From c8ad91bb79e5511690471899b322fc25e4dc8870 Mon Sep 17 00:00:00 2001
From: Daniel Maximilian Swoboda <snoato@gmail.com>
Date: Mon, 18 Jan 2016 16:08:01 +0100
Subject: [PATCH] reduced memory consumption

---
 RSAL/LINKV1.c | 43 ++++++++++++++++++++++++++++++++++++-------
 RSAL/RSAL.c   | 18 +++++++++---------
 2 files changed, 45 insertions(+), 16 deletions(-)

diff --git a/RSAL/LINKV1.c b/RSAL/LINKV1.c
index 0613f81..43eb630 100644
--- a/RSAL/LINKV1.c
+++ b/RSAL/LINKV1.c
@@ -36,7 +36,6 @@ int motorStat4 = 0;
 
 void init(){
     enable_servos();
-
 }
 
 char* getDigitalWrapped(int port){
@@ -143,7 +142,15 @@ char* generateConnLAO(){
     json_object_dotset_string(root_object_lao, "ConnLAO.Controller.Motor 3.Motor 4 Button.ControlType", "Button");
     json_object_dotset_string(root_object_lao, "ConnLAO.Controller.Motor 3.Motor 4 Button.Descriptor", "Switch");
 
-    return json_serialize_to_string_pretty(root_value_lao);
+    char* result = json_serialize_to_string_pretty(root_value_lao);
+
+    //Free up variables
+    free(root_value_lao);
+    free(root_object_lao);
+    root_value_lao = 0;
+    root_object_lao = 0;
+
+    return result;
 }
 
 char* generateDataMsg(){
@@ -167,14 +174,22 @@ char* generateDataMsg(){
     json_object_dotset_string(root_object, "Data.Digital 14", getDigitalWrapped(14));
     json_object_dotset_string(root_object, "Data.Digital 15", getDigitalWrapped(15));
 
-	return json_serialize_to_string_pretty(root_value);
+
+    char* result = json_serialize_to_string_pretty(root_value);
+
+    //Free up variables
+    free(root_value);
+    free(root_object);
+    root_value = 0;
+    root_object = 0;
+
+	return result;
 }
 
 void control(char* msg){
 	ctrl_root_value = json_parse_string(msg);
-
-
     input = json_value_get_object(ctrl_root_value);
+
     if(json_object_dotget_string(input, "Control.Motor 1 Button") != NULL){
         if(motorStat1 == 0){
             motorStat1 = 1;
@@ -262,15 +277,29 @@ void control(char* msg){
     if((number = (int)json_object_dotget_number(input, "Control.Slider S4")) != 0){
         servoPos4 = number;
     }
+
+    //Free up variables
+    free(ctrl_root_value);
+    free(input);
+    input = 0;
+    ctrl_root_value = 0;
 }
 
 int is_get(char * msg){
+    int returnStatus = 0;
     ctrl_root_value = json_parse_string(msg);
 
     input = json_value_get_object(ctrl_root_value);
 
     if(json_object_dotget_string(input, "GET") != NULL){
-        return 1;
+        returnStatus = 1;
     }
-    return 0;
+
+    //Free up variables
+    free(ctrl_root_value);
+    free(input);
+    input = 0;
+    ctrl_root_value = 0;
+
+    return returnStatus;
 }
diff --git a/RSAL/RSAL.c b/RSAL/RSAL.c
index cb21427..6eb3673 100644
--- a/RSAL/RSAL.c
+++ b/RSAL/RSAL.c
@@ -1,6 +1,6 @@
 /*
-MIDaC KIPR Link ROSL (Robotic System Abstraction Layer)
-Version 0.1
+MIDaC KIPR Link RSAL (Robotic System Abstraction Layer)
+Version 0.9
 */
 #include <stdio.h>
 #include <stdlib.h>
@@ -18,15 +18,16 @@ struct sockaddr_un remote;
 char str[2048];
 
 void sendMsg(char* msg){
-    if(strlen(msg) > 2047){
-        int ward = (strlen(msg)/2048) + 1;
+    int lenghtOfMsg = strlen(msg);
+    if(lenghtOfMsg > 2047){
+        int ward = (lenghtOfMsg/2048) + 1;
         char* message = malloc(2048*ward);
         strcpy(message, msg);
-        for(i=strlen(msg); i<2048*ward; i++){
+        for(i=lenghtOfMsg; i<2048*ward; i++){
             message[i] = ' ';
         }
         message[2048*ward] = '\0';
-        if (send(sock, message, strlen(message), 0) == -1) {
+        if (send(sock, message, lenghtOfMsg, 0) == -1) {
             perror("send");
             exit(1);
         }
@@ -34,11 +35,11 @@ void sendMsg(char* msg){
     }else{
         char* message = malloc(2048);
         strcpy(message, msg);
-        for(i=strlen(msg); i<2048; i++){
+        for(i=lenghtOfMsg; i<2048; i++){
             message[i] = ' ';
         }
         message[2048] = '\0';
-        if (send(sock, message, strlen(message), 0) == -1) {
+        if (send(sock, message, lenghtOfMsg, 0) == -1) {
             perror("send");
             exit(1);
         }
@@ -73,7 +74,6 @@ int main(int argc, char *argv[])
         exit(1);
     }
 
-
     remote.sun_family = AF_UNIX;
     strcpy(remote.sun_path, SOCK_PATH);
     len = strlen(remote.sun_path) + sizeof(remote.sun_family) + 1;