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Fix that not to deallocate event impl in some failure case (#790)

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* Fix that not to deallocate event impl in some failure case

Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>
Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>
This commit is contained in:
Chen Lihui 2020-09-09 04:17:08 +08:00 • committed by Alejandro Hernández Cordero
parent 5dc097b9bb
commit 22d4eee1a7
1 changed files with 40 additions and 24 deletions
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64
rcl/src/rcl/event.c
View file

@ -52,22 +52,11 @@ rcl_publisher_event_init(
const rcl_publisher_t * publisher, const rcl_publisher_t * publisher,
const rcl_publisher_event_type_t event_type) const rcl_publisher_event_type_t event_type)
{ {
rcl_ret_t ret = RCL_RET_OK;
RCL_CHECK_ARGUMENT_FOR_NULL(event, RCL_RET_EVENT_INVALID); RCL_CHECK_ARGUMENT_FOR_NULL(event, RCL_RET_EVENT_INVALID);
// Check publisher and allocator first, so allocator can be used with errors. // Check publisher and allocator first, so allocator can be used with errors.
RCL_CHECK_ARGUMENT_FOR_NULL(publisher, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(publisher, RCL_RET_INVALID_ARGUMENT);
rcl_allocator_t * allocator = &publisher->impl->options.allocator; rcl_allocator_t * allocator = &publisher->impl->options.allocator;
RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
// Allocate space for the implementation struct.
event->impl = (rcl_event_impl_t *) allocator->allocate(
sizeof(rcl_event_impl_t), allocator->state);
RCL_CHECK_FOR_NULL_WITH_MSG(
event->impl, "allocating memory failed", ret = RCL_RET_BAD_ALLOC; return ret);
event->impl->rmw_handle = rmw_get_zero_initialized_event();
event->impl->allocator = *allocator;
rmw_event_type_t rmw_event_type = RMW_EVENT_INVALID; rmw_event_type_t rmw_event_type = RMW_EVENT_INVALID;
switch (event_type) { switch (event_type) {
case RCL_PUBLISHER_OFFERED_DEADLINE_MISSED: case RCL_PUBLISHER_OFFERED_DEADLINE_MISSED:
@ -83,10 +72,29 @@ rcl_publisher_event_init(
RCL_SET_ERROR_MSG("Event type for publisher not supported"); RCL_SET_ERROR_MSG("Event type for publisher not supported");
return RCL_RET_INVALID_ARGUMENT; return RCL_RET_INVALID_ARGUMENT;
} }
return rmw_publisher_event_init(
// Allocate space for the implementation struct.
event->impl = (rcl_event_impl_t *) allocator->allocate(
sizeof(rcl_event_impl_t), allocator->state);
RCL_CHECK_FOR_NULL_WITH_MSG(
event->impl, "allocating memory failed", return RCL_RET_BAD_ALLOC);
event->impl->rmw_handle = rmw_get_zero_initialized_event();
event->impl->allocator = *allocator;
rmw_ret_t ret = rmw_publisher_event_init(
&event->impl->rmw_handle, &event->impl->rmw_handle,
publisher->impl->rmw_handle, publisher->impl->rmw_handle,
rmw_event_type); rmw_event_type);
if (ret != RMW_RET_OK) {
goto fail;
}
return RCL_RET_OK;
fail:
allocator->deallocate(event->impl, allocator->state);
event->impl = NULL;
return rcl_convert_rmw_ret_to_rcl_ret(ret);
} }
rcl_ret_t rcl_ret_t
@ -95,22 +103,11 @@ rcl_subscription_event_init(
const rcl_subscription_t * subscription, const rcl_subscription_t * subscription,
const rcl_subscription_event_type_t event_type) const rcl_subscription_event_type_t event_type)
{ {
rcl_ret_t ret = RCL_RET_OK;
RCL_CHECK_ARGUMENT_FOR_NULL(event, RCL_RET_EVENT_INVALID); RCL_CHECK_ARGUMENT_FOR_NULL(event, RCL_RET_EVENT_INVALID);
// Check subscription and allocator first, so allocator can be used with errors. // Check subscription and allocator first, so allocator can be used with errors.
RCL_CHECK_ARGUMENT_FOR_NULL(subscription, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(subscription, RCL_RET_INVALID_ARGUMENT);
rcl_allocator_t * allocator = &subscription->impl->options.allocator; rcl_allocator_t * allocator = &subscription->impl->options.allocator;
RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
// Allocate space for the implementation struct.
event->impl = (rcl_event_impl_t *) allocator->allocate(
sizeof(rcl_event_impl_t), allocator->state);
RCL_CHECK_FOR_NULL_WITH_MSG(
event->impl, "allocating memory failed", ret = RCL_RET_BAD_ALLOC; return ret);
event->impl->rmw_handle = rmw_get_zero_initialized_event();
event->impl->allocator = *allocator;
rmw_event_type_t rmw_event_type = RMW_EVENT_INVALID; rmw_event_type_t rmw_event_type = RMW_EVENT_INVALID;
switch (event_type) { switch (event_type) {
case RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED: case RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED:
@ -126,10 +123,29 @@ rcl_subscription_event_init(
RCL_SET_ERROR_MSG("Event type for subscription not supported"); RCL_SET_ERROR_MSG("Event type for subscription not supported");
return RCL_RET_INVALID_ARGUMENT; return RCL_RET_INVALID_ARGUMENT;
} }
return rmw_subscription_event_init(
// Allocate space for the implementation struct.
event->impl = (rcl_event_impl_t *) allocator->allocate(
sizeof(rcl_event_impl_t), allocator->state);
RCL_CHECK_FOR_NULL_WITH_MSG(
event->impl, "allocating memory failed", return RCL_RET_BAD_ALLOC);
event->impl->rmw_handle = rmw_get_zero_initialized_event();
event->impl->allocator = *allocator;
rmw_ret_t ret = rmw_subscription_event_init(
&event->impl->rmw_handle, &event->impl->rmw_handle,
subscription->impl->rmw_handle, subscription->impl->rmw_handle,
rmw_event_type); rmw_event_type);
if (ret != RMW_RET_OK) {
goto fail;
}
return RCL_RET_OK;
fail:
allocator->deallocate(event->impl, allocator->state);
event->impl = NULL;
return rcl_convert_rmw_ret_to_rcl_ret(ret);
} }
rcl_ret_t rcl_ret_t