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px4_task_spawn_cmd: fix memory leak on posix

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This commit is contained in:
Beat Küng
2016-05-11 15:56:50 +02:00
parent 0aabe9b3bb
commit d3068b4337
1 changed files with 11 additions and 4 deletions
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src/platforms/posix/px4_layer/px4_posix_tasks.cpp
+11 -4
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@@ -169,7 +169,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
rv = pthread_attr_init(&attr); rv = pthread_attr_init(&attr);
if (rv != 0) { if (rv != 0) {
PX4_WARN("px4_task_spawn_cmd: failed to init thread attrs"); PX4_ERR("px4_task_spawn_cmd: failed to init thread attrs");
free(taskdata); free(taskdata);
return (rv < 0) ? rv : -rv; return (rv < 0) ? rv : -rv;
} }
@@ -184,6 +184,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
if (rv != 0) { if (rv != 0) {
PX4_ERR("pthread_attr_setstacksize to %d returned error (%d)", stack_size, rv); PX4_ERR("pthread_attr_setstacksize to %d returned error (%d)", stack_size, rv);
pthread_attr_destroy(&attr);
free(taskdata); free(taskdata);
return (rv < 0) ? rv : -rv; return (rv < 0) ? rv : -rv;
} }
@@ -193,7 +194,8 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
rv = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED); rv = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
if (rv != 0) { if (rv != 0) {
PX4_WARN("px4_task_spawn_cmd: failed to set inherit sched"); PX4_ERR("px4_task_spawn_cmd: failed to set inherit sched");
pthread_attr_destroy(&attr);
free(taskdata); free(taskdata);
return (rv < 0) ? rv : -rv; return (rv < 0) ? rv : -rv;
} }
@@ -201,7 +203,8 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
rv = pthread_attr_setschedpolicy(&attr, scheduler); rv = pthread_attr_setschedpolicy(&attr, scheduler);
if (rv != 0) { if (rv != 0) {
PX4_WARN("px4_task_spawn_cmd: failed to set sched policy"); PX4_ERR("px4_task_spawn_cmd: failed to set sched policy");
pthread_attr_destroy(&attr);
free(taskdata); free(taskdata);
return (rv < 0) ? rv : -rv; return (rv < 0) ? rv : -rv;
} }
@@ -211,7 +214,8 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
rv = pthread_attr_setschedparam(&attr, &param); rv = pthread_attr_setschedparam(&attr, &param);
if (rv != 0) { if (rv != 0) {
PX4_WARN("px4_task_spawn_cmd: failed to set sched param"); PX4_ERR("px4_task_spawn_cmd: failed to set sched param");
pthread_attr_destroy(&attr);
free(taskdata); free(taskdata);
return (rv < 0) ? rv : -rv; return (rv < 0) ? rv : -rv;
} }
@@ -240,18 +244,21 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
if (rv != 0) { if (rv != 0) {
PX4_ERR("px4_task_spawn_cmd: failed to create thread %d %d\n", rv, errno); PX4_ERR("px4_task_spawn_cmd: failed to create thread %d %d\n", rv, errno);
taskmap[taskid].isused = false; taskmap[taskid].isused = false;
pthread_attr_destroy(&attr);
pthread_mutex_unlock(&task_mutex); pthread_mutex_unlock(&task_mutex);
free(taskdata); free(taskdata);
return (rv < 0) ? rv : -rv; return (rv < 0) ? rv : -rv;
} }
} else { } else {
pthread_attr_destroy(&attr);
pthread_mutex_unlock(&task_mutex); pthread_mutex_unlock(&task_mutex);
free(taskdata); free(taskdata);
return (rv < 0) ? rv : -rv; return (rv < 0) ? rv : -rv;
} }
} }
pthread_attr_destroy(&attr);
pthread_mutex_unlock(&task_mutex); pthread_mutex_unlock(&task_mutex);
if (i >= PX4_MAX_TASKS) { if (i >= PX4_MAX_TASKS) {