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Extra warnings for the debug build: -Wfloat-equal -Wconversion. The code was fixed accordingly. No broken tests.

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This commit is contained in:
Pavel Kirienko
2014-08-28 01:33:27 +04:00
parent 61c4f89ea3
commit 8240c7962b
26 changed files with 112 additions and 83 deletions
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libuavcan/CMakeLists.txt
+5 -4
View File
@@ -101,7 +101,8 @@ if (DEBUG_BUILD)
message(STATUS "Debug build (note: requires gtest)")
if (COMPILER_IS_GCC_COMPATIBLE)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Werror -pedantic")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Werror -pedantic -Wfloat-equal -Wconversion")
set(exec_common_flags "-Wno-conversion -Wno-float-equal")
set(cpp03_flags "-std=c++03 -Wno-variadic-macros -Wno-long-long")
set(optim_flags "-O3 -DNDEBUG -g0")
else ()
@@ -120,9 +121,9 @@ if (DEBUG_BUILD)
# GTest executables
find_package(GTest REQUIRED)
add_libuavcan_test(libuavcan_test uavcan "") # Default
add_libuavcan_test(libuavcan_test_cpp03 uavcan_cpp03 ${cpp03_flags}) # C++03
add_libuavcan_test(libuavcan_test_optim uavcan_optim ${optim_flags}) # Max optimization
add_libuavcan_test(libuavcan_test uavcan "${exec_common_flags}") # Default
add_libuavcan_test(libuavcan_test_cpp03 uavcan_cpp03 "${exec_common_flags} ${cpp03_flags}") # C++03
add_libuavcan_test(libuavcan_test_optim uavcan_optim "${exec_common_flags} ${optim_flags}") # Max optimization
else ()
message(STATUS "Release build type: " ${CMAKE_BUILD_TYPE})
endif ()
libuavcan/include/uavcan/driver/can.hpp
+1 -1
View File
@@ -34,7 +34,7 @@ struct UAVCAN_EXPORT CanFrame
: id(0)
, dlc(0)
{
fill(data, data + MaxDataLen, 0);
fill(data, data + MaxDataLen, uint8_t(0));
}
CanFrame(uint32_t can_id, const uint8_t* can_data, uint8_t data_len)
libuavcan/include/uavcan/marshal/array.hpp
+1 -1
View File
@@ -530,7 +530,7 @@ public:
void push_back(const ValueType& value)
{
Base::grow();
Base::at(size() - 1) = value;
Base::at(SizeType(size() - 1)) = value;
}
/**
libuavcan/include/uavcan/marshal/float_spec.hpp
+10 -6
View File
@@ -90,21 +90,25 @@ IEEE754Converter::toNative<16>(typename IntegerSpec<16, SignednessUnsigned, Cast
return halfToNativeNonIeee(value);
}
template <unsigned BitLen> struct IEEE754Limits;
template <> struct IEEE754Limits<16>
{
static typename NativeFloatSelector<16>::Type max() { return 65504.0; }
static typename NativeFloatSelector<16>::Type epsilon() { return 9.77e-04; }
typedef typename NativeFloatSelector<16>::Type NativeType;
static NativeType max() { return static_cast<NativeType>(65504.0); }
static NativeType epsilon() { return static_cast<NativeType>(9.77e-04); }
};
template <> struct IEEE754Limits<32>
{
static typename NativeFloatSelector<32>::Type max() { return 3.40282346638528859812e+38; }
static typename NativeFloatSelector<32>::Type epsilon() { return 1.19209289550781250000e-7; }
typedef typename NativeFloatSelector<32>::Type NativeType;
static NativeType max() { return static_cast<NativeType>(3.40282346638528859812e+38); }
static NativeType epsilon() { return static_cast<NativeType>(1.19209289550781250000e-7); }
};
template <> struct IEEE754Limits<64>
{
static typename NativeFloatSelector<64>::Type max() { return 1.79769313486231570815e+308L; }
static typename NativeFloatSelector<64>::Type epsilon() { return 2.22044604925031308085e-16L; }
typedef typename NativeFloatSelector<64>::Type NativeType;
static NativeType max() { return static_cast<NativeType>(1.79769313486231570815e+308L); }
static NativeType epsilon() { return static_cast<NativeType>(2.22044604925031308085e-16L); }
};
libuavcan/include/uavcan/transport/frame.hpp
+1 -1
View File
@@ -71,7 +71,7 @@ public:
bool isLast() const { return last_frame_; }
void makeLast() { last_frame_ = true; }
void setIndex(uint_fast8_t index) { frame_index_ = index; }
void setIndex(int index) { frame_index_ = uint_fast8_t(index); }
bool isFirst() const { return frame_index_ == 0; }
libuavcan/include/uavcan/util/bitset.hpp
+2 -2
View File
@@ -94,11 +94,11 @@ public:
validatePos(pos);
if (val)
{
data_[getByteNum(pos)] |= (1 << getBitNum(pos));
data_[getByteNum(pos)] = char(data_[getByteNum(pos)] | (1 << getBitNum(pos)));
}
else
{
data_[getByteNum(pos)] &= ~(1 << getBitNum(pos));
data_[getByteNum(pos)] = char(data_[getByteNum(pos)] & ~(1 << getBitNum(pos)));
}
return *this;
}
libuavcan/include/uavcan/util/comparison.hpp
+11 -1
View File
@@ -9,6 +9,16 @@
namespace uavcan
{
/**
* Exact comparison of two floats that suppresses the compiler warnings.
*/
template <typename T>
UAVCAN_EXPORT
inline bool areFloatsExactlyEqual(const T& left, const T& right)
{
return (left <= right) && (left >= right);
}
/**
* This function performs fuzzy comparison of two floating point numbers.
* Type of T can be either float, double or long double.
@@ -27,7 +37,7 @@ inline bool areFloatsClose(T a, T b, const T absolute_epsilon, const T relative_
// Infinity
if (isInfinity(a) || isInfinity(b))
{
return a == b;
return areFloatsExactlyEqual(a, b);
}
// Close numbers near zero
libuavcan/include/uavcan/util/lazy_constructor.hpp
+2 -2
View File
@@ -60,7 +60,7 @@ public:
LazyConstructor()
: ptr_(NULL)
{
fill(data_.pool, data_.pool + sizeof(T), 0);
fill(data_.pool, data_.pool + sizeof(T), uint8_t(0));
}
LazyConstructor(const LazyConstructor<T>& rhs) // Implicit
@@ -102,7 +102,7 @@ public:
ptr_->~T();
}
ptr_ = NULL;
fill(data_.pool, data_.pool + sizeof(T), 0);
fill(data_.pool, data_.pool + sizeof(T), uint8_t(0));
}
void construct()
libuavcan/include/uavcan/util/templates.hpp
+9 -6
View File
@@ -429,7 +429,8 @@ struct UAVCAN_EXPORT NumericTraits<long double>
#endif
/**
* Replacement for std::isnan()
* Replacement for std::isnan().
* Note that direct float comparison (==, !=) is intentionally avoided.
*/
template <typename T>
inline bool isNaN(T arg)
@@ -439,12 +440,13 @@ inline bool isNaN(T arg)
#else
// coverity[same_on_both_sides : FALSE]
// cppcheck-suppress duplicateExpression
return arg != arg;
return !(arg <= arg);
#endif
}
/**
* Replacement for std::isinf()
* Replacement for std::isinf().
* Note that direct float comparison (==, !=) is intentionally avoided.
*/
template <typename T>
inline bool isInfinity(T arg)
@@ -452,12 +454,13 @@ inline bool isInfinity(T arg)
#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
return std::isinf(arg);
#else
return arg == NumericTraits<T>::infinity() || arg == -NumericTraits<T>::infinity();
return (arg >= NumericTraits<T>::infinity()) || (arg <= -NumericTraits<T>::infinity());
#endif
}
/**
* Replacement for std::signbit()
* Replacement for std::signbit().
* Note that direct float comparison (==, !=) is intentionally avoided.
*/
template <typename T>
inline bool getSignBit(T arg)
@@ -465,7 +468,7 @@ inline bool getSignBit(T arg)
#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
return std::signbit(arg);
#else
return arg < T(0) || (arg == T(0) && T(1) / arg < T(0));
return arg < T(0) || (((arg <= T(0)) && (arg >= T(0))) && (T(1) / arg < T(0)));
#endif
}
libuavcan/src/driver/uc_can.cpp
+1 -1
View File
@@ -68,7 +68,7 @@ std::string CanFrame::toString(StringRepresentation mode) const
char buf[50];
char* wpos = buf;
char* const epos = buf + sizeof(buf);
fill(buf, buf + sizeof(buf), 0);
fill(buf, buf + sizeof(buf), uint8_t(0));
if (id & FlagEFF)
{
libuavcan/src/marshal/uc_bit_array_copy.cpp
+7 -7
View File
@@ -81,8 +81,8 @@ void bitarrayCopy(const unsigned char* src_org, int src_offset, int src_len, uns
bit_diff_ls = src_offset_modulo - dst_offset_modulo;
bit_diff_rs = CHAR_BIT - bit_diff_ls;
c = *src++ << bit_diff_ls;
c |= *src >> bit_diff_rs;
c = static_cast<unsigned char>(*src++ << bit_diff_ls);
c = static_cast<unsigned char>(c | (*src >> bit_diff_rs));
c &= reverse_mask_xor[dst_offset_modulo];
}
else
@@ -90,7 +90,7 @@ void bitarrayCopy(const unsigned char* src_org, int src_offset, int src_len, uns
bit_diff_rs = dst_offset_modulo - src_offset_modulo;
bit_diff_ls = CHAR_BIT - bit_diff_rs;
c = *src >> bit_diff_rs & reverse_mask_xor[dst_offset_modulo];
c = static_cast<unsigned char>(*src >> bit_diff_rs & reverse_mask_xor[dst_offset_modulo]);
}
PREPARE_FIRST_COPY();
*dst++ |= c;
@@ -102,8 +102,8 @@ void bitarrayCopy(const unsigned char* src_org, int src_offset, int src_len, uns
while (--byte_len >= 0)
{
c = *src++ << bit_diff_ls;
c |= *src >> bit_diff_rs;
c = static_cast<unsigned char>(*src++ << bit_diff_ls);
c = static_cast<unsigned char>(c | (*src >> bit_diff_rs));
*dst++ = c;
}
@@ -113,8 +113,8 @@ void bitarrayCopy(const unsigned char* src_org, int src_offset, int src_len, uns
src_len_modulo = src_len % CHAR_BIT;
if (src_len_modulo)
{
c = *src++ << bit_diff_ls;
c |= *src >> bit_diff_rs;
c = static_cast<unsigned char>(*src++ << bit_diff_ls);
c = static_cast<unsigned char>(c | (*src >> bit_diff_rs));
c &= reverse_mask[src_len_modulo];
*dst &= reverse_mask_xor[src_len_modulo];
libuavcan/src/marshal/uc_bit_stream.cpp
+3 -3
View File
@@ -22,7 +22,7 @@ int BitStream::write(const uint8_t* bytes, const int bitlen)
UAVCAN_ASSERT(MaxBytesPerRW >= bytelen);
tmp[0] = tmp[bytelen - 1] = 0;
fill(tmp, tmp + bytelen, 0);
fill(tmp, tmp + bytelen, uint8_t(0));
copyBitArray(bytes, 0, bitlen, tmp, bit_offset_ % 8);
const int new_bit_offset = bit_offset_ + bitlen;
@@ -31,7 +31,7 @@ int BitStream::write(const uint8_t* bytes, const int bitlen)
tmp[0] |= byte_cache_;
// (new_bit_offset % 8 == 0) means that this write was perfectly aligned.
byte_cache_ = (new_bit_offset % 8) ? tmp[bytelen - 1] : 0;
byte_cache_ = uint8_t((new_bit_offset % 8) ? tmp[bytelen - 1] : 0);
/*
* Dump the data into the destination buffer.
@@ -69,7 +69,7 @@ int BitStream::read(uint8_t* bytes, const int bitlen)
return ResultOutOfBuffer;
}
fill(bytes, bytes + bitlenToBytelen(bitlen), 0);
fill(bytes, bytes + bitlenToBytelen(bitlen), uint8_t(0));
copyBitArray(tmp, bit_offset_ % 8, bitlen, bytes, 0);
bit_offset_ += bitlen;
return ResultOk;
libuavcan/src/marshal/uc_float_spec.cpp
+5 -5
View File
@@ -22,8 +22,8 @@ namespace uavcan
*/
uint16_t IEEE754Converter::nativeNonIeeeToHalf(float value)
{
uint16_t hbits = static_cast<uint16_t>(getSignBit(value)) << 15;
if (value == 0.0f)
uint16_t hbits = uint16_t(getSignBit(value) ? 0x8000U : 0);
if (areFloatsExactlyEqual(value, 0.0F))
{
return hbits;
}
@@ -48,12 +48,12 @@ uint16_t IEEE754Converter::nativeNonIeeeToHalf(float value)
else
{
value = std::ldexp(value, 11 - exp);
hbits |= ((exp + 14) << 10);
hbits |= uint16_t((exp + 14) << 10);
}
const int32_t ival = static_cast<int32_t>(value);
hbits |= static_cast<uint16_t>(((ival < 0) ? (-ival) : ival) & 0x3FFU);
hbits = uint16_t(hbits | (((ival < 0) ? (-ival) : ival) & 0x3FFU));
float diff = std::fabs(value - static_cast<float>(ival));
hbits += diff >= 0.5F;
hbits = uint16_t(hbits + (diff >= 0.5F));
return hbits;
}
libuavcan/src/marshal/uc_scalar_codec.cpp
+2 -2
View File
@@ -24,7 +24,7 @@ int ScalarCodec::encodeBytesImpl(uint8_t* const bytes, const unsigned bitlen)
// Underlying stream class assumes that more significant bits have lower index, so we need to shift some.
if (bitlen % 8)
{
bytes[bitlen / 8] <<= (8 - (bitlen % 8)) & 7;
bytes[bitlen / 8] = uint8_t(bytes[bitlen / 8] << ((8 - (bitlen % 8)) & 7));
}
return stream_.write(bytes, bitlen);
}
@@ -37,7 +37,7 @@ int ScalarCodec::decodeBytesImpl(uint8_t* const bytes, const unsigned bitlen)
{
if (bitlen % 8)
{
bytes[bitlen / 8] >>= (8 - (bitlen % 8)) & 7; // As in encode(), vice versa
bytes[bitlen / 8] = uint8_t(bytes[bitlen / 8] >> ((8 - (bitlen % 8)) & 7)); // As in encode(), vice versa
}
}
return read_res;
libuavcan/src/protocol/uc_global_time_sync_master.cpp
+1 -1
View File
@@ -22,7 +22,7 @@ int GlobalTimeSyncMaster::IfaceMaster::init()
{
TransferSender* const ts = pub_.getTransferSender();
UAVCAN_ASSERT(ts != NULL);
ts->setIfaceMask(1 << iface_index_);
ts->setIfaceMask(uint8_t(1 << iface_index_));
ts->setCanIOFlags(CanIOFlagLoopback);
}
return res;
libuavcan/src/protocol/uc_network_compat_checker.cpp
+5 -2
View File
@@ -25,7 +25,7 @@ MonotonicDuration NetworkCompatibilityChecker::getNetworkDiscoveryDelay() const
NodeID NetworkCompatibilityChecker::findNextUncheckedNode()
{
for (int i = 1; i <= NodeID::Max; i++)
for (uint8_t i = 1; i <= NodeID::Max; i++)
{
if (nid_mask_present_.test(i) && !nid_mask_checked_.test(i))
{
@@ -141,7 +141,10 @@ int NetworkCompatibilityChecker::checkNodes()
{
UAVCAN_TRACE("NodeInitializer", "Checking nid=%i", int(nid.get()));
const int res = checkOneNode(nid);
result_.num_failed_nodes += (res < 0) ? 1U : 0U;
if (res < 0)
{
result_.num_failed_nodes++;
}
UAVCAN_TRACE("NodeInitializer", "Checked nid=%i result=%i", int(nid.get()), res);
}
else { break; }
libuavcan/src/protocol/uc_node_status_monitor.cpp
+3 -3
View File
@@ -58,7 +58,7 @@ void NodeStatusMonitor::handleTimerEvent(const TimerEvent&)
{
const int OfflineTimeoutMs100 = protocol::NodeStatus::OFFLINE_TIMEOUT_MS / 100;
for (int i = 1; i <= NodeID::Max; i++)
for (uint8_t i = 1; i <= NodeID::Max; i++)
{
const NodeID nid(i);
UAVCAN_ASSERT(nid.isUnicast());
@@ -66,7 +66,7 @@ void NodeStatusMonitor::handleTimerEvent(const TimerEvent&)
if (entry.time_since_last_update_ms100 >= 0 &&
entry.status_code != protocol::NodeStatus::STATUS_OFFLINE)
{
entry.time_since_last_update_ms100 += TimerPeriodMs100;
entry.time_since_last_update_ms100 = int8_t(entry.time_since_last_update_ms100 + TimerPeriodMs100);
if (entry.time_since_last_update_ms100 >= OfflineTimeoutMs100)
{
Entry new_entry_value;
@@ -123,7 +123,7 @@ NodeID NodeStatusMonitor::findNodeWithWorstStatus() const
NodeID nid_with_worst_status;
NodeStatusCode worst_status_code = protocol::NodeStatus::STATUS_OK;
for (int i = 1; i <= NodeID::Max; i++)
for (uint8_t i = 1; i <= NodeID::Max; i++)
{
const NodeID nid(i);
UAVCAN_ASSERT(nid.isUnicast());
libuavcan/src/protocol/uc_node_status_provider.cpp
+1 -1
View File
@@ -19,7 +19,7 @@ int NodeStatusProvider::publish()
{
const MonotonicDuration uptime = getNode().getMonotonicTime() - creation_timestamp_;
UAVCAN_ASSERT(uptime.isPositive());
node_info_.status.uptime_sec = uptime.toMSec() / 1000;
node_info_.status.uptime_sec = uint32_t(uptime.toMSec() / 1000);
UAVCAN_ASSERT(node_info_.status.status_code <= protocol::NodeStatus::FieldTypes::status_code::max());
libuavcan/src/protocol/uc_transport_stats_provider.cpp
+1 -1
View File
@@ -19,7 +19,7 @@ void TransportStatsProvider::handleGetTransportStats(const protocol::GetTranspor
resp.transfers_rx = perf.getRxTransferCount();
const CanIOManager& canio = srv_.getNode().getDispatcher().getCanIOManager();
for (int i = 0; i < canio.getNumIfaces(); i++)
for (uint8_t i = 0; i < canio.getNumIfaces(); i++)
{
const CanIfacePerfCounters can_perf = canio.getIfacePerfCounters(i);
protocol::CANIfaceStats stats;
libuavcan/src/transport/uc_can_io.cpp
+5 -5
View File
@@ -20,7 +20,7 @@ std::string CanRxFrame::toString(StringRepresentation mode) const
out += " ts_m=" + ts_mono.toString();
out += " ts_utc=" + ts_utc.toString();
out += " iface=";
out += '0' + iface_index;
out += char('0' + iface_index);
return out;
}
#endif
@@ -268,7 +268,7 @@ uint8_t CanIOManager::makePendingTxMask() const
{
if (!tx_queues_[i]->isEmpty())
{
write_mask |= 1 << i;
write_mask |= uint8_t(1 << i);
}
}
return write_mask;
@@ -331,7 +331,7 @@ int CanIOManager::send(const CanFrame& frame, MonotonicTime tx_deadline, Monoton
uint8_t iface_mask, CanTxQueue::Qos qos, CanIOFlags flags)
{
const uint8_t num_ifaces = getNumIfaces();
const uint8_t all_ifaces_mask = (1U << num_ifaces) - 1;
const uint8_t all_ifaces_mask = uint8_t((1U << num_ifaces) - 1);
iface_mask &= all_ifaces_mask;
if (blocking_deadline > tx_deadline)
@@ -375,7 +375,7 @@ 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
iface_mask &= uint8_t(~(1 << i)); // Mark transmitted
}
}
}
@@ -420,7 +420,7 @@ int CanIOManager::receive(CanRxFrame& out_frame, MonotonicTime blocking_deadline
{
CanSelectMasks masks;
masks.write = makePendingTxMask();
masks.read = (1 << num_ifaces) - 1;
masks.read = uint8_t((1 << num_ifaces) - 1);
{
const int select_res = callSelect(masks, blocking_deadline);
if (select_res < 0)
libuavcan/src/transport/uc_frame.cpp
+10 -10
View File
@@ -42,7 +42,7 @@ int Frame::setPayload(const uint8_t* data, unsigned len)
}
len = min(unsigned(maxlen), len);
(void)copy(data, data + len, payload_);
payload_len_ = len;
payload_len_ = uint_fast8_t(len);
return len;
}
@@ -69,12 +69,12 @@ bool Frame::parse(const CanFrame& can_frame)
* CAN ID parsing
*/
const uint32_t id = can_frame.id & CanFrame::MaskExtID;
transfer_id_ = bitunpack<0, 3>(id);
last_frame_ = bitunpack<3, 1>(id);
frame_index_ = bitunpack<4, 6>(id);
src_node_id_ = bitunpack<10, 7>(id);
transfer_id_ = uint8_t(bitunpack<0, 3>(id));
last_frame_ = bitunpack<3, 1>(id) != 0;
frame_index_ = uint8_t(bitunpack<4, 6>(id));
src_node_id_ = uint8_t(bitunpack<10, 7>(id));
transfer_type_ = TransferType(bitunpack<17, 2>(id));
data_type_id_ = bitunpack<19, 10>(id);
data_type_id_ = uint16_t(bitunpack<19, 10>(id));
/*
* CAN payload parsing
@@ -101,7 +101,7 @@ bool Frame::parse(const CanFrame& can_frame)
return false;
}
dst_node_id_ = can_frame.data[0] & 0x7F;
payload_len_ = can_frame.dlc - 1;
payload_len_ = uint8_t(can_frame.dlc - 1);
(void)copy(can_frame.data + 1, can_frame.data + can_frame.dlc, payload_);
break;
}
@@ -117,7 +117,7 @@ bool Frame::parse(const CanFrame& can_frame)
template <int OFFSET, int WIDTH>
inline static uint32_t bitpack(uint32_t field)
{
return (field & ((1UL << WIDTH) - 1)) << OFFSET;
return uint32_t((field & ((1UL << WIDTH) - 1)) << OFFSET);
}
bool Frame::compile(CanFrame& out_can_frame) const
@@ -151,7 +151,7 @@ bool Frame::compile(CanFrame& out_can_frame) const
{
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;
out_can_frame.dlc = uint8_t(payload_len_ + 1);
(void)copy(payload_, payload_ + payload_len_, out_can_frame.data + 1);
break;
}
@@ -255,7 +255,7 @@ std::string RxFrame::toString() const
out += " ts_m=" + ts_mono_.toString();
out += " ts_utc=" + ts_utc_.toString();
out += " iface=";
out += '0' + iface_index_;
out += char('0' + iface_index_);
return out;
}
#endif
libuavcan/src/transport/uc_transfer_buffer.cpp
+6 -6
View File
@@ -216,7 +216,7 @@ int DynamicTransferBufferManagerEntry::write(unsigned offset, const uint8_t* dat
}
const int actually_written = len - left_to_write;
max_write_pos_ = max(offset + actually_written, unsigned(max_write_pos_));
max_write_pos_ = max(uint16_t(offset + actually_written), uint16_t(max_write_pos_));
return actually_written;
}
@@ -260,7 +260,7 @@ int StaticTransferBufferImpl::write(unsigned offset, const uint8_t* data, unsign
}
UAVCAN_ASSERT((offset + len) <= size_);
(void)copy(data, data + len, data_ + offset);
max_write_pos_ = max(offset + len, unsigned(max_write_pos_));
max_write_pos_ = max(uint16_t(offset + len), uint16_t(max_write_pos_));
return len;
}
@@ -268,7 +268,7 @@ void StaticTransferBufferImpl::reset()
{
max_write_pos_ = 0;
#if UAVCAN_DEBUG
fill(data_, data_ + size_, 0);
fill(data_, data_ + size_, uint8_t(0));
#endif
}
@@ -306,7 +306,7 @@ bool StaticTransferBufferManagerEntryImpl::migrateFrom(const TransferBufferManag
TransferBufferManagerEntry::reset();
return false;
}
buf_.setMaxWritePos(res);
buf_.setMaxWritePos(uint16_t(res));
if (res < int(buf_.getSize()))
{
return true;
@@ -329,7 +329,7 @@ StaticTransferBufferManagerEntryImpl* TransferBufferManagerImpl::findFirstStatic
{
for (unsigned i = 0; true; i++)
{
StaticTransferBufferManagerEntryImpl* const sb = getStaticByIndex(i);
StaticTransferBufferManagerEntryImpl* const sb = getStaticByIndex(uint16_t(i));
if (sb == NULL)
{
break;
@@ -492,7 +492,7 @@ unsigned TransferBufferManagerImpl::getNumStaticBuffers() const
unsigned res = 0;
for (unsigned i = 0; true; i++)
{
StaticTransferBufferManagerEntryImpl* const sb = getStaticByIndex(i);
StaticTransferBufferManagerEntryImpl* const sb = getStaticByIndex(uint16_t(i));
if (sb == NULL)
{
break;
libuavcan/src/transport/uc_transfer_listener.cpp
+1 -1
View File
@@ -25,7 +25,7 @@ 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())
, payload_len_(uint8_t(frm.getPayloadLen()))
{
UAVCAN_ASSERT(frm.isValid());
}
libuavcan/src/transport/uc_transfer_receiver.cpp
+9 -9
View File
@@ -20,7 +20,7 @@ void TransferReceiver::registerError() const
{
if (error_cnt_ < 0xFF)
{
error_cnt_ += 1;
error_cnt_ = static_cast<uint8_t>(error_cnt_ + 1);
}
else
{
@@ -102,33 +102,33 @@ bool TransferReceiver::validate(const RxFrame& frame) const
bool TransferReceiver::writePayload(const RxFrame& frame, ITransferBuffer& buf)
{
const uint8_t* const payload = frame.getPayloadPtr();
const int payload_len = frame.getPayloadLen();
const unsigned payload_len = frame.getPayloadLen();
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.
this_transfer_crc_ = static_cast<uint16_t>(payload[0] & 0xFF);
this_transfer_crc_ |= static_cast<uint16_t>(static_cast<uint16_t>(payload[1] & 0xFF) << 8); // Little endian.
const int effective_payload_len = payload_len - TransferCRC::NumBytes;
const unsigned 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;
const bool success = res == static_cast<int>(effective_payload_len);
if (success)
{
buffer_write_pos_ += effective_payload_len;
buffer_write_pos_ = static_cast<uint16_t>(buffer_write_pos_ + effective_payload_len);
}
return success;
}
else
{
const int res = buf.write(buffer_write_pos_, payload, payload_len);
const bool success = res == payload_len;
const bool success = res == static_cast<int>(payload_len);
if (success)
{
buffer_write_pos_ += payload_len;
buffer_write_pos_ = static_cast<uint16_t>(buffer_write_pos_ + payload_len);
}
return success;
}
libuavcan/src/transport/uc_transfer_sender.cpp
+2 -2
View File
@@ -52,8 +52,8 @@ int TransferSender::send(const uint8_t* payload, int payload_len, MonotonicTime
static const int BUFLEN = sizeof(static_cast<CanFrame*>(0)->data);
uint8_t buf[BUFLEN];
buf[0] = crc.get() & 0xFF; // Transfer CRC, little endian
buf[1] = (crc.get() >> 8) & 0xFF;
buf[0] = uint8_t(crc.get() & 0xFFU); // Transfer CRC, little endian
buf[1] = uint8_t((crc.get() >> 8) & 0xFF);
(void)copy(payload, payload + BUFLEN - 2, buf + 2);
const int write_res = frame.setPayload(buf, BUFLEN);
libuavcan/test/marshal/float_spec.cpp
+8
View File
@@ -8,6 +8,14 @@
#include <uavcan/transport/transfer_buffer.hpp>
TEST(FloatSpec, Sizes)
{
uavcan::StaticAssert<sizeof(uavcan::NativeFloatSelector<16>::Type) == 4>::check();
uavcan::StaticAssert<sizeof(uavcan::NativeFloatSelector<32>::Type) == 4>::check();
uavcan::StaticAssert<sizeof(uavcan::NativeFloatSelector<64>::Type) == 8>::check();
uavcan::StaticAssert<sizeof(uavcan::NativeFloatSelector<80>::Type) >= 10>::check();
}
TEST(FloatSpec, Limits)
{
using uavcan::FloatSpec;