fixed memory leak in module bind

src/prpy/base/wamrobot.py

@@ -51,10 +51,23 @@ def CloneBindings(self, parent):
         Robot.CloneBindings(self, parent)
 
         self.mac_retimer = None
-        self.trajectory_module = prpy.rave.load_module(self.GetEnv(), 'Trajectory', self.GetName())
-        #import manipulation2.trajectory
+        trajectory_module = prpy.rave.load_module(self.GetEnv(), 'Trajectory', self.GetName())
+        import manipulation2.trajectory
         #manipulation2.trajectory.bind(self.trajectory_module)
 
+        def myFun(x):
+            pass
+        import types
+
+        class Object():
+            pass
+
+        self.trajectory_module = Object()
+        self.trajectory_module.module = trajectory_module
+        self.trajectory_module.blendtrajectory = types.MethodType(manipulation2.trajectory.blendtrajectory, trajectory_module)
+        self.trajectory_module.executeblendedtrajectory = types.MethodType(manipulation2.trajectory.executeblendedtrajectory, trajectory_module)
+
+
     def RetimeTrajectory(self, traj, max_jerk=30.0, synchronize=False,
                          stop_on_stall=True, stop_on_ft=False, force_direction=None,
                          force_magnitude=None, torque=None, **kw_args):

src/prpy/bind.py

@@ -214,7 +214,8 @@ def cleanup_callback(owner, flag):
                 # NOTE: this is also an acceptable body for the loop :)
                 # clear_referrers(children[0])
             InstanceDeduplicator.logger.info(owner)
-            clear_referrers(canonical_instance)
+            if canonical_instance != None:
+                clear_referrers(canonical_instance)
 
     @classmethod
     def get_storage_methods(cls, target):
@@ -275,7 +276,7 @@ def get_bound_children(cls, parent):
             child_keys = user_data[parent_key][cls.USERDATA_CHILDREN]
         except KeyError:
             # There are no bound children.
-            return []
+            return [], None
 
         # Resolve the key to an instance.
         children = []

src/prpy/planning/chomp.py

@@ -136,19 +136,41 @@ def get_affected_links(body, dof_indices):
 class CHOMPPlanner(BasePlanner):
     def __init__(self):
         super(CHOMPPlanner, self).__init__()
+        self.setupEnv(self.env)
+
+    def setupEnv(self, env):
+        self.env = env
         try:
             from orcdchomp import orcdchomp
-            self.module = openravepy.RaveCreateModule(self.env, 'orcdchomp')
+            module = openravepy.RaveCreateModule(self.env, 'orcdchomp')
         except ImportError:
             raise UnsupportedPlanningError('Unable to import orcdchomp.')
         except openravepy.openrave_exception as e:
             raise UnsupportedPlanningError('Unable to create orcdchomp module: %s' % e)
 
-        if self.module is None:
+        if module is None:
             raise UnsupportedPlanningError('Failed loading module.')
-
         self.initialized = False
-        orcdchomp.bind(self.module)
+        #orcdchomp.bind(self.module)
+
+        class Object():
+            pass
+
+        import types
+
+        self.module = Object()
+        self.module.module = module
+        self.module.viewspheres = types.MethodType(orcdchomp.viewspheres,module)
+        self.module.computedistancefield = types.MethodType(orcdchomp.computedistancefield,module)
+        self.module.addfield_fromobsarray = types.MethodType(orcdchomp.addfield_fromobsarray,module)
+        self.module.removefield = types.MethodType(orcdchomp.removefield,module)
+        self.module.create = types.MethodType(orcdchomp.create,module)
+        self.module.iterate = types.MethodType(orcdchomp.iterate,module)
+        self.module.gettraj = types.MethodType(orcdchomp.gettraj,module)
+        self.module.destroy = types.MethodType(orcdchomp.destroy,module)
+        self.module.runchomp = types.MethodType(orcdchomp.runchomp,module)
+        self.module.GetEnv = self.module.module.GetEnv
+
         self.distance_fields = DistanceFieldManager(self.module)
 
     def __str__(self):