Fix memory issues in destructors in uORB manager and CDev

src/lib/cdev/CDev.cpp

@@ -395,4 +395,27 @@ CDev::remove_poll_waiter(px4_pollfd_struct_t *fds)
 	return -EINVAL;
 }
 
+int CDev::unregister_driver_and_memory()
+{
+	int retval = PX4_OK;
+
+	if (_registered) {
+		unregister_driver(_devname);
+		_registered = false;
+
+	} else {
+		retval = -ENODEV;
+	}
+
+	if (_devname != nullptr) {
+		free((void *)_devname);
+		_devname = nullptr;
+
+	} else {
+		retval = -ENODEV;
+	}
+
+	return retval;
+}
+
 } // namespace cdev

src/lib/cdev/CDev.hpp

@@ -264,6 +264,17 @@ class __EXPORT CDev
 
 	px4_sem_t	_lock; /**< lock to protect access to all class members (also for derived classes) */
 
+
+	/**
+	* First, unregisters the driver. Next, free the memory for the devname,
+	* in case it was expected to have ownership. Sets devname to nullptr.
+	*
+	* This is only needed if the ownership of the devname was passed to the CDev, otherwise ~CDev handles it.
+	*
+	* @return  PX4_OK on success, -ENODEV if the devname is already nullptr
+	*/
+	int unregister_driver_and_memory();
+
 private:
 	const char	*_devname{nullptr};		/**< device node name */
 

src/modules/uORB/uORBDeviceMaster.cpp

@@ -102,10 +102,10 @@ uORB::DeviceMaster::advertise(const struct orb_metadata *meta, int *instance, in
 			return -ENOMEM;
 		}
 
-		/* construct the new node */
+		/* construct the new node, passing the ownership of path to it */
 		uORB::DeviceNode *node = new uORB::DeviceNode(meta, group_tries, devpath, priority);
 
-		/* if we didn't get a device, that's bad */
+		/* if we didn't get a device, that's bad, free the path too */
 		if (node == nullptr) {
 			free((void *)devpath);
 			return -ENOMEM;
@@ -133,9 +133,6 @@ uORB::DeviceMaster::advertise(const struct orb_metadata *meta, int *instance, in
 				}
 			}
 
-			/* also discard the name now */
-			free((void *)devpath);
-
 		} else {
 			// add to the node map;.
 			_node_list.add(node);

src/modules/uORB/uORBDeviceNode.cpp

@@ -33,7 +33,6 @@
 
 #include "uORBDeviceNode.hpp"
 
-#include "uORBDeviceNode.hpp"
 #include "uORBUtils.hpp"
 #include "uORBManager.hpp"
 
@@ -70,6 +69,8 @@ uORB::DeviceNode::~DeviceNode()
 	if (_data != nullptr) {
 		delete[] _data;
 	}
+
+	CDev::unregister_driver_and_memory();
 }
 
 int

src/modules/uORB/uORBDeviceNode.hpp

@@ -56,7 +56,7 @@ class uORB::DeviceNode : public cdev::CDev, public ListNode<uORB::DeviceNode *>
 public:
 	DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path, uint8_t priority,
 		   uint8_t queue_size = 1);
-	~DeviceNode();
+	virtual ~DeviceNode();
 
 	// no copy, assignment, move, move assignment
 	DeviceNode(const DeviceNode &) = delete;

src/modules/uORB/uORBManager.cpp

@@ -55,6 +55,17 @@ bool uORB::Manager::initialize()
 	return _Instance != nullptr;
 }
 
+bool uORB::Manager::terminate()
+{
+	if (_Instance != nullptr) {
+		delete _Instance;
+		_Instance = nullptr;
+		return true;
+	}
+
+	return false;
+}
+
 uORB::Manager::Manager()
 {
 #ifdef ORB_USE_PUBLISHER_RULES

src/modules/uORB/uORBManager.hpp

@@ -75,6 +75,12 @@ class uORB::Manager
 	 */
 	static bool initialize();
 
+	/**
+	 * Terminate the singleton. Call this after everything else.
+	 * @return true on success
+	 */
+	static bool terminate();
+
 	/**
 	 * Method to get the singleton instance for the uORB::Manager.
 	 * Make sure initialize() is called first.
@@ -416,7 +422,7 @@ class uORB::Manager
 
 private: //class methods
 	Manager();
-	~Manager();
+	virtual ~Manager();
 
 #ifdef ORB_COMMUNICATOR
 	/**