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changes to support memory audit #261

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merged 4 commits into from
Jun 17, 2018
Merged

changes to support memory audit #261

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9ae3aa1
changes to rcutils_path_join()
wjwwood May 22, 2018
1b0c9f8
remove uses of malloc/realloc/calloc/free for allocator usage instead
wjwwood Jun 15, 2018
82cb479
Merge branch 'master' into dynamic_memory_audit
wjwwood Jun 17, 2018
56e93cc
remove unused class members
wjwwood Jun 17, 2018
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8 changes: 4 additions & 4 deletions rcl/src/rcl/node.c
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Original file line number Diff line number Diff line change
Expand Up @@ -99,7 +99,7 @@ const char * rcl_create_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;
if (NULL == node_name) {
Expand All @@ -115,9 +115,9 @@ const char * rcl_get_secure_root(const char * node_name)
if (!ros_secure_root_size) {
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)) {
free(node_secure_root);
allocator->deallocate(node_secure_root, allocator->state);
return NULL;
}
return node_secure_root;
Expand Down Expand Up @@ -315,7 +315,7 @@ rcl_node_init(
node_security_options.enforce_security = RMW_SECURITY_ENFORCEMENT_PERMISSIVE;
} else { // if use_security
// 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) {
node_security_options.security_root_path = node_secure_root;
} else {
Expand Down
8 changes: 4 additions & 4 deletions rcl/test/rcl/test_time.cpp
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Expand Up @@ -193,14 +193,14 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), default_clock_instanciation) {
EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
ASSERT_TRUE(rcl_clock_valid(&ros_clock));

rcl_clock_t * steady_clock =
reinterpret_cast<rcl_clock_t *>(calloc(1, sizeof(rcl_clock_t)));
rcl_clock_t * steady_clock = reinterpret_cast<rcl_clock_t *>(
allocator.zero_allocate(1, sizeof(rcl_clock_t), allocator.state));
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Is there no way around reinterpret_cast here? MISRA C++ guide on this is:
Approval required. Rationale: Reinterpreting bits into a different type should not be
necessary in a high level programming language. Exceptions could be made when a wrapper
to a third party library working with opaque data types needs to be created.

Also SEI Cert C++ is not fond of it: https://wiki.sei.cmu.edu/confluence/display/cplusplus/VOID+EXP13-CPP.+Prefer+dynamic_cast+over+static_cast+over+reinterpret_cast.

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No, I believe it is required and I don't know any other way to do this when calling a C function. Malloc returns void * which must be cast to the pointer type you're using it as.

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For example they use the C-style cast in the example:

http://en.cppreference.com/w/cpp/memory/c/malloc

But we have a rule to not use the C-style cast when we can use reinterpret_cast or static_cast instead.

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@dirk-thomas dirk-thomas Jun 17, 2018 •
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Casting from a void* should be done with a static_cast.

retval = rcl_steady_clock_init(steady_clock, &allocator);
EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
ASSERT_TRUE(rcl_clock_valid(steady_clock));

rcl_clock_t * system_clock =
reinterpret_cast<rcl_clock_t *>(calloc(1, sizeof(rcl_clock_t)));
rcl_clock_t * system_clock = reinterpret_cast<rcl_clock_t *>(
allocator.zero_allocate(1, sizeof(rcl_clock_t), allocator.state));
retval = rcl_system_clock_init(system_clock, &allocator);
EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
ASSERT_TRUE(rcl_clock_valid(system_clock));
Expand Down
82 changes: 46 additions & 36 deletions rcl_yaml_param_parser/test/test_parse_yaml.cpp
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Expand Up @@ -17,6 +17,7 @@

#include "rcl_yaml_param_parser/parser.h"

#include "rcutils/allocator.h"
#include "rcutils/error_handling.h"
#include "rcutils/filesystem.h"

Expand All @@ -26,8 +27,9 @@ rcutils_allocator_t allocator = rcutils_get_default_allocator();
TEST(test_file_parser, correct_syntax) {
rcutils_reset_error();
EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
char * test_path = rcutils_join_path(cur_dir, "test");
char * path = rcutils_join_path(test_path, "correct_config.yaml");
rcutils_allocator_t allocator = rcutils_get_default_allocator();
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);
EXPECT_TRUE(rcutils_exists(path));
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
Expand All @@ -37,15 +39,16 @@ TEST(test_file_parser, correct_syntax) {
EXPECT_TRUE(res);
rcl_yaml_node_struct_print(params_hdl);
rcl_yaml_node_struct_fini(params_hdl);
free(test_path);
free(path);
allocator.deallocate(test_path, allocator.state);
allocator.deallocate(path, allocator.state);
}

TEST(test_file_parser, multi_ns_correct_syntax) {
rcutils_reset_error();
EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
char * test_path = rcutils_join_path(cur_dir, "test");
char * path = rcutils_join_path(test_path, "multi_ns_correct.yaml");
rcutils_allocator_t allocator = rcutils_get_default_allocator();
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);
EXPECT_TRUE(rcutils_exists(path));
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
Expand All @@ -55,120 +58,127 @@ TEST(test_file_parser, multi_ns_correct_syntax) {
EXPECT_TRUE(res);
rcl_yaml_node_struct_print(params_hdl);
rcl_yaml_node_struct_fini(params_hdl);
free(test_path);
free(path);
allocator.deallocate(test_path, allocator.state);
allocator.deallocate(path, allocator.state);
}

TEST(test_file_parser, seq_map1) {
rcutils_reset_error();
EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
char * test_path = rcutils_join_path(cur_dir, "test");
char * path = rcutils_join_path(test_path, "seq_map1.yaml");
rcutils_allocator_t allocator = rcutils_get_default_allocator();
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);
EXPECT_TRUE(rcutils_exists(path));
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
EXPECT_FALSE(NULL == params_hdl);
bool res = rcl_parse_yaml_file(path, params_hdl);
fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
EXPECT_FALSE(res);
free(test_path);
free(path);
allocator.deallocate(test_path, allocator.state);
allocator.deallocate(path, allocator.state);
}

TEST(test_file_parser, seq_map2) {
rcutils_reset_error();
EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
char * test_path = rcutils_join_path(cur_dir, "test");
char * path = rcutils_join_path(test_path, "seq_map2.yaml");
rcutils_allocator_t allocator = rcutils_get_default_allocator();
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);
EXPECT_TRUE(rcutils_exists(path));
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
EXPECT_FALSE(NULL == params_hdl);
bool res = rcl_parse_yaml_file(path, params_hdl);
fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
EXPECT_FALSE(res);
free(test_path);
free(path);
allocator.deallocate(test_path, allocator.state);
allocator.deallocate(path, allocator.state);
}

TEST(test_file_parser, params_with_no_node) {
rcutils_reset_error();
EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
char * test_path = rcutils_join_path(cur_dir, "test");
char * path = rcutils_join_path(test_path, "params_with_no_node.yaml");
rcutils_allocator_t allocator = rcutils_get_default_allocator();
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);
EXPECT_TRUE(rcutils_exists(path));
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
EXPECT_FALSE(NULL == params_hdl);
bool res = rcl_parse_yaml_file(path, params_hdl);
fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
EXPECT_FALSE(res);
free(test_path);
free(path);
allocator.deallocate(test_path, allocator.state);
allocator.deallocate(path, allocator.state);
}

TEST(test_file_parser, no_alias_support) {
rcutils_reset_error();
EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
char * test_path = rcutils_join_path(cur_dir, "test");
char * path = rcutils_join_path(test_path, "no_alias_support.yaml");
rcutils_allocator_t allocator = rcutils_get_default_allocator();
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);
EXPECT_TRUE(rcutils_exists(path));
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
EXPECT_FALSE(NULL == params_hdl);
bool res = rcl_parse_yaml_file(path, params_hdl);
fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
EXPECT_FALSE(res);
free(test_path);
free(path);
allocator.deallocate(test_path, allocator.state);
allocator.deallocate(path, allocator.state);
}

TEST(test_file_parser, max_string_sz) {
rcutils_reset_error();
EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
char * test_path = rcutils_join_path(cur_dir, "test");
char * path = rcutils_join_path(test_path, "max_string_sz.yaml");
rcutils_allocator_t allocator = rcutils_get_default_allocator();
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);
EXPECT_TRUE(rcutils_exists(path));
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
EXPECT_FALSE(NULL == params_hdl);
bool res = rcl_parse_yaml_file(path, params_hdl);
fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
EXPECT_FALSE(res);
free(test_path);
free(path);
allocator.deallocate(test_path, allocator.state);
allocator.deallocate(path, allocator.state);
}

TEST(test_file_parser, no_value1) {
rcutils_reset_error();
EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
char * test_path = rcutils_join_path(cur_dir, "test");
char * path = rcutils_join_path(test_path, "no_value1.yaml");
rcutils_allocator_t allocator = rcutils_get_default_allocator();
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);
EXPECT_TRUE(rcutils_exists(path));
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
EXPECT_FALSE(NULL == params_hdl);
bool res = rcl_parse_yaml_file(path, params_hdl);
fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
EXPECT_FALSE(res);
free(test_path);
free(path);
allocator.deallocate(test_path, allocator.state);
allocator.deallocate(path, allocator.state);
}

TEST(test_file_parser, indented_ns) {
rcutils_reset_error();
EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
char * test_path = rcutils_join_path(cur_dir, "test");
char * path = rcutils_join_path(test_path, "indented_name_space.yaml");
rcutils_allocator_t allocator = rcutils_get_default_allocator();
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);
EXPECT_TRUE(rcutils_exists(path));
rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
EXPECT_FALSE(NULL == params_hdl);
bool res = rcl_parse_yaml_file(path, params_hdl);
fprintf(stderr, "%s\n", rcutils_get_error_string_safe());
EXPECT_FALSE(res);
free(test_path);
free(path);
allocator.deallocate(test_path, allocator.state);
allocator.deallocate(path, allocator.state);
}

int32_t main(int32_t argc, char ** argv)
Expand Down