Added -Wzero-as-null-pointer-constant, replaced NULL --> UAVCAN_NULLPTR. All changes are automatic, no manual edits to the library code.

libuavcan/src/node/uc_generic_publisher.cpp

@@ -22,7 +22,7 @@ int GenericPublisherBase::doInit(DataTypeKind dtkind, const char* dtname, CanTxQ
     GlobalDataTypeRegistry::instance().freeze();
 
     const DataTypeDescriptor* const descr = GlobalDataTypeRegistry::instance().find(dtkind, dtname);
-    if (descr == NULL)
+    if (descr == UAVCAN_NULLPTR)
     {
         UAVCAN_TRACE("GenericPublisher", "Type [%s] is not registered", dtname);
         return -ErrUnknownDataType;

libuavcan/src/node/uc_generic_subscriber.cpp

@@ -10,7 +10,7 @@ namespace uavcan
 int GenericSubscriberBase::genericStart(TransferListener* listener,
                                         bool (Dispatcher::*registration_method)(TransferListener*))
 {
-    if (listener == NULL)
+    if (listener == UAVCAN_NULLPTR)
     {
         UAVCAN_ASSERT(0);
         return -ErrLogic;
@@ -26,7 +26,7 @@ int GenericSubscriberBase::genericStart(TransferListener* listener,
 
 void GenericSubscriberBase::stop(TransferListener* listener)
 {
-    if (listener != NULL)
+    if (listener != UAVCAN_NULLPTR)
     {
         node_.getDispatcher().unregisterMessageListener(listener);
         node_.getDispatcher().unregisterServiceRequestListener(listener);

libuavcan/src/node/uc_global_data_type_registry.cpp

@@ -23,7 +23,7 @@ GlobalDataTypeRegistry::List* GlobalDataTypeRegistry::selectList(DataTypeKind ki
     else
     {
         UAVCAN_ASSERT(0);
-        return NULL;
+        return UAVCAN_NULLPTR;
     }
 }
 
@@ -144,7 +144,7 @@ void GlobalDataTypeRegistry::freeze()
 const DataTypeDescriptor* GlobalDataTypeRegistry::find(const char* name) const
 {
     const DataTypeDescriptor* desc = find(DataTypeKindMessage, name);
-    if (desc == NULL)
+    if (desc == UAVCAN_NULLPTR)
     {
         desc = find(DataTypeKindService, name);
     }
@@ -156,13 +156,13 @@ const DataTypeDescriptor* GlobalDataTypeRegistry::find(DataTypeKind kind, const
     if (!name)
     {
         UAVCAN_ASSERT(0);
-        return NULL;
+        return UAVCAN_NULLPTR;
     }
     const List* list = selectList(kind);
     if (!list)
     {
         UAVCAN_ASSERT(0);
-        return NULL;
+        return UAVCAN_NULLPTR;
     }
     Entry* p = list->get();
     while (p)
@@ -173,7 +173,7 @@ const DataTypeDescriptor* GlobalDataTypeRegistry::find(DataTypeKind kind, const
         }
         p = p->getNextListNode();
     }
-    return NULL;
+    return UAVCAN_NULLPTR;
 }
 
 const DataTypeDescriptor* GlobalDataTypeRegistry::find(DataTypeKind kind, DataTypeID dtid) const
@@ -182,7 +182,7 @@ const DataTypeDescriptor* GlobalDataTypeRegistry::find(DataTypeKind kind, DataTy
     if (!list)
     {
         UAVCAN_ASSERT(0);
-        return NULL;
+        return UAVCAN_NULLPTR;
     }
     Entry* p = list->get();
     while (p)
@@ -193,7 +193,7 @@ const DataTypeDescriptor* GlobalDataTypeRegistry::find(DataTypeKind kind, DataTy
         }
         p = p->getNextListNode();
     }
-    return NULL;
+    return UAVCAN_NULLPTR;
 }
 
 }

libuavcan/src/node/uc_service_client.cpp

@@ -13,7 +13,7 @@ void ServiceClientBase::CallState::handleDeadline(MonotonicTime)
 {
     UAVCAN_TRACE("ServiceClient::CallState", "Timeout from nid=%d, tid=%d, dtname=%s",
                  int(id_.server_node_id.get()), int(id_.transfer_id.get()),
-                 (owner_.data_type_descriptor_ == NULL) ? "???" : owner_.data_type_descriptor_->getFullName());
+                 (owner_.data_type_descriptor_ == UAVCAN_NULLPTR) ? "???" : owner_.data_type_descriptor_->getFullName());
     /*
      * What we're doing here is relaying execution from this call stack to a different one.
      * We need it because call registry cannot release memory from this callback, because this will destroy the
@@ -46,18 +46,18 @@ int ServiceClientBase::prepareToCall(INode& node,
     /*
      * Determining the Data Type ID
      */
-    if (data_type_descriptor_ == NULL)
+    if (data_type_descriptor_ == UAVCAN_NULLPTR)
     {
         GlobalDataTypeRegistry::instance().freeze();
         data_type_descriptor_ = GlobalDataTypeRegistry::instance().find(DataTypeKindService, dtname);
-        if (data_type_descriptor_ == NULL)
+        if (data_type_descriptor_ == UAVCAN_NULLPTR)
         {
             UAVCAN_TRACE("ServiceClient", "Type [%s] is not registered", dtname);
             return -ErrUnknownDataType;
         }
         UAVCAN_TRACE("ServiceClient", "Data type descriptor inited: %s", data_type_descriptor_->toString().c_str());
     }
-    UAVCAN_ASSERT(data_type_descriptor_ != NULL);
+    UAVCAN_ASSERT(data_type_descriptor_ != UAVCAN_NULLPTR);
 
     /*
      * Determining the Transfer ID

libuavcan/src/transport/uc_can_acceptance_filter_configurator.cpp

@@ -23,7 +23,7 @@ int16_t CanAcceptanceFilterConfigurator::loadInputConfiguration(AnonymousMessage
         CanFilterConfig anon_frame_cfg;
         anon_frame_cfg.id = DefaultAnonMsgID | CanFrame::FlagEFF;
         anon_frame_cfg.mask = DefaultAnonMsgMask | CanFrame::FlagEFF | CanFrame::FlagRTR | CanFrame::FlagERR;
-        if (multiset_configs_.emplace(anon_frame_cfg) == NULL)
+        if (multiset_configs_.emplace(anon_frame_cfg) == UAVCAN_NULLPTR)
         {
             return -ErrMemory;
         }
@@ -33,18 +33,18 @@ int16_t CanAcceptanceFilterConfigurator::loadInputConfiguration(AnonymousMessage
     service_cfg.id = DefaultFilterServiceID;
     service_cfg.id |= (static_cast<uint32_t>(node_.getNodeID().get()) << 8) | CanFrame::FlagEFF;
     service_cfg.mask = DefaultFilterServiceMask | CanFrame::FlagEFF | CanFrame::FlagRTR | CanFrame::FlagERR;
-    if (multiset_configs_.emplace(service_cfg) == NULL)
+    if (multiset_configs_.emplace(service_cfg) == UAVCAN_NULLPTR)
     {
         return -ErrMemory;
     }
 
     const TransferListener* p = node_.getDispatcher().getListOfMessageListeners().get();
-    while (p != NULL)
+    while (p != UAVCAN_NULLPTR)
     {
         CanFilterConfig cfg;
         cfg.id = (static_cast<uint32_t>(p->getDataTypeDescriptor().getID().get()) << 8) | CanFrame::FlagEFF;
         cfg.mask = DefaultFilterMsgMask | CanFrame::FlagEFF | CanFrame::FlagRTR | CanFrame::FlagERR;
-        if (multiset_configs_.emplace(cfg) == NULL)
+        if (multiset_configs_.emplace(cfg) == UAVCAN_NULLPTR)
         {
             return -ErrMemory;
         }
@@ -149,7 +149,7 @@ int CanAcceptanceFilterConfigurator::applyConfiguration(void)
     for (uint8_t i = 0; i < node_.getDispatcher().getCanIOManager().getNumIfaces(); i++)
     {
         ICanIface* iface = can_driver.getIface(i);
-        if (iface == NULL)
+        if (iface == UAVCAN_NULLPTR)
         {
             UAVCAN_TRACE("CanAcceptanceFilter", "Failed to apply HW filter configuration");
             return -ErrDriver;
@@ -202,7 +202,7 @@ uint16_t CanAcceptanceFilterConfigurator::getNumFilters() const
         for (uint8_t i = 0; i < node_.getDispatcher().getCanIOManager().getNumIfaces(); i++)
         {
             const ICanIface* iface = can_driver.getIface(i);
-            if (iface == NULL)
+            if (iface == UAVCAN_NULLPTR)
             {
                 UAVCAN_ASSERT(0);
                 out = 0;
@@ -226,7 +226,7 @@ uint16_t CanAcceptanceFilterConfigurator::getNumFilters() const
 
 int CanAcceptanceFilterConfigurator::addFilterConfig(const CanFilterConfig& config)
 {
-    if (multiset_configs_.emplace<const CanFilterConfig&>(config) == NULL)
+    if (multiset_configs_.emplace<const CanFilterConfig&>(config) == UAVCAN_NULLPTR)
     {
         return -ErrMemory;
     }

libuavcan/src/transport/uc_can_io.cpp

@@ -30,11 +30,11 @@ std::string CanRxFrame::toString(StringRepresentation mode) const
  */
 void CanTxQueue::Entry::destroy(Entry*& obj, IPoolAllocator& allocator)
 {
-    if (obj != NULL)
+    if (obj != UAVCAN_NULLPTR)
     {
         obj->~Entry();
         allocator.deallocate(obj);
-        obj = NULL;
+        obj = UAVCAN_NULLPTR;
     }
 }
 
@@ -117,7 +117,7 @@ void CanTxQueue::push(const CanFrame& frame, MonotonicTime tx_deadline, Qos qos,
     }
 
     void* praw = allocator_.allocate(sizeof(Entry));
-    if (praw == NULL)
+    if (praw == UAVCAN_NULLPTR)
     {
         UAVCAN_TRACE("CanTxQueue", "Push OOM #1, cleanup");
         // No memory left in the pool, so we try to remove expired frames
@@ -136,14 +136,14 @@ void CanTxQueue::push(const CanFrame& frame, MonotonicTime tx_deadline, Qos qos,
         praw = allocator_.allocate(sizeof(Entry));         // Try again
     }
 
-    if (praw == NULL)
+    if (praw == UAVCAN_NULLPTR)
     {
         UAVCAN_TRACE("CanTxQueue", "Push OOM #2, QoS arbitration");
         registerRejectedFrame();
 
         // Find a frame with lowest QoS
         Entry* p = queue_.get();
-        if (p == NULL)
+        if (p == UAVCAN_NULLPTR)
         {
             UAVCAN_TRACE("CanTxQueue", "Push rejected: Nothing to replace");
             return;
@@ -168,7 +168,7 @@ void CanTxQueue::push(const CanFrame& frame, MonotonicTime tx_deadline, Qos qos,
         praw = allocator_.allocate(sizeof(Entry));        // Try again
     }
 
-    if (praw == NULL)
+    if (praw == UAVCAN_NULLPTR)
     {
         return;                                            // Seems that there is no memory at all.
     }
@@ -196,12 +196,12 @@ CanTxQueue::Entry* CanTxQueue::peek()
             return p;
         }
     }
-    return NULL;
+    return UAVCAN_NULLPTR;
 }
 
 void CanTxQueue::remove(Entry*& entry)
 {
-    if (entry == NULL)
+    if (entry == UAVCAN_NULLPTR)
     {
         UAVCAN_ASSERT(0);
         return;
@@ -212,13 +212,13 @@ void CanTxQueue::remove(Entry*& entry)
 
 const CanFrame* CanTxQueue::getTopPriorityPendingFrame() const
 {
-    return (queue_.get() == NULL) ? NULL : &queue_.get()->frame;
+    return (queue_.get() == UAVCAN_NULLPTR) ? UAVCAN_NULLPTR : &queue_.get()->frame;
 }
 
 bool CanTxQueue::topPriorityHigherOrEqual(const CanFrame& rhs_frame) const
 {
     const Entry* entry = queue_.get();
-    if (entry == NULL)
+    if (entry == UAVCAN_NULLPTR)
     {
         return false;
     }
@@ -232,7 +232,7 @@ int CanIOManager::sendToIface(uint8_t iface_index, const CanFrame& frame, Monoto
 {
     UAVCAN_ASSERT(iface_index < MaxCanIfaces);
     ICanIface* const iface = driver_.getIface(iface_index);
-    if (iface == NULL)
+    if (iface == UAVCAN_NULLPTR)
     {
         UAVCAN_ASSERT(0);   // Nonexistent interface
         return -ErrLogic;
@@ -254,7 +254,7 @@ int CanIOManager::sendFromTxQueue(uint8_t iface_index)
 {
     UAVCAN_ASSERT(iface_index < MaxCanIfaces);
     CanTxQueue::Entry* entry = tx_queues_[iface_index]->peek();
-    if (entry == NULL)
+    if (entry == UAVCAN_NULLPTR)
     {
         return 0;
     }
@@ -323,7 +323,7 @@ uint8_t CanIOManager::makePendingTxMask() const
 CanIfacePerfCounters CanIOManager::getIfacePerfCounters(uint8_t iface_index) const
 {
     ICanIface* const iface = driver_.getIface(iface_index);
-    if (iface == NULL || iface_index >= MaxCanIfaces)
+    if (iface == UAVCAN_NULLPTR || iface_index >= MaxCanIfaces)
     {
         UAVCAN_ASSERT(0);
         return CanIfacePerfCounters();
@@ -475,7 +475,7 @@ int CanIOManager::receive(CanRxFrame& out_frame, MonotonicTime blocking_deadline
             if (masks.read & (1 << i))
             {
                 ICanIface* const iface = driver_.getIface(i);
-                if (iface == NULL)
+                if (iface == UAVCAN_NULLPTR)
                 {
                     UAVCAN_ASSERT(0);   // Nonexistent interface
                     continue;

libuavcan/src/transport/uc_dispatcher.cpp

@@ -211,7 +211,7 @@ void Dispatcher::handleLoopbackFrame(const CanRxFrame& can_frame)
 
 void Dispatcher::notifyRxFrameListener(const CanRxFrame& can_frame, CanIOFlags flags)
 {
-    if (rx_listener_ != NULL)
+    if (rx_listener_ != UAVCAN_NULLPTR)
     {
         rx_listener_->handleRxFrame(can_frame, flags);
     }

libuavcan/src/transport/uc_frame.cpp

@@ -157,7 +157,7 @@ bool Frame::compile(CanFrame& out_can_frame) const
         tail |= (1U << 5);
     }
 
-    UAVCAN_ASSERT(payload_len_ < sizeof(static_cast<CanFrame*>(NULL)->data));
+    UAVCAN_ASSERT(payload_len_ < sizeof(static_cast<CanFrame*>(UAVCAN_NULLPTR)->data));
 
     out_can_frame.dlc = static_cast<uint8_t>(payload_len_);
     (void)copy(payload_, payload_ + payload_len_, out_can_frame.data);

libuavcan/src/transport/uc_outgoing_transfer_registry.cpp

@@ -29,12 +29,12 @@ TransferID* OutgoingTransferRegistry::accessOrCreate(const OutgoingTransferRegis
 {
     UAVCAN_ASSERT(!new_deadline.isZero());
     Value* p = map_.access(key);
-    if (p == NULL)
+    if (p == UAVCAN_NULLPTR)
     {
         p = map_.insert(key, Value());
-        if (p == NULL)
+        if (p == UAVCAN_NULLPTR)
         {
-            return NULL;
+            return UAVCAN_NULLPTR;
         }
         UAVCAN_TRACE("OutgoingTransferRegistry", "Created %s", key.toString().c_str());
     }
@@ -44,7 +44,7 @@ TransferID* OutgoingTransferRegistry::accessOrCreate(const OutgoingTransferRegis
 
 bool OutgoingTransferRegistry::exists(DataTypeID dtid, TransferType tt) const
 {
-    return NULL != map_.find(ExistenceCheckingPredicate(dtid, tt));
+    return UAVCAN_NULLPTR != map_.find(ExistenceCheckingPredicate(dtid, tt));
 }
 
 void OutgoingTransferRegistry::cleanup(MonotonicTime ts)

libuavcan/src/transport/uc_transfer_buffer.cpp

@@ -79,20 +79,20 @@ TransferBufferManagerEntry::Block*
 TransferBufferManagerEntry::Block::instantiate(IPoolAllocator& allocator)
 {
     void* const praw = allocator.allocate(sizeof(Block));
-    if (praw == NULL)
+    if (praw == UAVCAN_NULLPTR)
     {
-        return NULL;
+        return UAVCAN_NULLPTR;
     }
     return new (praw) Block;
 }
 
 void TransferBufferManagerEntry::Block::destroy(Block*& obj, IPoolAllocator& allocator)
 {
-    if (obj != NULL)
+    if (obj != UAVCAN_NULLPTR)
     {
         obj->~Block();
         allocator.deallocate(obj);
-        obj = NULL;
+        obj = UAVCAN_NULLPTR;
     }
 }
 
@@ -131,20 +131,20 @@ TransferBufferManagerEntry* TransferBufferManagerEntry::instantiate(IPoolAllocat
                                                                                   uint16_t max_size)
 {
     void* const praw = allocator.allocate(sizeof(TransferBufferManagerEntry));
-    if (praw == NULL)
+    if (praw == UAVCAN_NULLPTR)
     {
-        return NULL;
+        return UAVCAN_NULLPTR;
     }
     return new (praw) TransferBufferManagerEntry(allocator, max_size);
 }
 
 void TransferBufferManagerEntry::destroy(TransferBufferManagerEntry*& obj, IPoolAllocator& allocator)
 {
-    if (obj != NULL)
+    if (obj != UAVCAN_NULLPTR)
     {
         obj->~TransferBufferManagerEntry();
         allocator.deallocate(obj);
-        obj = NULL;
+        obj = UAVCAN_NULLPTR;
     }
 }
 
@@ -206,7 +206,7 @@ int TransferBufferManagerEntry::write(unsigned offset, const uint8_t* data, unsi
     unsigned left_to_write = len;
     const uint8_t* inptr = data;
     Block* p = blocks_.get();
-    Block* last_written_block = NULL;
+    Block* last_written_block = UAVCAN_NULLPTR;
 
     // First we need to write the part that is already allocated
     while (p)
@@ -224,20 +224,20 @@ int TransferBufferManagerEntry::write(unsigned offset, const uint8_t* data, unsi
     while (left_to_write > 0)
     {
         // cppcheck-suppress nullPointer
-        UAVCAN_ASSERT(p == NULL);
+        UAVCAN_ASSERT(p == UAVCAN_NULLPTR);
 
         // Allocating the chunk
         Block* new_block = Block::instantiate(allocator_);
-        if (new_block == NULL)
+        if (new_block == UAVCAN_NULLPTR)
         {
             break;                        // We're in deep shit.
         }
         // Appending the chain with the new block
-        if (last_written_block != NULL)
+        if (last_written_block != UAVCAN_NULLPTR)
         {
-            UAVCAN_ASSERT(last_written_block->getNextListNode() == NULL);  // Because it is last in the chain
+            UAVCAN_ASSERT(last_written_block->getNextListNode() == UAVCAN_NULLPTR);  // Because it is last in the chain
             last_written_block->setNextListNode(new_block);
-            new_block->setNextListNode(NULL);
+            new_block->setNextListNode(UAVCAN_NULLPTR);
         }
         else
         {
@@ -284,7 +284,7 @@ TransferBufferManagerEntry* TransferBufferManager::findFirst(const TransferBuffe
         }
         dyn = dyn->getNextListNode();
     }
-    return NULL;
+    return UAVCAN_NULLPTR;
 }
 
 TransferBufferManager::~TransferBufferManager()
@@ -304,7 +304,7 @@ ITransferBuffer* TransferBufferManager::access(const TransferBufferManagerKey& k
     if (key.isEmpty())
     {
         UAVCAN_ASSERT(0);
-        return NULL;
+        return UAVCAN_NULLPTR;
     }
     return findFirst(key);
 }
@@ -314,21 +314,21 @@ ITransferBuffer* TransferBufferManager::create(const TransferBufferManagerKey& k
     if (key.isEmpty())
     {
         UAVCAN_ASSERT(0);
-        return NULL;
+        return UAVCAN_NULLPTR;
     }
     remove(key);
 
     TransferBufferManagerEntry* tbme = TransferBufferManagerEntry::instantiate(allocator_, max_buf_size_);
-    if (tbme == NULL)
+    if (tbme == UAVCAN_NULLPTR)
     {
-        return NULL;     // Epic fail.
+        return UAVCAN_NULLPTR;     // Epic fail.
     }
 
     buffers_.insert(tbme);
 
     UAVCAN_TRACE("TransferBufferManager", "Buffer created [num=%u], %s", getNumBuffers(), key.toString().c_str());
 
-    if (tbme != NULL)
+    if (tbme != UAVCAN_NULLPTR)
     {
         UAVCAN_ASSERT(tbme->isEmpty());
         tbme->reset(key);
@@ -341,7 +341,7 @@ void TransferBufferManager::remove(const TransferBufferManagerKey& key)
     UAVCAN_ASSERT(!key.isEmpty());
 
     TransferBufferManagerEntry* dyn = findFirst(key);
-    if (dyn != NULL)
+    if (dyn != UAVCAN_NULLPTR)
     {
         UAVCAN_TRACE("TransferBufferManager", "Buffer deleted, %s", key.toString().c_str());
         buffers_.remove(dyn);

libuavcan/src/transport/uc_transfer_listener.cpp

@@ -32,7 +32,7 @@ SingleFrameIncomingTransfer::SingleFrameIncomingTransfer(const RxFrame& frm)
 
 int SingleFrameIncomingTransfer::read(unsigned offset, uint8_t* data, unsigned len) const
 {
-    if (data == NULL)
+    if (data == UAVCAN_NULLPTR)
     {
         UAVCAN_ASSERT(0);
         return -ErrInvalidParam;
@@ -71,7 +71,7 @@ MultiFrameIncomingTransfer::MultiFrameIncomingTransfer(MonotonicTime ts_mono, Ut
 int MultiFrameIncomingTransfer::read(unsigned offset, uint8_t* data, unsigned len) const
 {
     const ITransferBuffer* const tbb = const_cast<TransferBufferAccessor&>(buf_acc_).access();
-    if (tbb == NULL)
+    if (tbb == UAVCAN_NULLPTR)
     {
         UAVCAN_TRACE("MultiFrameIncomingTransfer", "Read failed: no such buffer");
         return -ErrLogic;
@@ -153,7 +153,7 @@ void TransferListener::handleReception(TransferReceiver& receiver, const RxFrame
     {
         perf_.addRxTransfer();
         const ITransferBuffer* tbb = tba.access();
-        if (tbb == NULL)
+        if (tbb == UAVCAN_NULLPTR)
         {
             UAVCAN_TRACE("TransferListener", "Buffer access failure, last frame: %s", frame.toString().c_str());
             break;
@@ -206,7 +206,7 @@ void TransferListener::handleFrame(const RxFrame& frame)
         const TransferBufferManagerKey key(frame.getSrcNodeID(), frame.getTransferType());
 
         TransferReceiver* recv = receivers_.access(key);
-        if (recv == NULL)
+        if (recv == UAVCAN_NULLPTR)
         {
             if (!frame.isStartOfTransfer())
             {
@@ -215,7 +215,7 @@ void TransferListener::handleFrame(const RxFrame& frame)
 
             TransferReceiver new_recv;
             recv = receivers_.insert(key, new_recv);
-            if (recv == NULL)
+            if (recv == UAVCAN_NULLPTR)
             {
                 UAVCAN_TRACE("TransferListener", "Receiver registration failed; frame %s", frame.toString().c_str());
                 return;
@@ -242,7 +242,7 @@ void TransferListener::handleFrame(const RxFrame& frame)
  */
 void TransferListenerWithFilter::handleFrame(const RxFrame& frame)
 {
-    if (filter_ != NULL)
+    if (filter_ != UAVCAN_NULLPTR)
     {
         if (filter_->shouldAcceptFrame(frame))
         {

libuavcan/src/transport/uc_transfer_receiver.cpp

@@ -148,11 +148,11 @@ TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame, Tra
 
     // Payload write
     ITransferBuffer* buf = tba.access();
-    if (buf == NULL)
+    if (buf == UAVCAN_NULLPTR)
     {
         buf = tba.create();
     }
-    if (buf == NULL)
+    if (buf == UAVCAN_NULLPTR)
     {
         UAVCAN_TRACE("TransferReceiver", "Failed to access the buffer, %s", frame.toString().c_str());
         prepareForNextTransfer();

libuavcan/src/transport/uc_transfer_sender.cpp

@@ -156,7 +156,7 @@ int TransferSender::send(const uint8_t* payload, unsigned payload_len, Monotonic
                                                          OutgoingTransferRegistry::MinEntryLifetime);
 
     TransferID* const tid = dispatcher_.getOutgoingTransferRegistry().accessOrCreate(otr_key, otr_deadline);
-    if (tid == NULL)
+    if (tid == UAVCAN_NULLPTR)
     {
         UAVCAN_TRACE("TransferSender", "OTR access failure, dtid=%d tt=%i",
                      int(data_type_id_.get()), int(transfer_type));

libuavcan/src/uc_data_type.cpp

@@ -100,7 +100,7 @@ const unsigned DataTypeDescriptor::MaxFullNameLen;
 bool DataTypeDescriptor::isValid() const
 {
     return id_.isValidForDataTypeKind(kind_) &&
-           (full_name_ != NULL) &&
+           (full_name_ != UAVCAN_NULLPTR) &&
            (*full_name_ != '\0');
 }
 

libuavcan/src/uc_dynamic_memory.cpp

@@ -18,7 +18,7 @@ void* LimitedPoolAllocator::allocate(std::size_t size)
     }
     else
     {
-        return NULL;
+        return UAVCAN_NULLPTR;
     }
 }