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Zenoh: Improve out-of-memory behaviour

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Abort publication immediately when not enough memory is available.
Zero _zenoh_publishers and _zenoh_subscribers to ensure we're not
dereferencing a wrong pointer
This commit is contained in:
Peter van der Perk
2025-11-17 09:33:26 +01:00
committed by Jacob Dahl
parent 042a251542
commit b8974cb77b
6 changed files with 39 additions and 11 deletions
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src/modules/zenoh/zenoh.cpp
+15 -2
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@@ -270,6 +270,7 @@ int ZENOH::setupTopics(px4_pollfd_struct_t *pfds)
#ifdef Z_SUBSCRIBE
_zenoh_subscribers = (Zenoh_Subscriber **)malloc(sizeof(Zenoh_Subscriber *)*_sub_count);
memset(_zenoh_subscribers, 0x0, sizeof(Zenoh_Subscriber *)*_sub_count);
if (_zenoh_subscribers) {
char topic[TOPIC_INFO_SIZE];
@@ -305,6 +306,7 @@ int ZENOH::setupTopics(px4_pollfd_struct_t *pfds)
#endif
} else {
_zenoh_subscribers[i] = NULL;
PX4_ERR("Could not create a subscriber for type %s", type);
}
@@ -325,6 +327,7 @@ int ZENOH::setupTopics(px4_pollfd_struct_t *pfds)
#ifdef Z_PUBLISH
_zenoh_publishers = (uORB_Zenoh_Publisher **)malloc(_pub_count * sizeof(uORB_Zenoh_Publisher *));
memset(_zenoh_publishers, 0x0, _pub_count * sizeof(uORB_Zenoh_Publisher *));
if (_zenoh_publishers) {
char topic[TOPIC_INFO_SIZE];
@@ -361,6 +364,7 @@ int ZENOH::setupTopics(px4_pollfd_struct_t *pfds)
#endif
} else {
_zenoh_publishers[i] = NULL;
PX4_ERR("Could not create a publisher for type %s", type);
}
@@ -384,7 +388,7 @@ int ZENOH::setupTopics(px4_pollfd_struct_t *pfds)
void ZENOH::run()
{
int8_t ret;
z_result_t ret;
int i;
_pub_count = _config.getPubCount();
_sub_count = _config.getSubCount();
@@ -395,6 +399,8 @@ void ZENOH::run()
return;
}
connected = true;
PX4_INFO("Starting reading/writing tasks...");
if (setupTopics(pfds) < 0) {
@@ -451,6 +457,8 @@ void ZENOH::run()
zp_stop_lease_task(z_session_loan_mut(&_s));
z_drop(z_session_move(&_s));
connected = false;
exit_and_cleanup();
}
@@ -496,7 +504,12 @@ Zenoh demo bridge
int ZENOH::print_status()
{
PX4_INFO("running");
if (connected) {
PX4_INFO("Connected");
} else {
PX4_INFO("Connecting");
}
PX4_INFO("Publishers");