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Fixed memory leak in UAVCAN baro driver

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This commit is contained in:
Pavel Kirienko
2015-10-26 10:19:56 +01:00
committed by Lorenz Meier
parent 109bee855b
commit 6c4f09c0e4
2 changed files with 7 additions and 12 deletions
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src/modules/uavcan/sensors/baro.cpp
+4 -11
View File
@@ -44,7 +44,7 @@ UavcanBarometerBridge::UavcanBarometerBridge(uavcan::INode &node) :
UavcanCDevSensorBridgeBase("uavcan_baro", "/dev/uavcan/baro", BARO_BASE_DEVICE_PATH, ORB_ID(sensor_baro)), UavcanCDevSensorBridgeBase("uavcan_baro", "/dev/uavcan/baro", BARO_BASE_DEVICE_PATH, ORB_ID(sensor_baro)),
_sub_air_pressure_data(node), _sub_air_pressure_data(node),
_sub_air_temperature_data(node), _sub_air_temperature_data(node),
_reports(nullptr) _reports(2, sizeof(baro_report))
{ } { }
int UavcanBarometerBridge::init() int UavcanBarometerBridge::init()
@@ -55,13 +55,6 @@ int UavcanBarometerBridge::init()
return res; return res;
} }
/* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(baro_report));
if (_reports == nullptr) {
return -1;
}
res = _sub_air_pressure_data.start(AirPressureCbBinder(this, &UavcanBarometerBridge::air_pressure_sub_cb)); res = _sub_air_pressure_data.start(AirPressureCbBinder(this, &UavcanBarometerBridge::air_pressure_sub_cb));
if (res < 0) { if (res < 0) {
@@ -91,7 +84,7 @@ ssize_t UavcanBarometerBridge::read(struct file *filp, char *buffer, size_t bufl
} }
while (count--) { while (count--) {
if (_reports->get(baro_buf)) { if (_reports.get(baro_buf)) {
ret += sizeof(*baro_buf); ret += sizeof(*baro_buf);
baro_buf++; baro_buf++;
} }
@@ -132,7 +125,7 @@ int UavcanBarometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
irqstate_t flags = irqsave(); irqstate_t flags = irqsave();
if (!_reports->resize(arg)) { if (!_reports.resize(arg)) {
irqrestore(flags); irqrestore(flags);
return -ENOMEM; return -ENOMEM;
} }
@@ -186,7 +179,7 @@ void UavcanBarometerBridge::air_pressure_sub_cb(const
report.altitude = (((std::pow((p / p1), (-(a * R) / g))) * T1) - T1) / a; report.altitude = (((std::pow((p / p1), (-(a * R) / g))) * T1) - T1) / a;
// add to the ring buffer // add to the ring buffer
_reports->force(&report); _reports.force(&report);
publish(msg.getSrcNodeID().get(), &report); publish(msg.getSrcNodeID().get(), &report);
} }
src/modules/uavcan/sensors/baro.hpp
+3 -1
View File
@@ -76,8 +76,10 @@ private:
uavcan::Subscriber<uavcan::equipment::air_data::StaticPressure, AirPressureCbBinder> _sub_air_pressure_data; uavcan::Subscriber<uavcan::equipment::air_data::StaticPressure, AirPressureCbBinder> _sub_air_pressure_data;
uavcan::Subscriber<uavcan::equipment::air_data::StaticTemperature, AirTemperatureCbBinder> _sub_air_temperature_data; uavcan::Subscriber<uavcan::equipment::air_data::StaticTemperature, AirTemperatureCbBinder> _sub_air_temperature_data;
ringbuffer::RingBuffer _reports;
unsigned _msl_pressure = 101325; unsigned _msl_pressure = 101325;
ringbuffer::RingBuffer *_reports;
float last_temperature_kelvin = 0.0f; float last_temperature_kelvin = 0.0f;
}; };