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Automated style fixes in order to bring the code a little bit closer to compliance with MISRA C++ rules. No changes in logic.

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This commit is contained in:
Pavel Kirienko
2014-03-25 03:04:36 +04:00
parent cce657e1fe
commit 0cc627016a
64 changed files with 777 additions and 283 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/src/transport/can_io.cpp
+44 -2
View File
@@ -19,7 +19,7 @@ std::string CanRxFrame::toString(StringRepresentation mode) const
{
std::ostringstream os;
os << CanFrame::toString(mode)
<< " ts_m=" << ts_mono << " ts_utc=" << ts_utc << " iface=" << int(iface_index);
<< " ts_m=" << ts_mono << " ts_utc=" << ts_utc << " iface=" << int(iface_index);
return os.str();
}
@@ -39,14 +39,18 @@ void CanTxQueue::Entry::destroy(Entry*& obj, IAllocator& allocator)
bool CanTxQueue::Entry::qosHigherThan(const CanFrame& rhs_frame, Qos rhs_qos) const
{
if (qos != rhs_qos)
{
return qos > rhs_qos;
}
return frame.priorityHigherThan(rhs_frame);
}
bool CanTxQueue::Entry::qosLowerThan(const CanFrame& rhs_frame, Qos rhs_qos) const
{
if (qos != rhs_qos)
{
return qos < rhs_qos;
}
return frame.priorityLowerThan(rhs_frame);
}
@@ -56,11 +60,15 @@ std::string CanTxQueue::Entry::toString() const
switch (qos)
{
case Volatile:
{
str_qos = "<volat> ";
break;
}
case Persistent:
{
str_qos = "<perst> ";
break;
}
default:
assert(0);
str_qos = "<?WTF?> ";
@@ -85,7 +93,9 @@ CanTxQueue::~CanTxQueue()
void CanTxQueue::registerRejectedFrame()
{
if (rejected_frames_cnt_ < std::numeric_limits<uint32_t>::max())
{
rejected_frames_cnt_++;
}
}
void CanTxQueue::push(const CanFrame& frame, MonotonicTime tx_deadline, Qos qos, CanIOFlags flags)
@@ -130,7 +140,9 @@ void CanTxQueue::push(const CanFrame& frame, MonotonicTime tx_deadline, Qos qos,
while (p)
{
if (lowestqos->qosHigherThan(*p))
{
lowestqos = p;
}
p = p->getNextListNode();
}
// Note that frame with *equal* QoS will be replaced too.
@@ -145,8 +157,10 @@ void CanTxQueue::push(const CanFrame& frame, MonotonicTime tx_deadline, Qos qos,
}
if (praw == NULL)
{
return; // Seems that there is no memory at all.
}
Entry* entry = new (praw) Entry(frame, tx_deadline, qos, flags);
assert(entry);
queue_.insertBefore(entry, PriorityInsertionComparator(frame));
@@ -167,7 +181,9 @@ CanTxQueue::Entry* CanTxQueue::peek()
p = next;
}
else
{
return p;
}
}
return NULL;
}
@@ -187,7 +203,9 @@ bool CanTxQueue::topPriorityHigherOrEqual(const CanFrame& rhs_frame) const
{
const Entry* entry = queue_.get();
if (entry == NULL)
{
return false;
}
return !rhs_frame.priorityHigherThan(entry->frame);
}
@@ -217,10 +235,14 @@ int CanIOManager::sendFromTxQueue(int iface_index)
assert(iface_index >= 0 && iface_index < MaxCanIfaces);
CanTxQueue::Entry* entry = tx_queues_[iface_index].peek();
if (entry == NULL)
{
return 0;
}
const int res = sendToIface(iface_index, entry->frame, entry->deadline, entry->flags);
if (res > 0)
{
tx_queues_[iface_index].remove(entry);
}
return res;
}
@@ -230,7 +252,9 @@ int CanIOManager::makePendingTxMask() const
for (int i = 0; i < getNumIfaces(); i++)
{
if (!tx_queues_[i].isEmpty())
{
write_mask |= 1 << i;
}
}
return write_mask;
}
@@ -254,27 +278,33 @@ uint64_t CanIOManager::getNumErrors(int iface_index) const
}
int CanIOManager::send(const CanFrame& frame, MonotonicTime tx_deadline, MonotonicTime blocking_deadline,
int iface_mask, CanTxQueue::Qos qos, CanIOFlags flags)
int iface_mask, CanTxQueue::Qos qos, CanIOFlags flags)
{
const int num_ifaces = getNumIfaces();
const int all_ifaces_mask = (1 << num_ifaces) - 1;
iface_mask &= all_ifaces_mask;
if (blocking_deadline > tx_deadline)
{
blocking_deadline = tx_deadline;
}
int retval = 0;
while (true)
{
if (iface_mask == 0)
{
break;
}
CanSelectMasks masks;
masks.write = iface_mask | makePendingTxMask();
{
const int select_res = driver_.select(masks, blocking_deadline);
if (select_res < 0)
{
return select_res;
}
assert(masks.read == 0);
}
@@ -294,7 +324,9 @@ int CanIOManager::send(const CanFrame& frame, MonotonicTime tx_deadline, Monoton
{
res = sendToIface(i, frame, tx_deadline, flags);
if (res > 0)
{
iface_mask &= ~(1 << i); // Mark transmitted
}
}
}
else
@@ -302,7 +334,9 @@ int CanIOManager::send(const CanFrame& frame, MonotonicTime tx_deadline, Monoton
res = sendFromTxQueue(i);
}
if (res > 0)
{
retval++;
}
}
}
@@ -318,7 +352,9 @@ int CanIOManager::send(const CanFrame& frame, MonotonicTime tx_deadline, Monoton
for (int i = 0; i < num_ifaces; i++)
{
if (iface_mask & (1 << i))
{
tx_queues_[i].push(frame, tx_deadline, qos, flags);
}
}
break;
}
@@ -338,14 +374,18 @@ int CanIOManager::receive(CanRxFrame& out_frame, MonotonicTime blocking_deadline
{
const int select_res = driver_.select(masks, blocking_deadline);
if (select_res < 0)
{
return select_res;
}
}
// Write - if buffers are not empty, one frame will be sent for each iface per one receive() call
for (int i = 0; i < num_ifaces; i++)
{
if (masks.write & (1 << i))
{
sendFromTxQueue(i);
}
}
// Read
@@ -372,7 +412,9 @@ int CanIOManager::receive(CanRxFrame& out_frame, MonotonicTime blocking_deadline
// Timeout checked in the last order - this way we can operate with expired deadline:
if (sysclock_.getMonotonic() >= blocking_deadline)
{
break;
}
}
return 0;
}
libuavcan/src/transport/dispatcher.cpp
+20 -2
View File
@@ -48,7 +48,9 @@ bool LoopbackFrameListenerRegistry::doesExist(const LoopbackFrameListenerBase* l
while (p)
{
if (p == listener)
{
return true;
}
p = p->getNextListNode();
}
return false;
@@ -76,7 +78,9 @@ bool Dispatcher::ListenerRegistry::add(TransferListenerBase* listener, Mode mode
while (p)
{
if (p->getDataTypeDescriptor().getID() == listener->getDataTypeDescriptor().getID())
{
return false;
}
p = p->getNextListNode();
}
}
@@ -96,7 +100,9 @@ bool Dispatcher::ListenerRegistry::exists(DataTypeID dtid) const
while (p)
{
if (p->getDataTypeDescriptor().getID() == dtid)
{
return true;
}
p = p->getNextListNode();
}
return false;
@@ -118,9 +124,13 @@ void Dispatcher::ListenerRegistry::handleFrame(const RxFrame& frame)
while (p)
{
if (p->getDataTypeDescriptor().getID() == frame.getDataTypeID())
{
p->handleFrame(frame);
}
else if (p->getDataTypeDescriptor().getID() < frame.getDataTypeID()) // Listeners are ordered by data type id!
{
break;
}
p = p->getNextListNode();
}
}
@@ -147,16 +157,22 @@ void Dispatcher::handleFrame(const CanRxFrame& can_frame)
{
case TransferTypeMessageBroadcast:
case TransferTypeMessageUnicast:
{
lmsg_.handleFrame(frame);
break;
}
case TransferTypeServiceRequest:
{
lsrv_req_.handleFrame(frame);
break;
}
case TransferTypeServiceResponse:
{
lsrv_resp_.handleFrame(frame);
break;
}
default:
assert(0);
@@ -185,7 +201,9 @@ int Dispatcher::spin(MonotonicTime deadline)
CanRxFrame frame;
const int res = canio_.receive(frame, deadline, flags);
if (res < 0)
{
return res;
}
if (res > 0)
{
if (flags & CanIOFlagLoopback)
@@ -283,8 +301,8 @@ bool Dispatcher::hasSubscriber(DataTypeID dtid) const
bool Dispatcher::hasPublisher(DataTypeID dtid) const
{
return outgoing_transfer_reg_.exists(dtid, TransferTypeMessageBroadcast)
|| outgoing_transfer_reg_.exists(dtid, TransferTypeMessageUnicast);
return outgoing_transfer_reg_.exists(dtid, TransferTypeMessageBroadcast) ||
outgoing_transfer_reg_.exists(dtid, TransferTypeMessageUnicast);
}
bool Dispatcher::hasServer(DataTypeID dtid) const
libuavcan/src/transport/frame.cpp
+20 -4
View File
@@ -18,15 +18,15 @@ int Frame::getMaxPayloadLen() const
switch (getTransferType())
{
case TransferTypeMessageBroadcast:
{
return sizeof(payload_);
break;
}
case TransferTypeServiceResponse:
case TransferTypeServiceRequest:
case TransferTypeMessageUnicast:
{
return sizeof(payload_) - 1;
break;
}
default:
assert(0);
return -1;
@@ -53,7 +53,9 @@ inline static uint32_t bitunpack(uint32_t val)
bool Frame::parse(const CanFrame& can_frame)
{
if (can_frame.isErrorFrame() || can_frame.isRemoteTransmissionRequest() || !can_frame.isExtended())
{
return false;
}
if (can_frame.dlc > sizeof(CanFrame::data))
{
@@ -78,22 +80,30 @@ bool Frame::parse(const CanFrame& can_frame)
switch (transfer_type_)
{
case TransferTypeMessageBroadcast:
{
dst_node_id_ = NodeID::Broadcast;
payload_len_ = can_frame.dlc;
std::copy(can_frame.data, can_frame.data + can_frame.dlc, payload_);
break;
}
case TransferTypeServiceResponse:
case TransferTypeServiceRequest:
case TransferTypeMessageUnicast:
{
if (can_frame.dlc < 1)
{
return false;
}
if (can_frame.data[0] & 0x80) // RESERVED, must be zero
{
return false;
}
dst_node_id_ = can_frame.data[0] & 0x7F;
payload_len_ = can_frame.dlc - 1;
std::copy(can_frame.data + 1, can_frame.data + can_frame.dlc, payload_);
break;
}
default:
return false;
@@ -128,18 +138,22 @@ bool Frame::compile(CanFrame& out_can_frame) const
switch (transfer_type_)
{
case TransferTypeMessageBroadcast:
{
out_can_frame.dlc = payload_len_;
std::copy(payload_, payload_ + payload_len_, out_can_frame.data);
break;
}
case TransferTypeServiceResponse:
case TransferTypeServiceRequest:
case TransferTypeMessageUnicast:
{
assert((payload_len_ + 1) <= sizeof(CanFrame::data));
out_can_frame.data[0] = dst_node_id_.get();
out_can_frame.dlc = payload_len_ + 1;
std::copy(payload_, payload_ + payload_len_, out_can_frame.data + 1);
break;
}
default:
assert(0);
@@ -200,7 +214,9 @@ std::string Frame::toString() const
{
ofs += std::snprintf(buf + ofs, BUFLEN - ofs, "%02x", payload_[i]);
if ((i + 1) < payload_len_)
{
ofs += std::snprintf(buf + ofs, BUFLEN - ofs, " ");
}
}
ofs += std::snprintf(buf + ofs, BUFLEN - ofs, "]");
return std::string(buf);
libuavcan/src/transport/transfer.cpp
+2
View File
@@ -22,7 +22,9 @@ int TransferID::computeForwardDistance(TransferID rhs) const
{
int d = int(rhs.get()) - int(get());
if (d < 0)
{
d += 1 << BitLen;
}
assert(((get() + d) & Max) == rhs.get());
return d;
libuavcan/src/transport/transfer_buffer.cpp
+18
View File
@@ -27,7 +27,9 @@ DynamicTransferBufferManagerEntry::Block* DynamicTransferBufferManagerEntry::Blo
{
void* const praw = allocator.allocate(sizeof(Block));
if (praw == NULL)
{
return NULL;
}
return new (praw) Block;
}
@@ -77,7 +79,9 @@ DynamicTransferBufferManagerEntry* DynamicTransferBufferManagerEntry::instantiat
{
void* const praw = allocator.allocate(sizeof(DynamicTransferBufferManagerEntry));
if (praw == NULL)
{
return NULL;
}
return new (praw) DynamicTransferBufferManagerEntry(allocator, max_size);
}
@@ -112,9 +116,13 @@ int DynamicTransferBufferManagerEntry::read(unsigned int offset, uint8_t* data,
return -1;
}
if (offset >= max_write_pos_)
{
return 0;
}
if ((offset + len) > max_write_pos_)
{
len = max_write_pos_ - offset;
}
assert((offset + len) <= max_write_pos_);
// This shall be optimized.
@@ -125,7 +133,9 @@ int DynamicTransferBufferManagerEntry::read(unsigned int offset, uint8_t* data,
{
p->read(outptr, offset, total_offset, left_to_read);
if (left_to_read == 0)
{
break;
}
p = p->getNextListNode();
}
@@ -142,9 +152,13 @@ int DynamicTransferBufferManagerEntry::write(unsigned int offset, const uint8_t*
}
if (offset >= max_size_)
{
return 0;
}
if ((offset + len) > max_size_)
{
len = max_size_ - offset;
}
assert((offset + len) <= max_size_);
unsigned int total_offset = 0;
@@ -159,7 +173,9 @@ int DynamicTransferBufferManagerEntry::write(unsigned int offset, const uint8_t*
last_written_block = p;
p->write(inptr, offset, total_offset, left_to_write);
if (left_to_write == 0)
{
break;
}
p = p->getNextListNode();
}
@@ -172,8 +188,10 @@ int DynamicTransferBufferManagerEntry::write(unsigned int offset, const uint8_t*
// Allocating the chunk
Block* new_block = Block::instantiate(allocator_);
if (new_block == NULL)
{
break; // We're in deep shit.
}
// Appending the chain with the new block
if (last_written_block != NULL)
{
libuavcan/src/transport/transfer_listener.cpp
+17 -7
View File
@@ -22,10 +22,10 @@ int IncomingTransfer::write(unsigned int, const uint8_t*, unsigned int)
* SingleFrameIncomingTransfer
*/
SingleFrameIncomingTransfer::SingleFrameIncomingTransfer(const RxFrame& frm)
: IncomingTransfer(frm.getMonotonicTimestamp(), frm.getUtcTimestamp(), frm.getTransferType(),
frm.getTransferID(), frm.getSrcNodeID(), frm.getIfaceIndex())
, payload_(frm.getPayloadPtr())
, payload_len_(frm.getPayloadLen())
: IncomingTransfer(frm.getMonotonicTimestamp(), frm.getUtcTimestamp(), frm.getTransferType(),
frm.getTransferID(), frm.getSrcNodeID(), frm.getIfaceIndex())
, payload_(frm.getPayloadPtr())
, payload_len_(frm.getPayloadLen())
{
assert(frm.isValid());
}
@@ -38,9 +38,13 @@ int SingleFrameIncomingTransfer::read(unsigned int offset, uint8_t* data, unsign
return -1;
}
if (offset >= payload_len_)
{
return 0;
}
if ((offset + len) > payload_len_)
{
len = payload_len_ - offset;
}
assert((offset + len) <= payload_len_);
std::copy(payload_ + offset, payload_ + offset + len, data);
return len;
@@ -51,9 +55,9 @@ int SingleFrameIncomingTransfer::read(unsigned int offset, uint8_t* data, unsign
*/
MultiFrameIncomingTransfer::MultiFrameIncomingTransfer(MonotonicTime ts_mono, UtcTime ts_utc,
const RxFrame& last_frame, TransferBufferAccessor& tba)
: IncomingTransfer(ts_mono, ts_utc, last_frame.getTransferType(), last_frame.getTransferID(),
last_frame.getSrcNodeID(), last_frame.getIfaceIndex())
, buf_acc_(tba)
: IncomingTransfer(ts_mono, ts_utc, last_frame.getTransferType(), last_frame.getTransferID(),
last_frame.getSrcNodeID(), last_frame.getIfaceIndex())
, buf_acc_(tba)
{
assert(last_frame.isValid());
assert(last_frame.isLast());
@@ -87,7 +91,9 @@ bool TransferListenerBase::checkPayloadCrc(const uint16_t compare_with, const IT
return false;
}
if (res == 0)
{
break;
}
offset += res;
crc.add(buf, res);
}
@@ -106,8 +112,10 @@ void TransferListenerBase::handleReception(TransferReceiver& receiver, const RxF
switch (receiver.addFrame(frame, tba))
{
case TransferReceiver::ResultNotComplete:
{
return;
}
case TransferReceiver::ResultSingleFrame:
{
SingleFrameIncomingTransfer it(frame);
@@ -138,9 +146,11 @@ void TransferListenerBase::handleReception(TransferReceiver& receiver, const RxF
}
default:
{
assert(0);
break;
}
}
}
}
libuavcan/src/transport/transfer_receiver.cpp
+18
View File
@@ -21,9 +21,13 @@ TransferReceiver::TidRelation TransferReceiver::getTidRelation(const RxFrame& fr
{
const int distance = tid_.computeForwardDistance(frame.getTransferID());
if (distance == 0)
{
return TidSame;
}
if (distance < ((1 << TransferID::BitLen) / 2))
{
return TidFuture;
}
return TidRepeat;
}
@@ -53,7 +57,9 @@ void TransferReceiver::prepareForNextTransfer()
bool TransferReceiver::validate(const RxFrame& frame) const
{
if (iface_index_ != frame.getIfaceIndex())
{
return false;
}
if (frame.isFirst() && !frame.isLast() && (frame.getPayloadLen() < TransferCRC::NumBytes))
{
@@ -90,15 +96,19 @@ bool TransferReceiver::writePayload(const RxFrame& frame, ITransferBuffer& buf)
if (frame.isFirst()) // First frame contains CRC, we need to extract it now
{
if (frame.getPayloadLen() < TransferCRC::NumBytes)
{
return false; // Must have been validated earlier though. I think I'm paranoid.
}
this_transfer_crc_ = (payload[0] & 0xFF) | (uint16_t(payload[1] & 0xFF) << 8); // Little endian.
const int effective_payload_len = payload_len - TransferCRC::NumBytes;
const int res = buf.write(buffer_write_pos_, payload + TransferCRC::NumBytes, effective_payload_len);
const bool success = res == effective_payload_len;
if (success)
{
buffer_write_pos_ += effective_payload_len;
}
return success;
}
else
@@ -106,7 +116,9 @@ bool TransferReceiver::writePayload(const RxFrame& frame, ITransferBuffer& buf)
const int res = buf.write(buffer_write_pos_, payload, payload_len);
const bool success = res == payload_len;
if (success)
{
buffer_write_pos_ += payload_len;
}
return success;
}
}
@@ -132,7 +144,9 @@ TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame, Tra
// Payload write
ITransferBuffer* buf = tba.access();
if (buf == NULL)
{
buf = tba.create();
}
if (buf == NULL)
{
UAVCAN_TRACE("TransferReceiver", "Failed to access the buffer, %s", frame.toString().c_str());
@@ -161,7 +175,9 @@ bool TransferReceiver::isTimedOut(MonotonicTime current_ts) const
{
static const uint64_t INTERVAL_MULT = (1 << TransferID::BitLen) / 2 + 1;
if (current_ts <= this_transfer_ts_)
{
return false;
}
return (current_ts - this_transfer_ts_).toUSec() > (uint64_t(transfer_interval_usec_) * INTERVAL_MULT);
}
@@ -209,7 +225,9 @@ TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame, Tr
}
if (!validate(frame))
{
return ResultNotComplete;
}
return receive(frame, tba);
}
libuavcan/src/transport/transfer_sender.cpp
+6
View File
@@ -59,11 +59,15 @@ int TransferSender::send(const uint8_t* payload, int payload_len, MonotonicTime
{
const int send_res = dispatcher_.send(frame, tx_deadline, blocking_deadline, qos_, flags_, iface_mask_);
if (send_res < 0)
{
return send_res;
}
if (frame.isLast())
{
return next_frame_index; // Number of frames transmitted
}
frame.setIndex(next_frame_index++);
const int write_res = frame.setPayload(payload + offset, payload_len - offset);
@@ -76,7 +80,9 @@ int TransferSender::send(const uint8_t* payload, int payload_len, MonotonicTime
offset += write_res;
assert(offset <= payload_len);
if (offset >= payload_len)
{
frame.makeLast();
}
}
}