ensure malloc and free are called in only one location

include/rcutils/allocator.h

@@ -29,7 +29,7 @@ extern "C"
 
 /// Encapsulation of an allocator.
 /**
- * The default allocator uses std::malloc(), std::free(), std::calloc(), and std::realloc().
+ * The default allocator uses malloc(), free(), calloc(), and realloc().
  * It can be obtained using rcutils_get_default_allocator().
  *
  * The allocator should be trivially copyable.
@@ -47,17 +47,17 @@ typedef struct rcutils_allocator_t
   /// Allocate memory, given a size and the `state` pointer.
   /** An error should be indicated by returning `NULL`. */
   void * (*allocate)(size_t size, void * state);
-  /// Deallocate previously allocated memory, mimicking std::free().
+  /// Deallocate previously allocated memory, mimicking free().
   /** Also takes the `state` pointer. */
   void (* deallocate)(void * pointer, void * state);
   /// Reallocate if possible, otherwise it deallocates and allocates.
   /**
    * Also takes the `state` pointer.
    *
    * If unsupported then do deallocate and then allocate.
-   * This should behave as std::realloc() does, as opposed to posix's
+   * This should behave as realloc() does, as opposed to posix's
    * [reallocf](https://linux.die.net/man/3/reallocf), i.e. the memory given
-   * by pointer will not be free'd automatically if std::realloc() fails.
+   * by pointer will not be free'd automatically if realloc() fails.
    * For reallocf-like behavior use rcutils_reallocf().
    * This function must be able to take an input pointer of `NULL` and succeed.
    */
@@ -87,9 +87,10 @@ rcutils_get_zero_initialized_allocator(void);
 /**
  * This defaults to:
  *
- * - allocate = wraps std::malloc()
- * - deallocate = wraps std::free()
- * - reallocate = wrapps std::realloc()
+ * - allocate = wraps malloc()
+ * - deallocate = wraps free()
+ * - reallocate = wraps realloc()
+ * - zero_allocate = wraps calloc()
  * - state = `NULL`
  *
  * <hr>

include/rcutils/filesystem.h

@@ -23,6 +23,7 @@ extern "C"
 #include <stdbool.h>
 #include <stddef.h>
 
+#include "rcutils/allocator.h"
 #include "rcutils/macros.h"
 #include "rcutils/visibility_control.h"
 
@@ -108,17 +109,22 @@ rcutils_is_readable_and_writable(const char * abs_path);
 /// Return newly allocated string with arguments separated by correct delimiter for the platform.
 /**
  * This function allocates memory and returns it to the caller.
- * It is up to the caller to release the memory once it is done with it by calling `free`.
+ * It is up to the caller to release the memory once it is done with it by
+ * calling `deallocate` on the same allocator passed here.
  *
  * \param[in] left_hand_path
  * \param[in] right_hand_path
+ * \param[in] allocator
  * \return char * concatenated path on success
  *         NULL on invalid arguments
  *         NULL on failure
  */
 RCUTILS_PUBLIC
 char *
-rcutils_join_path(const char * left_hand_path, const char * right_hand_path);
+rcutils_join_path(
+  const char * left_hand_path,
+  const char * right_hand_path,
+  rcutils_allocator_t allocator);
 
 #if __cplusplus
 }

src/filesystem.c

@@ -16,6 +16,7 @@
 extern "C"
 {
 #endif
+#include "rcutils/filesystem.h"
 
 #include <stdio.h>
 #include <stdlib.h>
@@ -26,8 +27,8 @@ extern "C"
 #else
 #include <direct.h>
 #endif  // _WIN32
-#include "rcutils/concat.h"
-#include "rcutils/filesystem.h"
+
+#include "rcutils/format_string.h"
 
 bool
 rcutils_get_cwd(char * buffer, size_t max_length)
@@ -142,7 +143,10 @@ rcutils_is_readable_and_writable(const char * abs_path)
 }
 
 char *
-rcutils_join_path(const char * left_hand_path, const char * right_hand_path)
+rcutils_join_path(
+  const char * left_hand_path,
+  const char * right_hand_path,
+  rcutils_allocator_t allocator)
 {
   if (NULL == left_hand_path) {
     return NULL;
@@ -157,7 +161,7 @@ rcutils_join_path(const char * left_hand_path, const char * right_hand_path)
   const char * delimiter = "/";
 #endif  // _WIN32
 
-  return rcutils_concat(left_hand_path, right_hand_path, delimiter);
+  return rcutils_format_string(allocator, "%s%s%s", left_hand_path, delimiter, right_hand_path);
 }
 
 #if __cplusplus

test/test_logging_macros.c

@@ -14,6 +14,7 @@
 
 #include <string.h>
 
+#include "rcutils/allocator.h"
 #include "rcutils/logging_macros.h"
 #include "rcutils/types/rcutils_ret.h"
 
@@ -32,15 +33,16 @@ void custom_handler(
   const rcutils_log_location_t * location,
   int severity, const char * name, const char * format, va_list * args)
 {
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
   g_log_calls += 1;
   g_last_log_event.location = location;
   g_last_log_event.severity = severity;
   g_last_log_event.name = name ? name : "";
   if (g_last_log_event.message) {
-    free(g_last_log_event.message);
+    allocator.deallocate(g_last_log_event.message, allocator.state);
   }
   const size_t size = 1024;
-  g_last_log_event.message = malloc(size);
+  g_last_log_event.message = allocator.allocate(size, allocator.state);
   vsnprintf(g_last_log_event.message, size, format, *args);
 }