From 0db43b64890cbce12d269ad0d689f3d48796e9e5 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Sun, 4 May 2014 21:22:18 +0400
Subject: [PATCH] Partially removed all references to STL's algorithm.
 <algorithm> is not included anywhere, though still used in several places
 which still alows the code to compile as <algorithm> is being pulled in from
 some other standard headers.

---
 libuavcan/include/uavcan/data_type.hpp              |  1 -
 libuavcan/include/uavcan/driver/can.hpp             |  1 -
 libuavcan/include/uavcan/dynamic_memory.hpp         | 13 +++++++++----
 libuavcan/include/uavcan/marshal/array.hpp          |  1 -
 .../uavcan/node/global_data_type_registry.hpp       |  1 -
 libuavcan/include/uavcan/time.hpp                   |  1 -
 libuavcan/include/uavcan/transport/frame.hpp        |  1 -
 .../include/uavcan/transport/transfer_buffer.hpp    |  1 -
 .../include/uavcan/transport/transfer_listener.hpp  |  1 -
 libuavcan/src/marshal/uc_float_spec.cpp             |  2 +-
 libuavcan/src/protocol/uc_node_status_monitor.cpp   |  1 -
 libuavcan/src/transport/uc_can_io.cpp               |  1 -
 libuavcan/src/transport/uc_transfer_receiver.cpp    |  1 -
 13 files changed, 10 insertions(+), 16 deletions(-)

diff --git a/libuavcan/include/uavcan/data_type.hpp b/libuavcan/include/uavcan/data_type.hpp
index 700bd8806f..0e437e0669 100644
--- a/libuavcan/include/uavcan/data_type.hpp
+++ b/libuavcan/include/uavcan/data_type.hpp
@@ -6,7 +6,6 @@
 
 #include <cassert>
 #include <cstring>
-#include <algorithm>
 #include <uavcan/stdint.hpp>
 #include <uavcan/impl_constants.hpp>
 #include <uavcan/transport/transfer.hpp>
diff --git a/libuavcan/include/uavcan/driver/can.hpp b/libuavcan/include/uavcan/driver/can.hpp
index ce339b8306..9ab7ed517d 100644
--- a/libuavcan/include/uavcan/driver/can.hpp
+++ b/libuavcan/include/uavcan/driver/can.hpp
@@ -6,7 +6,6 @@
 #pragma once
 
 #include <cassert>
-#include <algorithm>
 #include <uavcan/stdint.hpp>
 #include <uavcan/impl_constants.hpp>
 #include <uavcan/driver/system_clock.hpp>
diff --git a/libuavcan/include/uavcan/dynamic_memory.hpp b/libuavcan/include/uavcan/dynamic_memory.hpp
index 2009edaa45..63ddc1c7d2 100644
--- a/libuavcan/include/uavcan/dynamic_memory.hpp
+++ b/libuavcan/include/uavcan/dynamic_memory.hpp
@@ -7,7 +7,6 @@
 #include <cassert>
 #include <cstdlib>
 #include <cstring>
-#include <algorithm>
 #include <limits>
 #include <uavcan/stdint.hpp>
 #include <uavcan/util/compile_time.hpp>
@@ -38,11 +37,17 @@ class UAVCAN_EXPORT PoolManager : public IPoolAllocator, Noncopyable
 {
     IPoolAllocator* pools_[MaxPools];
 
-    static bool sortComparePoolAllocators(const IPoolAllocator* a, const IPoolAllocator* b)
+    static int qsortComparePoolAllocators(const void* raw_a, const void* raw_b)
     {
+        const IPoolAllocator* const a = *static_cast<const IPoolAllocator* const*>(raw_a);
+        const IPoolAllocator* const b = *static_cast<const IPoolAllocator* const*>(raw_b);
         const std::size_t a_size = a ? a->getBlockSize() : std::numeric_limits<std::size_t>::max();
         const std::size_t b_size = b ? b->getBlockSize() : std::numeric_limits<std::size_t>::max();
-        return a_size < b_size;
+        if (a_size != b_size)
+        {
+            return (a_size > b_size) ? 1 : -1;
+        }
+        return 0;
     }
 
 public:
@@ -144,7 +149,7 @@ bool PoolManager<MaxPools>::addPool(IPoolAllocator* pool)
         }
     }
     // We need to keep the pools in order, so that smallest blocks go first
-    std::sort(pools_, pools_ + MaxPools, &PoolManager::sortComparePoolAllocators);
+    std::qsort(pools_, MaxPools, sizeof(IPoolAllocator*), &PoolManager::qsortComparePoolAllocators);
     return retval;
 }
 
diff --git a/libuavcan/include/uavcan/marshal/array.hpp b/libuavcan/include/uavcan/marshal/array.hpp
index 399759de36..b9178cc59e 100644
--- a/libuavcan/include/uavcan/marshal/array.hpp
+++ b/libuavcan/include/uavcan/marshal/array.hpp
@@ -6,7 +6,6 @@
 
 #include <cassert>
 #include <cstdio>
-#include <algorithm>
 #include <cstring>
 #include <cmath>
 #include <uavcan/error.hpp>
diff --git a/libuavcan/include/uavcan/node/global_data_type_registry.hpp b/libuavcan/include/uavcan/node/global_data_type_registry.hpp
index d18785690b..5e4e4d90f4 100644
--- a/libuavcan/include/uavcan/node/global_data_type_registry.hpp
+++ b/libuavcan/include/uavcan/node/global_data_type_registry.hpp
@@ -5,7 +5,6 @@
 #pragma once
 
 #include <cassert>
-#include <algorithm>
 #include <uavcan/error.hpp>
 #include <uavcan/stdint.hpp>
 #include <uavcan/data_type.hpp>
diff --git a/libuavcan/include/uavcan/time.hpp b/libuavcan/include/uavcan/time.hpp
index 12c409a69c..4de173ce85 100644
--- a/libuavcan/include/uavcan/time.hpp
+++ b/libuavcan/include/uavcan/time.hpp
@@ -4,7 +4,6 @@
 
 #pragma once
 
-#include <algorithm>
 #include <limits>
 #include <uavcan/stdint.hpp>
 #include <uavcan/impl_constants.hpp>
diff --git a/libuavcan/include/uavcan/transport/frame.hpp b/libuavcan/include/uavcan/transport/frame.hpp
index bd569766d1..026502fcf1 100644
--- a/libuavcan/include/uavcan/transport/frame.hpp
+++ b/libuavcan/include/uavcan/transport/frame.hpp
@@ -5,7 +5,6 @@
 #pragma once
 
 #include <cassert>
-#include <algorithm>
 #include <uavcan/transport/transfer.hpp>
 #include <uavcan/transport/can_io.hpp>
 #include <uavcan/impl_constants.hpp>
diff --git a/libuavcan/include/uavcan/transport/transfer_buffer.hpp b/libuavcan/include/uavcan/transport/transfer_buffer.hpp
index 033b9eb72e..4835d67350 100644
--- a/libuavcan/include/uavcan/transport/transfer_buffer.hpp
+++ b/libuavcan/include/uavcan/transport/transfer_buffer.hpp
@@ -4,7 +4,6 @@
 
 #pragma once
 
-#include <algorithm>
 #include <limits>
 #include <uavcan/stdint.hpp>
 #include <uavcan/error.hpp>
diff --git a/libuavcan/include/uavcan/transport/transfer_listener.hpp b/libuavcan/include/uavcan/transport/transfer_listener.hpp
index 783b52792d..78e5b00deb 100644
--- a/libuavcan/include/uavcan/transport/transfer_listener.hpp
+++ b/libuavcan/include/uavcan/transport/transfer_listener.hpp
@@ -5,7 +5,6 @@
 #pragma once
 
 #include <cassert>
-#include <algorithm>
 #include <uavcan/error.hpp>
 #include <uavcan/stdint.hpp>
 #include <uavcan/transport/transfer_receiver.hpp>
diff --git a/libuavcan/src/marshal/uc_float_spec.cpp b/libuavcan/src/marshal/uc_float_spec.cpp
index be51793d7a..8aad065401 100644
--- a/libuavcan/src/marshal/uc_float_spec.cpp
+++ b/libuavcan/src/marshal/uc_float_spec.cpp
@@ -82,7 +82,7 @@ uint16_t IEEE754Converter::nativeNonIeeeToHalf(float value)
         hbits |= ((exp + 14) << 10);
     }
     const int32_t ival = static_cast<int32_t>(value);
-    hbits |= static_cast<uint16_t>(std::abs(ival) & 0x3FFU);
+    hbits |= static_cast<uint16_t>(((ival < 0) ? (-ival) : ival) & 0x3FFU);
     float diff = std::abs(value - static_cast<float>(ival));
     hbits += diff >= 0.5F;
     return hbits;
diff --git a/libuavcan/src/protocol/uc_node_status_monitor.cpp b/libuavcan/src/protocol/uc_node_status_monitor.cpp
index 67505ebcd4..bcffce097e 100644
--- a/libuavcan/src/protocol/uc_node_status_monitor.cpp
+++ b/libuavcan/src/protocol/uc_node_status_monitor.cpp
@@ -4,7 +4,6 @@
 
 #include <uavcan/protocol/node_status_monitor.hpp>
 #include <uavcan/debug.hpp>
-#include <algorithm>
 #include <cassert>
 #include <cstdlib>
 
diff --git a/libuavcan/src/transport/uc_can_io.cpp b/libuavcan/src/transport/uc_can_io.cpp
index 7a60934d81..4df84247d2 100644
--- a/libuavcan/src/transport/uc_can_io.cpp
+++ b/libuavcan/src/transport/uc_can_io.cpp
@@ -5,7 +5,6 @@
 
 #include <uavcan/transport/can_io.hpp>
 #include <uavcan/debug.hpp>
-#include <algorithm>
 #include <cassert>
 #include <limits>
 
diff --git a/libuavcan/src/transport/uc_transfer_receiver.cpp b/libuavcan/src/transport/uc_transfer_receiver.cpp
index f5db8217ea..25ada2ba06 100644
--- a/libuavcan/src/transport/uc_transfer_receiver.cpp
+++ b/libuavcan/src/transport/uc_transfer_receiver.cpp
@@ -7,7 +7,6 @@
 #include <uavcan/debug.hpp>
 #include <cstdlib>
 #include <cassert>
-#include <algorithm>
 
 namespace uavcan
 {