Fix more potential memory leaks

ihmcrobotics · Feb 13, 2025 · 79dcb53 · 79dcb53
1 parent a5e4c4c
commit 79dcb53
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Showing 3 changed files with 47 additions and 9 deletions.
diff --git a/ihmc-pub-sub/src/main/java/us/ihmc/pubsub/impl/fastRTPS/FastRTPSPublisher.java b/ihmc-pub-sub/src/main/java/us/ihmc/pubsub/impl/fastRTPS/FastRTPSPublisher.java
@@ -15,6 +15,9 @@
  */
 package us.ihmc.pubsub.impl.fastRTPS;
 
+import org.bytedeco.javacpp.BytePointer;
+import org.bytedeco.javacpp.Loader;
+import org.bytedeco.javacpp.Pointer;
 import us.ihmc.pubsub.TopicDataType;
 import us.ihmc.pubsub.attributes.PublisherAttributes;
 import us.ihmc.pubsub.common.Guid;
@@ -32,6 +35,11 @@
 
 public class FastRTPSPublisher implements Publisher
 {
+   static
+   {
+      Loader.load(Pointer.class);
+   }
+
    private final Object destructorLock = new Object(); 
 
    private NativePublisherImpl impl;
@@ -41,7 +49,8 @@ public class FastRTPSPublisher implements Publisher
    private final SerializedPayload payload;
    private final Guid guid = new Guid();
 
-   private final ByteBuffer keyBuffer = ByteBuffer.allocateDirect(16);
+   private final Pointer keyBufferPointer = new BytePointer(16);
+   private final ByteBuffer keyBuffer = keyBufferPointer.asByteBuffer();
    private final NativePublisherListenerImpl nativeListenerImpl = new NativePublisherListenerImpl();
 
    private boolean isRemoved = false;
@@ -190,6 +199,8 @@ void delete()
    {
       synchronized(destructorLock)
       {
+         keyBufferPointer.close();
+         payload.close();
          impl.delete();
          nativeListenerImpl.delete();
          impl = null;

diff --git a/ihmc-pub-sub/src/main/java/us/ihmc/pubsub/impl/fastRTPS/FastRTPSSubscriber.java b/ihmc-pub-sub/src/main/java/us/ihmc/pubsub/impl/fastRTPS/FastRTPSSubscriber.java
@@ -15,6 +15,9 @@
  */
 package us.ihmc.pubsub.impl.fastRTPS;
 
+import org.bytedeco.javacpp.BytePointer;
+import org.bytedeco.javacpp.Loader;
+import org.bytedeco.javacpp.Pointer;
 import us.ihmc.idl.CDR;
 import us.ihmc.pubsub.TopicDataType;
 import us.ihmc.pubsub.attributes.SubscriberAttributes;
@@ -38,6 +41,11 @@
 
 public class FastRTPSSubscriber<T> implements Subscriber<T>
 {
+   static
+   {
+      Loader.load(Pointer.class);
+   }
+
    private final Object destructorLock = new Object(); 
 
    private NativeSubscriberImpl impl;
@@ -48,11 +56,11 @@ public class FastRTPSSubscriber<T> implements Subscriber<T>
    private final SerializedPayload payload;
    private final Guid guid = new Guid();
    private final MatchingInfo matchingInfo = new MatchingInfo();
-
-   private final ByteBuffer keyBuffer = ByteBuffer.allocateDirect(16);
 
    private final SampleInfoMarshaller sampleInfoMarshaller = new SampleInfoMarshaller();
 
+   private final Pointer keyBufferPointer = new BytePointer(16);
+   private final ByteBuffer keyBuffer = keyBufferPointer.asByteBuffer();
    private final NativeSubscriberListenerImpl nativeListenerImpl = new NativeSubscriberListenerImpl();
 
    private boolean hasMatched = false;
@@ -326,6 +334,7 @@ void delete()
    {
       synchronized(destructorLock)
       {
+         keyBufferPointer.close();
          payload.close();
          impl.delete();
          nativeListenerImpl.delete();

diff --git a/ihmc-pub-sub/src/main/java/us/ihmc/pubsub/types/ByteBufferPubSubType.java b/ihmc-pub-sub/src/main/java/us/ihmc/pubsub/types/ByteBufferPubSubType.java
@@ -15,16 +15,19 @@
  */
 package us.ihmc.pubsub.types;
 
-import java.io.IOException;
-import java.nio.ByteBuffer;
-
 import org.apache.commons.lang3.NotImplementedException;
-
+import org.bytedeco.javacpp.BytePointer;
+import org.bytedeco.javacpp.Loader;
+import org.bytedeco.javacpp.Pointer;
 import us.ihmc.idl.CDR;
 import us.ihmc.idl.InterchangeSerializer;
 import us.ihmc.pubsub.TopicDataType;
 import us.ihmc.pubsub.common.SerializedPayload;
 
+import javax.annotation.Nullable;
+import java.io.IOException;
+import java.nio.ByteBuffer;
+
 /**
  * A generic data type to send over raw byte buffers.
  * 
@@ -40,12 +43,19 @@
  * @author Jesper Smith
  *
  */
-public class ByteBufferPubSubType implements TopicDataType<ByteBuffer>
+public class ByteBufferPubSubType implements TopicDataType<ByteBuffer>, AutoCloseable
 {
+   static
+   {
+      Loader.load(Pointer.class);
+   }
+
    private final String name;
    private final int maxSize;
    private final String userName;
    private final int userMaxSize;
+   @Nullable
+   private Pointer dataPointer;
 
    private static int align(int size)
    {
@@ -121,7 +131,8 @@ public String getName()
    @Override
    public ByteBuffer createData()
    {
-      return ByteBuffer.allocateDirect(maxSize);
+      dataPointer = new BytePointer(maxSize);
+      return dataPointer.asByteBuffer();
    }
 
    @Override
@@ -159,4 +170,11 @@ public void deserialize(InterchangeSerializer serializer, ByteBuffer data)
    {
       throw new NotImplementedException("Interchange serializer is not implemented for bytebuffer pub/sub type");
    }
+
+   @Override
+   public void close()
+   {
+      if (dataPointer != null)
+         dataPointer.close();
+   }
 }