modify memory lake issue

src/decition/decition_brain_sf/decition/brain.cpp

@@ -485,13 +485,13 @@ void iv::decition::BrainDecition::run() {
         //      gps_data_ = NULL;
 
         //        if(obs_lidar_grid_ != NULL)free(obs_lidar_grid_);
-        if(obs_lidar_grid_ != NULL)
-        {
-            if(old_obs_lidar_grid_ != NULL) free(old_obs_lidar_grid_);
-            old_obs_lidar_grid_ = obs_lidar_grid_;
-        }
+//        if(fusion_ptr_ != NULL)
+//        {
+//            if(old_obs_lidar_grid_ != NULL) free(old_obs_lidar_grid_);
+//            old_obs_lidar_grid_ = fusion_ptr_;
+//        }
 
-        obs_lidar_grid_ = NULL;
+//        fusion_ptr_ = NULL;
 
         if(obs_camera_ != NULL)free(obs_camera_);
 
@@ -682,40 +682,28 @@ void iv::decition::BrainDecition::run() {
             }
 
 //            iv::LidarGridPtr templidar= obs_lidar_grid_;
-
             iv::LidarGridPtr  templidar;
-            static int nUseOldCount = 0;
+            templidar = NULL;
             mMutex_.lock();
-            templidar = fusion_ptr_;
-            fusion_ptr_ = NULL;
-            mMutex_.unlock();
 
-            if(templidar != NULL)
+            if(fusion_ptr_ != NULL)
             {
-                if(old_fusion_grid_ != NULL)free(old_fusion_grid_);
-                old_fusion_grid_ = templidar;
-                nUseOldCount = 0;
-            }
-            else
-            {
-                if((old_fusion_grid_ != NULL)&&(nUseOldCount < 300))
-                {
-                    templidar = old_fusion_grid_;
-                    nUseOldCount++;
-                }
-            }
-//            if (fusion_ptr_ != NULL)
-//            {
-//                if(templidar != NULL) free(templidar);
-//                templidar = fusion_ptr_;
-//            }
-//            fusion_ptr_ =NULL;
+               if(old_obs_lidar_grid_ != NULL)
+               {
+                   free(old_obs_lidar_grid_);
+               }
+                old_obs_lidar_grid_ = fusion_ptr_;
+                templidar = fusion_ptr_;
 
+            }
+            fusion_ptr_ = NULL;
+            mMutex_.unlock();
 
 //            iv::LidarGridPtr  templidar = fusion_ptr_;
 
 
-            if(templidar == NULL)templidar = old_obs_lidar_grid_;
+            if(templidar == NULL)
+                templidar = old_obs_lidar_grid_;
 
 
         //    GaussProjCal(gps_data_->gps_lng,gps_data_->gps_lat,&gps_data_->gps_x,&gps_data_->gps_y);
@@ -1368,9 +1356,14 @@ void iv::decition::BrainDecition::GetFusion(const char *pdata, const int ndatasi
 
 void iv::decition::BrainDecition::UpdateFusion(std::shared_ptr<iv::fusion::fusionobjectarray> fusion_obs)
 {
+
     mMutex_.lock();
     fusion_obs.swap(mfusion_obs_);
-
+    if(fusion_ptr_ != NULL)
+    {
+        free(fusion_ptr_);
+        fusion_ptr_ = NULL;
+    }
     fusion_ptr_ = (Obs_grid *)malloc(sizeof(Obs_grid[iv::grx][iv::gry]));
     memset(fusion_ptr_,0,sizeof(Obs_grid[iv::grx][iv::gry]));
     for(int i =0; i<iv::grx; i++)     //复制到指针数组

src/decition/decition_brain_sf/decition/brain.h

@@ -111,7 +111,6 @@ namespace iv {
 //			iv::GPSData gps_data_;			//gps 惯导数据
 			iv::LidarGridPtr obs_lidar_grid_;//激光雷达网格化
             iv::LidarGridPtr old_obs_lidar_grid_;//激光雷达网格化
-            iv::LidarGridPtr old_fusion_grid_ = NULL;
             iv::TrafficLight trafficLight;
             iv::Obs_grid* obs_fusion_grid_;     //fusion网格化
 
@@ -166,7 +165,7 @@ namespace iv {
 
         private:
             std::shared_ptr<iv::fusion::fusionobjectarray>  mfusion_obs_;
-            iv::LidarGridPtr fusion_ptr_;
+            iv::LidarGridPtr fusion_ptr_ = NULL;
             QMutex mMutex_;