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AP_InertialSensor: refactor constructors to avoid leak

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We were previously leaking the AP_MPU6000_BusDriver if the
~AP_InertialSensor_MPU6000::detect*() failed. In order to avoid the
leak move the repeated code in a single private _detect() member that
receives everything as argument. Then this method takes ownership of the
objects.

By a adding a destructor to AP_InertialSensor_MPU6000 it becomes easier to
free the objects it takes ownership of.
This commit is contained in:
Lucas De Marchi 2015-07-28 13:43:27 -03:00 committed by Andrew Tridgell
parent c3063f0ab2
commit cf1273668e
2 changed files with 34 additions and 19 deletions
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48
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
View File

@ -394,35 +394,45 @@ AP_InertialSensor_MPU6000::AP_InertialSensor_MPU6000(AP_InertialSensor &imu, AP_
}
/*
detect the sensor
*/
AP_InertialSensor_Backend *AP_InertialSensor_MPU6000::detect_spi(AP_InertialSensor &_imu)
AP_InertialSensor_MPU6000::~AP_InertialSensor_MPU6000()
{
AP_InertialSensor_MPU6000 *sensor = new AP_InertialSensor_MPU6000(_imu, new AP_MPU6000_BusDriver_SPI());
if (sensor == NULL) {
return NULL;
}
if (!sensor->_init_sensor()) {
delete sensor;
return NULL;
}
return sensor;
delete _bus;
}
AP_InertialSensor_Backend *AP_InertialSensor_MPU6000::detect_i2c(AP_InertialSensor &_imu,
/* Detect the sensor on SPI bus. It must have a corresponding device on
* SPIDriver table */
AP_InertialSensor_Backend *AP_InertialSensor_MPU6000::detect_spi(AP_InertialSensor &imu)
{
AP_MPU6000_BusDriver *bus = new AP_MPU6000_BusDriver_SPI();
if (!bus)
return nullptr;
return _detect(imu, bus);
}
/* Detect the sensor on the specified I2C bus and address */
AP_InertialSensor_Backend *AP_InertialSensor_MPU6000::detect_i2c(AP_InertialSensor &imu,
AP_HAL::I2CDriver *i2c,
uint8_t addr)
{
AP_InertialSensor_MPU6000 *sensor = new AP_InertialSensor_MPU6000(_imu,
new AP_MPU6000_BusDriver_I2C(i2c, addr));
AP_MPU6000_BusDriver *bus = new AP_MPU6000_BusDriver_I2C(i2c, addr);
if (!bus)
return nullptr;
return _detect(imu, bus);
}
/* Common detection method - it takes ownership of the bus, freeing it if it's
* not possible to return an AP_InertialSensor_Backend */
AP_InertialSensor_Backend *AP_InertialSensor_MPU6000::_detect(AP_InertialSensor &_imu,
AP_MPU6000_BusDriver *bus)
{
AP_InertialSensor_MPU6000 *sensor = new AP_InertialSensor_MPU6000(_imu, bus);
if (sensor == NULL) {
return NULL;
delete bus;
return nullptr;
}
if (!sensor->_init_sensor()) {
delete sensor;
return NULL;
return nullptr;
}
return sensor;

5
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
View File

@ -31,6 +31,7 @@
class AP_MPU6000_BusDriver
{
public:
virtual ~AP_MPU6000_BusDriver() { };
virtual void init(bool &fifo_mode, uint8_t &max_samples) = 0;
virtual void read8(uint8_t reg, uint8_t *val) = 0;
virtual void write8(uint8_t reg, uint8_t val) = 0;
@ -45,6 +46,7 @@ class AP_InertialSensor_MPU6000 : public AP_InertialSensor_Backend
{
public:
AP_InertialSensor_MPU6000(AP_InertialSensor &imu, AP_MPU6000_BusDriver *bus);
~AP_InertialSensor_MPU6000();
static AP_InertialSensor_Backend *detect_i2c(AP_InertialSensor &_imu,
AP_HAL::I2CDriver *i2c,
uint8_t addr);
@ -57,6 +59,9 @@ public:
bool accel_sample_available(void) { return _sum_count >= _sample_count; }
private:
static AP_InertialSensor_Backend *_detect(AP_InertialSensor &_imu,
AP_MPU6000_BusDriver *bus);
#if MPU6000_DEBUG
void _dump_registers(void);
#endif