Fix memory leak and segfault risk in DynamicVoronoi

src/dynamicvoronoi.cpp

@@ -23,20 +23,24 @@ DynamicVoronoi::~DynamicVoronoi() {
 }
 
 void DynamicVoronoi::initializeEmpty(int _sizeX, int _sizeY, bool initGridMap) {
-  sizeX = _sizeX;
-  sizeY = _sizeY;
   if (data) {
     for (int x=0; x<sizeX; x++) delete[] data[x];
     delete[] data;
   }
-  data = new dataCell*[sizeX];
-  for (int x=0; x<sizeX; x++) data[x] = new dataCell[sizeY];
-
   if (initGridMap) {
     if (gridMap) {
       for (int x=0; x<sizeX; x++) delete[] gridMap[x];
       delete[] gridMap;
     }
+  }
+
+  sizeX = _sizeX;
+  sizeY = _sizeY;
+
+  data = new dataCell*[sizeX];
+  for (int x=0; x<sizeX; x++) data[x] = new dataCell[sizeY];
+
+  if (initGridMap) {
     gridMap = new bool*[sizeX];
     for (int x=0; x<sizeX; x++) gridMap[x] = new bool[sizeY];
   }
@@ -60,6 +64,12 @@ void DynamicVoronoi::initializeEmpty(int _sizeX, int _sizeY, bool initGridMap) {
 }
 
 void DynamicVoronoi::initializeMap(int _sizeX, int _sizeY, bool** _gridMap) {
+  // release memory used by existing gridMap
+  if (gridMap && gridMap != _gridMap) {
+    for (int x=0; x<sizeX; x++) delete[] gridMap[x];
+    delete[] gridMap;
+  }
+
   gridMap = _gridMap;
   initializeEmpty(_sizeX, _sizeY, false);
 

tests/test_voronoi.cpp

@@ -0,0 +1,35 @@
+#include "../include/dynamicvoronoi.h"
+#include <iostream>
+
+using namespace HybridAStar;
+
+int main() {
+    DynamicVoronoi voronoi;
+
+    // Create a 10x10 map
+    int width = 10;
+    int height = 10;
+    bool** map1 = new bool*[width];
+    for (int i = 0; i < width; ++i) {
+        map1[i] = new bool[height]();
+    }
+
+    // Initialize map
+    std::cout << "Initializing 10x10 map..." << std::endl;
+    voronoi.initializeMap(width, height, map1);
+
+    // Create a 20x20 map
+    int new_width = 20;
+    int new_height = 20;
+    bool** map2 = new bool*[new_width];
+    for (int i = 0; i < new_width; ++i) {
+        map2[i] = new bool[new_height]();
+    }
+
+    // Re-initialize map (which should free previous map resources or cause bug with current code)
+    std::cout << "Re-initializing with 20x20 map..." << std::endl;
+    voronoi.initializeMap(new_width, new_height, map2);
+
+    std::cout << "Done!" << std::endl;
+    return 0;
+}