Bridge: use shared_ptr to replace pointer

modules/bridge/common/bridge_proto_diser_buf_factory.h

@@ -17,6 +17,7 @@
 #pragma once
 
 #include <string>
+#include <memory>
 #include "modules/bridge/common/bridge_proto_diserialized_buf.h"
 #include "modules/canbus/proto/chassis.pb.h"
 #include "modules/common/adapters/adapter_gflags.h"
@@ -26,10 +27,11 @@ namespace bridge {
 
 class ProtoDiserializedBufBaseFactory {
  public:
-  static ProtoDiserializedBufBase *CreateObj(const BridgeHeader &header) {
-    ProtoDiserializedBufBase *obj = nullptr;
+  static std::shared_ptr<ProtoDiserializedBufBase> CreateObj(
+    const BridgeHeader &header) {
+    std::shared_ptr<ProtoDiserializedBufBase> obj;
     if (strcmp("Chassis", header.GetMsgName().c_str()) == 0) {
-      obj = new BridgeProtoDiserializedBuf<canbus::Chassis>(
+      obj = std::make_shared<BridgeProtoDiserializedBuf<canbus::Chassis>>(
         FLAGS_chassis_topic);
     }
     return obj;

modules/bridge/common/util.h

@@ -59,6 +59,23 @@ bool RemoveItem(std::vector<T *> *list, const T *t) {
   }
   return true;
 }
+
+template <typename T>
+bool RemoveItem(std::vector<std::shared_ptr<T>> *list, std::shared_ptr<T> t) {
+  if (!list) {
+    return false;
+  }
+  typename std::vector<std::shared_ptr<T>>::iterator itor = list->begin();
+  for (; itor != list->end();) {
+    if (itor->get() == t.get()) {
+      itor = list->erase(itor);
+      continue;
+    }
+    ++itor;
+  }
+  return true;
+}
+
 int GetProtoSize(const char *buf, size_t size);
 
 }  // namespace bridge

modules/bridge/udp_bridge_multi_receiver_component.cc

@@ -53,22 +53,21 @@ void UDPBridgeMultiReceiverComponent::MsgDispatcher() {
   listener_->Listen();
 }
 
-ProtoDiserializedBufBase
-    *UDPBridgeMultiReceiverComponent::CreateBridgeProtoBuf(
+std::shared_ptr<ProtoDiserializedBufBase>
+    UDPBridgeMultiReceiverComponent::CreateBridgeProtoBuf(
         const BridgeHeader &header) {
+  std::shared_ptr<ProtoDiserializedBufBase> proto_buf;
   if (IsTimeout(header.GetTimeStamp())) {
-    std::vector<ProtoDiserializedBufBase *>::iterator itor
+    std::vector<std::shared_ptr<ProtoDiserializedBufBase>>::iterator itor
       = proto_list_.begin();
     for (; itor != proto_list_.end();) {
       if ((*itor)->IsTheProto(header)) {
-        ProtoDiserializedBufBase *tmp = *itor;
-        FREE_POINTER(tmp);
         itor = proto_list_.erase(itor);
         break;
       }
       ++itor;
     }
-    return nullptr;
+    return proto_buf;
   }
 
   for (auto proto : proto_list_) {
@@ -77,10 +76,9 @@ ProtoDiserializedBufBase
     }
   }
 
-  ProtoDiserializedBufBase *proto_buf =
-    ProtoDiserializedBufBaseFactory::CreateObj(header);
+  proto_buf = ProtoDiserializedBufBaseFactory::CreateObj(header);
   if (!proto_buf) {
-    return nullptr;
+    return proto_buf;
   }
   proto_buf->Initialize(header, node_);
   proto_list_.push_back(proto_buf);
@@ -156,7 +154,8 @@ bool UDPBridgeMultiReceiverComponent::MsgHandle(int fd) {
   ADEBUG << "proto frame index: " << header.GetIndex();
 
   std::lock_guard<std::mutex> lock(mutex_);
-  ProtoDiserializedBufBase *proto_buf = CreateBridgeProtoBuf(header);
+  std::shared_ptr<ProtoDiserializedBufBase> proto_buf =
+    CreateBridgeProtoBuf(header);
   if (!proto_buf) {
     return false;
   }
@@ -178,12 +177,11 @@ bool UDPBridgeMultiReceiverComponent::RemoveInvalidBuf(uint32_t msg_id,
   if (msg_id == 0) {
     return false;
   }
-  std::vector<ProtoDiserializedBufBase *>::iterator itor =
+  std::vector<std::shared_ptr<ProtoDiserializedBufBase>>::iterator itor =
       proto_list_.begin();
   for (; itor != proto_list_.end();) {
-    if ((*itor)->GetMsgID() < msg_id) {
-      ProtoDiserializedBufBase *tmp = *itor;
-      FREE_POINTER(tmp);
+    if ((*itor)->GetMsgID() < msg_id &&
+      strcmp((*itor)->GetMsgName().c_str(), msg_name.c_str()) == 0) {
       itor = proto_list_.erase(itor);
       continue;
     }

modules/bridge/udp_bridge_multi_receiver_component.h

@@ -46,7 +46,8 @@ class UDPBridgeMultiReceiverComponent final : public cyber::Component<> {
 
   bool Init() override;
   std::string Name() const { return FLAGS_bridge_module_name; }
-  ProtoDiserializedBufBase *CreateBridgeProtoBuf(const BridgeHeader &header);
+  std::shared_ptr<ProtoDiserializedBufBase> CreateBridgeProtoBuf(
+    const BridgeHeader &header);
   bool IsProtoExist(const BridgeHeader &header);
   bool IsTimeout(double time_stamp);
   void MsgDispatcher();
@@ -63,7 +64,7 @@ class UDPBridgeMultiReceiverComponent final : public cyber::Component<> {
   unsigned int bind_port_ = 0;
   bool enable_timeout_ = true;
   std::mutex mutex_;
-  std::vector<ProtoDiserializedBufBase *> proto_list_;
+  std::vector<std::shared_ptr<ProtoDiserializedBufBase>> proto_list_;
 };
 
 }  // namespace bridge