From da49c3ea620ade5cadc2b2b1155e957e697e499d Mon Sep 17 00:00:00 2001
From: Simon Ottenhaus <simon.ottenhaus@kit.edu>
Date: Mon, 23 Jun 2014 17:52:03 +0200
Subject: [PATCH] Fixed Memory Leak
---
source/RobotAPI/drivers/WeissHapticSensor/Response.h | 8 +++++---
.../drivers/WeissHapticSensor/TactileSensor.cpp | 11 +++++++----
.../drivers/WeissHapticSensor/TactileSensor.h | 8 ++++----
.../drivers/WeissHapticSensor/WeissHapticSensor.cpp | 2 +-
4 files changed, 17 insertions(+), 12 deletions(-)
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/Response.h b/source/RobotAPI/drivers/WeissHapticSensor/Response.h
index 456ff392c..933f45af0 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/Response.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/Response.h
@@ -7,6 +7,7 @@
#include <stdexcept>
#include <boost/format.hpp>
#include <vector>
+#include <Core/core/logging/Logging.h>
struct Response {
public:
@@ -44,11 +45,12 @@ public:
//std::strstream strStream;
//strStream << "Command not successful: " << status_to_str( status );
//throw std::runtime_error(strStream.str());
- std::cerr << " status != E_SUCCESS" << std::endl;
+ std::stringstream ss;
+ ss << " status != E_SUCCESS";
for(int i=0; i<(int)len; i++){
- std::cerr << boost::format("%02X ") % (int)data[i];
+ ss << boost::format("%02X ") % (int)data[i];
}
- std::cerr << std::endl;
+ ARMARX_ERROR_S << ss.str();
throw TransmissionException(str(boost::format("Command not successful: %1% (0x%2$02X)") % status_to_str( status ) % status));
}
}
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.cpp b/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.cpp
index 8ce5aaf15..b12d1163f 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.cpp
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.cpp
@@ -87,11 +87,13 @@ PeriodicFrameData TactileSensor::getPeriodicFrameData(Response *response)
int count = (response->len - offset) / 2;
int i;
- short* data = new short[ count ];
+ boost::shared_ptr<std::vector<short> > data;
+ data.reset(new std::vector<short>(count, 0));
+ //short* data = new short[ count ];
for(i = 0; i < count; i++)
{
short value = response->getShort(i*2 + offset);
- data[i] = value;
+ (*data)[i] = value;
}
return PeriodicFrameData(data, count, timestamp);
}
@@ -105,11 +107,12 @@ FrameData TactileSensor::getFrameData(Response *response)
int count = (response->len - offset) / 2;
int i;
- short* data = new short[ sizeof(short) * count ];
+ boost::shared_ptr<std::vector<short> > data;
+ data.reset(new std::vector<short>(count, 0));
for(i = 0; i < count; i++)
{
short value = response->getShort(i*2 + offset);
- data[i] = value;
+ (*data)[i] = value;
}
return FrameData(data, count);
}
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.h b/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.h
index c47414449..393e4cf74 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.h
@@ -41,19 +41,19 @@ typedef struct
struct FrameData
{
public:
- FrameData(short *data, int count)
+ FrameData(boost::shared_ptr<std::vector<short> > data, int count)
: data(data), count(count)
{}
- short *data;
+ boost::shared_ptr<std::vector<short> > data;
int count;
};
struct PeriodicFrameData
{
public:
- PeriodicFrameData(short *data, int count, unsigned int timestamp)
+ PeriodicFrameData(boost::shared_ptr<std::vector<short> > data, int count, unsigned int timestamp)
: data(data), count(count), timestamp(timestamp)
{}
- short *data;
+ boost::shared_ptr<std::vector<short> > data;
int count;
unsigned int timestamp;
};
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp
index 4a5a731cd..82db8ae06 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp
+++ b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp
@@ -98,7 +98,7 @@ void WeissHapticSensor::frameAcquisitionTaskLoop()
{
for (int x = 0; x < mi.res_x; x++)
{
- short val = data.data[y * mi.res_x + x];
+ short val = (*data.data)[y * mi.res_x + x];
(*matrix)(y, x) = val;
}
}
--
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