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Partial memory leak fix #325

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merged 3 commits into from
Nov 15, 2024
Merged

Partial memory leak fix #325

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158321a
Add trace to detect memory leaks
jimmy-mcelwain Nov 13, 2024
ef0fe32
Fix memory leak in ServiceQueueTrajPoint.c
jimmy-mcelwain Nov 13, 2024
c91f6d4
Memory printout is not deterministic.
ted-miller Nov 15, 2024
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1 change: 0 additions & 1 deletion src/ServiceQueueTrajPoint.c
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Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,6 @@ void Ros_ServiceQueueTrajPoint_Initialize()

//--------------
g_messages_QueueTrajPoint.response = motoros2_interfaces__srv__QueueTrajPoint_Response__create();
rosidl_runtime_c__String__init(&g_messages_QueueTrajPoint.response->message);

//--------------
MOTOROS2_MEM_TRACE_REPORT(svc_queue_point_init);
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5 changes: 3 additions & 2 deletions src/main.c
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Expand Up @@ -105,6 +105,7 @@ void RosInitTask()
//==================================
FOREVER
{
MOTOROS2_MEM_TRACE_START(full_connection_cycle);
Ros_Controller_StatusInit();

Ros_Allocation_Initialize(&g_motoros2_Allocator);
Expand Down Expand Up @@ -143,8 +144,7 @@ void RosInitTask()
if (tid == ERROR)
mpSetAlarm(ALARM_TASK_CREATE_FAIL, APPLICATION_NAME " FAILED TO CREATE TASK", SUBCODE_EXECUTOR);

Ros_Debug_BroadcastMsg("Initialization complete. Memory available: (%d) bytes. Memory in use: (%d) bytes",
mpNumBytesFree(), MP_MEM_PART_SIZE - mpNumBytesFree());
Ros_Debug_BroadcastMsg("Initialization complete.");
Comment on lines -146 to +147
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could we not move this to a place where initialisation was really complete?

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Currently, there isn't anywhere to put it where it will give a deterministic value. We will need to add some semaphores to indicate init-complete on each task and wait for those before dropping into the main loop.


//==================================
ULONG tickBefore = 0;
Expand Down Expand Up @@ -224,6 +224,7 @@ void RosInitTask()
Ros_Sleep(2500);

Ros_Debug_BroadcastMsg("Shutdown complete. Available memory: (%d) bytes", mpNumBytesFree());
MOTOROS2_MEM_TRACE_REPORT(full_connection_cycle);
}
}

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