS msg to struct
denm_DENM_t asn1_struct;
denm_DENM_t asn1_struct{};
etsi_its_denm_conversion::toStruct_DENM(*msg, asn1_struct);
if (logLevelIsDebug()) asn_fprint(stdout, &asn_DEF_denm_DENM, &asn1_struct);

Expand All @@ -501,6 +515,7 @@ void Converter::rosCallbackDenm(const etsi_its_denm_msgs::msg::DENM::UniquePtr m
RCLCPP_ERROR(this->get_logger(),
#endif
"Check of struct failed: %s", error_buffer);
ASN_STRUCT_FREE_CONTENTS_ONLY(asn_DEF_denm_DENM, &asn1_struct);
return;
}
asn_encode_to_new_buffer_result_t ret = asn_encode_to_new_buffer(0, ATS_UNALIGNED_BASIC_PER, &asn_DEF_denm_DENM, &asn1_struct);
Expand All @@ -511,6 +526,8 @@ void Converter::rosCallbackDenm(const etsi_its_denm_msgs::msg::DENM::UniquePtr m
RCLCPP_ERROR(this->get_logger(),
#endif
"Failed to encode message: %s", ret.result.failed_type->xml_tag);
ASN_STRUCT_FREE_CONTENTS_ONLY(asn_DEF_denm_DENM, &asn1_struct);
free(ret.buffer);
return;
}

Expand Down Expand Up @@ -540,6 +557,8 @@ void Converter::rosCallbackDenm(const etsi_its_denm_msgs::msg::DENM::UniquePtr m
RCLCPP_DEBUG(this->get_logger(),
#endif
"Published DENM bitstring");
ASN_STRUCT_FREE_CONTENTS_ONLY(asn_DEF_denm_DENM, &asn1_struct);
free(ret.buffer);
}

#ifdef ROS1
Expand All @@ -556,7 +575,7 @@ void Converter::rosCallbackCpmTs(const etsi_its_cpm_ts_msgs::msg::CollectivePerc
"Received CPM");

// convert ROS msg to struct
cpm_ts_CollectivePerceptionMessage_t asn1_struct;
cpm_ts_CollectivePerceptionMessage_t asn1_struct{};
etsi_its_cpm_ts_conversion::toStruct_CollectivePerceptionMessage(*msg, asn1_struct);
if (logLevelIsDebug()) asn_fprint(stdout, &asn_DEF_cpm_ts_CollectivePerceptionMessage, &asn1_struct);

Expand All @@ -571,6 +590,7 @@ void Converter::rosCallbackCpmTs(const etsi_its_cpm_ts_msgs::msg::CollectivePerc
RCLCPP_ERROR(this->get_logger(),
#endif
"Check of struct failed: %s", error_buffer);
ASN_STRUCT_FREE_CONTENTS_ONLY(asn_DEF_cpm_CollectivePerceptionMessage, &asn1_struct);
return;
}
asn_encode_to_new_buffer_result_t ret = asn_encode_to_new_buffer(0, ATS_UNALIGNED_BASIC_PER, &asn_DEF_cpm_ts_CollectivePerceptionMessage, &asn1_struct);
Expand All @@ -581,6 +601,8 @@ void Converter::rosCallbackCpmTs(const etsi_its_cpm_ts_msgs::msg::CollectivePerc
RCLCPP_ERROR(this->get_logger(),
#endif
"Failed to encode message: %s", ret.result.failed_type->xml_tag);
ASN_STRUCT_FREE_CONTENTS_ONLY(asn_DEF_cpm_CollectivePerceptionMessage, &asn1_struct);
free(ret.buffer);
return;
}

Expand Down Expand Up @@ -610,6 +632,8 @@ void Converter::rosCallbackCpmTs(const etsi_its_cpm_ts_msgs::msg::CollectivePerc
RCLCPP_DEBUG(this->get_logger(),
#endif
"Published CPM bitstring");
ASN_STRUCT_FREE_CONTENTS_ONLY(asn_DEF_cpm_CollectivePerceptionMessage, &asn1_struct);
free(ret.buffer);
}

} // end of namespace