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fix(autoware_universe_utils): fix memory leak of time_keeper #1456

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merged 1 commit into from
Aug 9, 2024
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fix(autoware_universe_utils): fix memory leak of time_keeper #1456

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11 changes: 6 additions & 5 deletions common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
};
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6 changes: 3 additions & 3 deletions common/autoware_universe_utils/src/system/time_keeper.cpp
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Expand Up @@ -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;
}
Expand Down Expand Up @@ -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_;
}
Expand Down Expand Up @@ -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();
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