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Fix two potential memory leaks. (#361)
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- Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
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@ROBOTIS-zerom
ROBOTIS-zerom committed Jan 9, 2020
1 parent 8a53309 commit cc5dd7b
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Showing 4 changed files with 60 additions and 0 deletions.
27 changes: 27 additions & 0 deletions c++/src/dynamixel_sdk/protocol1_packet_handler.cpp
View file
Expand Up @@ -412,6 +412,9 @@ int Protocol1PacketHandler::readRx(PortHandler *port, uint8_t id, uint16_t lengt
uint8_t *rxpacket = (uint8_t *)malloc(RXPACKET_MAX_LEN); //(length+6);
//uint8_t *rxpacket = new uint8_t[length+6];

if (rxpacket == NULL)
return result;

do {
result = rxPacket(port, rxpacket);
} while (result == COMM_SUCCESS && rxpacket[PKT_ID] != id);
Expand Down Expand Up @@ -441,8 +444,14 @@ int Protocol1PacketHandler::readTxRx(PortHandler *port, uint8_t id, uint16_t add
uint8_t txpacket[8] = {0};
uint8_t *rxpacket = (uint8_t *)malloc(RXPACKET_MAX_LEN);//(length+6);

if (rxpacket == NULL)
return result;

if (id >= BROADCAST_ID)
{
free(rxpacket);
return COMM_NOT_AVAILABLE;
}

txpacket[PKT_ID] = id;
txpacket[PKT_LENGTH] = 4;
Expand Down Expand Up @@ -539,6 +548,9 @@ int Protocol1PacketHandler::writeTxOnly(PortHandler *port, uint8_t id, uint16_t
uint8_t *txpacket = (uint8_t *)malloc(length+7);
//uint8_t *txpacket = new uint8_t[length+7];

if (txpacket == NULL)
return result;

txpacket[PKT_ID] = id;
txpacket[PKT_LENGTH] = length+3;
txpacket[PKT_INSTRUCTION] = INST_WRITE;
Expand All @@ -564,6 +576,9 @@ int Protocol1PacketHandler::writeTxRx(PortHandler *port, uint8_t id, uint16_t ad
//uint8_t *txpacket = new uint8_t[length+7];
uint8_t rxpacket[6] = {0};

if (txpacket == NULL)
return result;

txpacket[PKT_ID] = id;
txpacket[PKT_LENGTH] = length+3;
txpacket[PKT_INSTRUCTION] = INST_WRITE;
Expand Down Expand Up @@ -620,6 +635,9 @@ int Protocol1PacketHandler::regWriteTxOnly(PortHandler *port, uint8_t id, uint16
uint8_t *txpacket = (uint8_t *)malloc(length+6);
//uint8_t *txpacket = new uint8_t[length+6];

if (txpacket == NULL)
return result;

txpacket[PKT_ID] = id;
txpacket[PKT_LENGTH] = length+3;
txpacket[PKT_INSTRUCTION] = INST_REG_WRITE;
Expand All @@ -645,6 +663,9 @@ int Protocol1PacketHandler::regWriteTxRx(PortHandler *port, uint8_t id, uint16_t
//uint8_t *txpacket = new uint8_t[length+6];
uint8_t rxpacket[6] = {0};

if (txpacket == NULL)
return result;

txpacket[PKT_ID] = id;
txpacket[PKT_LENGTH] = length+3;
txpacket[PKT_INSTRUCTION] = INST_REG_WRITE;
Expand Down Expand Up @@ -674,6 +695,9 @@ int Protocol1PacketHandler::syncWriteTxOnly(PortHandler *port, uint16_t start_ad
// 8: HEADER0 HEADER1 ID LEN INST START_ADDR DATA_LEN ... CHKSUM
//uint8_t *txpacket = new uint8_t[param_length + 8];

if (txpacket == NULL)
return result;

txpacket[PKT_ID] = BROADCAST_ID;
txpacket[PKT_LENGTH] = param_length + 4; // 4: INST START_ADDR DATA_LEN ... CHKSUM
txpacket[PKT_INSTRUCTION] = INST_SYNC_WRITE;
Expand All @@ -699,6 +723,9 @@ int Protocol1PacketHandler::bulkReadTx(PortHandler *port, uint8_t *param, uint16
// 7: HEADER0 HEADER1 ID LEN INST 0x00 ... CHKSUM
//uint8_t *txpacket = new uint8_t[param_length + 7];

if (txpacket == NULL)
return result;

txpacket[PKT_ID] = BROADCAST_ID;
txpacket[PKT_LENGTH] = param_length + 3; // 3: INST 0x00 ... CHKSUM
txpacket[PKT_INSTRUCTION] = INST_BULK_READ;
Expand Down
3 changes: 3 additions & 0 deletions c++/src/dynamixel_sdk/protocol2_packet_handler.cpp
View file
Expand Up @@ -716,7 +716,10 @@ int Protocol2PacketHandler::readTxRx(PortHandler *port, uint8_t id, uint16_t add
return result;

if (id >= BROADCAST_ID)
{
free(rxpacket);
return COMM_NOT_AVAILABLE;
}

txpacket[PKT_ID] = id;
txpacket[PKT_LENGTH_L] = 7;
Expand Down
27 changes: 27 additions & 0 deletions ros/src/dynamixel_sdk/protocol1_packet_handler.cpp
View file
Expand Up @@ -412,6 +412,9 @@ int Protocol1PacketHandler::readRx(PortHandler *port, uint8_t id, uint16_t lengt
uint8_t *rxpacket = (uint8_t *)malloc(RXPACKET_MAX_LEN); //(length+6);
//uint8_t *rxpacket = new uint8_t[length+6];

if (rxpacket == NULL)
return result;

do {
result = rxPacket(port, rxpacket);
} while (result == COMM_SUCCESS && rxpacket[PKT_ID] != id);
Expand Down Expand Up @@ -441,8 +444,14 @@ int Protocol1PacketHandler::readTxRx(PortHandler *port, uint8_t id, uint16_t add
uint8_t txpacket[8] = {0};
uint8_t *rxpacket = (uint8_t *)malloc(RXPACKET_MAX_LEN);//(length+6);

if (rxpacket == NULL)
return result;

if (id >= BROADCAST_ID)
{
free(rxpacket);
return COMM_NOT_AVAILABLE;
}

txpacket[PKT_ID] = id;
txpacket[PKT_LENGTH] = 4;
Expand Down Expand Up @@ -539,6 +548,9 @@ int Protocol1PacketHandler::writeTxOnly(PortHandler *port, uint8_t id, uint16_t
uint8_t *txpacket = (uint8_t *)malloc(length+7);
//uint8_t *txpacket = new uint8_t[length+7];

if (txpacket == NULL)
return result;

txpacket[PKT_ID] = id;
txpacket[PKT_LENGTH] = length+3;
txpacket[PKT_INSTRUCTION] = INST_WRITE;
Expand All @@ -564,6 +576,9 @@ int Protocol1PacketHandler::writeTxRx(PortHandler *port, uint8_t id, uint16_t ad
//uint8_t *txpacket = new uint8_t[length+7];
uint8_t rxpacket[6] = {0};

if (txpacket == NULL)
return result;

txpacket[PKT_ID] = id;
txpacket[PKT_LENGTH] = length+3;
txpacket[PKT_INSTRUCTION] = INST_WRITE;
Expand Down Expand Up @@ -620,6 +635,9 @@ int Protocol1PacketHandler::regWriteTxOnly(PortHandler *port, uint8_t id, uint16
uint8_t *txpacket = (uint8_t *)malloc(length+6);
//uint8_t *txpacket = new uint8_t[length+6];

if (txpacket == NULL)
return result;

txpacket[PKT_ID] = id;
txpacket[PKT_LENGTH] = length+3;
txpacket[PKT_INSTRUCTION] = INST_REG_WRITE;
Expand All @@ -645,6 +663,9 @@ int Protocol1PacketHandler::regWriteTxRx(PortHandler *port, uint8_t id, uint16_t
//uint8_t *txpacket = new uint8_t[length+6];
uint8_t rxpacket[6] = {0};

if (txpacket == NULL)
return result;

txpacket[PKT_ID] = id;
txpacket[PKT_LENGTH] = length+3;
txpacket[PKT_INSTRUCTION] = INST_REG_WRITE;
Expand Down Expand Up @@ -674,6 +695,9 @@ int Protocol1PacketHandler::syncWriteTxOnly(PortHandler *port, uint16_t start_ad
// 8: HEADER0 HEADER1 ID LEN INST START_ADDR DATA_LEN ... CHKSUM
//uint8_t *txpacket = new uint8_t[param_length + 8];

if (txpacket == NULL)
return result;

txpacket[PKT_ID] = BROADCAST_ID;
txpacket[PKT_LENGTH] = param_length + 4; // 4: INST START_ADDR DATA_LEN ... CHKSUM
txpacket[PKT_INSTRUCTION] = INST_SYNC_WRITE;
Expand All @@ -699,6 +723,9 @@ int Protocol1PacketHandler::bulkReadTx(PortHandler *port, uint8_t *param, uint16
// 7: HEADER0 HEADER1 ID LEN INST 0x00 ... CHKSUM
//uint8_t *txpacket = new uint8_t[param_length + 7];

if (txpacket == NULL)
return result;

txpacket[PKT_ID] = BROADCAST_ID;
txpacket[PKT_LENGTH] = param_length + 3; // 3: INST 0x00 ... CHKSUM
txpacket[PKT_INSTRUCTION] = INST_BULK_READ;
Expand Down
3 changes: 3 additions & 0 deletions ros/src/dynamixel_sdk/protocol2_packet_handler.cpp
View file
Expand Up @@ -716,7 +716,10 @@ int Protocol2PacketHandler::readTxRx(PortHandler *port, uint8_t id, uint16_t add
return result;

if (id >= BROADCAST_ID)
{
free(rxpacket);
return COMM_NOT_AVAILABLE;
}

txpacket[PKT_ID] = id;
txpacket[PKT_LENGTH_L] = 7;
Expand Down

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