Wip

DONE:
- Fix std::string constructor call in rmw_subscription_data.cpp
- Move serialization buffer pool to the context

TODO:
- Remove printf calls
- Remove sanitizer usage
- Fix formatting
- Resolve FIXMEs in BufferPool impl

rmw_zenoh_cpp/CMakeLists.txt

@@ -8,7 +8,9 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -g -fsanitize=address)
+  link_libraries("-fsanitize=address")
+  link_libraries("-lasan")
 endif()
 
 # find dependencies

rmw_zenoh_cpp/src/detail/serialization_buffer_pool.hpp → rmw_zenoh_cpp/src/detail/buffer_pool.hpp

@@ -12,22 +12,23 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef DETAIL__SERIALIZATION_BUFFER_POOL_HPP_
-#define DETAIL__SERIALIZATION_BUFFER_POOL_HPP_
+#ifndef DETAIL__BUFFER_POOL_HPP_
+#define DETAIL__BUFFER_POOL_HPP_
 
 #include <mutex>
 #include <cassert>
 #include <vector>
 
 #include "rcutils/allocator.h"
 
-class SerializationBufferPool
+class BufferPool
 {
 public:
-  SerializationBufferPool() = default;
+  BufferPool() = default;
 
   uint8_t * allocate(rcutils_allocator_t * allocator, size_t size)
   {
+    // FIXME(fuzzypixelz): indeed, this methods leaks all allocated buffers ;)
     std::lock_guard<std::mutex> guard(mutex_);
 
     if (available_buffers_.empty()) {
@@ -47,7 +48,6 @@ class SerializationBufferPool
         assert(buffer.data);  // FIXME(fuzzypixelz): handle error
         buffer.size = size;
       }
-
       return buffer.data;
     }
   }
@@ -56,6 +56,7 @@ class SerializationBufferPool
   deallocate(uint8_t * data)
   {
     std::lock_guard<std::mutex> guard(mutex_);
+
     for (size_t i = 0; i < buffers_.size(); i++) {
       if (buffers_.at(i).data == data) {
         available_buffers_.push_back(i);
@@ -77,4 +78,4 @@ class SerializationBufferPool
   std::mutex mutex_;
 };
 
-#endif  // DETAIL__SERIALIZATION_BUFFER_POOL_HPP_
+#endif  // DETAIL__BUFFER_POOL_HPP_

rmw_zenoh_cpp/src/detail/rmw_context_impl_s.hpp

@@ -24,6 +24,7 @@
 
 #include "graph_cache.hpp"
 #include "rmw_node_data.hpp"
+#include "buffer_pool.hpp"
 
 #include "rmw/ret_types.h"
 #include "rmw/types.h"
@@ -92,6 +93,9 @@ class rmw_context_impl_s final
   // Forward declaration
   class Data;
 
+  // Pool of serialization buffers.
+  BufferPool serialization_buffer_pool;
+
 private:
   std::shared_ptr<Data> data_{nullptr};
 };