From 32bd25055779c27269b196929e6d1436685f0455 Mon Sep 17 00:00:00 2001
From: Pierre Willenbrock <pierre.willenbrock@dfki.de>
Date: Mon, 9 Jan 2023 17:26:10 +0100
Subject: [PATCH 1/3] fix: Fix some memory leaks

---
 src/ConfigurationHelper.cpp | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/src/ConfigurationHelper.cpp b/src/ConfigurationHelper.cpp
index 8cccec1..c143112 100644
--- a/src/ConfigurationHelper.cpp
+++ b/src/ConfigurationHelper.cpp
@@ -318,9 +318,9 @@ bool ConfigurationHelper::applyConfOnTyplibValue(Typelib::Value &value, const Co
 
                     for(const std::shared_ptr<ConfigValue> val: array->getValues())
                     {
-                        
-                        //TODO check, this may be a memory leak
-                        Typelib::Value v(new uint8_t[indirect.getSize()], indirect);
+                        std::vector<uint8_t> storage;
+                        storage.resize(indirect.getSize());
+                        Typelib::Value v(storage.data(), indirect);
                         Typelib::init(v);
                         Typelib::zero(v);
                         
@@ -416,7 +416,10 @@ bool ConfigurationHelper::applyConfigValueOnDSB(RTT::base::DataSourceBase::share
 
     //write value back
     typelibTransport->writeDataSource(*dsb, handle);
-    
+
+    //delete all referenced memory to avoid memory leak
+    Typelib::destroy(dest);
+
     //destroy handle to avoid memory leak
     typelibTransport->deleteHandle(handle);
     

From 106ee0f1f31071157f0fbf16e2b7086db1fa3813 Mon Sep 17 00:00:00 2001
From: Pierre Willenbrock <pierre.willenbrock@dfki.de>
Date: Thu, 15 Jan 2026 16:56:46 +0100
Subject: [PATCH 2/3] fix: Special case bool and (u)int8_t when writing config
 strings

---
 src/ConfigurationHelper.cpp | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/src/ConfigurationHelper.cpp b/src/ConfigurationHelper.cpp
index c143112..bd475ba 100644
--- a/src/ConfigurationHelper.cpp
+++ b/src/ConfigurationHelper.cpp
@@ -557,7 +557,12 @@ bool ConfigurationHelper::registerOverride(const std::string& taskName, Configur
 }
 
 YAML::Emitter &toYAML(YAML::Emitter &out, const Typelib::Numeric &type, const Typelib::Value &value){
-
+    if (type.getName() == "/bool")
+    {
+        //the /bool type must be output as "true" or "false"
+        out << (*static_cast<bool *>(value.getData())?"true":"false");
+        return out;
+    }
     switch(type.getNumericCategory())
     {
     case Typelib::Numeric::Float:
@@ -574,7 +579,8 @@ YAML::Emitter &toYAML(YAML::Emitter &out, const Typelib::Numeric &type, const Ty
         switch(type.getSize())
         {
         case sizeof(int8_t):
-            out << *(static_cast<int8_t *>(value.getData()));
+            //need to cast uint8_t to int so it is not interpreted as character but as number
+            out << static_cast<int>(*(static_cast<int8_t *>(value.getData())));
             break;
         case sizeof(int16_t):
             out << *(static_cast<int16_t *>(value.getData()));
@@ -596,7 +602,8 @@ YAML::Emitter &toYAML(YAML::Emitter &out, const Typelib::Numeric &type, const Ty
         switch(type.getSize())
         {
         case sizeof(uint8_t):
-            out << *(static_cast<uint8_t *>(value.getData()));
+            //need to cast uint8_t to unsigned int so it is not interpreted as character but as number
+            out << static_cast<unsigned int>(*(static_cast<uint8_t *>(value.getData())));
             break;
         case sizeof(uint16_t):
             out << *(static_cast<uint16_t *>(value.getData()));

From 9bd9ce86df14c3a37b77b5b6cfaad28450270585 Mon Sep 17 00:00:00 2001
From: Pierre Willenbrock <pierre.willenbrock@dfki.de>
Date: Thu, 15 Jan 2026 17:11:37 +0100
Subject: [PATCH 3/3] fix: No need to cast (u)int8_t to (u)int when finally
 casting to double

---
 src/TypeWrapper.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/TypeWrapper.cpp b/src/TypeWrapper.cpp
index ed89242..a57c0af 100644
--- a/src/TypeWrapper.cpp
+++ b/src/TypeWrapper.cpp
@@ -93,7 +93,7 @@ double TypeWrapper::toDouble() {
                 }
             case Typelib::Numeric::SInt:
                 switch (numeric.getSize()) {
-                    case sizeof(int8_t):  return static_cast<int>(*static_cast<int8_t *>(value.getData()));
+                    case sizeof(int8_t):  return *static_cast<int8_t *>(value.getData());
                     case sizeof(int16_t): return *static_cast<int16_t*>(value.getData());
                     case sizeof(int32_t): return *static_cast<int32_t*>(value.getData());
                     case sizeof(int64_t): return *static_cast<int64_t*>(value.getData());
@@ -103,7 +103,7 @@ double TypeWrapper::toDouble() {
                 }
             case Typelib::Numeric::UInt: {
                 switch (numeric.getSize()) {
-                    case sizeof(uint8_t):  return static_cast<unsigned int>(*static_cast<uint8_t *>(value.getData()));
+                    case sizeof(uint8_t):  return *static_cast<uint8_t *>(value.getData());
                     case sizeof(uint16_t): return *static_cast<uint16_t*>(value.getData());
                     case sizeof(uint32_t): return *static_cast<uint32_t*>(value.getData());
                     case sizeof(uint64_t): return *static_cast<uint64_t*>(value.getData());