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Remove dynamic memory allocation #16

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37aa6d1
remove dynamic memory allocation
eccentricOrange Oct 11, 2025
caf0f13
rm unused var
eccentricOrange Oct 11, 2025
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10 changes: 1 addition & 9 deletions src/bot_speak_frame_ops.c
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,6 @@
void botSpeak_serialize(void* sourceBuffer, uint8_t numberElements, uint8_t elementSize, uint8_t* destinationBuffer, uint8_t* destinationLength) {

uint8_t* source_pointer = (uint8_t*)sourceBuffer;
int index;

// Use memcpy for direct copy since endianness does not change
memcpy(destinationBuffer, source_pointer, numberElements * elementSize);
Expand All @@ -17,7 +16,6 @@ void botSpeak_serialize(void* sourceBuffer, uint8_t numberElements, uint8_t elem
void botSpeak_deserialize(void* destinationBuffer, uint8_t *numberElements, uint8_t elementSize, uint8_t* sourceBuffer, uint8_t sourceLength) {

uint8_t* destination_pointer = (uint8_t*)destinationBuffer;
int index;

// Use memcpy for direct copy since endianness does not change
memcpy(destination_pointer, sourceBuffer, sourceLength);
Expand Down Expand Up @@ -69,15 +67,9 @@ int botSpeak_unpackFrame(DataFrame_TypeDef* destinationFrame, uint8_t* sourceBuf
// Extract frame ID
memcpy(&destinationFrame->frameID, &sourceBuffer[6], sizeof(destinationFrame->frameID));

// Allocate memory for data if data length is greater than zero
// Extract data
if (destinationFrame->dataLength > 0) {
destinationFrame->data = (uint8_t*)malloc(destinationFrame->dataLength);
if (!destinationFrame->data) {
return -ENOMEM; // Memory allocation failed
}
memcpy(destinationFrame->data, &sourceBuffer[10], destinationFrame->dataLength);
} else {
destinationFrame->data = NULL;
}

return 0;
Expand Down
8 changes: 1 addition & 7 deletions src/bot_speak_frame_ops_be.c
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Original file line number Diff line number Diff line change
Expand Up @@ -85,15 +85,9 @@ int botSpeak_unpackFrame(DataFrame_TypeDef* destinationFrame, uint8_t* sourceBuf
// Extract frame ID
destinationFrame->frameID = (sourceBuffer[6] << 24) | (sourceBuffer[7] << 16) | (sourceBuffer[8] << 8) | (sourceBuffer[9]);

// Allocate memory for data if data length is greater than zero
// Extract data
if (destinationFrame->dataLength > 0) {
destinationFrame->data = (uint8_t*)malloc(destinationFrame->dataLength);
if (!destinationFrame->data) {
return -ENOMEM; // Memory allocation failed
}
memcpy(destinationFrame->data, &sourceBuffer[10], destinationFrame->dataLength);
} else {
destinationFrame->data = NULL;
}

return 0;
Expand Down
4 changes: 4 additions & 0 deletions test/test_frame_ops.c
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Original file line number Diff line number Diff line change
Expand Up @@ -178,6 +178,8 @@ int testRequestFrameUnpacking(DataFrame_TypeDef* expectedFrame, uint8_t* sourceB
int testResponseFrameUnpacking(DataFrame_TypeDef* expectedFrame, uint8_t* sourceBuffer, uint8_t sourceLength) {
int status;
DataFrame_TypeDef actualFrame;
uint8_t dataBuffer[TEST_BUFFER_SIZE]; // Temporary buffer to hold data
actualFrame.data = dataBuffer; // Point the data pointer to the temporary buffer

// Attempt to unpack the frame from the source buffer, and store the result in `actualFrame`.
printf("\n\nTesting response frame unpacking...\n");
Expand Down Expand Up @@ -376,6 +378,8 @@ int testMotorCurrentResponseFrameUnpacking() {

// Unpack the response frame from the byte-array
DataFrame_TypeDef actualResponseFrame;
uint8_t actualDataBuffer[SERIALIZED_MOTOR_CURRENT_BYTES]; // Temporary buffer to hold data
actualResponseFrame.data = actualDataBuffer; // Point the data pointer to the temporary buffer
status = botSpeak_unpackFrame(&actualResponseFrame, responseBuffer, sizeof(responseBuffer));

// Run the unpacking test and check the status
Expand Down
4 changes: 4 additions & 0 deletions test/test_frame_ops_be.c
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Original file line number Diff line number Diff line change
Expand Up @@ -178,6 +178,8 @@ int testRequestFrameUnpacking(DataFrame_TypeDef* expectedFrame, uint8_t* sourceB
int testResponseFrameUnpacking(DataFrame_TypeDef* expectedFrame, uint8_t* sourceBuffer, uint8_t sourceLength) {
int status;
DataFrame_TypeDef actualFrame;
uint8_t dataBuffer[TEST_BUFFER_SIZE]; // Temporary buffer to hold data
actualFrame.data = dataBuffer; // Point the data pointer to the temporary buffer

// Attempt to unpack the frame from the source buffer, and store the result in `actualFrame`.
printf("\n\nTesting response frame unpacking...\n");
Expand Down Expand Up @@ -376,6 +378,8 @@ int testMotorCurrentResponseFrameUnpacking() {

// Unpack the response frame from the byte-array
DataFrame_TypeDef actualResponseFrame;
uint8_t actualDataBuffer[TEST_BUFFER_SIZE]; // Temporary buffer to hold data
actualResponseFrame.data = actualDataBuffer; // Point the data pointer to the temporary buffer
status = botSpeak_unpackFrame(&actualResponseFrame, responseBuffer, sizeof(responseBuffer));

// Run the unpacking test and check the status
Expand Down