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a memory leak occurs when createing a new type #9

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14dee1b
a memory leak occurs when createing a new type
cmake Feb 2, 2018
8243736
created a new instance of RosSchemas manually and filled values to Fi…
cmake Feb 6, 2018
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23 changes: 10 additions & 13 deletions pyros_schemas/ros/schemagic.py
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,7 @@ def create(ros_msg_class,

members_types = _get_rosmsg_fields_as_dict(ros_msg_class)
members = {}
schema_instance = RosSchema()
for s, stype in members_types.iteritems():
# Note here we rely entirely on _opt_slots from the class to be set properly
# for both Nested or List representation of optional fields
Expand Down Expand Up @@ -80,28 +81,24 @@ def create(ros_msg_class,
ros_schema_inst = RosNested(create(stype)) # we need to nest the next (Ros)Schema

members.setdefault(s, ros_schema_inst)
schema_instance.declared_fields[s] = ros_schema_inst
schema_instance.fields[s] = ros_schema_inst

# supporting extra customization of the serialization
if pre_load_fun:
members['_helper_pre_load'] = pre_load(pre_load_fun)
schema_instance.declared_fields['_helper_pre_load'] = pre_load(pre_load_fun)
if post_load_fun:
members['_helper_post_load'] = post_load(post_load_fun)
schema_instance.declared_fields['_helper_post_load'] = post_load(post_load_fun)
if pre_dump_fun:
members['_helper_pre_dump'] = pre_dump(pre_dump_fun)
schema_instance.declared_fields['_helper_pre_dump'] = pre_dump(pre_dump_fun)
if post_dump_fun:
members['_helper_post_dump'] = post_dump(post_dump_fun)
schema_instance.declared_fields['_helper_post_dump'] = post_dump(post_dump_fun)

# adding extra members if needed
for k, v in kwargs:
members[k] = v
schema_instance.declared_fields[k] = v

members['_valid_ros_msgtype'] = ros_msg_class
members['_generated_ros_msgtype'] = ros_msg_class

MsgSchema = type(ros_msg_class.__name__ + 'Schema', (RosSchema,), members)

# Generating the schema instance
# TODO : nicer way ?
schema_instance = MsgSchema()
schema_instance._valid_ros_msgtype = ros_msg_class
schema_instance._generated_ros_msgtype = ros_msg_class

return schema_instance