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Fixed memory leak in UAVCAN baro driver

This commit is contained in:
Pavel Kirienko 2015-10-17 04:05:35 +03:00 committed by Lorenz Meier
parent 109bee855b
commit 6c4f09c0e4
2 changed files with 7 additions and 12 deletions
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15
src/modules/uavcan/sensors/baro.cpp
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)),
_sub_air_pressure_data(node),
_sub_air_temperature_data(node),
_reports(nullptr)
_reports(2, sizeof(baro_report))
{ }
int UavcanBarometerBridge::init()
@ -55,13 +55,6 @@ int UavcanBarometerBridge::init()
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));
if (res < 0) {
@ -91,7 +84,7 @@ ssize_t UavcanBarometerBridge::read(struct file *filp, char *buffer, size_t bufl
}
while (count--) {
if (_reports->get(baro_buf)) {
if (_reports.get(baro_buf)) {
ret += sizeof(*baro_buf);
baro_buf++;
}
@ -132,7 +125,7 @@ int UavcanBarometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
if (!_reports.resize(arg)) {
irqrestore(flags);
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;
// add to the ring buffer
_reports->force(&report);
_reports.force(&report);
publish(msg.getSrcNodeID().get(), &report);
}

4
src/modules/uavcan/sensors/baro.hpp
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::StaticTemperature, AirTemperatureCbBinder> _sub_air_temperature_data;
ringbuffer::RingBuffer _reports;
unsigned _msl_pressure = 101325;
ringbuffer::RingBuffer *_reports;
float last_temperature_kelvin = 0.0f;
};