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

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
 }