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Merged
minggangw merged 1 commit into from
Jul 23, 2018
Merged

Use std::shared_ptr to manage the memory #383

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35 changes: 16 additions & 19 deletions src/rcl_bindings.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@

namespace rclnodejs {

rmw_qos_profile_t* GetQoSProfile(v8::Local<v8::Value> qos);
std::unique_ptr<rmw_qos_profile_t> GetQoSProfile(v8::Local<v8::Value> qos);

NAN_METHOD(Init) {
THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK,
Expand Down Expand Up @@ -190,8 +190,7 @@ NAN_METHOD(CreateSubscription) {

rcl_subscription_options_t subscription_ops =
rcl_subscription_get_default_options();
auto qos_profile = std::make_unique<rmw_qos_profile_t>();
qos_profile.reset(GetQoSProfile(info[5]));
auto qos_profile = GetQoSProfile(info[5]);

if (qos_profile) {
subscription_ops.qos = *qos_profile;
Expand Down Expand Up @@ -238,8 +237,7 @@ NAN_METHOD(CreatePublisher) {
if (ts) {
// Using default options
rcl_publisher_options_t publisher_ops = rcl_publisher_get_default_options();
auto qos_profile = std::make_unique<rmw_qos_profile_t>();
qos_profile.reset(GetQoSProfile(info[5]));
auto qos_profile = GetQoSProfile(info[5]);

if (qos_profile) {
publisher_ops.qos = *qos_profile;
Expand Down Expand Up @@ -288,8 +286,7 @@ NAN_METHOD(CreateClient) {
reinterpret_cast<rcl_client_t*>(malloc(sizeof(rcl_client_t)));
*client = rcl_get_zero_initialized_client();
rcl_client_options_t client_ops = rcl_client_get_default_options();
auto qos_profile = std::make_unique<rmw_qos_profile_t>();
qos_profile.reset(GetQoSProfile(info[4]));
auto qos_profile = GetQoSProfile(info[4]);

if (qos_profile) {
client_ops.qos = *qos_profile;
Expand Down Expand Up @@ -358,8 +355,7 @@ NAN_METHOD(CreateService) {
reinterpret_cast<rcl_service_t*>(malloc(sizeof(rcl_service_t)));
*service = rcl_get_zero_initialized_service();
rcl_service_options_t service_ops = rcl_service_get_default_options();
auto qos_profile = std::make_unique<rmw_qos_profile_t>();
qos_profile.reset(GetQoSProfile(info[4]));
auto qos_profile = GetQoSProfile(info[4]);

if (qos_profile) {
service_ops.qos = *qos_profile;
Expand Down Expand Up @@ -633,8 +629,6 @@ const rmw_qos_profile_t* GetQoSProfileFromString(const std::string& profile) {
const rmw_qos_profile_t* qos_profile = nullptr;
if (profile == "qos_profile_sensor_data") {
qos_profile = &rmw_qos_profile_sensor_data;
} else if (profile == "qos_profile_default") {
qos_profile = &rmw_qos_profile_default;
} else if (profile == "qos_profile_system_default") {
qos_profile = &rmw_qos_profile_system_default;
} else if (profile == "qos_profile_services_default") {
Expand All @@ -644,15 +638,17 @@ const rmw_qos_profile_t* GetQoSProfileFromString(const std::string& profile) {
} else if (profile == "qos_profile_parameter_events") {
qos_profile = &rmw_qos_profile_parameter_events;
} else {
return nullptr;
return &rmw_qos_profile_default;;
}

return qos_profile;
}

const rmw_qos_profile_t* GetQosProfileFromObject(v8::Local<v8::Object> object) {
rmw_qos_profile_t* qos_profile =
reinterpret_cast<rmw_qos_profile_t*>(malloc(sizeof(rmw_qos_profile_t)));
std::unique_ptr<rmw_qos_profile_t> GetQosProfileFromObject(
v8::Local<v8::Object> object) {
std::unique_ptr<rmw_qos_profile_t> qos_profile =
std::make_unique<rmw_qos_profile_t>();

qos_profile->history = static_cast<rmw_qos_history_policy_t>(
object->Get(Nan::New("history").ToLocalChecked())->Uint32Value());
qos_profile->depth =
Expand All @@ -668,16 +664,17 @@ const rmw_qos_profile_t* GetQosProfileFromObject(v8::Local<v8::Object> object) {
return qos_profile;
}

rmw_qos_profile_t* GetQoSProfile(v8::Local<v8::Value> qos) {
rmw_qos_profile_t* qos_profile = new rmw_qos_profile_t();
std::unique_ptr<rmw_qos_profile_t> GetQoSProfile(v8::Local<v8::Value> qos) {
std::unique_ptr<rmw_qos_profile_t> qos_profile =
std::make_unique<rmw_qos_profile_t>();

if (qos->IsString()) {
*qos_profile = *GetQoSProfileFromString(
std::string(*Nan::Utf8String(qos->ToString())));
} else if (qos->IsObject()) {
*qos_profile = *GetQosProfileFromObject(qos->ToObject());
qos_profile = GetQosProfileFromObject(qos->ToObject());
} else {
return nullptr;
return qos_profile;
}
return qos_profile;
}
Expand Down