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WIP: valgrind runtime analysis and fixes (#6521) 

* Fix several valgrind identified mem leaks

* Added callgrind target.

* px4_posix_tasks use nullptr
This commit is contained in:
James Goppert 2017-02-17 12:36:52 -05:00 committed by GitHub
parent a0f00f84f3
commit 7659402fdb
6 changed files with 67 additions and 51 deletions
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5
Tools/sitl_run.sh
View File

@ -136,7 +136,10 @@ then
ddd --debugger gdb --args $sitl_command ddd --debugger gdb --args $sitl_command
elif [ "$debugger" == "valgrind" ] elif [ "$debugger" == "valgrind" ]
then then
valgrind $sitl_command valgrind --track-origins=yes --leak-check=full -v $sitl_command
elif [ "$debugger" == "callgrind" ]
then
valgrind --tool=callgrind -v $sitl_command
elif [ "$debugger" == "ide" ] elif [ "$debugger" == "ide" ]
then then
echo "######################################################################" echo "######################################################################"

5
src/drivers/device/vdev_posix.cpp
View File

@ -168,6 +168,11 @@ extern "C" {
if (dev) { if (dev) {
pthread_mutex_lock(&filemutex); pthread_mutex_lock(&filemutex);
ret = dev->close(filemap[fd]); ret = dev->close(filemap[fd]);
if (filemap[fd] != nullptr) {
delete filemap[fd];
}
filemap[fd] = nullptr; filemap[fd] = nullptr;
pthread_mutex_unlock(&filemutex); pthread_mutex_unlock(&filemutex);
PX4_DEBUG("px4_close fd = %d", fd); PX4_DEBUG("px4_close fd = %d", fd);

2
src/firmware/posix/sitl_target.cmake
View File

@ -68,7 +68,7 @@ set_target_properties(sitl_gazebo PROPERTIES EXCLUDE_FROM_ALL TRUE)
# create targets for each viewer/model/debugger combination # create targets for each viewer/model/debugger combination
set(viewers none jmavsim gazebo replay) set(viewers none jmavsim gazebo replay)
set(debuggers none ide gdb lldb ddd valgrind) set(debuggers none ide gdb lldb ddd valgrind callgrind)
set(models none iris iris_opt_flow standard_vtol plane solo tailsitter typhoon_h480) set(models none iris iris_opt_flow standard_vtol plane solo tailsitter typhoon_h480)
set(all_posix_vmd_make_targets) set(all_posix_vmd_make_targets)
foreach(viewer ${viewers}) foreach(viewer ${viewers})

96
src/modules/mavlink/mavlink_messages.cpp
View File

@ -318,7 +318,7 @@ protected:
void send(const hrt_abstime t) void send(const hrt_abstime t)
{ {
struct vehicle_status_s status; struct vehicle_status_s status = {};
/* always send the heartbeat, independent of the update status of the topics */ /* always send the heartbeat, independent of the update status of the topics */
if (!_status_sub->update(&status)) { if (!_status_sub->update(&status)) {
@ -400,11 +400,11 @@ protected:
{ {
if (!_mavlink->get_logbuffer()->empty()) { if (!_mavlink->get_logbuffer()->empty()) {
struct mavlink_log_s mavlink_log; struct mavlink_log_s mavlink_log = {};
if (_mavlink->get_logbuffer()->get(&mavlink_log)) { if (_mavlink->get_logbuffer()->get(&mavlink_log)) {
mavlink_statustext_t msg; mavlink_statustext_t msg = {};
msg.severity = mavlink_log.severity; msg.severity = mavlink_log.severity;
strncpy(msg.text, (const char *)mavlink_log.text, sizeof(msg.text)); strncpy(msg.text, (const char *)mavlink_log.text, sizeof(msg.text));
msg.text[sizeof(msg.text) - 1] = '\0'; msg.text[sizeof(msg.text) - 1] = '\0';
@ -419,7 +419,7 @@ protected:
timespec ts; timespec ts;
px4_clock_gettime(CLOCK_REALTIME, &ts); px4_clock_gettime(CLOCK_REALTIME, &ts);
time_t gps_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9); time_t gps_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9);
struct tm tt; struct tm tt = {};
gmtime_r(&gps_time_sec, &tt); gmtime_r(&gps_time_sec, &tt);
char tstamp[22]; char tstamp[22];
strftime(tstamp, sizeof(tstamp) - 1, "%Y_%m_%d_%H_%M_%S", &tt); strftime(tstamp, sizeof(tstamp) - 1, "%Y_%m_%d_%H_%M_%S", &tt);
@ -530,12 +530,12 @@ protected:
void send(const hrt_abstime t) void send(const hrt_abstime t)
{ {
struct vehicle_command_s cmd; struct vehicle_command_s cmd = {};
if (_cmd_sub->update(&_cmd_time, &cmd)) { if (_cmd_sub->update(&_cmd_time, &cmd)) {
/* only send commands for other systems/components */ /* only send commands for other systems/components */
if (cmd.target_system != mavlink_system.sysid || cmd.target_component != mavlink_system.compid) { if (cmd.target_system != mavlink_system.sysid || cmd.target_component != mavlink_system.compid) {
mavlink_command_long_t msg; mavlink_command_long_t msg = {};
msg.target_system = cmd.target_system; msg.target_system = cmd.target_system;
msg.target_component = cmd.target_component; msg.target_component = cmd.target_component;
@ -624,7 +624,7 @@ protected:
} }
if (updated_status || updated_battery || updated_cpuload) { if (updated_status || updated_battery || updated_cpuload) {
mavlink_sys_status_t msg; mavlink_sys_status_t msg = {};
msg.onboard_control_sensors_present = status.onboard_control_sensors_present; msg.onboard_control_sensors_present = status.onboard_control_sensors_present;
msg.onboard_control_sensors_enabled = status.onboard_control_sensors_enabled; msg.onboard_control_sensors_enabled = status.onboard_control_sensors_enabled;
@ -732,8 +732,8 @@ protected:
void send(const hrt_abstime t) void send(const hrt_abstime t)
{ {
struct sensor_combined_s sensor; struct sensor_combined_s sensor = {};
struct differential_pressure_s differential_pressure; struct differential_pressure_s differential_pressure = {};
if (_sensor_sub->update(&_sensor_time, &sensor)) { if (_sensor_sub->update(&_sensor_time, &sensor)) {
uint16_t fields_updated = 0; uint16_t fields_updated = 0;
@ -764,7 +764,7 @@ protected:
_differential_pressure_sub->update(&_differential_pressure_time, &differential_pressure); _differential_pressure_sub->update(&_differential_pressure_time, &differential_pressure);
mavlink_highres_imu_t msg; mavlink_highres_imu_t msg = {};
msg.time_usec = sensor.timestamp; msg.time_usec = sensor.timestamp;
msg.xacc = sensor.accelerometer_m_s2[0]; msg.xacc = sensor.accelerometer_m_s2[0];
@ -841,7 +841,7 @@ protected:
struct vehicle_attitude_s att; struct vehicle_attitude_s att;
if (_att_sub->update(&_att_time, &att)) { if (_att_sub->update(&_att_time, &att)) {
mavlink_attitude_t msg; mavlink_attitude_t msg = {};
matrix::Eulerf euler = matrix::Quatf(att.q); matrix::Eulerf euler = matrix::Quatf(att.q);
msg.time_boot_ms = att.timestamp / 1000; msg.time_boot_ms = att.timestamp / 1000;
msg.roll = euler.phi(); msg.roll = euler.phi();
@ -909,7 +909,7 @@ protected:
struct vehicle_attitude_s att; struct vehicle_attitude_s att;
if (_att_sub->update(&_att_time, &att)) { if (_att_sub->update(&_att_time, &att)) {
mavlink_attitude_quaternion_t msg; mavlink_attitude_quaternion_t msg = {};
msg.time_boot_ms = att.timestamp / 1000; msg.time_boot_ms = att.timestamp / 1000;
msg.q1 = att.q[0]; msg.q1 = att.q[0];
@ -1014,7 +1014,7 @@ protected:
updated |= _airspeed_sub->update(&_airspeed_time, &airspeed); updated |= _airspeed_sub->update(&_airspeed_time, &airspeed);
if (updated) { if (updated) {
mavlink_vfr_hud_t msg; mavlink_vfr_hud_t msg = {};
matrix::Eulerf euler = matrix::Quatf(att.q); matrix::Eulerf euler = matrix::Quatf(att.q);
msg.airspeed = airspeed.indicated_airspeed_m_s; msg.airspeed = airspeed.indicated_airspeed_m_s;
msg.groundspeed = sqrtf(pos.vel_n * pos.vel_n + pos.vel_e * pos.vel_e); msg.groundspeed = sqrtf(pos.vel_n * pos.vel_n + pos.vel_e * pos.vel_e);
@ -1154,7 +1154,7 @@ protected:
void send(const hrt_abstime t) void send(const hrt_abstime t)
{ {
mavlink_system_time_t msg; mavlink_system_time_t msg = {};
timespec tv; timespec tv;
px4_clock_gettime(CLOCK_REALTIME, &tv); px4_clock_gettime(CLOCK_REALTIME, &tv);
@ -1210,7 +1210,7 @@ protected:
void send(const hrt_abstime t) void send(const hrt_abstime t)
{ {
mavlink_timesync_t msg; mavlink_timesync_t msg = {};
msg.tc1 = 0; msg.tc1 = 0;
msg.ts1 = hrt_absolute_time() * 1000; // boot time in nanoseconds msg.ts1 = hrt_absolute_time() * 1000; // boot time in nanoseconds
@ -1411,7 +1411,7 @@ protected:
struct camera_trigger_s trigger; struct camera_trigger_s trigger;
if (_trigger_sub->update(&_trigger_time, &trigger)) { if (_trigger_sub->update(&_trigger_time, &trigger)) {
mavlink_camera_trigger_t msg; mavlink_camera_trigger_t msg = {};
msg.time_usec = trigger.timestamp; msg.time_usec = trigger.timestamp;
msg.seq = trigger.seq; msg.seq = trigger.seq;
@ -1502,7 +1502,7 @@ protected:
updated |= _home_sub->update(&_home_time, &home); updated |= _home_sub->update(&_home_time, &home);
if (updated) { if (updated) {
mavlink_global_position_int_t msg; mavlink_global_position_int_t msg = {};
msg.time_boot_ms = pos.timestamp / 1000; msg.time_boot_ms = pos.timestamp / 1000;
msg.lat = pos.lat * 1e7; msg.lat = pos.lat * 1e7;
@ -1580,7 +1580,7 @@ protected:
bool pos_updated = _pos_sub->update(&_pos_time, &vpos); bool pos_updated = _pos_sub->update(&_pos_time, &vpos);
if (pos_updated || att_updated) { if (pos_updated || att_updated) {
mavlink_vision_position_estimate_t vmsg; mavlink_vision_position_estimate_t vmsg = {};
vmsg.usec = vpos.timestamp; vmsg.usec = vpos.timestamp;
vmsg.x = vpos.x; vmsg.x = vpos.x;
vmsg.y = vpos.y; vmsg.y = vpos.y;
@ -1648,7 +1648,7 @@ protected:
struct vehicle_local_position_s pos; struct vehicle_local_position_s pos;
if (_pos_sub->update(&_pos_time, &pos)) { if (_pos_sub->update(&_pos_time, &pos)) {
mavlink_local_position_ned_t msg; mavlink_local_position_ned_t msg = {};
msg.time_boot_ms = pos.timestamp / 1000; msg.time_boot_ms = pos.timestamp / 1000;
msg.x = pos.x; msg.x = pos.x;
@ -1875,7 +1875,7 @@ protected:
struct att_pos_mocap_s mocap; struct att_pos_mocap_s mocap;
if (_mocap_sub->update(&_mocap_time, &mocap)) { if (_mocap_sub->update(&_mocap_time, &mocap)) {
mavlink_att_pos_mocap_t msg; mavlink_att_pos_mocap_t msg = {};
msg.time_usec = mocap.timestamp; msg.time_usec = mocap.timestamp;
msg.q[0] = mocap.q[0]; msg.q[0] = mocap.q[0];
@ -1945,7 +1945,7 @@ protected:
struct home_position_s home; struct home_position_s home;
if (_home_sub->update(&home)) { if (_home_sub->update(&home)) {
mavlink_home_position_t msg; mavlink_home_position_t msg = {};
msg.latitude = home.lat * 1e7; msg.latitude = home.lat * 1e7;
msg.longitude = home.lon * 1e7; msg.longitude = home.lon * 1e7;
@ -2041,7 +2041,7 @@ protected:
struct actuator_outputs_s act; struct actuator_outputs_s act;
if (_act_sub->update(&_act_time, &act)) { if (_act_sub->update(&_act_time, &act)) {
mavlink_servo_output_raw_t msg; mavlink_servo_output_raw_t msg = {};
msg.time_usec = act.timestamp; msg.time_usec = act.timestamp;
msg.port = N; msg.port = N;
@ -2143,7 +2143,7 @@ protected:
struct actuator_controls_s att_ctrl; struct actuator_controls_s att_ctrl;
if (_att_ctrl_sub->update(&_att_ctrl_time, &att_ctrl)) { if (_att_ctrl_sub->update(&_att_ctrl_time, &att_ctrl)) {
mavlink_actuator_control_target_t msg; mavlink_actuator_control_target_t msg = {};
msg.time_usec = att_ctrl.timestamp; msg.time_usec = att_ctrl.timestamp;
msg.group_mlx = N; msg.group_mlx = N;
@ -2303,7 +2303,7 @@ protected:
} }
} }
mavlink_hil_controls_t msg; mavlink_hil_controls_t msg = {};
msg.time_usec = hrt_absolute_time(); msg.time_usec = hrt_absolute_time();
msg.roll_ailerons = out[0]; msg.roll_ailerons = out[0];
@ -2387,7 +2387,7 @@ protected:
uint8_t mavlink_state; uint8_t mavlink_state;
uint8_t mavlink_base_mode; uint8_t mavlink_base_mode;
uint32_t mavlink_custom_mode; uint32_t mavlink_custom_mode;
mavlink_hil_actuator_controls_t msg; mavlink_hil_actuator_controls_t msg = {};
get_mavlink_mode_state(&status, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); get_mavlink_mode_state(&status, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
@ -2530,7 +2530,7 @@ protected:
struct position_setpoint_triplet_s pos_sp_triplet; struct position_setpoint_triplet_s pos_sp_triplet;
if (_pos_sp_triplet_sub->update(&pos_sp_triplet)) { if (_pos_sp_triplet_sub->update(&pos_sp_triplet)) {
mavlink_position_target_global_int_t msg{}; mavlink_position_target_global_int_t msg = {};
msg.time_boot_ms = hrt_absolute_time() / 1000; msg.time_boot_ms = hrt_absolute_time() / 1000;
msg.coordinate_frame = MAV_FRAME_GLOBAL; msg.coordinate_frame = MAV_FRAME_GLOBAL;
@ -2596,7 +2596,7 @@ protected:
struct vehicle_local_position_setpoint_s pos_sp; struct vehicle_local_position_setpoint_s pos_sp;
if (_pos_sp_sub->update(&_pos_sp_time, &pos_sp)) { if (_pos_sp_sub->update(&_pos_sp_time, &pos_sp)) {
mavlink_position_target_local_ned_t msg{}; mavlink_position_target_local_ned_t msg = {};
msg.time_boot_ms = pos_sp.timestamp / 1000; msg.time_boot_ms = pos_sp.timestamp / 1000;
msg.coordinate_frame = MAV_FRAME_LOCAL_NED; msg.coordinate_frame = MAV_FRAME_LOCAL_NED;
@ -2670,14 +2670,14 @@ protected:
void send(const hrt_abstime t) void send(const hrt_abstime t)
{ {
struct vehicle_attitude_setpoint_s att_sp; struct vehicle_attitude_setpoint_s att_sp = {};
if (_att_sp_sub->update(&_att_sp_time, &att_sp)) { if (_att_sp_sub->update(&_att_sp_time, &att_sp)) {
struct vehicle_rates_setpoint_s att_rates_sp; struct vehicle_rates_setpoint_s att_rates_sp = {};
(void)_att_rates_sp_sub->update(&_att_rates_sp_time, &att_rates_sp); (void)_att_rates_sp_sub->update(&_att_rates_sp_time, &att_rates_sp);
mavlink_attitude_target_t msg{}; mavlink_attitude_target_t msg = {};
msg.time_boot_ms = att_sp.timestamp / 1000; msg.time_boot_ms = att_sp.timestamp / 1000;
@ -2749,12 +2749,12 @@ protected:
void send(const hrt_abstime t) void send(const hrt_abstime t)
{ {
struct rc_input_values rc; struct rc_input_values rc = {};
if (_rc_sub->update(&_rc_time, &rc)) { if (_rc_sub->update(&_rc_time, &rc)) {
/* send RC channel data and RSSI */ /* send RC channel data and RSSI */
mavlink_rc_channels_t msg; mavlink_rc_channels_t msg = {};
msg.time_boot_ms = rc.timestamp / 1000; msg.time_boot_ms = rc.timestamp / 1000;
msg.chancount = rc.channel_count; msg.chancount = rc.channel_count;
@ -2850,10 +2850,10 @@ protected:
void send(const hrt_abstime t) void send(const hrt_abstime t)
{ {
struct manual_control_setpoint_s manual; struct manual_control_setpoint_s manual = {};
if (_manual_sub->update(&_manual_time, &manual)) { if (_manual_sub->update(&_manual_time, &manual)) {
mavlink_manual_control_t msg; mavlink_manual_control_t msg = {};
msg.target = mavlink_system.sysid; msg.target = mavlink_system.sysid;
msg.x = manual.x * 1000; msg.x = manual.x * 1000;
@ -2923,10 +2923,10 @@ protected:
void send(const hrt_abstime t) void send(const hrt_abstime t)
{ {
struct optical_flow_s flow; struct optical_flow_s flow = {};
if (_flow_sub->update(&_flow_time, &flow)) { if (_flow_sub->update(&_flow_time, &flow)) {
mavlink_optical_flow_rad_t msg; mavlink_optical_flow_rad_t msg = {};
msg.time_usec = flow.timestamp; msg.time_usec = flow.timestamp;
msg.sensor_id = flow.sensor_id; msg.sensor_id = flow.sensor_id;
@ -2996,10 +2996,10 @@ protected:
void send(const hrt_abstime t) void send(const hrt_abstime t)
{ {
struct debug_key_value_s debug; struct debug_key_value_s debug = {};
if (_debug_sub->update(&_debug_time, &debug)) { if (_debug_sub->update(&_debug_time, &debug)) {
mavlink_named_value_float_t msg; mavlink_named_value_float_t msg = {};
msg.time_boot_ms = debug.timestamp_ms; msg.time_boot_ms = debug.timestamp_ms;
memcpy(msg.name, debug.key, sizeof(msg.name)); memcpy(msg.name, debug.key, sizeof(msg.name));
@ -3135,7 +3135,7 @@ protected:
struct vehicle_status_s status = {}; struct vehicle_status_s status = {};
(void)_status_sub->update(&status); (void)_status_sub->update(&status);
mavlink_command_long_t msg; mavlink_command_long_t msg = {};
msg.target_system = mavlink_system.sysid; msg.target_system = mavlink_system.sysid;
msg.target_component = MAV_COMP_ID_ALL; msg.target_component = MAV_COMP_ID_ALL;
@ -3204,11 +3204,11 @@ protected:
void send(const hrt_abstime t) void send(const hrt_abstime t)
{ {
struct distance_sensor_s dist_sensor; struct distance_sensor_s dist_sensor = {};
if (_distance_sensor_sub->update(&_dist_sensor_time, &dist_sensor)) { if (_distance_sensor_sub->update(&_dist_sensor_time, &dist_sensor)) {
mavlink_distance_sensor_t msg; mavlink_distance_sensor_t msg = {};
msg.time_boot_ms = dist_sensor.timestamp / 1000; /* us to ms */ msg.time_boot_ms = dist_sensor.timestamp / 1000; /* us to ms */
@ -3290,7 +3290,7 @@ protected:
explicit MavlinkStreamExtendedSysState(Mavlink *mavlink) : MavlinkStream(mavlink), explicit MavlinkStreamExtendedSysState(Mavlink *mavlink) : MavlinkStream(mavlink),
_status_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_status))), _status_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_status))),
_landed_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_land_detected))), _landed_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_land_detected))),
_msg{} _msg()
{ {
_msg.vtol_state = MAV_VTOL_STATE_UNDEFINED; _msg.vtol_state = MAV_VTOL_STATE_UNDEFINED;
@ -3299,8 +3299,8 @@ protected:
void send(const hrt_abstime t) void send(const hrt_abstime t)
{ {
struct vehicle_status_s status; struct vehicle_status_s status = {};
struct vehicle_land_detected_s land_detected; struct vehicle_land_detected_s land_detected = {};
bool updated = false; bool updated = false;
if (_status_sub->update(&status)) { if (_status_sub->update(&status)) {
@ -3403,7 +3403,7 @@ protected:
void send(const hrt_abstime t) void send(const hrt_abstime t)
{ {
mavlink_altitude_t msg; mavlink_altitude_t msg = {};
bool updated = false; bool updated = false;
float global_alt = 0.0f; float global_alt = 0.0f;
@ -3448,7 +3448,7 @@ protected:
} }
{ {
struct home_position_s home; struct home_position_s home = {};
updated |= _home_sub->update(&_home_time, &home); updated |= _home_sub->update(&_home_time, &home);
if (_global_pos_time > 0 && _home_time > 0) { if (_global_pos_time > 0 && _home_time > 0) {
@ -3467,7 +3467,7 @@ protected:
msg.time_usec = hrt_absolute_time(); msg.time_usec = hrt_absolute_time();
{ {
struct sensor_combined_s sensor; struct sensor_combined_s sensor = {};
(void)_sensor_sub->update(&_sensor_time, &sensor); (void)_sensor_sub->update(&_sensor_time, &sensor);
msg.altitude_monotonic = (_sensor_time > 0) ? sensor.baro_alt_meter : NAN; msg.altitude_monotonic = (_sensor_time > 0) ? sensor.baro_alt_meter : NAN;
} }
@ -3548,7 +3548,7 @@ protected:
msg.var_horiz = wind_estimate.covariance_north + wind_estimate.covariance_east; msg.var_horiz = wind_estimate.covariance_north + wind_estimate.covariance_east;
msg.var_vert = 0.0f; msg.var_vert = 0.0f;
struct vehicle_global_position_s global_pos; struct vehicle_global_position_s global_pos = {};
_global_pos_sub->update(&_global_pos_time, &global_pos); _global_pos_sub->update(&_global_pos_time, &global_pos);
msg.wind_alt = (_global_pos_time > 0) ? global_pos.alt : NAN; msg.wind_alt = (_global_pos_time > 0) ? global_pos.alt : NAN;

9
src/modules/simulator/simulator.h
View File

@ -278,7 +278,14 @@ private:
_actuator_outputs_sub[i] = -1; _actuator_outputs_sub[i] = -1;
} }
} }
~Simulator() { _instance = NULL; } ~Simulator()
{
if (_instance != nullptr) {
delete _instance;
}
_instance = NULL;
}
void initializeSensorData(); void initializeSensorData();

1
src/platforms/posix/px4_layer/px4_posix_tasks.cpp
View File

@ -291,6 +291,7 @@ int px4_task_delete(px4_task_t id)
// If current thread then exit, otherwise cancel // If current thread then exit, otherwise cancel
if (pthread_self() == pid) { if (pthread_self() == pid) {
pthread_join(pid, nullptr);
taskmap[id].isused = false; taskmap[id].isused = false;
pthread_mutex_unlock(&task_mutex); pthread_mutex_unlock(&task_mutex);
pthread_exit(nullptr); pthread_exit(nullptr);