Merge pull request ROBOTIS-GIT#395 from ROBOTIS-GIT/develop

- fixed memory leak issue (group sync/bulk series)

Author: ROBOTIS-zerom

c/src/dynamixel_sdk/group_bulk_read.c

@@ -183,6 +183,7 @@ void groupBulkReadRemoveParam(int group_num, uint8_t id)
   if (groupData[group_num].data_list[data_num].id == NOT_USED_ID)  // NOT exist
     return;
 
+  free(groupData[group_num].data_list[data_num].data);
   groupData[group_num].data_list[data_num].data = 0;
 
   groupData[group_num].data_list[data_num].id = NOT_USED_ID;
@@ -194,13 +195,22 @@ void groupBulkReadRemoveParam(int group_num, uint8_t id)
 
 void groupBulkReadClearParam(int group_num)
 {
+  int data_num = 0;
   int port_num = groupData[group_num].port_num;
 
   if (size(group_num) == 0)
     return;
 
+  for (data_num = 0; data_num < groupData[group_num].data_list_length; data_num++)
+  {
+    free(groupData[group_num].data_list[data_num].data);
+    groupData[group_num].data_list[data_num].data = 0;
+  }
+
+  free(groupData[group_num].data_list);
   groupData[group_num].data_list = 0;
 
+  free(packetData[port_num].data_write);
   packetData[port_num].data_write = 0;
 
   groupData[group_num].data_list_length = 0;

c/src/dynamixel_sdk/group_bulk_write.c

@@ -219,6 +219,7 @@ void groupBulkWriteRemoveParam(int group_num, uint8_t id)
 
   groupData[group_num].data_list[data_num].data_end = 0;
 
+  free(groupData[group_num].data_list[data_num].data);
   groupData[group_num].data_list[data_num].data = 0;
 
   groupData[group_num].data_list[data_num].data_length = 0;
@@ -274,6 +275,7 @@ uint8_t groupBulkWriteChangeParam(int group_num, uint8_t id, uint16_t start_addr
 }
 void groupBulkWriteClearParam(int group_num)
 {
+  int data_num = 0;
   int port_num = groupData[group_num].port_num;
 
   if (groupData[group_num].protocol_version == 1)
@@ -282,8 +284,16 @@ void groupBulkWriteClearParam(int group_num)
   if (size(group_num) == 0)
     return;
 
+  for (data_num = 0; data_num < groupData[group_num].data_list_length; data_num++)
+  {
+    free(groupData[group_num].data_list[data_num].data);
+    groupData[group_num].data_list[data_num].data = 0;
+  }
+
+  free(groupData[group_num].data_list);
   groupData[group_num].data_list = 0;
 
+  free(packetData[port_num].data_write);
   packetData[port_num].data_write = 0;
 
   groupData[group_num].data_list_length = 0;

c/src/dynamixel_sdk/group_sync_read.c

@@ -173,6 +173,7 @@ void groupSyncReadRemoveParam(int group_num, uint8_t id)
   if (groupData[group_num].data_list[data_num].id == NOT_USED_ID)  // NOT exist
     return;
 
+  free(groupData[group_num].data_list[data_num].data);
   groupData[group_num].data_list[data_num].data = 0;
 
   groupData[group_num].data_list[data_num].id = NOT_USED_ID;
@@ -181,6 +182,7 @@ void groupSyncReadRemoveParam(int group_num, uint8_t id)
 }
 void groupSyncReadClearParam(int group_num)
 {
+  int data_num = 0;
   int port_num = groupData[group_num].port_num;
 
   if (groupData[group_num].protocol_version == 1)
@@ -189,8 +191,16 @@ void groupSyncReadClearParam(int group_num)
   if (size(group_num) == 0)
     return;
 
+  for (data_num = 0; data_num < groupData[group_num].data_list_length; data_num++)
+  {
+    free(groupData[group_num].data_list[data_num].data);
+    groupData[group_num].data_list[data_num].data = 0;
+  }
+
+  free(groupData[group_num].data_list);
   groupData[group_num].data_list = 0;
 
+  free(packetData[port_num].data_write);
   packetData[port_num].data_write = 0;
 
   groupData[group_num].data_list_length = 0;

c/src/dynamixel_sdk/group_sync_write.c

@@ -202,6 +202,7 @@ void groupSyncWriteRemoveParam(int group_num, uint8_t id)
 
   groupData[group_num].data_list[data_num].data_end = 0;
 
+  free(groupData[group_num].data_list[data_num].data);
   groupData[group_num].data_list[data_num].data = 0;
 
   groupData[group_num].data_list[data_num].id = NOT_USED_ID;
@@ -251,13 +252,22 @@ uint8_t groupSyncWriteChangeParam(int group_num, uint8_t id, uint32_t data, uint
 
 void groupSyncWriteClearParam(int group_num)
 {
+  int data_num = 0;
   int port_num = groupData[group_num].port_num;
 
   if (size(group_num) == 0)
     return;
 
+  for (data_num = 0; data_num < groupData[group_num].data_list_length; data_num++)
+  {
+    free(groupData[group_num].data_list[data_num].data);
+    groupData[group_num].data_list[data_num].data = 0;
+  }
+
+  free(groupData[group_num].data_list);
   groupData[group_num].data_list = 0;
 
+  free(packetData[port_num].data_write);
   packetData[port_num].data_write = 0;
 
   groupData[group_num].data_list_length = 0;

c/src/dynamixel_sdk/protocol2_packet_handler.c

@@ -810,6 +810,8 @@ void readTx2(int port_num, uint8_t id, uint16_t address, uint16_t length)
 
   txPacket2(port_num);
 
+  free(packetData[port_num].tx_packet);
+
   // set packet timeout
   if (packetData[port_num].communication_result == COMM_SUCCESS)
     setPacketTimeout(port_num, (uint16_t)(length + 11));