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

libuavcan/include/uavcan/driver/can.hpp

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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
 }