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Set of various fixes #37

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Set of various fixes #37

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21ad4bd
fix: Fix some memory leaks
pierrewillenbrockdfki Jan 9, 2023
fa981ca
fix: Special case bool and (u)int8_t when writing config strings
pierrewillenbrockdfki Jan 15, 2026
7c9b730
fix: No need to cast (u)int8_t to (u)int when finally casting to double
pierrewillenbrockdfki Jan 15, 2026
374d135
fix: Convert numbers to strings to concatenating with operator+
pierrewillenbrockdfki Jan 16, 2026
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39 changes: 28 additions & 11 deletions src/ConfigurationHelper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -318,9 +318,9 @@ bool ConfigurationHelper::applyConfOnTyplibValue(Typelib::Value &value, const Co

for(const std::shared_ptr<ConfigValue> val: array->getValues())
{

//TODO check, this may be a memory leak
Typelib::Value v(new uint8_t[indirect.getSize()], indirect);
std::vector<uint8_t> storage;
storage.resize(indirect.getSize());
Typelib::Value v(storage.data(), indirect);
Typelib::init(v);
Typelib::zero(v);

Expand All @@ -330,6 +330,8 @@ bool ConfigurationHelper::applyConfOnTyplibValue(Typelib::Value &value, const Co
}

cont->push(value.getData(), v);

Typelib::destroy(v);
}
}
}
Expand Down Expand Up @@ -406,8 +408,14 @@ bool ConfigurationHelper::applyConfigValueOnDSB(RTT::base::DataSourceBase::share
typelibTransport->refreshTypelibSample(handle);
}

if(!applyConfOnTyplibValue(dest, value))
if(!applyConfOnTyplibValue(dest, value)) {
//destroy handle to avoid memory leak
//this also deletes all referenced memory by calling
//orogen_transports::TypelibMarshaller<T>::deleteSamples
typelibTransport->deleteHandle(handle);

return false;
}


//we modified the typlib samples, so we need to trigger the opaque
Expand All @@ -416,10 +424,12 @@ bool ConfigurationHelper::applyConfigValueOnDSB(RTT::base::DataSourceBase::share

//write value back
typelibTransport->writeDataSource(*dsb, handle);

//destroy handle to avoid memory leak
//this also deletes all referenced memory by calling
//orogen_transports::TypelibMarshaller<T>::deleteSamples
typelibTransport->deleteHandle(handle);

return true;
}

Expand Down Expand Up @@ -554,7 +564,12 @@ bool ConfigurationHelper::registerOverride(const std::string& taskName, Configur
}

YAML::Emitter &toYAML(YAML::Emitter &out, const Typelib::Numeric &type, const Typelib::Value &value){

if (type.getName() == "/bool")
{
//the /bool type must be output as "true" or "false"
out << (*static_cast<bool *>(value.getData())?"true":"false");
return out;
}
switch(type.getNumericCategory())
{
case Typelib::Numeric::Float:
Expand All @@ -571,7 +586,8 @@ YAML::Emitter &toYAML(YAML::Emitter &out, const Typelib::Numeric &type, const Ty
switch(type.getSize())
{
case sizeof(int8_t):
out << *(static_cast<int8_t *>(value.getData()));
//need to cast uint8_t to int so it is not interpreted as character but as number
out << static_cast<int>(*(static_cast<int8_t *>(value.getData())));
break;
case sizeof(int16_t):
out << *(static_cast<int16_t *>(value.getData()));
Expand All @@ -584,7 +600,7 @@ YAML::Emitter &toYAML(YAML::Emitter &out, const Typelib::Numeric &type, const Ty
break;
default:
std::cerr << "Error, got integer of unexpected size " << type.getSize() << std::endl;
throw std::runtime_error("got integer of unexpected size " + type.getSize());
throw std::runtime_error("got integer of unexpected size " + std::to_string(type.getSize()));
break;
}
break;
Expand All @@ -593,7 +609,8 @@ YAML::Emitter &toYAML(YAML::Emitter &out, const Typelib::Numeric &type, const Ty
switch(type.getSize())
{
case sizeof(uint8_t):
out << *(static_cast<uint8_t *>(value.getData()));
//need to cast uint8_t to unsigned int so it is not interpreted as character but as number
out << static_cast<unsigned int>(*(static_cast<uint8_t *>(value.getData())));
break;
case sizeof(uint16_t):
out << *(static_cast<uint16_t *>(value.getData()));
Expand All @@ -606,7 +623,7 @@ YAML::Emitter &toYAML(YAML::Emitter &out, const Typelib::Numeric &type, const Ty
break;
default:
std::cout << "Error, got integer of unexpected size " << type.getSize() << std::endl;
throw std::runtime_error("got integer of unexpected size " + type.getSize());
throw std::runtime_error("got integer of unexpected size " + std::to_string(type.getSize()));
break;
}
}
Expand Down
4 changes: 2 additions & 2 deletions src/TypeWrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -93,7 +93,7 @@ double TypeWrapper::toDouble() {
}
case Typelib::Numeric::SInt:
switch (numeric.getSize()) {
case sizeof(int8_t): return static_cast<int>(*static_cast<int8_t *>(value.getData()));
case sizeof(int8_t): return *static_cast<int8_t *>(value.getData());
case sizeof(int16_t): return *static_cast<int16_t*>(value.getData());
case sizeof(int32_t): return *static_cast<int32_t*>(value.getData());
case sizeof(int64_t): return *static_cast<int64_t*>(value.getData());
Expand All @@ -103,7 +103,7 @@ double TypeWrapper::toDouble() {
}
case Typelib::Numeric::UInt: {
switch (numeric.getSize()) {
case sizeof(uint8_t): return static_cast<unsigned int>(*static_cast<uint8_t *>(value.getData()));
case sizeof(uint8_t): return *static_cast<uint8_t *>(value.getData());
case sizeof(uint16_t): return *static_cast<uint16_t*>(value.getData());
case sizeof(uint32_t): return *static_cast<uint32_t*>(value.getData());
case sizeof(uint64_t): return *static_cast<uint64_t*>(value.getData());
Expand Down