Minor source reorganization; few dangerous C functions replaced with safer std:: alternatives

libuavcan/include/uavcan/can_driver.hpp

@@ -7,7 +7,7 @@
 
 #include <cassert>
 #include <stdint.h>
-#include <cstring>
+#include <algorithm>
 #include <string>
 
 namespace uavcan
@@ -31,7 +31,7 @@ struct CanFrame
     : id(0)
     , dlc(0)
     {
-        std::memset(data, 0, sizeof(data));
+        std::fill(data, data + sizeof(data), 0);
     }
 
     CanFrame(uint32_t id, const uint8_t* data, unsigned int dlc)
@@ -39,13 +39,13 @@ struct CanFrame
     , dlc(dlc)
     {
         assert(data && dlc <= 8);
-        std::memmove(this->data, data, dlc);
+        std::copy(data, data + dlc, this->data);
     }
 
     bool operator!=(const CanFrame& rhs) const { return !operator==(rhs); }
     bool operator==(const CanFrame& rhs) const
     {
-        return (id == rhs.id) && (dlc == rhs.dlc) && (memcmp(data, rhs.data, dlc) == 0);
+        return (id == rhs.id) && (dlc == rhs.dlc) && std::equal(data, data + dlc, rhs.data);
     }
 
     bool isExtended() const { return id & FLAG_EFF; }

libuavcan/include/uavcan/internal/transport/can_io.hpp

@@ -6,7 +6,6 @@
 #pragma once
 
 #include <cassert>
-#include <cstring>
 #include <stdint.h>
 #include <uavcan/internal/linked_list.hpp>
 #include <uavcan/internal/dynamic_memory.hpp>

libuavcan/include/uavcan/system_clock.hpp

@@ -18,6 +18,8 @@ namespace uavcan
 class ISystemClock
 {
 public:
+    virtual ~ISystemClock() { }
+
     /**
      * Monototic system clock in microseconds.
      * This shall never jump during UTC timestamp adjustments; the base time is irrelevant.

libuavcan/src/can_driver.cpp

@@ -20,7 +20,7 @@ std::string CanFrame::toString(StringRepresentation mode) const
 
     char buf[50];
     char* wpos = buf, *epos = buf + sizeof(buf);
-    memset(buf, 0, sizeof(buf));
+    std::fill(buf, buf + sizeof(buf), 0);
 
     if (id & FLAG_EFF)
     {

libuavcan/src/transport/can_io.cpp

@@ -5,7 +5,7 @@
 
 #include <algorithm>
 #include <limits>
-#include <uavcan/internal/can_io.hpp>
+#include <uavcan/internal/transport/can_io.hpp>
 #include <uavcan/internal/debug.hpp>
 
 namespace uavcan

libuavcan/test/can_driver.cpp

@@ -4,6 +4,7 @@
 
 #include <gtest/gtest.h>
 #include "common.hpp"
+#include <uavcan/can_driver.hpp>
 
 TEST(CanFrame, FrameProperties)
 {

libuavcan/test/common.hpp

@@ -1,10 +1,12 @@
 /*
- * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ * Copyright (C) 2014 <pavel.kirienko@gmail.com>
  */
 
 #pragma once
 
-#include <uavcan/internal/can_io.hpp>
+#include <cassert>
+#include <uavcan/can_driver.hpp>
+#include <uavcan/system_clock.hpp>
 
 class SystemClockMock : public uavcan::ISystemClock
 {
@@ -47,32 +49,3 @@ static uavcan::CanFrame makeFrame(uint32_t id, const std::string& str_data, Fram
     id |= (type == EXT) ? uavcan::CanFrame::FLAG_EFF : 0;
     return uavcan::CanFrame(id, reinterpret_cast<const uint8_t*>(str_data.c_str()), str_data.length());
 }
-
-namespace
-{
-
-int getQueueLength(uavcan::CanTxQueue& queue)
-{
-    const uavcan::CanTxQueue::Entry* p = queue.peek();
-    int length = 0;
-    while (p)
-    {
-        length++;
-        p = p->getNextListNode();
-    }
-    return length;
-}
-
-bool isInQueue(uavcan::CanTxQueue& queue, const uavcan::CanFrame& frame)
-{
-    const uavcan::CanTxQueue::Entry* p = queue.peek();
-    while (p)
-    {
-        if (frame == p->frame)
-            return true;
-        p = p->getNextListNode();
-    }
-    return false;
-}
-
-}

libuavcan/test/transport/can/io.cpp

@@ -5,7 +5,9 @@
 #include <queue>
 #include <vector>
 #include <gtest/gtest.h>
-#include "common.hpp"
+#include <uavcan/internal/transport/can_io.hpp>
+#include "../../common.hpp"
+
 
 class CanIfaceMock : public uavcan::ICanIface
 {

libuavcan/test/transport/can/tx_queue.cpp

@@ -3,7 +3,33 @@
  */
 
 #include <gtest/gtest.h>
-#include "common.hpp"
+#include <uavcan/internal/transport/can_io.hpp>
+#include "../../common.hpp"
+
+
+static int getQueueLength(uavcan::CanTxQueue& queue)
+{
+    const uavcan::CanTxQueue::Entry* p = queue.peek();
+    int length = 0;
+    while (p)
+    {
+        length++;
+        p = p->getNextListNode();
+    }
+    return length;
+}
+
+static bool isInQueue(uavcan::CanTxQueue& queue, const uavcan::CanFrame& frame)
+{
+    const uavcan::CanTxQueue::Entry* p = queue.peek();
+    while (p)
+    {
+        if (frame == p->frame)
+            return true;
+        p = p->getNextListNode();
+    }
+    return false;
+}
 
 TEST(CanTxQueue, Qos)
 {