niklas/rcl
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

changes to support memory audit (#261)

Browse source 
* changes to rcutils_path_join()

* remove uses of malloc/realloc/calloc/free for allocator usage instead

* remove unused class members
This commit is contained in:
William Woodall 2018-06-16 22:06:07 -07:00 • committed by GitHub
parent ced49473db
commit d63e2bc9cf
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
3 changed files with 54 additions and 44 deletions
Download patch file Download diff file Expand all files Collapse all files

8
rcl/src/rcl/node.c
View file

@ -99,7 +99,7 @@ const char * rcl_create_node_logger_name(
return node_logger_name; return node_logger_name;
} }
const char * rcl_get_secure_root(const char * node_name) const char * rcl_get_secure_root(const char * node_name, const rcl_allocator_t * allocator)
{ {
const char * ros_secure_root_env = NULL; const char * ros_secure_root_env = NULL;
if (NULL == node_name) { if (NULL == node_name) {
@ -115,9 +115,9 @@ const char * rcl_get_secure_root(const char * node_name)
if (!ros_secure_root_size) { if (!ros_secure_root_size) {
return NULL; // environment variable was empty return NULL; // environment variable was empty
} }
char * node_secure_root = rcutils_join_path(ros_secure_root_env, node_name); char * node_secure_root = rcutils_join_path(ros_secure_root_env, node_name, *allocator);
if (!rcutils_is_directory(node_secure_root)) { if (!rcutils_is_directory(node_secure_root)) {
free(node_secure_root); allocator->deallocate(node_secure_root, allocator->state);
return NULL; return NULL;
} }
return node_secure_root; return node_secure_root;
@ -315,7 +315,7 @@ rcl_node_init(
node_security_options.enforce_security = RMW_SECURITY_ENFORCEMENT_PERMISSIVE; node_security_options.enforce_security = RMW_SECURITY_ENFORCEMENT_PERMISSIVE;
} else { // if use_security } else { // if use_security
// File discovery magic here // File discovery magic here
const char * node_secure_root = rcl_get_secure_root(name); const char * node_secure_root = rcl_get_secure_root(name, allocator);
if (node_secure_root) { if (node_secure_root) {
node_security_options.security_root_path = node_secure_root; node_security_options.security_root_path = node_secure_root;
} else { } else {

8
rcl/test/rcl/test_time.cpp
View file

@ -193,14 +193,14 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), default_clock_instanciation) {
EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
ASSERT_TRUE(rcl_clock_valid(&ros_clock)); ASSERT_TRUE(rcl_clock_valid(&ros_clock));
rcl_clock_t * steady_clock = rcl_clock_t * steady_clock = reinterpret_cast<rcl_clock_t *>(
reinterpret_cast<rcl_clock_t *>(calloc(1, sizeof(rcl_clock_t))); allocator.zero_allocate(1, sizeof(rcl_clock_t), allocator.state));
retval = rcl_steady_clock_init(steady_clock, &allocator); retval = rcl_steady_clock_init(steady_clock, &allocator);
EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
ASSERT_TRUE(rcl_clock_valid(steady_clock)); ASSERT_TRUE(rcl_clock_valid(steady_clock));
rcl_clock_t * system_clock = rcl_clock_t * system_clock = reinterpret_cast<rcl_clock_t *>(
reinterpret_cast<rcl_clock_t *>(calloc(1, sizeof(rcl_clock_t))); allocator.zero_allocate(1, sizeof(rcl_clock_t), allocator.state));
retval = rcl_system_clock_init(system_clock, &allocator); retval = rcl_system_clock_init(system_clock, &allocator);
EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
ASSERT_TRUE(rcl_clock_valid(system_clock)); ASSERT_TRUE(rcl_clock_valid(system_clock));

82
rcl_yaml_param_parser/test/test_parse_yaml.cpp
View file

@ -17,6 +17,7 @@
#include "rcl_yaml_param_parser/parser.h" #include "rcl_yaml_param_parser/parser.h"
#include "rcutils/allocator.h"
#include "rcutils/error_handling.h" #include "rcutils/error_handling.h"
#include "rcutils/filesystem.h" #include "rcutils/filesystem.h"
@ -26,8 +27,9 @@ rcutils_allocator_t allocator = rcutils_get_default_allocator();
TEST(test_file_parser, correct_syntax) { TEST(test_file_parser, correct_syntax) {
rcutils_reset_error(); rcutils_reset_error();
EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)); EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
char * test_path = rcutils_join_path(cur_dir, "test"); rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * path = rcutils_join_path(test_path, "correct_config.yaml"); char * test_path = rcutils_join_path(cur_dir, "test", allocator);
char * path = rcutils_join_path(test_path, "correct_config.yaml", allocator);
fprintf(stderr, "cur_path: %s\n", path); fprintf(stderr, "cur_path: %s\n", path);
EXPECT_TRUE(rcutils_exists(path)); EXPECT_TRUE(rcutils_exists(path));
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator); rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
@ -37,15 +39,16 @@ TEST(test_file_parser, correct_syntax) {
EXPECT_TRUE(res); EXPECT_TRUE(res);
rcl_yaml_node_struct_print(params_hdl); rcl_yaml_node_struct_print(params_hdl);
rcl_yaml_node_struct_fini(params_hdl); rcl_yaml_node_struct_fini(params_hdl);
free(test_path); allocator.deallocate(test_path, allocator.state);
free(path); allocator.deallocate(path, allocator.state);
} }
TEST(test_file_parser, multi_ns_correct_syntax) { TEST(test_file_parser, multi_ns_correct_syntax) {
rcutils_reset_error(); rcutils_reset_error();
EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)); EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
char * test_path = rcutils_join_path(cur_dir, "test"); rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * path = rcutils_join_path(test_path, "multi_ns_correct.yaml"); char * test_path = rcutils_join_path(cur_dir, "test", allocator);
char * path = rcutils_join_path(test_path, "multi_ns_correct.yaml", allocator);
fprintf(stderr, "cur_path: %s\n", path); fprintf(stderr, "cur_path: %s\n", path);
EXPECT_TRUE(rcutils_exists(path)); EXPECT_TRUE(rcutils_exists(path));
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator); rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
@ -55,15 +58,16 @@ TEST(test_file_parser, multi_ns_correct_syntax) {
EXPECT_TRUE(res); EXPECT_TRUE(res);
rcl_yaml_node_struct_print(params_hdl); rcl_yaml_node_struct_print(params_hdl);
rcl_yaml_node_struct_fini(params_hdl); rcl_yaml_node_struct_fini(params_hdl);
free(test_path); allocator.deallocate(test_path, allocator.state);
free(path); allocator.deallocate(path, allocator.state);
} }
TEST(test_file_parser, seq_map1) { TEST(test_file_parser, seq_map1) {
rcutils_reset_error(); rcutils_reset_error();
EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)); EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
char * test_path = rcutils_join_path(cur_dir, "test"); rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * path = rcutils_join_path(test_path, "seq_map1.yaml"); char * test_path = rcutils_join_path(cur_dir, "test", allocator);
char * path = rcutils_join_path(test_path, "seq_map1.yaml", allocator);
fprintf(stderr, "cur_path: %s\n", path); fprintf(stderr, "cur_path: %s\n", path);
EXPECT_TRUE(rcutils_exists(path)); EXPECT_TRUE(rcutils_exists(path));
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator); rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
@ -71,15 +75,16 @@ TEST(test_file_parser, seq_map1) {
bool res = rcl_parse_yaml_file(path, params_hdl); bool res = rcl_parse_yaml_file(path, params_hdl);
fprintf(stderr, "%s\n", rcutils_get_error_string_safe()); fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
EXPECT_FALSE(res); EXPECT_FALSE(res);
free(test_path); allocator.deallocate(test_path, allocator.state);
free(path); allocator.deallocate(path, allocator.state);
} }
TEST(test_file_parser, seq_map2) { TEST(test_file_parser, seq_map2) {
rcutils_reset_error(); rcutils_reset_error();
EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)); EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
char * test_path = rcutils_join_path(cur_dir, "test"); rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * path = rcutils_join_path(test_path, "seq_map2.yaml"); char * test_path = rcutils_join_path(cur_dir, "test", allocator);
char * path = rcutils_join_path(test_path, "seq_map2.yaml", allocator);
fprintf(stderr, "cur_path: %s\n", path); fprintf(stderr, "cur_path: %s\n", path);
EXPECT_TRUE(rcutils_exists(path)); EXPECT_TRUE(rcutils_exists(path));
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator); rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
@ -87,15 +92,16 @@ TEST(test_file_parser, seq_map2) {
bool res = rcl_parse_yaml_file(path, params_hdl); bool res = rcl_parse_yaml_file(path, params_hdl);
fprintf(stderr, "%s\n", rcutils_get_error_string_safe()); fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
EXPECT_FALSE(res); EXPECT_FALSE(res);
free(test_path); allocator.deallocate(test_path, allocator.state);
free(path); allocator.deallocate(path, allocator.state);
} }
TEST(test_file_parser, params_with_no_node) { TEST(test_file_parser, params_with_no_node) {
rcutils_reset_error(); rcutils_reset_error();
EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)); EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
char * test_path = rcutils_join_path(cur_dir, "test"); rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * path = rcutils_join_path(test_path, "params_with_no_node.yaml"); char * test_path = rcutils_join_path(cur_dir, "test", allocator);
char * path = rcutils_join_path(test_path, "params_with_no_node.yaml", allocator);
fprintf(stderr, "cur_path: %s\n", path); fprintf(stderr, "cur_path: %s\n", path);
EXPECT_TRUE(rcutils_exists(path)); EXPECT_TRUE(rcutils_exists(path));
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator); rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
@ -103,15 +109,16 @@ TEST(test_file_parser, params_with_no_node) {
bool res = rcl_parse_yaml_file(path, params_hdl); bool res = rcl_parse_yaml_file(path, params_hdl);
fprintf(stderr, "%s\n", rcutils_get_error_string_safe()); fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
EXPECT_FALSE(res); EXPECT_FALSE(res);
free(test_path); allocator.deallocate(test_path, allocator.state);
free(path); allocator.deallocate(path, allocator.state);
} }
TEST(test_file_parser, no_alias_support) { TEST(test_file_parser, no_alias_support) {
rcutils_reset_error(); rcutils_reset_error();
EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)); EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
char * test_path = rcutils_join_path(cur_dir, "test"); rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * path = rcutils_join_path(test_path, "no_alias_support.yaml"); char * test_path = rcutils_join_path(cur_dir, "test", allocator);
char * path = rcutils_join_path(test_path, "no_alias_support.yaml", allocator);
fprintf(stderr, "cur_path: %s\n", path); fprintf(stderr, "cur_path: %s\n", path);
EXPECT_TRUE(rcutils_exists(path)); EXPECT_TRUE(rcutils_exists(path));
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator); rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
@ -119,15 +126,16 @@ TEST(test_file_parser, no_alias_support) {
bool res = rcl_parse_yaml_file(path, params_hdl); bool res = rcl_parse_yaml_file(path, params_hdl);
fprintf(stderr, "%s\n", rcutils_get_error_string_safe()); fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
EXPECT_FALSE(res); EXPECT_FALSE(res);
free(test_path); allocator.deallocate(test_path, allocator.state);
free(path); allocator.deallocate(path, allocator.state);
} }
TEST(test_file_parser, max_string_sz) { TEST(test_file_parser, max_string_sz) {
rcutils_reset_error(); rcutils_reset_error();
EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)); EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
char * test_path = rcutils_join_path(cur_dir, "test"); rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * path = rcutils_join_path(test_path, "max_string_sz.yaml"); char * test_path = rcutils_join_path(cur_dir, "test", allocator);
char * path = rcutils_join_path(test_path, "max_string_sz.yaml", allocator);
fprintf(stderr, "cur_path: %s\n", path); fprintf(stderr, "cur_path: %s\n", path);
EXPECT_TRUE(rcutils_exists(path)); EXPECT_TRUE(rcutils_exists(path));
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator); rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
@ -135,15 +143,16 @@ TEST(test_file_parser, max_string_sz) {
bool res = rcl_parse_yaml_file(path, params_hdl); bool res = rcl_parse_yaml_file(path, params_hdl);
fprintf(stderr, "%s\n", rcutils_get_error_string_safe()); fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
EXPECT_FALSE(res); EXPECT_FALSE(res);
free(test_path); allocator.deallocate(test_path, allocator.state);
free(path); allocator.deallocate(path, allocator.state);
} }
TEST(test_file_parser, no_value1) { TEST(test_file_parser, no_value1) {
rcutils_reset_error(); rcutils_reset_error();
EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)); EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
char * test_path = rcutils_join_path(cur_dir, "test"); rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * path = rcutils_join_path(test_path, "no_value1.yaml"); char * test_path = rcutils_join_path(cur_dir, "test", allocator);
char * path = rcutils_join_path(test_path, "no_value1.yaml", allocator);
fprintf(stderr, "cur_path: %s\n", path); fprintf(stderr, "cur_path: %s\n", path);
EXPECT_TRUE(rcutils_exists(path)); EXPECT_TRUE(rcutils_exists(path));
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator); rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
@ -151,15 +160,16 @@ TEST(test_file_parser, no_value1) {
bool res = rcl_parse_yaml_file(path, params_hdl); bool res = rcl_parse_yaml_file(path, params_hdl);
fprintf(stderr, "%s\n", rcutils_get_error_string_safe()); fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
EXPECT_FALSE(res); EXPECT_FALSE(res);
free(test_path); allocator.deallocate(test_path, allocator.state);
free(path); allocator.deallocate(path, allocator.state);
} }
TEST(test_file_parser, indented_ns) { TEST(test_file_parser, indented_ns) {
rcutils_reset_error(); rcutils_reset_error();
EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024)); EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
char * test_path = rcutils_join_path(cur_dir, "test"); rcutils_allocator_t allocator = rcutils_get_default_allocator();
char * path = rcutils_join_path(test_path, "indented_name_space.yaml"); char * test_path = rcutils_join_path(cur_dir, "test", allocator);
char * path = rcutils_join_path(test_path, "indented_name_space.yaml", allocator);
fprintf(stderr, "cur_path: %s\n", path); fprintf(stderr, "cur_path: %s\n", path);
EXPECT_TRUE(rcutils_exists(path)); EXPECT_TRUE(rcutils_exists(path));
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator); rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
@ -167,8 +177,8 @@ TEST(test_file_parser, indented_ns) {
bool res = rcl_parse_yaml_file(path, params_hdl); bool res = rcl_parse_yaml_file(path, params_hdl);
fprintf(stderr, "%s\n", rcutils_get_error_string_safe()); fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
EXPECT_FALSE(res); EXPECT_FALSE(res);
free(test_path); allocator.deallocate(test_path, allocator.state);
free(path); allocator.deallocate(path, allocator.state);
} }
int32_t main(int32_t argc, char ** argv) int32_t main(int32_t argc, char ** argv)