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libuavcan core now uses UAVCAN_ASSERT() instead of assert() (autoreplace)

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This commit is contained in:
Pavel Kirienko
2014-07-12 17:17:09 +04:00
parent cf19d86842
commit 530242819d
55 changed files with 208 additions and 208 deletions
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libuavcan/include/uavcan/data_type.hpp
+4 -4
View File
@@ -35,7 +35,7 @@ public:
DataTypeID(uint16_t id) // Implicit
: value_(id)
{
assert(isValid());
UAVCAN_ASSERT(isValid());
}
bool isValid() const { return value_ <= Max; }
@@ -120,9 +120,9 @@ public:
, signature_(signature)
, full_name_(name)
{
assert(kind < NumDataTypeKinds);
assert(name);
assert(std::strlen(name) <= MaxFullNameLen);
UAVCAN_ASSERT(kind < NumDataTypeKinds);
UAVCAN_ASSERT(name);
UAVCAN_ASSERT(std::strlen(name) <= MaxFullNameLen);
}
DataTypeKind getKind() const { return kind_; }
libuavcan/include/uavcan/driver/can.hpp
+2 -2
View File
@@ -41,8 +41,8 @@ struct UAVCAN_EXPORT CanFrame
: id(arg_id)
, dlc((data_len > MaxDataLen) ? MaxDataLen : data_len)
{
assert(arg_data != NULL);
assert(data_len == dlc);
UAVCAN_ASSERT(arg_data != NULL);
UAVCAN_ASSERT(data_len == dlc);
(void)copy(arg_data, arg_data + dlc, this->data);
}
libuavcan/include/uavcan/dynamic_memory.hpp
+5 -5
View File
@@ -116,7 +116,7 @@ public:
, max_blocks_(max_blocks)
, used_blocks_(0)
{
assert(max_blocks_ > 0);
UAVCAN_ASSERT(max_blocks_ > 0);
}
virtual void* allocate(std::size_t size);
@@ -136,11 +136,11 @@ public:
template <unsigned MaxPools>
bool PoolManager<MaxPools>::addPool(IPoolAllocator* pool)
{
assert(pool);
UAVCAN_ASSERT(pool);
bool retval = false;
for (unsigned i = 0; i < MaxPools; i++)
{
assert(pools_[i] != pool);
UAVCAN_ASSERT(pools_[i] != pool);
if (pools_[i] == NULL || pools_[i] == pool)
{
pools_[i] = pool;
@@ -179,7 +179,7 @@ void PoolManager<MaxPools>::deallocate(const void* ptr)
{
if (pools_[i] == NULL)
{
assert(0);
UAVCAN_ASSERT(0);
break;
}
if (pools_[i]->isInPool(ptr))
@@ -283,7 +283,7 @@ unsigned PoolAllocator<PoolSize, BlockSize>::getNumFreeBlocks() const
while (p)
{
num++;
assert(num <= NumBlocks);
UAVCAN_ASSERT(num <= NumBlocks);
p = p->next;
}
return num;
libuavcan/include/uavcan/error.hpp
+1 -1
View File
@@ -32,7 +32,7 @@ const int16_t ErrPassiveMode = 11;
/**
* Fatal error handler.
* Throws std::runtime_error() if exceptions are available, otherwise calls assert(0) then std::abort().
* Throws std::runtime_error() if exceptions are available, otherwise calls UAVCAN_ASSERT(0) then std::abort().
*/
#if __GNUC__
__attribute__ ((noreturn))
libuavcan/include/uavcan/marshal/array.hpp
+14 -14
View File
@@ -51,7 +51,7 @@ protected:
#if UAVCAN_EXCEPTIONS
throw std::out_of_range("uavcan::Array");
#else
assert(0);
UAVCAN_ASSERT(0);
return Size - 1; // Ha ha
#endif
}
@@ -82,7 +82,7 @@ protected:
#if UAVCAN_EXCEPTIONS
throw std::out_of_range("uavcan::Array");
#else
assert(0);
UAVCAN_ASSERT(0);
return (size_ == 0) ? 0 : (size_ - 1);
#endif
}
@@ -91,7 +91,7 @@ protected:
{
if (size_ >= MaxSize)
{
(void)validateRange(MaxSize); // Will throw, assert() or do nothing
(void)validateRange(MaxSize); // Will throw, UAVCAN_ASSERT() or do nothing
}
else
{
@@ -112,7 +112,7 @@ public:
SizeType size() const
{
assert(size_ ? ((size_ - 1u) <= (MaxSize - 1u)) : 1); // -Werror=type-limits
UAVCAN_ASSERT(size_ ? ((size_ - 1u) <= (MaxSize - 1u)) : 1); // -Werror=type-limits
return size_;
}
@@ -168,7 +168,7 @@ public:
const char* c_str() const
{
StaticAssert<IsStringLike>::check();
assert(size() < (MaxSize + 1));
UAVCAN_ASSERT(size() < (MaxSize + 1));
const_cast<BufferType&>(data_)[size()] = 0; // Ad-hoc string termination
return reinterpret_cast<const char*>(data_);
}
@@ -245,7 +245,7 @@ class UAVCAN_EXPORT Array : public ArrayImpl<T, ArrayMode, MaxSize_>
int encodeImpl(ScalarCodec& codec, const TailArrayOptimizationMode tao_mode, FalseType) const /// Static
{
assert(size() > 0);
UAVCAN_ASSERT(size() > 0);
for (SizeType i = 0; i < size(); i++)
{
const bool last_item = i == (size() - 1);
@@ -279,7 +279,7 @@ class UAVCAN_EXPORT Array : public ArrayImpl<T, ArrayMode, MaxSize_>
int decodeImpl(ScalarCodec& codec, const TailArrayOptimizationMode tao_mode, FalseType) /// Static
{
assert(size() > 0);
UAVCAN_ASSERT(size() > 0);
for (SizeType i = 0; i < size(); i++)
{
const bool last_item = i == (size() - 1);
@@ -338,7 +338,7 @@ class UAVCAN_EXPORT Array : public ArrayImpl<T, ArrayMode, MaxSize_>
}
return decodeImpl(codec, tao_mode, FalseType());
}
assert(0); // Unreachable
UAVCAN_ASSERT(0); // Unreachable
return -ErrLogic;
}
@@ -615,13 +615,13 @@ public:
if (!format)
{
assert(0);
UAVCAN_ASSERT(0);
return;
}
// Add some hardcore runtime checks for the format string correctness?
ValueType* const ptr = Base::end();
assert(capacity() >= size());
UAVCAN_ASSERT(capacity() >= size());
const SizeType max_size = capacity() - size();
// We have one extra byte for the null terminator, hence +1
@@ -634,7 +634,7 @@ public:
}
if (ret < 0)
{
assert(0); // Likely an invalid format string
UAVCAN_ASSERT(0); // Likely an invalid format string
(*this) += format; // So we print it as is in release builds
}
}
@@ -671,7 +671,7 @@ public:
#if UAVCAN_EXCEPTIONS
throw std::out_of_range("uavcan::Array::packSquareMatrix()");
#else
assert(0);
UAVCAN_ASSERT(0);
this->clear();
#endif
}
@@ -698,7 +698,7 @@ public:
#if UAVCAN_EXCEPTIONS
throw std::out_of_range("uavcan::Array::packSquareMatrix()");
#else
assert(0);
UAVCAN_ASSERT(0);
this->clear();
#endif
}
@@ -744,7 +744,7 @@ public:
#if UAVCAN_EXCEPTIONS
throw std::out_of_range("uavcan::Array::unpackSquareMatrix()");
#else
assert(0);
UAVCAN_ASSERT(0);
#endif
}
}
libuavcan/include/uavcan/marshal/integer_spec.hpp
+2 -2
View File
@@ -92,9 +92,9 @@ private:
{
StaticAssert<(BitLen <= (sizeof(StorageType) * 8))>::check();
// coverity[result_independent_of_operands : FALSE]
assert(max() <= NumericTraits<StorageType>::max());
UAVCAN_ASSERT(max() <= NumericTraits<StorageType>::max());
// coverity[result_independent_of_operands : FALSE]
assert(min() >= NumericTraits<StorageType>::min());
UAVCAN_ASSERT(min() >= NumericTraits<StorageType>::min());
}
public:
libuavcan/include/uavcan/marshal/scalar_codec.hpp
+2 -2
View File
@@ -32,9 +32,9 @@ class UAVCAN_EXPORT ScalarCodec
#endif
/*
* I didn't have any big endian machine nearby, so big endian support wasn't tested yet.
* It is likely to be OK anyway, so feel free to remove this assert() as needed.
* It is likely to be OK anyway, so feel free to remove this UAVCAN_ASSERT() as needed.
*/
assert(big_endian == false);
UAVCAN_ASSERT(big_endian == false);
if (big_endian)
{
swapByteOrder(bytes, Size);
libuavcan/include/uavcan/node/generic_publisher.hpp
+2 -2
View File
@@ -33,7 +33,7 @@ protected:
{
setTxTimeout(tx_timeout);
#if UAVCAN_DEBUG
assert(getTxTimeout() == tx_timeout); // Making sure default values are OK
UAVCAN_ASSERT(getTxTimeout() == tx_timeout); // Making sure default values are OK
#endif
}
@@ -135,7 +135,7 @@ int GenericPublisher<DataSpec, DataStruct>::doEncode(const DataStruct& message,
const int encode_res = DataStruct::encode(message, codec);
if (encode_res <= 0)
{
assert(0); // Impossible, internal error
UAVCAN_ASSERT(0); // Impossible, internal error
return -ErrInvalidMarshalData;
}
return encode_res;
libuavcan/include/uavcan/node/generic_subscriber.hpp
+2 -2
View File
@@ -28,7 +28,7 @@ class UAVCAN_EXPORT ReceivedDataStructure : public DataType_
{
if (!transfer_)
{
assert(0);
UAVCAN_ASSERT(0);
return Ret();
}
return (transfer_->*Fun)();
@@ -39,7 +39,7 @@ protected:
void setTransfer(const IncomingTransfer* transfer)
{
assert(transfer);
UAVCAN_ASSERT(transfer);
transfer_ = transfer;
}
libuavcan/include/uavcan/node/global_data_type_registry.hpp
+2 -2
View File
@@ -39,11 +39,11 @@ class UAVCAN_EXPORT GlobalDataTypeRegistry : Noncopyable
explicit EntryInsertionComparator(const Entry* dtd)
: id((dtd == NULL) ? DataTypeID() : dtd->descriptor.getID())
{
assert(dtd != NULL);
UAVCAN_ASSERT(dtd != NULL);
}
bool operator()(const Entry* entry) const
{
assert(entry != NULL);
UAVCAN_ASSERT(entry != NULL);
return entry->descriptor.getID() > id;
}
};
libuavcan/include/uavcan/node/node.hpp
+1 -1
View File
@@ -234,7 +234,7 @@ int Node<MemPoolSize_, OutgoingTransferRegistryStaticEntries, OutgoingTransferMa
started_ = res >= 0;
return res;
fail:
assert(res < 0);
UAVCAN_ASSERT(res < 0);
return res;
}
libuavcan/include/uavcan/node/publisher.hpp
+2 -2
View File
@@ -22,7 +22,7 @@ public:
: BaseType(node, tx_timeout, max_transfer_interval)
{
#if UAVCAN_DEBUG
assert(getTxTimeout() == tx_timeout); // Making sure default values are OK
UAVCAN_ASSERT(getTxTimeout() == tx_timeout); // Making sure default values are OK
#endif
StaticAssert<DataTypeKind(DataType::DataTypeKind) == DataTypeKindMessage>::check();
}
@@ -41,7 +41,7 @@ public:
{
if (!dst_node_id.isUnicast())
{
assert(0);
UAVCAN_ASSERT(0);
return -ErrInvalidParam;
}
return BaseType::publish(message, TransferTypeMessageUnicast, dst_node_id);
libuavcan/include/uavcan/node/service_client.hpp
+7 -7
View File
@@ -44,8 +44,8 @@ struct UAVCAN_EXPORT ServiceCallResult
, server_node_id(arg_server_node_id)
, response(arg_response)
{
assert(server_node_id.isUnicast());
assert((status == Success) || (status == ErrorTimeout));
UAVCAN_ASSERT(server_node_id.isUnicast());
UAVCAN_ASSERT((status == Success) || (status == ErrorTimeout));
}
bool isSuccessful() const { return status == Success; }
@@ -141,7 +141,7 @@ public:
{
setRequestTimeout(getDefaultRequestTimeout());
#if UAVCAN_DEBUG
assert(getRequestTimeout() == getDefaultRequestTimeout()); // Making sure default values are OK
UAVCAN_ASSERT(getRequestTimeout() == getDefaultRequestTimeout()); // Making sure default values are OK
#endif
}
@@ -194,7 +194,7 @@ void ServiceClient<DataType_, Callback_>::invokeCallback(ServiceCallResultType&
template <typename DataType_, typename Callback_>
void ServiceClient<DataType_, Callback_>::handleReceivedDataStruct(ReceivedDataStructure<ResponseType>& response)
{
assert(response.getTransferType() == TransferTypeServiceResponse);
UAVCAN_ASSERT(response.getTransferType() == TransferTypeServiceResponse);
const TransferListenerType* const listener = SubscriberType::getTransferListener();
if (listener)
{
@@ -205,7 +205,7 @@ void ServiceClient<DataType_, Callback_>::handleReceivedDataStruct(ReceivedDataS
}
else
{
assert(0);
UAVCAN_ASSERT(0);
cancel();
}
}
@@ -227,7 +227,7 @@ void ServiceClient<DataType_, Callback_>::handleDeadline(MonotonicTime)
}
else
{
assert(0);
UAVCAN_ASSERT(0);
cancel();
}
}
@@ -272,7 +272,7 @@ int ServiceClient<DataType_, Callback_>::call(NodeID server_node_id, const Reque
TransferListenerType* const tl = SubscriberType::getTransferListener();
if (!tl)
{
assert(0); // Must have been created
UAVCAN_ASSERT(0); // Must have been created
cancel();
return -ErrLogic;
}
libuavcan/include/uavcan/node/service_server.hpp
+2 -2
View File
@@ -59,7 +59,7 @@ private:
void handleReceivedDataStruct(ReceivedDataStructure<RequestType>& request)
{
assert(request.getTransferType() == TransferTypeServiceRequest);
UAVCAN_ASSERT(request.getTransferType() == TransferTypeServiceRequest);
if (try_implicit_cast<bool>(callback_, true))
{
response_ = ResponseType(); // The application needs newly initialized structure
@@ -87,7 +87,7 @@ public:
, callback_()
, response_failure_count_(0)
{
assert(getTxTimeout() == getDefaultTxTimeout()); // Making sure it is valid
UAVCAN_ASSERT(getTxTimeout() == getDefaultTxTimeout()); // Making sure it is valid
StaticAssert<DataTypeKind(DataType::DataTypeKind) == DataTypeKindService>::check();
}
libuavcan/include/uavcan/protocol/global_time_sync_master.hpp
+1 -1
View File
@@ -30,7 +30,7 @@ class UAVCAN_EXPORT GlobalTimeSyncMaster : protected LoopbackFrameListenerBase
: pub_(node)
, iface_index_(iface_index)
{
assert(iface_index < MaxCanIfaces);
UAVCAN_ASSERT(iface_index < MaxCanIfaces);
}
int init();
libuavcan/include/uavcan/protocol/logger.hpp
+1 -1
View File
@@ -59,7 +59,7 @@ public:
{
level_ = protocol::debug::LogLevel::ERROR;
setTxTimeout(MonotonicDuration::fromMSec(DefaultTxTimeoutMs));
assert(getTxTimeout() == MonotonicDuration::fromMSec(DefaultTxTimeoutMs));
UAVCAN_ASSERT(getTxTimeout() == MonotonicDuration::fromMSec(DefaultTxTimeoutMs));
}
int init();
libuavcan/include/uavcan/protocol/node_status_provider.hpp
+1 -1
View File
@@ -52,7 +52,7 @@ public:
, gdr_sub_(node)
, gni_srv_(node)
{
assert(!creation_timestamp_.isZero());
UAVCAN_ASSERT(!creation_timestamp_.isZero());
node_info_.uavcan_version.major = UAVCAN_VERSION_MAJOR;
node_info_.uavcan_version.minor = UAVCAN_VERSION_MINOR;
libuavcan/include/uavcan/protocol/panic_listener.hpp
+2 -2
View File
@@ -53,7 +53,7 @@ class UAVCAN_EXPORT PanicListener : Noncopyable
}
else
{
assert(0); // This is a logic error because normally we shouldn't start with an invalid callback
UAVCAN_ASSERT(0); // This is a logic error because normally we shouldn't start with an invalid callback
sub_.getNode().registerInternalFailure("PanicListener invalid callback");
}
}
@@ -70,7 +70,7 @@ class UAVCAN_EXPORT PanicListener : Noncopyable
else
{
const MonotonicDuration diff = msg.getMonotonicTimestamp() - prev_msg_timestamp_;
assert(diff.isPositive() || diff.isZero());
UAVCAN_ASSERT(diff.isPositive() || diff.isZero());
if (diff.toMSec() > protocol::Panic::MAX_INTERVAL_MS)
{
num_subsequent_msgs_ = 1;
libuavcan/include/uavcan/transport/can_io.hpp
+2 -2
View File
@@ -56,7 +56,7 @@ public:
, qos(uint8_t(arg_qos))
, flags(arg_flags)
{
assert((qos == Volatile) || (qos == Persistent));
UAVCAN_ASSERT((qos == Volatile) || (qos == Persistent));
IsDynamicallyAllocatable<Entry>::check();
}
@@ -82,7 +82,7 @@ private:
explicit PriorityInsertionComparator(const CanFrame& frm) : frm_(frm) { }
bool operator()(const Entry* entry)
{
assert(entry);
UAVCAN_ASSERT(entry);
return frm_.priorityHigherThan(entry->frame);
}
};
libuavcan/include/uavcan/transport/crc.hpp
+1 -1
View File
@@ -64,7 +64,7 @@ public:
void add(const uint8_t* bytes, unsigned len)
{
assert(bytes);
UAVCAN_ASSERT(bytes);
while (len--)
{
add(*bytes++);
libuavcan/include/uavcan/transport/dispatcher.hpp
+1 -1
View File
@@ -73,7 +73,7 @@ class UAVCAN_EXPORT Dispatcher : Noncopyable
explicit DataTypeIDInsertionComparator(DataTypeID id) : id_(id) { }
bool operator()(const TransferListenerBase* listener) const
{
assert(listener);
UAVCAN_ASSERT(listener);
return id_ > listener->getDataTypeDescriptor().getID();
}
};
libuavcan/include/uavcan/transport/frame.hpp
+4 -4
View File
@@ -47,10 +47,10 @@ public:
, transfer_id_(transfer_id)
, last_frame_(last_frame)
{
assert((transfer_type == TransferTypeMessageBroadcast) == dst_node_id.isBroadcast());
assert(data_type_id.isValid());
assert(src_node_id != dst_node_id);
assert(frame_index <= MaxIndex);
UAVCAN_ASSERT((transfer_type == TransferTypeMessageBroadcast) == dst_node_id.isBroadcast());
UAVCAN_ASSERT(data_type_id.isValid());
UAVCAN_ASSERT(src_node_id != dst_node_id);
UAVCAN_ASSERT(frame_index <= MaxIndex);
}
int getMaxPayloadLen() const;
libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp
+4 -4
View File
@@ -32,12 +32,12 @@ public:
, transfer_type_(transfer_type)
, destination_node_id_(destination_node_id)
{
assert((transfer_type == TransferTypeMessageBroadcast) == destination_node_id.isBroadcast());
UAVCAN_ASSERT((transfer_type == TransferTypeMessageBroadcast) == destination_node_id.isBroadcast());
/*
* Service response transfers must use the same Transfer ID as matching service request transfer,
* so this registry is not applicable for service response transfers at all.
*/
assert(transfer_type != TransferTypeServiceResponse);
UAVCAN_ASSERT(transfer_type != TransferTypeServiceResponse);
}
DataTypeID getDataTypeID() const { return data_type_id_; }
@@ -91,7 +91,7 @@ class UAVCAN_EXPORT OutgoingTransferRegistry : public IOutgoingTransferRegistry,
bool operator()(const OutgoingTransferRegistryKey& key, const Value& value) const
{
(void)key;
assert(!value.deadline.isZero());
UAVCAN_ASSERT(!value.deadline.isZero());
const bool expired = value.deadline <= ts_;
if (expired)
{
@@ -142,7 +142,7 @@ template <int NumStaticEntries>
TransferID* OutgoingTransferRegistry<NumStaticEntries>::accessOrCreate(const OutgoingTransferRegistryKey& key,
MonotonicTime new_deadline)
{
assert(!new_deadline.isZero());
UAVCAN_ASSERT(!new_deadline.isZero());
Value* p = map_.access(key);
if (p == NULL)
{
libuavcan/include/uavcan/transport/transfer.hpp
+3 -3
View File
@@ -41,7 +41,7 @@ public:
: value_(value)
{
value_ &= Max;
assert(value == value_);
UAVCAN_ASSERT(value == value_);
}
bool operator!=(TransferID rhs) const { return !operator==(rhs); }
@@ -54,7 +54,7 @@ public:
uint8_t get() const
{
assert(value_ <= Max);
UAVCAN_ASSERT(value_ <= Max);
return value_;
}
@@ -81,7 +81,7 @@ public:
NodeID(uint8_t value) // Implicit
: value_(value)
{
assert(isValid());
UAVCAN_ASSERT(isValid());
}
uint8_t get() const { return value_; }
libuavcan/include/uavcan/transport/transfer_buffer.hpp
+3 -3
View File
@@ -28,14 +28,14 @@ public:
TransferBufferManagerKey()
: transfer_type_(TransferType(0))
{
assert(isEmpty());
UAVCAN_ASSERT(isEmpty());
}
TransferBufferManagerKey(NodeID node_id, TransferType ttype)
: node_id_(node_id)
, transfer_type_(ttype)
{
assert(!isEmpty());
UAVCAN_ASSERT(!isEmpty());
}
bool operator==(const TransferBufferManagerKey& rhs) const
@@ -235,7 +235,7 @@ public:
: bufmgr_(bufmgr)
, key_(key)
{
assert(!key.isEmpty());
UAVCAN_ASSERT(!key.isEmpty());
}
ITransferBuffer* access() { return bufmgr_.access(key_); }
ITransferBuffer* create() { return bufmgr_.create(key_); }
libuavcan/include/uavcan/transport/transfer_listener.hpp
+3 -3
View File
@@ -182,19 +182,19 @@ public:
ExpectedResponseParams()
{
assert(!src_node_id.isValid());
UAVCAN_ASSERT(!src_node_id.isValid());
}
ExpectedResponseParams(NodeID arg_src_node_id, TransferID arg_transfer_id)
: src_node_id(arg_src_node_id)
, transfer_id(arg_transfer_id)
{
assert(src_node_id.isUnicast());
UAVCAN_ASSERT(src_node_id.isUnicast());
}
bool match(const RxFrame& frame) const
{
assert(frame.getTransferType() == TransferTypeServiceResponse);
UAVCAN_ASSERT(frame.getTransferType() == TransferTypeServiceResponse);
return (frame.getSrcNodeID() == src_node_id) && (frame.getTransferID() == transfer_id);
}
};
libuavcan/include/uavcan/transport/transfer_sender.hpp
+1 -1
View File
@@ -54,7 +54,7 @@ public:
uint8_t getIfaceMask() const { return iface_mask_; }
void setIfaceMask(uint8_t iface_mask)
{
assert(iface_mask);
UAVCAN_ASSERT(iface_mask);
iface_mask_ = iface_mask;
}
libuavcan/include/uavcan/util/bitset.hpp
+1 -1
View File
@@ -27,7 +27,7 @@ class UAVCAN_EXPORT BitSet
{
if (inout_pos >= NumBits)
{
assert(0);
UAVCAN_ASSERT(0);
inout_pos = NumBits - 1;
}
}
libuavcan/include/uavcan/util/linked_list.hpp
+2 -2
View File
@@ -86,7 +86,7 @@ unsigned LinkedListRoot<T>::getLength() const
template <typename T>
void LinkedListRoot<T>::insert(T* node)
{
assert(node);
UAVCAN_ASSERT(node);
remove(node); // Making sure there will be no loops
node->setNextListNode(root_);
root_ = node;
@@ -96,7 +96,7 @@ template <typename T>
template <typename Predicate>
void LinkedListRoot<T>::insertBefore(T* node, Predicate predicate)
{
assert(node);
UAVCAN_ASSERT(node);
remove(node);
if (root_ == NULL || predicate(root_))
libuavcan/include/uavcan/util/map.hpp
+5 -5
View File
@@ -108,7 +108,7 @@ protected:
MapBase(IPoolAllocator& allocator)
: allocator_(allocator)
{
assert(Key() == Key());
UAVCAN_ASSERT(Key() == Key());
}
#else
MapBase(KVPair* static_buf, unsigned num_static_entries, IPoolAllocator& allocator)
@@ -116,7 +116,7 @@ protected:
, static_(static_buf)
, num_static_entries_(num_static_entries)
{
assert(Key() == Key());
UAVCAN_ASSERT(Key() == Key());
}
#endif
@@ -304,7 +304,7 @@ void MapBase<Key, Value>::compact()
template <typename Key, typename Value>
Value* MapBase<Key, Value>::access(const Key& key)
{
assert(!(key == Key()));
UAVCAN_ASSERT(!(key == Key()));
KVPair* const kv = find(key);
return kv ? &kv->value : NULL;
}
@@ -312,7 +312,7 @@ Value* MapBase<Key, Value>::access(const Key& key)
template <typename Key, typename Value>
Value* MapBase<Key, Value>::insert(const Key& key, const Value& value)
{
assert(!(key == Key()));
UAVCAN_ASSERT(!(key == Key()));
remove(key);
KVPair* const kv = find(Key());
@@ -335,7 +335,7 @@ Value* MapBase<Key, Value>::insert(const Key& key, const Value& value)
template <typename Key, typename Value>
void MapBase<Key, Value>::remove(const Key& key)
{
assert(!(key == Key()));
UAVCAN_ASSERT(!(key == Key()));
KVPair* const kv = find(key);
if (kv)
{
libuavcan/src/driver/uc_can.cpp
+1 -1
View File
@@ -61,7 +61,7 @@ std::string CanFrame::toString(StringRepresentation mode) const
{
using namespace std; // For snprintf()
assert(mode == StrTight || mode == StrAligned);
UAVCAN_ASSERT(mode == StrTight || mode == StrAligned);
static const unsigned AsciiColumnOffset = 36U;
libuavcan/src/marshal/uc_bit_stream.cpp
+2 -2
View File
@@ -19,7 +19,7 @@ int BitStream::write(const uint8_t* bytes, const int bitlen)
// Tmp space must be large enough to accomodate new bits AND unaligned bits from the last write()
const unsigned bytelen = bitlenToBytelen(bitlen + (bit_offset_ % 8));
assert(MaxBytesPerRW >= bytelen);
UAVCAN_ASSERT(MaxBytesPerRW >= bytelen);
tmp[0] = tmp[bytelen - 1] = 0;
fill(tmp, tmp + bytelen, 0);
@@ -57,7 +57,7 @@ int BitStream::read(uint8_t* bytes, const int bitlen)
uint8_t tmp[MaxBytesPerRW + 1];
const unsigned bytelen = bitlenToBytelen(bitlen + (bit_offset_ % 8));
assert(MaxBytesPerRW >= bytelen);
UAVCAN_ASSERT(MaxBytesPerRW >= bytelen);
const int read_res = buf_.read(bit_offset_ / 8, tmp, bytelen);
if (read_res < 0)
libuavcan/src/marshal/uc_scalar_codec.cpp
+3 -3
View File
@@ -9,7 +9,7 @@ namespace uavcan
void ScalarCodec::swapByteOrder(uint8_t* const bytes, const unsigned len)
{
assert(bytes);
UAVCAN_ASSERT(bytes);
for (int i = 0, j = len - 1; i < j; i++, j--)
{
const uint8_t c = bytes[i];
@@ -20,7 +20,7 @@ void ScalarCodec::swapByteOrder(uint8_t* const bytes, const unsigned len)
int ScalarCodec::encodeBytesImpl(uint8_t* const bytes, const unsigned bitlen)
{
assert(bytes);
UAVCAN_ASSERT(bytes);
// Underlying stream class assumes that more significant bits have lower index, so we need to shift some.
if (bitlen % 8)
{
@@ -31,7 +31,7 @@ int ScalarCodec::encodeBytesImpl(uint8_t* const bytes, const unsigned bitlen)
int ScalarCodec::decodeBytesImpl(uint8_t* const bytes, const unsigned bitlen)
{
assert(bytes);
UAVCAN_ASSERT(bytes);
const int read_res = stream_.read(bytes, bitlen);
if (read_res > 0)
{
libuavcan/src/node/uc_generic_subscriber.cpp
+1 -1
View File
@@ -12,7 +12,7 @@ int GenericSubscriberBase::genericStart(TransferListenerBase* listener,
{
if (listener == NULL)
{
assert(0);
UAVCAN_ASSERT(0);
return -ErrLogic;
}
stop(listener);
libuavcan/src/node/uc_global_data_type_registry.cpp
+14 -14
View File
@@ -22,7 +22,7 @@ GlobalDataTypeRegistry::List* GlobalDataTypeRegistry::selectList(DataTypeKind ki
}
else
{
assert(0);
UAVCAN_ASSERT(0);
return NULL;
}
}
@@ -31,7 +31,7 @@ GlobalDataTypeRegistry::RegistResult GlobalDataTypeRegistry::remove(Entry* dtd)
{
if (!dtd)
{
assert(0);
UAVCAN_ASSERT(0);
return RegistResultInvalidParams;
}
if (isFrozen())
@@ -63,7 +63,7 @@ GlobalDataTypeRegistry::RegistResult GlobalDataTypeRegistry::registImpl(Entry* d
{
if (!dtd || (dtd->descriptor.getID() > DataTypeID::Max))
{
assert(0);
UAVCAN_ASSERT(0);
return RegistResultInvalidParams;
}
if (isFrozen())
@@ -103,7 +103,7 @@ GlobalDataTypeRegistry::RegistResult GlobalDataTypeRegistry::registImpl(Entry* d
const unsigned len_after = list->getLength();
if ((len_before + 1) != len_after)
{
assert(0);
UAVCAN_ASSERT(0);
std::abort();
}
}
@@ -114,7 +114,7 @@ GlobalDataTypeRegistry::RegistResult GlobalDataTypeRegistry::registImpl(Entry* d
{
if (id >= p->descriptor.getID().get())
{
assert(0);
UAVCAN_ASSERT(0);
std::abort();
}
id = p->descriptor.getID().get();
@@ -145,13 +145,13 @@ const DataTypeDescriptor* GlobalDataTypeRegistry::find(DataTypeKind kind, const
{
if (!name)
{
assert(0);
UAVCAN_ASSERT(0);
return NULL;
}
const List* list = selectList(kind);
if (!list)
{
assert(0);
UAVCAN_ASSERT(0);
return NULL;
}
Entry* p = list->get();
@@ -171,7 +171,7 @@ const DataTypeDescriptor* GlobalDataTypeRegistry::find(DataTypeKind kind, DataTy
const List* list = selectList(kind);
if (!list)
{
assert(0);
UAVCAN_ASSERT(0);
return NULL;
}
Entry* p = list->get();
@@ -189,12 +189,12 @@ const DataTypeDescriptor* GlobalDataTypeRegistry::find(DataTypeKind kind, DataTy
DataTypeSignature GlobalDataTypeRegistry::computeAggregateSignature(DataTypeKind kind,
DataTypeIDMask& inout_id_mask) const
{
assert(isFrozen()); // Computing the signature if the registry is not frozen is pointless
UAVCAN_ASSERT(isFrozen()); // Computing the signature if the registry is not frozen is pointless
const List* list = selectList(kind);
if (!list)
{
assert(0);
UAVCAN_ASSERT(0);
return DataTypeSignature();
}
@@ -220,13 +220,13 @@ DataTypeSignature GlobalDataTypeRegistry::computeAggregateSignature(DataTypeKind
signature_initialized = true;
}
assert(prev_dtid < dtid); // Making sure that list is ordered properly
UAVCAN_ASSERT(prev_dtid < dtid); // Making sure that list is ordered properly
prev_dtid++;
while (prev_dtid < dtid)
{
inout_id_mask[prev_dtid++] = false; // Erasing bits for missing types
}
assert(prev_dtid == dtid);
UAVCAN_ASSERT(prev_dtid == dtid);
p = p->getNextListNode();
}
@@ -245,13 +245,13 @@ void GlobalDataTypeRegistry::getDataTypeIDMask(DataTypeKind kind, DataTypeIDMask
const List* list = selectList(kind);
if (!list)
{
assert(0);
UAVCAN_ASSERT(0);
return;
}
Entry* p = list->get();
while (p)
{
assert(p->descriptor.getKind() == kind);
UAVCAN_ASSERT(p->descriptor.getKind() == kind);
mask[p->descriptor.getID().get()] = true;
p = p->getNextListNode();
}
libuavcan/src/node/uc_scheduler.cpp
+7 -7
View File
@@ -13,7 +13,7 @@ namespace uavcan
*/
void DeadlineHandler::startWithDeadline(MonotonicTime deadline)
{
assert(!deadline.isZero());
UAVCAN_ASSERT(!deadline.isZero());
stop();
deadline_ = deadline;
scheduler_.getDeadlineScheduler().add(this);
@@ -49,19 +49,19 @@ struct MonotonicDeadlineHandlerInsertionComparator
void DeadlineScheduler::add(DeadlineHandler* mdh)
{
assert(mdh);
UAVCAN_ASSERT(mdh);
handlers_.insertBefore(mdh, MonotonicDeadlineHandlerInsertionComparator(mdh->getDeadline()));
}
void DeadlineScheduler::remove(DeadlineHandler* mdh)
{
assert(mdh);
UAVCAN_ASSERT(mdh);
handlers_.remove(mdh);
}
bool DeadlineScheduler::doesExist(const DeadlineHandler* mdh) const
{
assert(mdh);
UAVCAN_ASSERT(mdh);
const DeadlineHandler* p = handlers_.get();
#if UAVCAN_DEBUG
MonotonicTime prev_deadline;
@@ -96,7 +96,7 @@ MonotonicTime DeadlineScheduler::pollAndGetMonotonicTime(ISystemClock& sysclock)
#if UAVCAN_DEBUG
if (mdh->getNextListNode()) // Order check
{
assert(mdh->getDeadline() <= mdh->getNextListNode()->getDeadline());
UAVCAN_ASSERT(mdh->getDeadline() <= mdh->getNextListNode()->getDeadline());
}
#endif
@@ -109,7 +109,7 @@ MonotonicTime DeadlineScheduler::pollAndGetMonotonicTime(ISystemClock& sysclock)
handlers_.remove(mdh);
mdh->handleDeadline(ts); // This handler can be re-registered immediately
}
assert(0);
UAVCAN_ASSERT(0);
return MonotonicTime();
}
@@ -156,7 +156,7 @@ int Scheduler::spin(MonotonicTime deadline)
{
if (inside_spin_) // Preventing recursive calls
{
assert(0);
UAVCAN_ASSERT(0);
return -ErrRecursiveCall;
}
inside_spin_ = true;
libuavcan/src/node/uc_timer.cpp
+2 -2
View File
@@ -12,7 +12,7 @@ namespace uavcan
*/
void TimerBase::handleDeadline(MonotonicTime current)
{
assert(!isRunning());
UAVCAN_ASSERT(!isRunning());
const MonotonicTime scheduled_time = getDeadline();
@@ -41,7 +41,7 @@ void TimerBase::startOneShotWithDelay(MonotonicDuration delay)
void TimerBase::startPeriodic(MonotonicDuration period)
{
assert(period < MonotonicDuration::getInfinite());
UAVCAN_ASSERT(period < MonotonicDuration::getInfinite());
stop();
period_ = period;
DeadlineHandler::startWithDelay(period);
libuavcan/src/protocol/uc_data_type_info_provider.cpp
+3 -3
View File
@@ -78,7 +78,7 @@ void DataTypeInfoProvider::handleGetDataTypeInfoRequest(const protocol::GetDataT
}
else
{
assert(0); // That means that GDTR somehow found a type of an unknown kind. The horror.
UAVCAN_ASSERT(0); // That means that GDTR somehow found a type of an unknown kind. The horror.
}
}
@@ -99,11 +99,11 @@ int DataTypeInfoProvider::start()
goto fail;
}
assert(res >= 0);
UAVCAN_ASSERT(res >= 0);
return res;
fail:
assert(res < 0);
UAVCAN_ASSERT(res < 0);
cats_srv_.stop();
gdti_srv_.stop();
return res;
libuavcan/src/protocol/uc_global_time_sync_master.cpp
+7 -7
View File
@@ -21,7 +21,7 @@ int GlobalTimeSyncMaster::IfaceMaster::init()
if (res >= 0)
{
TransferSender* const ts = pub_.getTransferSender();
assert(ts != NULL);
UAVCAN_ASSERT(ts != NULL);
ts->setIfaceMask(1 << iface_index_);
ts->setCanIOFlags(CanIOFlagLoopback);
}
@@ -32,7 +32,7 @@ void GlobalTimeSyncMaster::IfaceMaster::setTxTimestamp(UtcTime ts)
{
if (ts.isZero())
{
assert(0);
UAVCAN_ASSERT(0);
pub_.getNode().registerInternalFailure("GlobalTimeSyncMaster zero TX ts");
return;
}
@@ -47,12 +47,12 @@ void GlobalTimeSyncMaster::IfaceMaster::setTxTimestamp(UtcTime ts)
int GlobalTimeSyncMaster::IfaceMaster::publish(TransferID tid, MonotonicTime current_time)
{
assert(pub_.getTransferSender()->getCanIOFlags() == CanIOFlagLoopback);
assert(pub_.getTransferSender()->getIfaceMask() == (1 << iface_index_));
UAVCAN_ASSERT(pub_.getTransferSender()->getCanIOFlags() == CanIOFlagLoopback);
UAVCAN_ASSERT(pub_.getTransferSender()->getIfaceMask() == (1 << iface_index_));
const MonotonicDuration since_prev_pub = current_time - iface_prev_pub_mono_;
iface_prev_pub_mono_ = current_time;
assert(since_prev_pub.isPositive());
UAVCAN_ASSERT(since_prev_pub.isPositive());
const bool long_period = since_prev_pub.toMSec() >= protocol::GlobalTimeSync::MAX_PUBLICATION_PERIOD_MS;
protocol::GlobalTimeSync msg;
@@ -82,7 +82,7 @@ void GlobalTimeSyncMaster::handleLoopbackFrame(const RxFrame& frame)
}
else
{
assert(0);
UAVCAN_ASSERT(0);
}
}
@@ -162,7 +162,7 @@ int GlobalTimeSyncMaster::publish()
const MonotonicTime current_time = node_.getMonotonicTime();
{
const MonotonicDuration since_prev_pub = current_time - prev_pub_mono_;
assert(since_prev_pub.isPositive());
UAVCAN_ASSERT(since_prev_pub.isPositive());
if (since_prev_pub.toMSec() < protocol::GlobalTimeSync::MIN_PUBLICATION_PERIOD_MS)
{
UAVCAN_TRACE("GlobalTimeSyncMaster", "Publication skipped");
libuavcan/src/protocol/uc_global_time_sync_slave.cpp
+2 -2
View File
@@ -11,7 +11,7 @@ namespace uavcan
void GlobalTimeSyncSlave::adjustFromMsg(const ReceivedDataStructure<protocol::GlobalTimeSync>& msg)
{
assert(msg.prev_utc_usec > 0);
UAVCAN_ASSERT(msg.prev_utc_usec > 0);
const UtcDuration adjustment = UtcTime::fromUSec(msg.prev_utc_usec) - prev_ts_utc_;
UAVCAN_TRACE("GlobalTimeSyncSlave", "Adjustment: usec=%lli snid=%i iface=%i suppress=%i",
@@ -42,7 +42,7 @@ void GlobalTimeSyncSlave::updateFromMsg(const ReceivedDataStructure<protocol::Gl
void GlobalTimeSyncSlave::processMsg(const ReceivedDataStructure<protocol::GlobalTimeSync>& msg)
{
const MonotonicDuration since_prev_msg = msg.getMonotonicTimestamp() - prev_ts_mono_;
assert(!since_prev_msg.isNegative());
UAVCAN_ASSERT(!since_prev_msg.isNegative());
const bool needs_init = !master_nid_.isValid() || prev_ts_mono_.isZero();
const bool switch_master = msg.getSrcNodeID() < master_nid_;
libuavcan/src/protocol/uc_network_compat_checker.cpp
+2 -2
View File
@@ -88,8 +88,8 @@ int NetworkCompatibilityChecker::checkOneNodeOneDataTypeKind(NodeID nid, DataTyp
StaticAssert<DataTypeKindMessage == int(protocol::DataTypeKind::MESSAGE)>::check();
StaticAssert<DataTypeKindService == int(protocol::DataTypeKind::SERVICE)>::check();
assert(nid.isUnicast());
assert(!cats_cln_.isPending());
UAVCAN_ASSERT(nid.isUnicast());
UAVCAN_ASSERT(!cats_cln_.isPending());
checking_dtkind_ = kind;
protocol::ComputeAggregateTypeSignature::Request request;
libuavcan/src/protocol/uc_node_status_monitor.cpp
+4 -4
View File
@@ -61,7 +61,7 @@ void NodeStatusMonitor::handleTimerEvent(const TimerEvent&)
for (int i = 1; i <= NodeID::Max; i++)
{
const NodeID nid(i);
assert(nid.isUnicast());
UAVCAN_ASSERT(nid.isUnicast());
Entry& entry = getEntry(nid);
if (entry.time_since_last_update_ms100 >= 0 &&
entry.status_code != protocol::NodeStatus::STATUS_OFFLINE)
@@ -97,7 +97,7 @@ void NodeStatusMonitor::forgetNode(NodeID node_id)
}
else
{
assert(0);
UAVCAN_ASSERT(0);
}
}
@@ -105,7 +105,7 @@ NodeStatusMonitor::NodeStatus NodeStatusMonitor::getNodeStatus(NodeID node_id) c
{
if (!node_id.isValid())
{
assert(0);
UAVCAN_ASSERT(0);
return NodeStatus();
}
NodeStatus status;
@@ -126,7 +126,7 @@ NodeID NodeStatusMonitor::findNodeWithWorstStatus() const
for (int i = 1; i <= NodeID::Max; i++)
{
const NodeID nid(i);
assert(nid.isUnicast());
UAVCAN_ASSERT(nid.isUnicast());
const Entry& entry = getEntry(nid);
if (entry.time_since_last_update_ms100 >= 0)
{
libuavcan/src/protocol/uc_node_status_provider.cpp
+4 -4
View File
@@ -18,10 +18,10 @@ bool NodeStatusProvider::isNodeInfoInitialized() const
int NodeStatusProvider::publish()
{
const MonotonicDuration uptime = getNode().getMonotonicTime() - creation_timestamp_;
assert(uptime.isPositive());
UAVCAN_ASSERT(uptime.isPositive());
node_info_.status.uptime_sec = uptime.toMSec() / 1000;
assert(node_info_.status.status_code <= protocol::NodeStatus::FieldTypes::status_code::max());
UAVCAN_ASSERT(node_info_.status.status_code <= protocol::NodeStatus::FieldTypes::status_code::max());
return node_status_pub_.broadcast(node_info_.status);
}
@@ -50,7 +50,7 @@ void NodeStatusProvider::handleGetNodeInfoRequest(const protocol::GetNodeInfo::R
protocol::GetNodeInfo::Response& rsp)
{
UAVCAN_TRACE("NodeStatusProvider", "Got GetNodeInfo request");
assert(isNodeInfoInitialized());
UAVCAN_ASSERT(isNodeInfoInitialized());
rsp = node_info_;
}
@@ -93,7 +93,7 @@ int NodeStatusProvider::startAndPublish()
return res;
fail:
assert(res < 0);
UAVCAN_ASSERT(res < 0);
gdr_sub_.stop();
gni_srv_.stop();
TimerBase::stop();
libuavcan/src/protocol/uc_param_server.cpp
+2 -2
View File
@@ -17,7 +17,7 @@ bool ParamServer::isValueNonEmpty(const protocol::param::Value& value)
void ParamServer::handleGetSet(const protocol::param::GetSet::Request& in, protocol::param::GetSet::Response& out)
{
assert(manager_ != NULL);
UAVCAN_ASSERT(manager_ != NULL);
// Recover the name from index
if (in.name.empty())
@@ -52,7 +52,7 @@ void ParamServer::handleGetSet(const protocol::param::GetSet::Request& in, proto
void ParamServer::handleSaveErase(const protocol::param::SaveErase::Request& in,
protocol::param::SaveErase::Response& out)
{
assert(manager_ != NULL);
UAVCAN_ASSERT(manager_ != NULL);
if (in.opcode == protocol::param::SaveErase::Request::OPCODE_SAVE)
{
libuavcan/src/transport/uc_can_io.cpp
+10 -10
View File
@@ -74,7 +74,7 @@ std::string CanTxQueue::Entry::toString() const
}
default:
{
assert(0);
UAVCAN_ASSERT(0);
str_qos = "<?WTF?> ";
break;
}
@@ -173,7 +173,7 @@ void CanTxQueue::push(const CanFrame& frame, MonotonicTime tx_deadline, Qos qos,
return; // Seems that there is no memory at all.
}
Entry* entry = new (praw) Entry(frame, tx_deadline, qos, flags);
assert(entry);
UAVCAN_ASSERT(entry);
queue_.insertBefore(entry, PriorityInsertionComparator(frame));
}
@@ -203,7 +203,7 @@ void CanTxQueue::remove(Entry*& entry)
{
if (entry == NULL)
{
assert(0);
UAVCAN_ASSERT(0);
return;
}
queue_.remove(entry);
@@ -225,11 +225,11 @@ bool CanTxQueue::topPriorityHigherOrEqual(const CanFrame& rhs_frame) const
*/
int CanIOManager::sendToIface(uint8_t iface_index, const CanFrame& frame, MonotonicTime tx_deadline, CanIOFlags flags)
{
assert(iface_index < MaxCanIfaces);
UAVCAN_ASSERT(iface_index < MaxCanIfaces);
ICanIface* const iface = driver_.getIface(iface_index);
if (iface == NULL)
{
assert(0); // Nonexistent interface
UAVCAN_ASSERT(0); // Nonexistent interface
return -ErrLogic;
}
const int res = iface->send(frame, tx_deadline, flags);
@@ -247,7 +247,7 @@ int CanIOManager::sendToIface(uint8_t iface_index, const CanFrame& frame, Monoto
int CanIOManager::sendFromTxQueue(uint8_t iface_index)
{
assert(iface_index < MaxCanIfaces);
UAVCAN_ASSERT(iface_index < MaxCanIfaces);
CanTxQueue::Entry* entry = tx_queues_[iface_index]->peek();
if (entry == NULL)
{
@@ -317,7 +317,7 @@ CanIfacePerfCounters CanIOManager::getIfacePerfCounters(uint8_t iface_index) con
ICanIface* const iface = driver_.getIface(iface_index);
if (iface == NULL || iface_index >= MaxCanIfaces)
{
assert(0);
UAVCAN_ASSERT(0);
return CanIfacePerfCounters();
}
CanIfacePerfCounters cnt;
@@ -355,7 +355,7 @@ int CanIOManager::send(const CanFrame& frame, MonotonicTime tx_deadline, Monoton
{
return -ErrDriver;
}
assert(masks.read == 0);
UAVCAN_ASSERT(masks.read == 0);
}
// Transmission
@@ -446,13 +446,13 @@ int CanIOManager::receive(CanRxFrame& out_frame, MonotonicTime blocking_deadline
ICanIface* const iface = driver_.getIface(i);
if (iface == NULL)
{
assert(0); // Nonexistent interface
UAVCAN_ASSERT(0); // Nonexistent interface
continue;
}
const int res = iface->receive(out_frame, out_frame.ts_mono, out_frame.ts_utc, out_flags);
if (res == 0)
{
assert(0); // select() reported that iface has pending RX frames, but receive() returned none
UAVCAN_ASSERT(0); // select() reported that iface has pending RX frames, but receive() returned none
continue;
}
out_frame.iface_index = i;
libuavcan/src/transport/uc_dispatcher.cpp
+11 -11
View File
@@ -31,19 +31,19 @@ bool LoopbackFrameListenerBase::isListening() const
*/
void LoopbackFrameListenerRegistry::add(LoopbackFrameListenerBase* listener)
{
assert(listener);
UAVCAN_ASSERT(listener);
listeners_.insert(listener);
}
void LoopbackFrameListenerRegistry::remove(LoopbackFrameListenerBase* listener)
{
assert(listener);
UAVCAN_ASSERT(listener);
listeners_.remove(listener);
}
bool LoopbackFrameListenerRegistry::doesExist(const LoopbackFrameListenerBase* listener) const
{
assert(listener);
UAVCAN_ASSERT(listener);
const LoopbackFrameListenerBase* p = listeners_.get();
while (p)
{
@@ -180,7 +180,7 @@ void Dispatcher::handleFrame(const CanRxFrame& can_frame)
}
default:
{
assert(0);
UAVCAN_ASSERT(0);
break;
}
}
@@ -192,10 +192,10 @@ void Dispatcher::handleLoopbackFrame(const CanRxFrame& can_frame)
if (!frame.parse(can_frame))
{
UAVCAN_TRACE("Dispatcher", "Invalid loopback CAN frame: %s", can_frame.toString().c_str());
assert(0); // No way!
UAVCAN_ASSERT(0); // No way!
return;
}
assert(frame.getSrcNodeID() == getNodeID());
UAVCAN_ASSERT(frame.getSrcNodeID() == getNodeID());
loopback_listeners_.invokeListeners(frame);
}
@@ -234,7 +234,7 @@ int Dispatcher::send(const Frame& frame, MonotonicTime tx_deadline, MonotonicTim
{
if (frame.getSrcNodeID() != getNodeID())
{
assert(0);
UAVCAN_ASSERT(0);
return -ErrLogic;
}
@@ -242,7 +242,7 @@ int Dispatcher::send(const Frame& frame, MonotonicTime tx_deadline, MonotonicTim
if (!frame.compile(can_frame))
{
UAVCAN_TRACE("Dispatcher", "Unable to send: frame is malformed: %s", frame.toString().c_str());
assert(0);
UAVCAN_ASSERT(0);
return -ErrLogic;
}
return canio_.send(can_frame, tx_deadline, blocking_deadline, iface_mask, qos, flags);
@@ -260,7 +260,7 @@ bool Dispatcher::registerMessageListener(TransferListenerBase* listener)
{
if (listener->getDataTypeDescriptor().getKind() != DataTypeKindMessage)
{
assert(0);
UAVCAN_ASSERT(0);
return false;
}
return lmsg_.add(listener, ListenerRegistry::ManyListeners); // Multiple subscribers are OK
@@ -270,7 +270,7 @@ bool Dispatcher::registerServiceRequestListener(TransferListenerBase* listener)
{
if (listener->getDataTypeDescriptor().getKind() != DataTypeKindService)
{
assert(0);
UAVCAN_ASSERT(0);
return false;
}
return lsrv_req_.add(listener, ListenerRegistry::UniqueListener); // Only one server per data type
@@ -280,7 +280,7 @@ bool Dispatcher::registerServiceResponseListener(TransferListenerBase* listener)
{
if (listener->getDataTypeDescriptor().getKind() != DataTypeKindService)
{
assert(0);
UAVCAN_ASSERT(0);
return false;
}
return lsrv_resp_.add(listener, ListenerRegistry::ManyListeners); // Multiple callers may call same srv
libuavcan/src/transport/uc_frame.cpp
+6 -6
View File
@@ -27,7 +27,7 @@ int Frame::getMaxPayloadLen() const
}
default:
{
assert(0);
UAVCAN_ASSERT(0);
return -ErrLogic;
}
}
@@ -61,7 +61,7 @@ bool Frame::parse(const CanFrame& can_frame)
if (can_frame.dlc > sizeof(can_frame.data))
{
assert(0); // This is not a protocol error, so assert() is ok
UAVCAN_ASSERT(0); // This is not a protocol error, so UAVCAN_ASSERT() is ok
return false;
}
@@ -124,7 +124,7 @@ bool Frame::compile(CanFrame& out_can_frame) const
{
if (!isValid())
{
assert(0); // This is an application error, so we need to maximize it.
UAVCAN_ASSERT(0); // This is an application error, so we need to maximize it.
return false;
}
@@ -149,7 +149,7 @@ bool Frame::compile(CanFrame& out_can_frame) const
case TransferTypeServiceRequest:
case TransferTypeMessageUnicast:
{
assert((payload_len_ + 1U) <= sizeof(out_can_frame.data));
UAVCAN_ASSERT((payload_len_ + 1U) <= sizeof(out_can_frame.data));
out_can_frame.data[0] = dst_node_id_.get();
out_can_frame.dlc = payload_len_ + 1;
(void)copy(payload_, payload_ + payload_len_, out_can_frame.data + 1);
@@ -157,7 +157,7 @@ bool Frame::compile(CanFrame& out_can_frame) const
}
default:
{
assert(0);
UAVCAN_ASSERT(0);
return false;
}
}
@@ -238,7 +238,7 @@ bool RxFrame::parse(const CanRxFrame& can_frame)
}
if (can_frame.ts_mono.isZero()) // Monotonic timestamps are mandatory.
{
assert(0); // If it is not set, it's a driver failure.
UAVCAN_ASSERT(0); // If it is not set, it's a driver failure.
return false;
}
ts_mono_ = can_frame.ts_mono;
libuavcan/src/transport/uc_transfer.cpp
+1 -1
View File
@@ -34,7 +34,7 @@ int TransferID::computeForwardDistance(TransferID rhs) const
d += 1 << BitLen;
}
assert(((get() + d) & Max) == rhs.get());
UAVCAN_ASSERT(((get() + d) & Max) == rhs.get());
return d;
}
libuavcan/src/transport/uc_transfer_buffer.cpp
+23 -23
View File
@@ -47,7 +47,7 @@ void DynamicTransferBufferManagerEntry::Block::destroy(Block*& obj, IPoolAllocat
void DynamicTransferBufferManagerEntry::Block::read(uint8_t*& outptr, unsigned target_offset,
unsigned& total_offset, unsigned& left_to_read)
{
assert(outptr);
UAVCAN_ASSERT(outptr);
for (unsigned i = 0; (i < Block::Size) && (left_to_read > 0); i++, total_offset++)
{
if (total_offset >= target_offset)
@@ -61,7 +61,7 @@ void DynamicTransferBufferManagerEntry::Block::read(uint8_t*& outptr, unsigned t
void DynamicTransferBufferManagerEntry::Block::write(const uint8_t*& inptr, unsigned target_offset,
unsigned& total_offset, unsigned& left_to_write)
{
assert(inptr);
UAVCAN_ASSERT(inptr);
for (unsigned i = 0; (i < Block::Size) && (left_to_write > 0); i++, total_offset++)
{
if (total_offset >= target_offset)
@@ -118,7 +118,7 @@ int DynamicTransferBufferManagerEntry::read(unsigned offset, uint8_t* data, unsi
{
if (!data)
{
assert(0);
UAVCAN_ASSERT(0);
return -ErrInvalidParam;
}
if (offset >= max_write_pos_)
@@ -129,7 +129,7 @@ int DynamicTransferBufferManagerEntry::read(unsigned offset, uint8_t* data, unsi
{
len = max_write_pos_ - offset;
}
assert((offset + len) <= max_write_pos_);
UAVCAN_ASSERT((offset + len) <= max_write_pos_);
// This shall be optimized.
unsigned total_offset = 0;
@@ -146,7 +146,7 @@ int DynamicTransferBufferManagerEntry::read(unsigned offset, uint8_t* data, unsi
p = p->getNextListNode();
}
assert(left_to_read == 0);
UAVCAN_ASSERT(left_to_read == 0);
return len;
}
@@ -154,7 +154,7 @@ int DynamicTransferBufferManagerEntry::write(unsigned offset, const uint8_t* dat
{
if (!data)
{
assert(0);
UAVCAN_ASSERT(0);
return -ErrInvalidParam;
}
@@ -166,7 +166,7 @@ int DynamicTransferBufferManagerEntry::write(unsigned offset, const uint8_t* dat
{
len = max_size_ - offset;
}
assert((offset + len) <= max_size_);
UAVCAN_ASSERT((offset + len) <= max_size_);
unsigned total_offset = 0;
unsigned left_to_write = len;
@@ -190,7 +190,7 @@ int DynamicTransferBufferManagerEntry::write(unsigned offset, const uint8_t* dat
while (left_to_write > 0)
{
// cppcheck-suppress nullPointer
assert(p == NULL);
UAVCAN_ASSERT(p == NULL);
// Allocating the chunk
Block* new_block = Block::instantiate(allocator_);
@@ -201,7 +201,7 @@ int DynamicTransferBufferManagerEntry::write(unsigned offset, const uint8_t* dat
// Appending the chain with the new block
if (last_written_block != NULL)
{
assert(last_written_block->getNextListNode() == NULL); // Because it is last in the chain
UAVCAN_ASSERT(last_written_block->getNextListNode() == NULL); // Because it is last in the chain
last_written_block->setNextListNode(new_block);
new_block->setNextListNode(NULL);
}
@@ -227,7 +227,7 @@ int StaticTransferBufferImpl::read(unsigned offset, uint8_t* data, unsigned len)
{
if (!data)
{
assert(0);
UAVCAN_ASSERT(0);
return -ErrInvalidParam;
}
if (offset >= max_write_pos_)
@@ -238,7 +238,7 @@ int StaticTransferBufferImpl::read(unsigned offset, uint8_t* data, unsigned len)
{
len = max_write_pos_ - offset;
}
assert((offset + len) <= max_write_pos_);
UAVCAN_ASSERT((offset + len) <= max_write_pos_);
(void)copy(data_ + offset, data_ + offset + len, data);
return len;
}
@@ -247,7 +247,7 @@ int StaticTransferBufferImpl::write(unsigned offset, const uint8_t* data, unsign
{
if (!data)
{
assert(0);
UAVCAN_ASSERT(0);
return -ErrInvalidParam;
}
if (offset >= size_)
@@ -258,7 +258,7 @@ int StaticTransferBufferImpl::write(unsigned offset, const uint8_t* data, unsign
{
len = size_ - offset;
}
assert((offset + len) <= size_);
UAVCAN_ASSERT((offset + len) <= size_);
(void)copy(data, data + len, data_ + offset);
max_write_pos_ = max(offset + len, unsigned(max_write_pos_));
return len;
@@ -294,7 +294,7 @@ bool StaticTransferBufferManagerEntryImpl::migrateFrom(const TransferBufferManag
{
if (tbme == NULL || tbme->isEmpty())
{
assert(0);
UAVCAN_ASSERT(0);
return false;
}
@@ -347,7 +347,7 @@ DynamicTransferBufferManagerEntry* TransferBufferManagerImpl::findFirstDynamic(c
DynamicTransferBufferManagerEntry* dyn = dynamic_buffers_.get();
while (dyn)
{
assert(!dyn->isEmpty());
UAVCAN_ASSERT(!dyn->isEmpty());
if (dyn->getKey() == key)
{
return dyn;
@@ -367,11 +367,11 @@ void TransferBufferManagerImpl::optimizeStorage()
break;
}
DynamicTransferBufferManagerEntry* dyn = dynamic_buffers_.get();
assert(dyn);
assert(!dyn->isEmpty());
UAVCAN_ASSERT(dyn);
UAVCAN_ASSERT(!dyn->isEmpty());
if (sb->migrateFrom(dyn))
{
assert(!dyn->isEmpty());
UAVCAN_ASSERT(!dyn->isEmpty());
UAVCAN_TRACE("TransferBufferManager", "Storage optimization: Migrated %s",
dyn->getKey().toString().c_str());
dynamic_buffers_.remove(dyn);
@@ -384,7 +384,7 @@ void TransferBufferManagerImpl::optimizeStorage()
*/
UAVCAN_TRACE("TransferBufferManager", "Storage optimization: MIGRATION FAILURE %s MAXSIZE %u",
dyn->getKey().toString().c_str(), max_buf_size_);
assert(0);
UAVCAN_ASSERT(0);
sb->reset();
break;
}
@@ -407,7 +407,7 @@ ITransferBuffer* TransferBufferManagerImpl::access(const TransferBufferManagerKe
{
if (key.isEmpty())
{
assert(0);
UAVCAN_ASSERT(0);
return NULL;
}
TransferBufferManagerEntry* tbme = findFirstStatic(key);
@@ -422,7 +422,7 @@ ITransferBuffer* TransferBufferManagerImpl::create(const TransferBufferManagerKe
{
if (key.isEmpty())
{
assert(0);
UAVCAN_ASSERT(0);
return NULL;
}
remove(key);
@@ -449,7 +449,7 @@ ITransferBuffer* TransferBufferManagerImpl::create(const TransferBufferManagerKe
if (tbme)
{
assert(tbme->isEmpty());
UAVCAN_ASSERT(tbme->isEmpty());
tbme->reset(key);
}
return tbme;
@@ -457,7 +457,7 @@ ITransferBuffer* TransferBufferManagerImpl::create(const TransferBufferManagerKe
void TransferBufferManagerImpl::remove(const TransferBufferManagerKey& key)
{
assert(!key.isEmpty());
UAVCAN_ASSERT(!key.isEmpty());
TransferBufferManagerEntry* const tbme = findFirstStatic(key);
if (tbme)
libuavcan/src/transport/uc_transfer_listener.cpp
+8 -8
View File
@@ -14,7 +14,7 @@ namespace uavcan
*/
int IncomingTransfer::write(unsigned, const uint8_t*, unsigned)
{
assert(0); // Incoming transfer container is read-only
UAVCAN_ASSERT(0); // Incoming transfer container is read-only
return -ErrLogic;
}
@@ -27,14 +27,14 @@ SingleFrameIncomingTransfer::SingleFrameIncomingTransfer(const RxFrame& frm)
, payload_(frm.getPayloadPtr())
, payload_len_(frm.getPayloadLen())
{
assert(frm.isValid());
UAVCAN_ASSERT(frm.isValid());
}
int SingleFrameIncomingTransfer::read(unsigned offset, uint8_t* data, unsigned len) const
{
if (data == NULL)
{
assert(0);
UAVCAN_ASSERT(0);
return -ErrInvalidParam;
}
if (offset >= payload_len_)
@@ -45,7 +45,7 @@ int SingleFrameIncomingTransfer::read(unsigned offset, uint8_t* data, unsigned l
{
len = payload_len_ - offset;
}
assert((offset + len) <= payload_len_);
UAVCAN_ASSERT((offset + len) <= payload_len_);
(void)copy(payload_ + offset, payload_ + offset + len, data);
return len;
}
@@ -59,8 +59,8 @@ MultiFrameIncomingTransfer::MultiFrameIncomingTransfer(MonotonicTime ts_mono, Ut
last_frame.getSrcNodeID(), last_frame.getIfaceIndex())
, buf_acc_(tba)
{
assert(last_frame.isValid());
assert(last_frame.isLast());
UAVCAN_ASSERT(last_frame.isValid());
UAVCAN_ASSERT(last_frame.isLast());
}
int MultiFrameIncomingTransfer::read(unsigned offset, uint8_t* data, unsigned len) const
@@ -166,7 +166,7 @@ void TransferListenerBase::handleReception(TransferReceiver& receiver, const RxF
}
default:
{
assert(0);
UAVCAN_ASSERT(0);
break;
}
}
@@ -175,7 +175,7 @@ void TransferListenerBase::handleReception(TransferReceiver& receiver, const RxF
void TransferListenerBase::cleanup(MonotonicTime ts)
{
receivers_.removeWhere(TimedOutReceiverPredicate(ts, bufmgr_));
assert(receivers_.isEmpty() ? bufmgr_.isEmpty() : 1);
UAVCAN_ASSERT(receivers_.isEmpty() ? bufmgr_.isEmpty() : 1);
}
void TransferListenerBase::handleFrame(const RxFrame& frame)
libuavcan/src/transport/uc_transfer_receiver.cpp
+2 -2
View File
@@ -24,7 +24,7 @@ void TransferReceiver::registerError() const
}
else
{
assert(0);
UAVCAN_ASSERT(0);
}
}
@@ -44,7 +44,7 @@ TransferReceiver::TidRelation TransferReceiver::getTidRelation(const RxFrame& fr
void TransferReceiver::updateTransferTimings()
{
assert(!this_transfer_ts_.isZero());
UAVCAN_ASSERT(!this_transfer_ts_.isZero());
const MonotonicTime prev_prev_ts = prev_transfer_ts_;
prev_transfer_ts_ = this_transfer_ts_;
libuavcan/src/transport/uc_transfer_sender.cpp
+6 -6
View File
@@ -33,13 +33,13 @@ int TransferSender::send(const uint8_t* payload, int payload_len, MonotonicTime
const int res = frame.setPayload(payload, payload_len);
if (res != payload_len)
{
assert(0);
UAVCAN_ASSERT(0);
UAVCAN_TRACE("TransferSender", "Frame payload write failure, %i", res);
registerError();
return (res < 0) ? res : -ErrLogic;
}
frame.makeLast();
assert(frame.isLast() && frame.isFirst());
UAVCAN_ASSERT(frame.isLast() && frame.isFirst());
return dispatcher_.send(frame, tx_deadline, blocking_deadline, qos_, flags_, iface_mask_);
}
else // Multi Frame Transfer
@@ -64,7 +64,7 @@ int TransferSender::send(const uint8_t* payload, int payload_len, MonotonicTime
return write_res;
}
offset = write_res - 2;
assert(payload_len > offset);
UAVCAN_ASSERT(payload_len > offset);
}
int next_frame_index = 1;
@@ -93,7 +93,7 @@ int TransferSender::send(const uint8_t* payload, int payload_len, MonotonicTime
}
offset += write_res;
assert(offset <= payload_len);
UAVCAN_ASSERT(offset <= payload_len);
if (offset >= payload_len)
{
frame.makeLast();
@@ -101,7 +101,7 @@ int TransferSender::send(const uint8_t* payload, int payload_len, MonotonicTime
}
}
assert(0);
UAVCAN_ASSERT(0);
return -ErrLogic; // Return path analysis is apparently broken. There should be no warning, this 'return' is unreachable.
}
@@ -110,7 +110,7 @@ int TransferSender::send(const uint8_t* payload, int payload_len, MonotonicTime
{
const OutgoingTransferRegistryKey otr_key(data_type_.getID(), transfer_type, dst_node_id);
assert(!tx_deadline.isZero());
UAVCAN_ASSERT(!tx_deadline.isZero());
const MonotonicTime otr_deadline = tx_deadline + max_transfer_interval_;
TransferID* const tid = dispatcher_.getOutgoingTransferRegistry().accessOrCreate(otr_key, otr_deadline);
libuavcan/src/uc_data_type.cpp
+2 -2
View File
@@ -36,7 +36,7 @@ void DataTypeSignatureCRC::add(uint8_t byte)
void DataTypeSignatureCRC::add(const uint8_t* bytes, unsigned len)
{
assert(bytes);
UAVCAN_ASSERT(bytes);
while (len--)
{
add(*bytes++);
@@ -106,7 +106,7 @@ std::string DataTypeDescriptor::toString() const
}
default:
{
assert(0);
UAVCAN_ASSERT(0);
break;
}
}
libuavcan/src/uc_dynamic_memory.cpp
+1 -1
View File
@@ -26,7 +26,7 @@ void LimitedPoolAllocator::deallocate(const void* ptr)
{
allocator_.deallocate(ptr);
assert(used_blocks_ > 0);
UAVCAN_ASSERT(used_blocks_ > 0);
if (used_blocks_ > 0)
{
used_blocks_--;
libuavcan/src/uc_error.cpp
+1 -1
View File
@@ -23,7 +23,7 @@ void handleFatalError(const char* msg)
throw std::runtime_error(msg);
#else
(void)msg;
assert(0);
UAVCAN_ASSERT(0);
std::abort();
#endif
}