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microRTPS: agent: fix double free memory problem on SIGINT

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It fixes also some minor issues when exiting the agent, including the printed stats
This commit is contained in:
TSC21
2021-06-21 16:36:44 +02:00
committed by Nuno Marques
parent 6d5f12d2a2
commit d3a23cee40
6 changed files with 50 additions and 65 deletions
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msg/templates/urtps/microRTPS_transport.cpp
+6 -6
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@@ -630,7 +630,7 @@ int UDP_node::init_receiver(uint16_t udp_port)
}
#ifndef PX4_INFO
printf("[ micrortps_transport ]\tUDP transport: Trying to connect...");
printf("[ micrortps_transport ]\tUDP transport: Trying to connect...\n");
#else
PX4_INFO("UDP transport: Trying to connect...");
#endif /* PX4_INFO */
@@ -720,12 +720,12 @@ ssize_t UDP_node::node_read(void *buffer, size_t len)
return -1;
}
int ret = 0;
ssize_t ret = 0;
#if !defined (__PX4_NUTTX) || (defined (CONFIG_NET) && defined (__PX4_NUTTX))
// Blocking call
static socklen_t addrlen = sizeof(receiver_outaddr);
ret = recvfrom(receiver_fd, buffer, len, 0, (struct sockaddr *) &receiver_outaddr, &addrlen);
#endif /* __PX4_NUTTX */
ret = recvfrom(receiver_fd, buffer, len, 0, (struct sockaddr *)&receiver_outaddr, &addrlen);
#endif /* !defined (__PX4_NUTTX) || (defined (CONFIG_NET) && defined (__PX4_NUTTX)) */
return ret;
}
@@ -735,9 +735,9 @@ ssize_t UDP_node::node_write(void *buffer, size_t len)
return -1;
}
int ret = 0;
ssize_t ret = 0;
#if !defined (__PX4_NUTTX) || (defined (CONFIG_NET) && defined (__PX4_NUTTX))
ret = sendto(sender_fd, buffer, len, 0, (struct sockaddr *)&sender_outaddr, sizeof(sender_outaddr));
#endif /* __PX4_NUTTX */
#endif /* !defined (__PX4_NUTTX) || (defined (CONFIG_NET) && defined (__PX4_NUTTX)) */
return ret;
}