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Fixed memory leaks in the primary UAVCAN thread

This commit is contained in:
Pavel Kirienko 2015-10-17 19:50:01 +03:00 committed by Lorenz Meier
parent 6c4f09c0e4
commit 9d86dbb6a1
1 changed files with 9 additions and 5 deletions
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14
src/modules/uavcan/uavcan_main.cpp
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@ -144,10 +144,9 @@ UavcanNode::~UavcanNode()
} while (_task != -1);
}
/* clean up the alternate device node */
// unregister_driver(PWM_OUTPUT_DEVICE_PATH);
::close(_armed_sub);
(void)::close(_armed_sub);
(void)::close(_test_motor_sub);
(void)::close(_actuator_direct_sub);
// Removing the sensor bridges
auto br = _sensor_bridges.getHead();
@ -166,6 +165,10 @@ UavcanNode::~UavcanNode()
pthread_mutex_destroy(&_node_mutex);
px4_sem_destroy(&_server_command_sem);
// Is it allowed to delete it like that?
if (_mixers != nullptr) {
delete _mixers;
}
}
int UavcanNode::getHardwareVersion(uavcan::protocol::HardwareVersion &hwver)
@ -965,6 +968,8 @@ int UavcanNode::run()
}
}
(void)::close(busevent_fd);
teardown();
warnx("exiting.");
@ -1069,7 +1074,6 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
unsigned buflen = strnlen(buf, 1024);
if (_mixers == nullptr) {
// TODO: Do we have to delete it when stopping?
_mixers = new MixerGroup(control_callback, (uintptr_t)_controls);
}