Use new deletes for memory management

Signed-off-by: methylDragon <methylDragon@gmail.com>

rclcpp/include/rclcpp/dynamic_typesupport/detail/dynamic_data_impl.hpp

@@ -178,7 +178,7 @@ DynamicData::get_value<std::string>(rosidl_dynamic_typesupport_member_id_t id)
   rosidl_dynamic_typesupport_dynamic_data_get_string_value(
     get_rosidl_dynamic_data(), id, &buf, &buf_length);
   auto out = std::string(buf, buf_length);
-  free(buf);
+  delete buf;
   return out;
 }
 
@@ -192,7 +192,7 @@ DynamicData::get_value<std::u16string>(rosidl_dynamic_typesupport_member_id_t id
   rosidl_dynamic_typesupport_dynamic_data_get_wstring_value(
     get_rosidl_dynamic_data(), id, &buf, &buf_length);
   auto out = std::u16string(buf, buf_length);
-  free(buf);
+  delete buf;
   return out;
 }
 

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_data.cpp

@@ -68,7 +68,7 @@ DynamicData::DynamicData(const DynamicTypeBuilder::SharedPtr dynamic_type_builde
     // Custom deleter
     [](rosidl_dynamic_typesupport_dynamic_data_t * rosidl_dynamic_data)->void {
       rosidl_dynamic_typesupport_dynamic_data_fini(rosidl_dynamic_data);
-      free(rosidl_dynamic_data);
+      delete rosidl_dynamic_data;
     });
 }
 
@@ -101,7 +101,7 @@ DynamicData::DynamicData(const DynamicType::SharedPtr dynamic_type)
     // Custom deleter
     [](rosidl_dynamic_typesupport_dynamic_data_t * rosidl_dynamic_data)->void {
       rosidl_dynamic_typesupport_dynamic_data_fini(rosidl_dynamic_data);
-      free(rosidl_dynamic_data);
+      delete rosidl_dynamic_data;
     });
 }
 
@@ -129,7 +129,7 @@ DynamicData::DynamicData(
     // Custom deleter
     [](rosidl_dynamic_typesupport_dynamic_data_t * rosidl_dynamic_data)->void {
       rosidl_dynamic_typesupport_dynamic_data_fini(rosidl_dynamic_data);
-      free(rosidl_dynamic_data);
+      delete rosidl_dynamic_data;
     });
 }
 
@@ -517,7 +517,7 @@ DynamicData::get_bounded_string_value(
   rosidl_dynamic_typesupport_dynamic_data_get_bounded_string_value(
     get_rosidl_dynamic_data(), id, &buf, &buf_length, string_bound);
   auto out = std::string(buf, buf_length);
-  free(buf);
+  delete buf;
   return out;
 }
 
@@ -538,7 +538,7 @@ DynamicData::get_bounded_wstring_value(
   rosidl_dynamic_typesupport_dynamic_data_get_bounded_wstring_value(
     get_rosidl_dynamic_data(), id, &buf, &buf_length, wstring_bound);
   auto out = std::u16string(buf, buf_length);
-  free(buf);
+  delete buf;
   return out;
 }
 

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message_type_support.cpp

@@ -243,10 +243,14 @@ DynamicMessageTypeSupport::init_rosidl_message_type_support_(
   }
 
   // NOTE(methylDragon): We don't finalize the rosidl_message_type_support->data since its members
-  //                     are managed by the passed in SharedPtr wrapper classes
+  //                     are managed by the passed in SharedPtr wrapper classes. We just delete it.
   rosidl_message_type_support_.reset(
     new rosidl_message_type_support_t(),
-    [](rosidl_message_type_support_t * ts) -> void {free(const_cast<void *>(ts->data));}
+    [](rosidl_message_type_support_t * ts) -> void {
+      delete static_cast<rmw_dynamic_typesupport_impl_t *>(
+        const_cast<void *>(ts->data)  // Feels like ts->data should be void *...
+      );
+    }
   );
 
   if (!rosidl_message_type_support_) {
@@ -259,16 +263,18 @@ DynamicMessageTypeSupport::init_rosidl_message_type_support_(
   rosidl_message_type_support_->typesupport_identifier = rmw_dynamic_typesupport_c__identifier;
 
   // NOTE(methylDragon): To populate dynamic_type and description if deferred, OUTSIDE
-  rosidl_message_type_support_->data = calloc(1, sizeof(rmw_dynamic_typesupport_impl_t));
+  rosidl_message_type_support_->data = new rmw_dynamic_typesupport_impl_t();
   if (!rosidl_message_type_support_->data) {
     RCUTILS_LOG_ERROR_NAMED(
       rmw_dynamic_typesupport_c__identifier,
       "Could not allocate rmw_dynamic_typesupport_impl_t struct");
     rosidl_message_type_support_.reset();
   }
 
-  rmw_dynamic_typesupport_impl_t * ts_impl =
-    (rmw_dynamic_typesupport_impl_t *)rosidl_message_type_support_->data;
+  // Again, feels like ts->data should be void *...
+  rmw_dynamic_typesupport_impl_t * ts_impl = static_cast<rmw_dynamic_typesupport_impl_t *>(
+    const_cast<void *>(rosidl_message_type_support_->data)
+  );
 
   ts_impl->take_dynamic_data = middleware_can_take_dynamic_data;
   ts_impl->serialization_support = serialization_support->get_rosidl_serialization_support();

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_type.cpp

@@ -59,7 +59,7 @@ DynamicType::DynamicType(DynamicTypeBuilder::SharedPtr dynamic_type_builder)
     // Custom deleter
     [](rosidl_dynamic_typesupport_dynamic_type_t * rosidl_dynamic_type)->void {
       rosidl_dynamic_typesupport_dynamic_type_fini(rosidl_dynamic_type);
-      free(rosidl_dynamic_type);
+      delete rosidl_dynamic_type;
     });
 }
 
@@ -84,7 +84,7 @@ DynamicType::DynamicType(
     // Custom deleter
     [](rosidl_dynamic_typesupport_dynamic_type_t * rosidl_dynamic_type)->void {
       rosidl_dynamic_typesupport_dynamic_type_fini(rosidl_dynamic_type);
-      free(rosidl_dynamic_type);
+      delete rosidl_dynamic_type;
     });
 }
 
@@ -174,7 +174,7 @@ DynamicType::init_from_description(
     // Custom deleter
     [](rosidl_dynamic_typesupport_dynamic_type_t * rosidl_dynamic_type)->void {
       rosidl_dynamic_typesupport_dynamic_type_fini(rosidl_dynamic_type);
-      free(rosidl_dynamic_type);
+      delete rosidl_dynamic_type;
     });
 }
 

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_type_builder.cpp

@@ -71,7 +71,7 @@ DynamicTypeBuilder::DynamicTypeBuilder(
     // Custom deleter
     [](rosidl_dynamic_typesupport_dynamic_type_builder_t * rosidl_dynamic_type_builder)->void {
       rosidl_dynamic_typesupport_dynamic_type_builder_fini(rosidl_dynamic_type_builder);
-      free(rosidl_dynamic_type_builder);
+      delete rosidl_dynamic_type_builder;
     });
 }
 
@@ -167,7 +167,7 @@ DynamicTypeBuilder::init_from_description(
     // Custom deleter
     [](rosidl_dynamic_typesupport_dynamic_type_builder_t * rosidl_dynamic_type_builder)->void {
       rosidl_dynamic_typesupport_dynamic_type_builder_fini(rosidl_dynamic_type_builder);
-      free(rosidl_dynamic_type_builder);
+      delete rosidl_dynamic_type_builder;
     });
 }
 
@@ -198,7 +198,7 @@ DynamicTypeBuilder::init_from_serialization_support_(
     // Custom deleter
     [](rosidl_dynamic_typesupport_dynamic_type_builder_t * rosidl_dynamic_type_builder)->void {
       rosidl_dynamic_typesupport_dynamic_type_builder_fini(rosidl_dynamic_type_builder);
-      free(rosidl_dynamic_type_builder);
+      delete rosidl_dynamic_type_builder;
     });
 }