canard: use malloc and placement new instead of new

canard/callbacks.h

@@ -55,7 +55,7 @@ class StaticCallback : public Callback<msgtype> {
 /// @return StaticCallback object
 template <typename msgtype>
 StaticCallback<msgtype> *allocate_static_callback(void (*cb)(const CanardRxTransfer& transfer, const msgtype& msg)) {
-    return (new StaticCallback<msgtype>(cb));
+    return allocate<StaticCallback<msgtype>>(cb);
 }
 
 /// @brief Object callback class.
@@ -87,7 +87,7 @@ class ObjCallback : public Callback<msgtype> {
 /// @return ObjCallback object
 template <typename T, typename msgtype>
 ObjCallback<T, msgtype>* allocate_obj_callback(T* obj, void (T::*cb)(const CanardRxTransfer& transfer, const msgtype& msg)) {
-    return (new ObjCallback<T, msgtype>(obj, cb));
+    return allocate<ObjCallback<T, msgtype>>(obj, cb);
 }
 
 /// @brief Argument callback class.
@@ -117,7 +117,7 @@ class ArgCallback : public Callback<msgtype> {
 /// @return ArgCallback object
 template <typename T, typename msgtype>
 ArgCallback<T, msgtype>* allocate_arg_callback(T* arg, void (*cb)(T* arg, const CanardRxTransfer& transfer, const msgtype& msg)) {
-    return (new ArgCallback<T, msgtype>(arg, cb));
+    return allocate<ArgCallback<T, msgtype>>(arg, cb);
 }
 
 } // namespace Canard

canard/helpers.h

@@ -1,7 +1,38 @@
+#pragma once
+
 #ifdef USE_USER_HELPERS
 #include "canard_helpers_user.h"
 #endif
 
 #ifndef NOINLINE_FUNC
 #define NOINLINE_FUNC __attribute__((noinline))
 #endif
+
+// define malloc and free
+#ifndef CANARD_MALLOC
+#include <stdlib.h>
+#include <new>
+#define CANARD_MALLOC malloc
+#define CANARD_FREE free
+#endif
+
+namespace Canard {
+template<typename T, typename ...Args>
+T* allocate(Args...args) {
+    auto ret = CANARD_MALLOC(sizeof(T));
+    if (ret == nullptr) {
+        return nullptr;
+    }
+    return new(ret) T(args...);
+}
+
+template<typename T>
+void deallocate(T* ptr) {
+    if (ptr == nullptr) {
+        return;
+    }
+    ptr->~T();
+    CANARD_FREE(ptr);
+}
+
+}

canard/subscriber.h

@@ -111,7 +111,7 @@ class SubscriberArgCb {
 /// @return SubscriberArgCb object
 template <typename T, typename msgtype>
 SubscriberArgCb<T, msgtype>* allocate_sub_arg_callback(T* _arg, void (*_cb)(T* arg, const CanardRxTransfer& transfer, const msgtype& msg), uint8_t index) {
-    return (new SubscriberArgCb<T, msgtype>(_arg, _cb, index));
+    return allocate<SubscriberArgCb<T, msgtype>>(_arg, _cb, index);
 }
 
 template <typename msgtype>
@@ -131,7 +131,7 @@ class SubscriberStaticCb {
 /// @return SubscriberStaticCb object
 template <typename msgtype>
 SubscriberStaticCb<msgtype>* allocate_sub_static_callback(void (*cb)(const CanardRxTransfer&, const msgtype&), uint8_t index) {
-    return (new SubscriberStaticCb<msgtype>(cb, index));
+    return allocate<SubscriberStaticCb<msgtype>>(cb, index);
 }
 
 template <typename T, typename msgtype>
@@ -153,7 +153,7 @@ class SubscriberObjCb {
 /// @return SubscriberObjCb object
 template <typename T, typename msgtype>
 SubscriberObjCb<T, msgtype>* allocate_sub_obj_callback(T* obj, void (T::*cb)(const CanardRxTransfer& transfer, const msgtype& msg), uint8_t index) {
-    return (new SubscriberObjCb<T, msgtype>(obj, cb, index));
+    return allocate<SubscriberObjCb<T, msgtype>>(obj, cb, index);
 }
 
 } // namespace Canard

canard/tests/test_canard_interface.cpp

@@ -79,8 +79,8 @@ TEST(StaticCanardTest, test_publish_subscribe) {
     // check if message was received
     ASSERT_TRUE(called_handle_node_status);
 
-    delete static_cb0;
-    delete static_cb1;
+    deallocate(static_cb0);
+    deallocate(static_cb1);
     CANARD_TEST_INTERFACE(0).free();
     CANARD_TEST_INTERFACE(1).free();
 }

canard/tests/test_cxx_wrappers.cpp

@@ -61,8 +61,8 @@ TEST(StaticCoreTest, test_publish_subscribe) {
     // check if message was received
     ASSERT_TRUE(called_handle_node_status);
 
-    delete handle_node_status_cb_1;
-    delete handle_node_status_cb_2;
+    deallocate(handle_node_status_cb_1);
+    deallocate(handle_node_status_cb_2);
 }
 
 // test multiple subscribers
@@ -74,7 +74,7 @@ class TestSubscriber0 {
         handle_node_status_cb = Canard::allocate_sub_obj_callback(this, &StaticCoreTest::TestSubscriber0::handle_node_status, 0);
     }
     ~TestSubscriber0() {
-        delete handle_node_status_cb;
+        deallocate(handle_node_status_cb);
     }
     void handle_node_status(const CanardRxTransfer &transfer, const uavcan_protocol_NodeStatus &msg);
     static int call_counts;
@@ -100,7 +100,7 @@ class TestSubscriber1 {
         handle_node_status_cb = Canard::allocate_sub_obj_callback(this, &StaticCoreTest::TestSubscriber1::handle_node_status, 1);
     }
     ~TestSubscriber1() {
-        delete handle_node_status_cb;
+        deallocate(handle_node_status_cb);
     }
     void handle_node_status(const CanardRxTransfer &transfer, const uavcan_protocol_NodeStatus &msg) {
         called_handle_node_status = true;
@@ -177,7 +177,7 @@ class StaticCallbackWrapper {
         cb = Canard::allocate_static_callback(_cb);
     }
     ~StaticCallbackWrapper() {
-        delete cb;
+        deallocate(cb);
     }
     Canard::StaticCallback<msgtype> *cb;
 };
@@ -250,9 +250,8 @@ TEST(StaticCoreTest, test_service) {
     ASSERT_TRUE(get_node_info_client1.request(1, req));
     // check if response was received
     ASSERT_TRUE(handle_get_node_info_response_called);
-    // free memory
-    delete static_cb0;
-    delete static_cb1;
+    deallocate(static_cb0);
+    deallocate(static_cb1);
     CXX_TEST_INTERFACE(0).free();
     CXX_TEST_INTERFACE(1).free();
 }

canard/transfer_object.h

@@ -47,8 +47,8 @@ class TransferObject {
         uint32_t _transfer_desc = MAKE_TRANSFER_DESCRIPTOR(data_type_id, transfer_type, src_node_id, dst_node_id);
         // check head
         if (tid_map_head[index] == nullptr) {
-            tid_map_head[index] = new TransferObject(_transfer_desc);
-            if (tid_map_head[index] == nullptr) {
+            tid_map_head[index] = allocate<TransferObject>(_transfer_desc);
+            if (tid_map_head[index]  == nullptr) {
                 return nullptr;
             }
             return &tid_map_head[index]->tid;
@@ -66,7 +66,7 @@ class TransferObject {
         }
 
         // create a new entry, if not found
-        tid_map_ptr->next = new TransferObject(_transfer_desc);
+        tid_map_ptr->next = allocate<TransferObject>(_transfer_desc);
         if (tid_map_ptr->next == nullptr) {
             return nullptr;
         }
@@ -83,7 +83,7 @@ class TransferObject {
         TransferObject *tid_map_ptr = tid_map_head[index];
         while(tid_map_ptr) {
             TransferObject *next = tid_map_ptr->next;
-            delete tid_map_ptr;
+            deallocate(tid_map_ptr);
             tid_map_ptr = next;
         }
         tid_map_head[index] = nullptr;