RobotWebTools / rclnodejs / 22702484015

86%

push

github

Fix: resolve memory leaks, use-after-free, and correctness issues in … (#1408)

Comprehensive audit and fix of all C++ source files under `src/` that implement
N-API bindings for the ROS2 rcl library. Five categories of issues were
identified and resolved.

### 1. Use-after-free in context deleter lambda

**File:** `src/rcl_context_bindings.cpp`

Changed `[&env]` capture to `[env]` in the lambda deleter passed to
`RclHandle`. Since `Napi::Env` is a lightweight pointer wrapper, capturing by
value copies the `napi_env` pointer safely. Capturing by reference created a
dangling reference because the lambda outlives the stack frame where `env` was
declared — the deleter runs during garbage collection, long after
`CreateContext` returns.

### 2. Memory leaks on early-return error paths

**Files:** 9 binding files

When `rcl_*_init()` fails, the previously `malloc`'d handle was not freed
before throwing and returning. Added `free()` calls before the error throw in:

- `src/rcl_node_bindings.cpp` — `CreateNode`
- `src/rcl_publisher_bindings.cpp` — `CreatePublisher`
- `src/rcl_timer_bindings.cpp` — `CreateTimer` (both `ROS_VERSION > 2305` branches)
- `src/rcl_guard_condition_bindings.cpp` — `CreateGuardCondition`
- `src/rcl_client_bindings.cpp` — `CreateClient`
- `src/rcl_service_bindings.cpp` — `CreateService`
- `src/rcl_action_client_bindings.cpp` — `ActionCreateClient`
- `src/rcl_action_server_bindings.cpp` — `ActionCreateServer`
- `src/rcl_lifecycle_bindings.cpp` — `CreateLifecycleStateMachine` (all 3 version branches)

### 3. Missing return after throw

**File:** `src/rcl_type_description_service_bindings.cpp`

Added `free(service)` and `return env.Undefined()` after
`ThrowAsJavaScriptException()` on init failure. Without the return, execution
continued and wrapped the uninitialized handle into an `RclHandle`, which would
later attempt to finalize invalid memory.

### 4. Static variable not reset between calls

**File:** `src/executor.cpp`

Added `handle_... (continued)

1380 of 1755 branches covered (78.63%)

Branch coverage included in aggregate %.

2859 of 3204 relevant lines covered (89.23%)

459.42 hits per line