From 91d0e856035df0e78cfc8fb23a0fa6e2ef9a98f1 Mon Sep 17 00:00:00 2001
From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>
Date: Fri, 9 Aug 2024 18:23:52 +0900
Subject: [PATCH] fix(autoware_universe_utils): fix memory leak of time_keeper
 (#1456)

fix bug of time_keeper

Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
---
 .../autoware/universe_utils/system/time_keeper.hpp    | 11 ++++++-----
 .../src/system/time_keeper.cpp                        |  6 +++---
 2 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp
index c635138416aa5..b6c12714c5daf 100644
--- a/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp
@@ -67,9 +67,9 @@ class ProcessingTimeNode : public std::enable_shared_from_this<ProcessingTimeNod
   /**
    * @brief Get the parent node
    *
-   * @return std::shared_ptr<ProcessingTimeNode> Shared pointer to the parent node
+   * @return std::weak_ptr<ProcessingTimeNode> Weak pointer to the parent node
    */
-  std::shared_ptr<ProcessingTimeNode> get_parent_node() const;
+  std::weak_ptr<ProcessingTimeNode> get_parent_node() const;
 
   /**
    * @brief Get the child nodes
@@ -94,9 +94,10 @@ class ProcessingTimeNode : public std::enable_shared_from_this<ProcessingTimeNod
   std::string get_name() const;
 
 private:
-  const std::string name_;                                    //!< Name of the node
-  double processing_time_{0.0};                               //!< Processing time of the node
-  std::shared_ptr<ProcessingTimeNode> parent_node_{nullptr};  //!< Shared pointer to the parent node
+  const std::string name_;                         //!< Name of the node
+  double processing_time_{0.0};                    //!< Processing time of the node
+  std::string comment_;                            //!< Comment for the node
+  std::weak_ptr<ProcessingTimeNode> parent_node_;  //!< Weak pointer to the parent node
   std::vector<std::shared_ptr<ProcessingTimeNode>>
     child_nodes_;  //!< Vector of shared pointers to the child nodes
 };
diff --git a/common/autoware_universe_utils/src/system/time_keeper.cpp b/common/autoware_universe_utils/src/system/time_keeper.cpp
index 429f063dfc62e..fa73c57369d94 100644
--- a/common/autoware_universe_utils/src/system/time_keeper.cpp
+++ b/common/autoware_universe_utils/src/system/time_keeper.cpp
@@ -28,7 +28,7 @@ ProcessingTimeNode::ProcessingTimeNode(const std::string & name) : name_(name)
 std::shared_ptr<ProcessingTimeNode> ProcessingTimeNode::add_child(const std::string & name)
 {
   auto new_child_node = std::make_shared<ProcessingTimeNode>(name);
-  new_child_node->parent_node_ = shared_from_this();
+  new_child_node->parent_node_ = weak_from_this();
   child_nodes_.push_back(new_child_node);
   return new_child_node;
 }
@@ -81,7 +81,7 @@ tier4_debug_msgs::msg::ProcessingTimeTree ProcessingTimeNode::to_msg() const
   return time_tree_msg;
 }
 
-std::shared_ptr<ProcessingTimeNode> ProcessingTimeNode::get_parent_node() const
+std::weak_ptr<ProcessingTimeNode> ProcessingTimeNode::get_parent_node() const
 {
   return parent_node_;
 }
@@ -133,7 +133,7 @@ void TimeKeeper::end_track(const std::string & func_name)
   }
   const double processing_time = stop_watch_.toc(func_name);
   current_time_node_->set_time(processing_time);
-  current_time_node_ = current_time_node_->get_parent_node();
+  current_time_node_ = current_time_node_->get_parent_node().lock();
 
   if (current_time_node_ == nullptr) {
     report();