From 222ea1e093de9d52afe1d852824db1ddb8bb2fd0 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Wed, 4 Feb 2015 20:17:29 +0300
Subject: [PATCH 01/35] CanIOManager::getCanDriver()

---
 libuavcan/include/uavcan/transport/can_io.hpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libuavcan/include/uavcan/transport/can_io.hpp b/libuavcan/include/uavcan/transport/can_io.hpp
index 005e9825ea..c8d4e6925f 100644
--- a/libuavcan/include/uavcan/transport/can_io.hpp
+++ b/libuavcan/include/uavcan/transport/can_io.hpp
@@ -164,6 +164,8 @@ public:
 
     CanIfacePerfCounters getIfacePerfCounters(uint8_t iface_index) const;
 
+    const ICanDriver& getCanDriver() const { return driver_; }
+
     /**
      * Returns:
      *  0 - rejected/timedout/enqueued

From c415cf90c39351a0a621323717216a4db76f236e Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Wed, 4 Feb 2015 22:53:17 +0300
Subject: [PATCH 02/35] Const version of getReceivedStructStorage(), clarified
 docs

---
 libuavcan/include/uavcan/node/generic_subscriber.hpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/libuavcan/include/uavcan/node/generic_subscriber.hpp b/libuavcan/include/uavcan/node/generic_subscriber.hpp
index 2cb6083ddf..0782d718bf 100644
--- a/libuavcan/include/uavcan/node/generic_subscriber.hpp
+++ b/libuavcan/include/uavcan/node/generic_subscriber.hpp
@@ -207,10 +207,13 @@ protected:
     TransferListenerType* getTransferListener() { return forwarder_; }
 
     /**
-     * Returns the mutable reference to the temporary storage for decoded received messages.
+     * Returns a reference to the temporary storage for decoded received messages.
      * Reference to this storage is used as a parameter for subscription callbacks.
+     * This storage is guaranteed to stay intact after the last message was decoded, i.e.
+     * the application can use it to access the last received message object.
      */
-    ReceivedDataStructure<DataStruct>& getReceivedStructStorage() { return message_; }
+    ReceivedDataStructure<DataStruct>& getReceivedStructStorage()             { return message_; }
+    const ReceivedDataStructure<DataStruct>& getReceivedStructStorage() const { return message_; }
 };
 
 // ----------------------------------------------------------------------------

From f4ba884b3112a371951841ff99dd042dd7be1c5f Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Wed, 4 Feb 2015 22:53:27 +0300
Subject: [PATCH 03/35] Formatting fix

---
 libuavcan/src/transport/uc_transfer_buffer.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libuavcan/src/transport/uc_transfer_buffer.cpp b/libuavcan/src/transport/uc_transfer_buffer.cpp
index f851eb05ed..4a56b75632 100644
--- a/libuavcan/src/transport/uc_transfer_buffer.cpp
+++ b/libuavcan/src/transport/uc_transfer_buffer.cpp
@@ -24,7 +24,8 @@ std::string TransferBufferManagerKey::toString() const
 /*
  * DynamicTransferBuffer::Block
  */
-DynamicTransferBufferManagerEntry::Block* DynamicTransferBufferManagerEntry::Block::instantiate(IPoolAllocator& allocator)
+DynamicTransferBufferManagerEntry::Block*
+DynamicTransferBufferManagerEntry::Block::instantiate(IPoolAllocator& allocator)
 {
     void* const praw = allocator.allocate(sizeof(Block));
     if (praw == NULL)

From 2d1c8f1a2d44fb60083f652f51481a9c90f2a19e Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Wed, 4 Feb 2015 23:27:04 +0300
Subject: [PATCH 04/35] Note on code size for LPC11C24

---
 libuavcan_drivers/lpc11c24/test_olimex_lpc_p11c24/Makefile | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libuavcan_drivers/lpc11c24/test_olimex_lpc_p11c24/Makefile b/libuavcan_drivers/lpc11c24/test_olimex_lpc_p11c24/Makefile
index ea3df6840b..24f375c9d6 100644
--- a/libuavcan_drivers/lpc11c24/test_olimex_lpc_p11c24/Makefile
+++ b/libuavcan_drivers/lpc11c24/test_olimex_lpc_p11c24/Makefile
@@ -49,6 +49,7 @@ DEPDIR = $(BUILDDIR)/dep
 
 DEF += -DNDEBUG -DCHIP_LPC11CXX -DCORE_M0 -DTHUMB_NO_INTERWORKING -U__STRICT_ANSI__
 
+# Removing -fconserve-stack reduces code size a little
 FLAGS = -mthumb -mcpu=cortex-m0 -mno-thumb-interwork -flto -Os -g3 -Wall -Wextra -Werror -Wundef -ffunction-sections \
         -fdata-sections -fno-common -fno-exceptions -fno-unwind-tables -fno-stack-protector -fomit-frame-pointer \
         -ftracer -ftree-loop-distribute-patterns -frename-registers -freorder-blocks -fconserve-stack \

From 849abc817918e978cfed7ff1452c9adcd9d0a55a Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Wed, 4 Feb 2015 23:53:02 +0300
Subject: [PATCH 05/35] README.md - Coverity build instructions

---
 README.md | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/README.md b/README.md
index 26e3e21dae..d49680ef24 100644
--- a/README.md
+++ b/README.md
@@ -31,4 +31,20 @@ cmake .. -DCMAKE_BUILD_TYPE=Debug
 make
 ```
 
+Test outputs can be found in the build directory under `libuavcan`.
+
 Contributors, please follow the [Zubax Style Guide](https://github.com/Zubax/zubax_style_guide).
+
+### Submitting a coverity build
+
+First, [get the Coverity build tool](https://scan.coverity.com/download?tab=cxx). Then build the library with it:
+
+```bash
+export PATH=$PATH:<coverity-build-tool-directory>/bin/
+mkdir debug && cd debug
+cmake <uavcan-source-directory> -DCMAKE_BUILD_TYPE=Debug
+cov-build --dir cov-int make -j8
+tar czvf uavcan.tgz cov-int
+```
+
+Then upload the resulting archive to Coverity.

From 60cf13995a9104304afce19391a699544b83e915 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 5 Feb 2015 02:04:13 +0300
Subject: [PATCH 06/35] Coverity CID 1268191

---
 libuavcan_drivers/linux/apps/uavcan_nodetool.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp b/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp
index 5cca98eafd..0917b724eb 100644
--- a/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp
+++ b/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp
@@ -110,6 +110,7 @@ void printGetSetResponse(const uavcan::protocol::param::GetSet::Response& resp)
     std::cout << std::setw(15) << paramValueToString(resp.min_value);
     std::cout << std::setw(15) << paramValueToString(resp.max_value);
     std::cout << std::endl;
+    std::cout.width(0);         // Clears the effect of std::setw()
 }
 
 uavcan_linux::NodePtr initNode(const std::vector<std::string>& ifaces, uavcan::NodeID nid, const std::string& name)

From 035a607944a5aec88629084857cc431818651b35 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 5 Feb 2015 02:31:28 +0300
Subject: [PATCH 07/35] Logging functions defined with UAVCAN_NOEXCEPT

---
 libuavcan/include/uavcan/build_config.hpp    | 16 +++++++
 libuavcan/include/uavcan/protocol/logger.hpp | 49 ++++++++++++--------
 libuavcan/src/protocol/uc_logger.cpp         | 25 +++++++---
 3 files changed, 64 insertions(+), 26 deletions(-)

diff --git a/libuavcan/include/uavcan/build_config.hpp b/libuavcan/include/uavcan/build_config.hpp
index f9d6c65934..06a771c2cc 100644
--- a/libuavcan/include/uavcan/build_config.hpp
+++ b/libuavcan/include/uavcan/build_config.hpp
@@ -58,6 +58,22 @@
 # endif
 #endif
 
+/**
+ * This specification is used by some error reporting functions like in the Logger class.
+ * The default can be overriden by defining the macro UAVCAN_NOEXCEPT explicitly, e.g. via compiler options.
+ */
+#ifndef UAVCAN_NOEXCEPT
+# if UAVCAN_EXCEPTIONS
+#  if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
+#   define UAVCAN_NOEXCEPT noexcept
+#  else
+#   define UAVCAN_NOEXCEPT throw()
+#  endif
+# else
+#  define UAVCAN_NOEXCEPT
+# endif
+#endif
+
 /**
  * Struct layout control.
  * Set UAVCAN_PACK_STRUCTS=1 and define UAVCAN_PACKED_BEGIN and UAVCAN_PACKED_END to reduce memory usage.
diff --git a/libuavcan/include/uavcan/protocol/logger.hpp b/libuavcan/include/uavcan/protocol/logger.hpp
index e7d606a630..9001dcf65f 100644
--- a/libuavcan/include/uavcan/protocol/logger.hpp
+++ b/libuavcan/include/uavcan/protocol/logger.hpp
@@ -148,52 +148,52 @@ public:
 #if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
 
     template <typename... Args>
-    int log(LogLevel level, const char* source, const char* format, Args... args);
+    int log(LogLevel level, const char* source, const char* format, Args... args) UAVCAN_NOEXCEPT;
 
     template <typename... Args>
-    inline int logDebug(const char* source, const char* format, Args... args)
+    inline int logDebug(const char* source, const char* format, Args... args) UAVCAN_NOEXCEPT
     {
         return log(protocol::debug::LogLevel::DEBUG, source, format, args...);
     }
 
     template <typename... Args>
-    inline int logInfo(const char* source, const char* format, Args... args)
+    inline int logInfo(const char* source, const char* format, Args... args) UAVCAN_NOEXCEPT
     {
         return log(protocol::debug::LogLevel::INFO, source, format, args...);
     }
 
     template <typename... Args>
-    inline int logWarning(const char* source, const char* format, Args... args)
+    inline int logWarning(const char* source, const char* format, Args... args) UAVCAN_NOEXCEPT
     {
         return log(protocol::debug::LogLevel::WARNING, source, format, args...);
     }
 
     template <typename... Args>
-    inline int logError(const char* source, const char* format, Args... args)
+    inline int logError(const char* source, const char* format, Args... args) UAVCAN_NOEXCEPT
     {
         return log(protocol::debug::LogLevel::ERROR, source, format, args...);
     }
 
 #else
 
-    int log(LogLevel level, const char* source, const char* text);
+    int log(LogLevel level, const char* source, const char* text) UAVCAN_NOEXCEPT;
 
-    int logDebug(const char* source, const char* text)
+    int logDebug(const char* source, const char* text) UAVCAN_NOEXCEPT
     {
         return log(protocol::debug::LogLevel::DEBUG, source, text);
     }
 
-    int logInfo(const char* source, const char* text)
+    int logInfo(const char* source, const char* text) UAVCAN_NOEXCEPT
     {
         return log(protocol::debug::LogLevel::INFO, source, text);
     }
 
-    int logWarning(const char* source, const char* text)
+    int logWarning(const char* source, const char* text) UAVCAN_NOEXCEPT
     {
         return log(protocol::debug::LogLevel::WARNING, source, text);
     }
 
-    int logError(const char* source, const char* text)
+    int logError(const char* source, const char* text) UAVCAN_NOEXCEPT
     {
         return log(protocol::debug::LogLevel::ERROR, source, text);
     }
@@ -207,18 +207,29 @@ public:
 #if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
 
 template <typename... Args>
-int Logger::log(LogLevel level, const char* source, const char* format, Args... args)
+int Logger::log(LogLevel level, const char* source, const char* format, Args... args) UAVCAN_NOEXCEPT
 {
-    if (level >= level_ || level >= getExternalSinkLevel())
+#if UAVCAN_EXCEPTIONS
+    try
+#endif
     {
-        msg_buf_.level.value = level;
-        msg_buf_.source = source;
-        msg_buf_.text.clear();
-        CharArrayFormatter<typename protocol::debug::LogMessage::FieldTypes::text> formatter(msg_buf_.text);
-        formatter.write(format, args...);
-        return log(msg_buf_);
+        if (level >= level_ || level >= getExternalSinkLevel())
+        {
+            msg_buf_.level.value = level;
+            msg_buf_.source = source;
+            msg_buf_.text.clear();
+            CharArrayFormatter<typename protocol::debug::LogMessage::FieldTypes::text> formatter(msg_buf_.text);
+            formatter.write(format, args...);
+            return log(msg_buf_);
+        }
+        return 0;
     }
-    return 0;
+#if UAVCAN_EXCEPTIONS
+    catch (...)
+    {
+        return -ErrFailure;
+    }
+#endif
 }
 
 #endif
diff --git a/libuavcan/src/protocol/uc_logger.cpp b/libuavcan/src/protocol/uc_logger.cpp
index a0e900b285..3c6661e306 100644
--- a/libuavcan/src/protocol/uc_logger.cpp
+++ b/libuavcan/src/protocol/uc_logger.cpp
@@ -36,16 +36,27 @@ int Logger::log(const protocol::debug::LogMessage& message)
 
 #if UAVCAN_CPP_VERSION < UAVCAN_CPP11
 
-int Logger::log(LogLevel level, const char* source, const char* text)
+int Logger::log(LogLevel level, const char* source, const char* text) UAVCAN_NOEXCEPT
 {
-    if (level >= level_ || level >= getExternalSinkLevel())
+#if UAVCAN_EXCEPTIONS
+    try
+#endif
     {
-        msg_buf_.level.value = level;
-        msg_buf_.source = source;
-        msg_buf_.text = text;
-        return log(msg_buf_);
+        if (level >= level_ || level >= getExternalSinkLevel())
+        {
+            msg_buf_.level.value = level;
+            msg_buf_.source = source;
+            msg_buf_.text = text;
+            return log(msg_buf_);
+        }
+        return 0;
     }
-    return 0;
+#if UAVCAN_EXCEPTIONS
+    catch (...)
+    {
+        return -ErrFailure;
+    }
+#endif
 }
 
 #endif

From b9f802026e3424aa9185c6b38efb91abf0b5b509 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 5 Feb 2015 02:35:25 +0300
Subject: [PATCH 08/35] Coverity CID 1268184..1268189

---
 .../linux/apps/uavcan_nodetool.cpp            | 22 ++++++++++-----
 .../linux/apps/uavcan_status_monitor.cpp      | 28 ++++++++++++-------
 2 files changed, 33 insertions(+), 17 deletions(-)

diff --git a/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp b/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp
index 0917b724eb..f40485967e 100644
--- a/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp
+++ b/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp
@@ -348,14 +348,22 @@ void runForever(const uavcan_linux::NodePtr& node)
 
 int main(int argc, const char** argv)
 {
-    if (argc < 3)
+    try
     {
-        std::cout << "Usage:\n\t" << argv[0] << " <node-id> <can-iface-name-1> [can-iface-name-N...]" << std::endl;
+        if (argc < 3)
+        {
+            std::cout << "Usage:\n\t" << argv[0] << " <node-id> <can-iface-name-1> [can-iface-name-N...]" << std::endl;
+            return 1;
+        }
+        const int self_node_id = std::stoi(argv[1]);
+        const std::vector<std::string> iface_names(argv + 2, argv + argc);
+        uavcan_linux::NodePtr node = initNode(iface_names, self_node_id, "org.uavcan.linux_nodetool");
+        runForever(node);
+        return 0;
+    }
+    catch (const std::exception& ex)
+    {
+        std::cerr << "Error: " << ex.what() << std::endl;
         return 1;
     }
-    const int self_node_id = std::stoi(argv[1]);
-    const std::vector<std::string> iface_names(argv + 2, argv + argc);
-    uavcan_linux::NodePtr node = initNode(iface_names, self_node_id, "org.uavcan.linux_nodetool");
-    runForever(node);
-    return 0;
 }
diff --git a/libuavcan_drivers/linux/apps/uavcan_status_monitor.cpp b/libuavcan_drivers/linux/apps/uavcan_status_monitor.cpp
index 9c8b8ebdef..5f3f232e3a 100644
--- a/libuavcan_drivers/linux/apps/uavcan_status_monitor.cpp
+++ b/libuavcan_drivers/linux/apps/uavcan_status_monitor.cpp
@@ -127,17 +127,25 @@ static void runForever(const uavcan_linux::NodePtr& node)
 
 int main(int argc, const char** argv)
 {
-    if (argc < 2)
+    try
     {
-        std::cout << "Usage:\n\t" << argv[0] << " <can-iface-name-1> [can-iface-name-N...]" << std::endl;
+        if (argc < 2)
+        {
+            std::cout << "Usage:\n\t" << argv[0] << " <can-iface-name-1> [can-iface-name-N...]" << std::endl;
+            return 1;
+        }
+        std::vector<std::string> iface_names;
+        for (int i = 1; i < argc; i++)
+        {
+            iface_names.emplace_back(argv[i]);
+        }
+        uavcan_linux::NodePtr node = initNodeInPassiveMode(iface_names, "org.uavcan.status_monitor");
+        runForever(node);
+        return 0;
+    }
+    catch (const std::exception& ex)
+    {
+        std::cerr << "Error: " << ex.what() << std::endl;
         return 1;
     }
-    std::vector<std::string> iface_names;
-    for (int i = 1; i < argc; i++)
-    {
-        iface_names.emplace_back(argv[i]);
-    }
-    uavcan_linux::NodePtr node = initNodeInPassiveMode(iface_names, "org.uavcan.status_monitor");
-    runForever(node);
-    return 0;
 }

From 315d21c2563b5cb854a08ed2c9393c3600ebd2b1 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 5 Feb 2015 02:37:42 +0300
Subject: [PATCH 09/35] Coverity CID 1268181, 1268182

---
 libuavcan/include/uavcan/util/linked_list.hpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libuavcan/include/uavcan/util/linked_list.hpp b/libuavcan/include/uavcan/util/linked_list.hpp
index d36e83b463..dcc91d61ed 100644
--- a/libuavcan/include/uavcan/util/linked_list.hpp
+++ b/libuavcan/include/uavcan/util/linked_list.hpp
@@ -99,9 +99,9 @@ unsigned LinkedListRoot<T>::getLength() const
 template <typename T>
 void LinkedListRoot<T>::insert(T* node)
 {
-    UAVCAN_ASSERT(node);
     if (node == NULL)
     {
+        UAVCAN_ASSERT(0);
         return;
     }
     remove(node);  // Making sure there will be no loops
@@ -113,9 +113,9 @@ template <typename T>
 template <typename Predicate>
 void LinkedListRoot<T>::insertBefore(T* node, Predicate predicate)
 {
-    UAVCAN_ASSERT(node);
     if (node == NULL)
     {
+        UAVCAN_ASSERT(0);
         return;
     }
 

From 3a0aa4ce466146296f870858e9a99e6b3c7ffb93 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 5 Feb 2015 02:41:46 +0300
Subject: [PATCH 10/35] Coverity CID 1268180

---
 libuavcan/include/uavcan/util/templates.hpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libuavcan/include/uavcan/util/templates.hpp b/libuavcan/include/uavcan/util/templates.hpp
index 8c3b3028b2..8e2db29b7e 100644
--- a/libuavcan/include/uavcan/util/templates.hpp
+++ b/libuavcan/include/uavcan/util/templates.hpp
@@ -479,6 +479,7 @@ inline bool getSignBit(T arg)
 #if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
     return std::signbit(arg);
 #else
+    // coverity[divide_by_zero : FALSE]
     return arg < T(0) || (((arg <= T(0)) && (arg >= T(0))) && (T(1) / arg < T(0)));
 #endif
 }

From 00bada6fb9693f2b3ef4002b4886f7fb9e89860b Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 5 Feb 2015 02:47:35 +0300
Subject: [PATCH 11/35] Coverity CID 1203388..1203395

---
 libuavcan_drivers/linux/apps/test_node.cpp    | 32 +++++++++------
 libuavcan_drivers/linux/apps/test_socket.cpp  | 40 +++++++++++--------
 .../linux/apps/test_time_sync.cpp             | 30 +++++++++-----
 3 files changed, 63 insertions(+), 39 deletions(-)

diff --git a/libuavcan_drivers/linux/apps/test_node.cpp b/libuavcan_drivers/linux/apps/test_node.cpp
index cb00a98c99..3ec9b0938b 100644
--- a/libuavcan_drivers/linux/apps/test_node.cpp
+++ b/libuavcan_drivers/linux/apps/test_node.cpp
@@ -102,19 +102,27 @@ static void runForever(const uavcan_linux::NodePtr& node)
 
 int main(int argc, const char** argv)
 {
-    if (argc < 3)
+    try
     {
-        std::cout << "Usage:\n\t" << argv[0] << " <node-id> <can-iface-name-1> [can-iface-name-N...]" << std::endl;
+        if (argc < 3)
+        {
+            std::cout << "Usage:\n\t" << argv[0] << " <node-id> <can-iface-name-1> [can-iface-name-N...]" << std::endl;
+            return 1;
+        }
+        const int self_node_id = std::stoi(argv[1]);
+        std::vector<std::string> iface_names;
+        for (int i = 2; i < argc; i++)
+        {
+            iface_names.emplace_back(argv[i]);
+        }
+        uavcan_linux::NodePtr node = initNode(iface_names, self_node_id, "org.uavcan.linux_test_node");
+        std::cout << "Node initialized successfully" << std::endl;
+        runForever(node);
+        return 0;
+    }
+    catch (const std::exception& ex)
+    {
+        std::cerr << "Exception: " << ex.what() << std::endl;
         return 1;
     }
-    const int self_node_id = std::stoi(argv[1]);
-    std::vector<std::string> iface_names;
-    for (int i = 2; i < argc; i++)
-    {
-        iface_names.emplace_back(argv[i]);
-    }
-    uavcan_linux::NodePtr node = initNode(iface_names, self_node_id, "org.uavcan.linux_test_node");
-    std::cout << "Node initialized successfully" << std::endl;
-    runForever(node);
-    return 0;
 }
diff --git a/libuavcan_drivers/linux/apps/test_socket.cpp b/libuavcan_drivers/linux/apps/test_socket.cpp
index 5c8a33e2ce..1b37fc8c7a 100644
--- a/libuavcan_drivers/linux/apps/test_socket.cpp
+++ b/libuavcan_drivers/linux/apps/test_socket.cpp
@@ -332,23 +332,31 @@ static void testDriver(const std::vector<std::string>& iface_names)
 
 int main(int argc, const char** argv)
 {
-    if (argc < 2)
+    try
     {
-        std::cout << "Usage:\n\t" << argv[0] << " <can-iface-name-1> [can-iface-name-N...]" << std::endl;
+        if (argc < 2)
+        {
+            std::cout << "Usage:\n\t" << argv[0] << " <can-iface-name-1> [can-iface-name-N...]" << std::endl;
+            return 1;
+        }
+
+        std::vector<std::string> iface_names;
+        for (int i = 1; i < argc; i++)
+        {
+            iface_names.emplace_back(argv[i]);
+        }
+
+        testNonexistentIface();
+        testSocketRxTx(iface_names[0]);
+        testSocketFilters(iface_names[0]);
+
+        testDriver(iface_names);
+
+        return 0;
+    }
+    catch (const std::exception& ex)
+    {
+        std::cerr << "Exception: " << ex.what() << std::endl;
         return 1;
     }
-
-    std::vector<std::string> iface_names;
-    for (int i = 1; i < argc; i++)
-    {
-        iface_names.emplace_back(argv[i]);
-    }
-
-    testNonexistentIface();
-    testSocketRxTx(iface_names[0]);
-    testSocketFilters(iface_names[0]);
-
-    testDriver(iface_names);
-
-    return 0;
 }
diff --git a/libuavcan_drivers/linux/apps/test_time_sync.cpp b/libuavcan_drivers/linux/apps/test_time_sync.cpp
index 8da3e2ad1b..b85f889b48 100644
--- a/libuavcan_drivers/linux/apps/test_time_sync.cpp
+++ b/libuavcan_drivers/linux/apps/test_time_sync.cpp
@@ -84,18 +84,26 @@ static void runForever(const uavcan_linux::NodePtr& node)
 
 int main(int argc, const char** argv)
 {
-    if (argc < 3)
+    try
     {
-        std::cout << "Usage:\n\t" << argv[0] << " <node-id> <can-iface-name-1> [can-iface-name-N...]" << std::endl;
+        if (argc < 3)
+        {
+            std::cout << "Usage:\n\t" << argv[0] << " <node-id> <can-iface-name-1> [can-iface-name-N...]" << std::endl;
+            return 1;
+        }
+        const int self_node_id = std::stoi(argv[1]);
+        std::vector<std::string> iface_names;
+        for (int i = 2; i < argc; i++)
+        {
+            iface_names.emplace_back(argv[i]);
+        }
+        uavcan_linux::NodePtr node = initNode(iface_names, self_node_id, "org.uavcan.linux_test_node_status_monitor");
+        runForever(node);
+        return 0;
+    }
+    catch (const std::exception& ex)
+    {
+        std::cerr << "Exception: " << ex.what() << std::endl;
         return 1;
     }
-    const int self_node_id = std::stoi(argv[1]);
-    std::vector<std::string> iface_names;
-    for (int i = 2; i < argc; i++)
-    {
-        iface_names.emplace_back(argv[i]);
-    }
-    uavcan_linux::NodePtr node = initNode(iface_names, self_node_id, "org.uavcan.linux_test_node_status_monitor");
-    runForever(node);
-    return 0;
 }

From 9675e31933e93cab800f56670a8a85143655997e Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 5 Feb 2015 02:49:53 +0300
Subject: [PATCH 12/35] Linux apps: printing usage to stderr

---
 libuavcan_drivers/linux/apps/test_node.cpp             | 2 +-
 libuavcan_drivers/linux/apps/test_socket.cpp           | 2 +-
 libuavcan_drivers/linux/apps/test_time_sync.cpp        | 2 +-
 libuavcan_drivers/linux/apps/uavcan_nodetool.cpp       | 2 +-
 libuavcan_drivers/linux/apps/uavcan_status_monitor.cpp | 2 +-
 5 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/libuavcan_drivers/linux/apps/test_node.cpp b/libuavcan_drivers/linux/apps/test_node.cpp
index 3ec9b0938b..2241f246ca 100644
--- a/libuavcan_drivers/linux/apps/test_node.cpp
+++ b/libuavcan_drivers/linux/apps/test_node.cpp
@@ -106,7 +106,7 @@ int main(int argc, const char** argv)
     {
         if (argc < 3)
         {
-            std::cout << "Usage:\n\t" << argv[0] << " <node-id> <can-iface-name-1> [can-iface-name-N...]" << std::endl;
+            std::cerr << "Usage:\n\t" << argv[0] << " <node-id> <can-iface-name-1> [can-iface-name-N...]" << std::endl;
             return 1;
         }
         const int self_node_id = std::stoi(argv[1]);
diff --git a/libuavcan_drivers/linux/apps/test_socket.cpp b/libuavcan_drivers/linux/apps/test_socket.cpp
index 1b37fc8c7a..5d62ad4fea 100644
--- a/libuavcan_drivers/linux/apps/test_socket.cpp
+++ b/libuavcan_drivers/linux/apps/test_socket.cpp
@@ -336,7 +336,7 @@ int main(int argc, const char** argv)
     {
         if (argc < 2)
         {
-            std::cout << "Usage:\n\t" << argv[0] << " <can-iface-name-1> [can-iface-name-N...]" << std::endl;
+            std::cerr << "Usage:\n\t" << argv[0] << " <can-iface-name-1> [can-iface-name-N...]" << std::endl;
             return 1;
         }
 
diff --git a/libuavcan_drivers/linux/apps/test_time_sync.cpp b/libuavcan_drivers/linux/apps/test_time_sync.cpp
index b85f889b48..c956a4912e 100644
--- a/libuavcan_drivers/linux/apps/test_time_sync.cpp
+++ b/libuavcan_drivers/linux/apps/test_time_sync.cpp
@@ -88,7 +88,7 @@ int main(int argc, const char** argv)
     {
         if (argc < 3)
         {
-            std::cout << "Usage:\n\t" << argv[0] << " <node-id> <can-iface-name-1> [can-iface-name-N...]" << std::endl;
+            std::cerr << "Usage:\n\t" << argv[0] << " <node-id> <can-iface-name-1> [can-iface-name-N...]" << std::endl;
             return 1;
         }
         const int self_node_id = std::stoi(argv[1]);
diff --git a/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp b/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp
index f40485967e..1b19fb4bb2 100644
--- a/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp
+++ b/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp
@@ -352,7 +352,7 @@ int main(int argc, const char** argv)
     {
         if (argc < 3)
         {
-            std::cout << "Usage:\n\t" << argv[0] << " <node-id> <can-iface-name-1> [can-iface-name-N...]" << std::endl;
+            std::cerr << "Usage:\n\t" << argv[0] << " <node-id> <can-iface-name-1> [can-iface-name-N...]" << std::endl;
             return 1;
         }
         const int self_node_id = std::stoi(argv[1]);
diff --git a/libuavcan_drivers/linux/apps/uavcan_status_monitor.cpp b/libuavcan_drivers/linux/apps/uavcan_status_monitor.cpp
index 5f3f232e3a..9672c77988 100644
--- a/libuavcan_drivers/linux/apps/uavcan_status_monitor.cpp
+++ b/libuavcan_drivers/linux/apps/uavcan_status_monitor.cpp
@@ -131,7 +131,7 @@ int main(int argc, const char** argv)
     {
         if (argc < 2)
         {
-            std::cout << "Usage:\n\t" << argv[0] << " <can-iface-name-1> [can-iface-name-N...]" << std::endl;
+            std::cerr << "Usage:\n\t" << argv[0] << " <can-iface-name-1> [can-iface-name-N...]" << std::endl;
             return 1;
         }
         std::vector<std::string> iface_names;

From de1a669bea7bc0b98abde32ffd9536b4c58acc60 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 5 Feb 2015 02:52:02 +0300
Subject: [PATCH 13/35] Linux vcan_init fix (requires bash, not sh)

---
 libuavcan_drivers/linux/scripts/vcan_init | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libuavcan_drivers/linux/scripts/vcan_init b/libuavcan_drivers/linux/scripts/vcan_init
index 6a9bb6e4ec..ffa1c43bf0 100755
--- a/libuavcan_drivers/linux/scripts/vcan_init
+++ b/libuavcan_drivers/linux/scripts/vcan_init
@@ -1,4 +1,4 @@
-#!/bin/sh
+#!/bin/bash
 #
 # Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
 #

From 403a70e89956f8bb77e0b9340513ca0717a7b13d Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 5 Feb 2015 03:02:31 +0300
Subject: [PATCH 14/35] Proper node names for Linux apps

---
 libuavcan_drivers/linux/apps/uavcan_nodetool.cpp       | 2 +-
 libuavcan_drivers/linux/apps/uavcan_status_monitor.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp b/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp
index 1b19fb4bb2..00acf6de7c 100644
--- a/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp
+++ b/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp
@@ -357,7 +357,7 @@ int main(int argc, const char** argv)
         }
         const int self_node_id = std::stoi(argv[1]);
         const std::vector<std::string> iface_names(argv + 2, argv + argc);
-        uavcan_linux::NodePtr node = initNode(iface_names, self_node_id, "org.uavcan.linux_nodetool");
+        uavcan_linux::NodePtr node = initNode(iface_names, self_node_id, "org.uavcan.linux_app.nodetool");
         runForever(node);
         return 0;
     }
diff --git a/libuavcan_drivers/linux/apps/uavcan_status_monitor.cpp b/libuavcan_drivers/linux/apps/uavcan_status_monitor.cpp
index 9672c77988..c8374ded0d 100644
--- a/libuavcan_drivers/linux/apps/uavcan_status_monitor.cpp
+++ b/libuavcan_drivers/linux/apps/uavcan_status_monitor.cpp
@@ -139,7 +139,7 @@ int main(int argc, const char** argv)
         {
             iface_names.emplace_back(argv[i]);
         }
-        uavcan_linux::NodePtr node = initNodeInPassiveMode(iface_names, "org.uavcan.status_monitor");
+        uavcan_linux::NodePtr node = initNodeInPassiveMode(iface_names, "org.uavcan.linux_app.node_status_monitor");
         runForever(node);
         return 0;
     }

From 9f7149d85c4fa518dbb2cbd95b857e3b7f08fcca Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 5 Feb 2015 03:25:52 +0300
Subject: [PATCH 15/35] Coverity CID 1268191

---
 libuavcan_drivers/linux/apps/uavcan_nodetool.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp b/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp
index 00acf6de7c..822144701b 100644
--- a/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp
+++ b/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp
@@ -104,13 +104,17 @@ void printGetSetResponseHeader()
 
 void printGetSetResponse(const uavcan::protocol::param::GetSet::Response& resp)
 {
+    const auto original_flags = std::cout.flags();
+
     std::cout << std::setw(41) << std::left << resp.name.c_str();
     std::cout << std::setw(15) << paramValueToString(resp.value);
     std::cout << std::setw(15) << paramValueToString(resp.default_value);
     std::cout << std::setw(15) << paramValueToString(resp.min_value);
     std::cout << std::setw(15) << paramValueToString(resp.max_value);
     std::cout << std::endl;
+
     std::cout.width(0);         // Clears the effect of std::setw()
+    std::cout.flags(original_flags);
 }
 
 uavcan_linux::NodePtr initNode(const std::vector<std::string>& ifaces, uavcan::NodeID nid, const std::string& name)

From beefb2cd60aabff768eb573d75295b88408d9bdf Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 5 Feb 2015 22:20:42 +0300
Subject: [PATCH 16/35] CanIOManager::getCanDriver() - mutating overload

---
 libuavcan/include/uavcan/transport/can_io.hpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libuavcan/include/uavcan/transport/can_io.hpp b/libuavcan/include/uavcan/transport/can_io.hpp
index c8d4e6925f..2d2e945033 100644
--- a/libuavcan/include/uavcan/transport/can_io.hpp
+++ b/libuavcan/include/uavcan/transport/can_io.hpp
@@ -165,6 +165,7 @@ public:
     CanIfacePerfCounters getIfacePerfCounters(uint8_t iface_index) const;
 
     const ICanDriver& getCanDriver() const { return driver_; }
+    ICanDriver& getCanDriver()             { return driver_; }
 
     /**
      * Returns:

From b6d145aa352ea3d44375ff4ceae9e427799a7f4f Mon Sep 17 00:00:00 2001
From: postal <illia.sheremet@gmail.com>
Date: Fri, 6 Feb 2015 19:24:43 +0100
Subject: [PATCH 17/35] Dependencies update for linux/cmake

---
 libuavcan_drivers/linux/CMakeLists.txt | 20 +++++++++++++-------
 1 file changed, 13 insertions(+), 7 deletions(-)

diff --git a/libuavcan_drivers/linux/CMakeLists.txt b/libuavcan_drivers/linux/CMakeLists.txt
index 6069f762d0..252cd8a69e 100644
--- a/libuavcan_drivers/linux/CMakeLists.txt
+++ b/libuavcan_drivers/linux/CMakeLists.txt
@@ -11,6 +11,12 @@ project(libuavcan_linux)
 #
 install(DIRECTORY include/uavcan_linux DESTINATION include)
 
+#
+# System dependecies 
+#
+find_package(Threads REQUIRED)
+
+
 #
 # Finding libuavcan - it will be a target if we're running from the top-level CMakeLists.txt,
 # otherwise try to find it in the system directories.
@@ -36,27 +42,27 @@ set(CMAKE_CXX_FLAGS "-Wall -Wextra -pedantic -std=c++0x")  # GCC or Clang
 # These aren't installed, an average library user should not care about them.
 #
 add_executable(test_clock apps/test_clock.cpp)
-target_link_libraries(test_clock ${UAVCAN_LIB} rt)
+target_link_libraries(test_clock ${UAVCAN_LIB} rt ${CMAKE_THREAD_LIBS_INIT})
 
 add_executable(test_socket apps/test_socket.cpp)
-target_link_libraries(test_socket ${UAVCAN_LIB} rt)
+target_link_libraries(test_socket ${UAVCAN_LIB} rt ${CMAKE_THREAD_LIBS_INIT})
 
 add_executable(test_node apps/test_node.cpp)
-target_link_libraries(test_node ${UAVCAN_LIB} rt)
+target_link_libraries(test_node ${UAVCAN_LIB} rt ${CMAKE_THREAD_LIBS_INIT})
 
 add_executable(test_time_sync apps/test_time_sync.cpp)
-target_link_libraries(test_time_sync ${UAVCAN_LIB} rt)
+target_link_libraries(test_time_sync ${UAVCAN_LIB} rt ${CMAKE_THREAD_LIBS_INIT})
 
 #
 # Tools
 # Someday they will be replaced with Python scripts (pyuavcan is not finished at the moment)
 #
 add_executable(uavcan_status_monitor apps/uavcan_status_monitor.cpp)
-target_link_libraries(uavcan_status_monitor ${UAVCAN_LIB} rt)
+target_link_libraries(uavcan_status_monitor ${UAVCAN_LIB} rt ${CMAKE_THREAD_LIBS_INIT})
 
 add_executable(uavcan_nodetool apps/uavcan_nodetool.cpp)
-target_link_libraries(uavcan_nodetool ${UAVCAN_LIB} rt)
+target_link_libraries(uavcan_nodetool ${UAVCAN_LIB} rt ${CMAKE_THREAD_LIBS_INIT})
 
 install(TARGETS uavcan_status_monitor
                 uavcan_nodetool
-        RUNTIME DESTINATION bin)
+        RUNTIME DESTINATION bin)
\ No newline at end of file

From 1bf41b135dedc24c5dd38549e69356433a5da22a Mon Sep 17 00:00:00 2001
From: postal <illia.sheremet@gmail.com>
Date: Fri, 6 Feb 2015 19:42:26 +0100
Subject: [PATCH 18/35] Dependencies update for linux/cmake

---
 libuavcan_drivers/linux/CMakeLists.txt | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/libuavcan_drivers/linux/CMakeLists.txt b/libuavcan_drivers/linux/CMakeLists.txt
index 252cd8a69e..803c4daae3 100644
--- a/libuavcan_drivers/linux/CMakeLists.txt
+++ b/libuavcan_drivers/linux/CMakeLists.txt
@@ -26,7 +26,7 @@ if (TARGET uavcan)
     set(UAVCAN_LIB uavcan)
     include_directories(${libuavcan_SOURCE_DIR}/include
                         ${libuavcan_SOURCE_DIR}/include/dsdlc_generated)
-else ()
+else ()-
     message(STATUS "Using installed uavcan library")
     find_library(UAVCAN_LIB uavcan REQUIRED)
 endif ()
@@ -65,4 +65,5 @@ target_link_libraries(uavcan_nodetool ${UAVCAN_LIB} rt ${CMAKE_THREAD_LIBS_INIT}
 
 install(TARGETS uavcan_status_monitor
                 uavcan_nodetool
-        RUNTIME DESTINATION bin)
\ No newline at end of file
+        RUNTIME DESTINATION bin)
+        
\ No newline at end of file

From 41755b46a81aa212a849e3e4ec52a79e6ce92be9 Mon Sep 17 00:00:00 2001
From: postal <illia.sheremet@gmail.com>
Date: Fri, 6 Feb 2015 19:50:02 +0100
Subject: [PATCH 19/35] Dependencies update for linux/cmake

---
 libuavcan_drivers/linux/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libuavcan_drivers/linux/CMakeLists.txt b/libuavcan_drivers/linux/CMakeLists.txt
index 803c4daae3..99e75959b0 100644
--- a/libuavcan_drivers/linux/CMakeLists.txt
+++ b/libuavcan_drivers/linux/CMakeLists.txt
@@ -26,7 +26,7 @@ if (TARGET uavcan)
     set(UAVCAN_LIB uavcan)
     include_directories(${libuavcan_SOURCE_DIR}/include
                         ${libuavcan_SOURCE_DIR}/include/dsdlc_generated)
-else ()-
+else ()
     message(STATUS "Using installed uavcan library")
     find_library(UAVCAN_LIB uavcan REQUIRED)
 endif ()

From 672874d11e0474ce64e842a9d307cc15bd8dc987 Mon Sep 17 00:00:00 2001
From: postal <illia.sheremet@gmail.com>
Date: Fri, 6 Feb 2015 19:54:18 +0100
Subject: [PATCH 20/35] Dependencies update for linux/cmake

---
 libuavcan_drivers/linux/CMakeLists.txt | 1 -
 1 file changed, 1 deletion(-)

diff --git a/libuavcan_drivers/linux/CMakeLists.txt b/libuavcan_drivers/linux/CMakeLists.txt
index 99e75959b0..51cbcf1c97 100644
--- a/libuavcan_drivers/linux/CMakeLists.txt
+++ b/libuavcan_drivers/linux/CMakeLists.txt
@@ -16,7 +16,6 @@ install(DIRECTORY include/uavcan_linux DESTINATION include)
 #
 find_package(Threads REQUIRED)
 
-
 #
 # Finding libuavcan - it will be a target if we're running from the top-level CMakeLists.txt,
 # otherwise try to find it in the system directories.

From 803e60f30f44ca25c074df8d967edccd932e62fb Mon Sep 17 00:00:00 2001
From: postal <illia.sheremet@gmail.com>
Date: Mon, 23 Feb 2015 19:07:18 +0100
Subject: [PATCH 21/35] Cmake gcc 4.9 compatability

---
 libuavcan/CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libuavcan/CMakeLists.txt b/libuavcan/CMakeLists.txt
index 0648b8ca14..fc4afc96ad 100644
--- a/libuavcan/CMakeLists.txt
+++ b/libuavcan/CMakeLists.txt
@@ -103,6 +103,7 @@ if (DEBUG_BUILD)
     if (COMPILER_IS_GCC_COMPATIBLE)
         set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Werror -pedantic -Wfloat-equal -Wconversion")
         set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wsign-conversion -Wcast-align -Wmissing-declarations")
+        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-error=array-bounds")
         set(cpp03_flags "-std=c++03 -Wno-variadic-macros -Wno-long-long")
         set(optim_flags "-O3 -DNDEBUG -g0")
     else ()

From 9ad492e745f169957bff89b60496a4bfacf11ad9 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Fri, 27 Feb 2015 04:05:21 +0300
Subject: [PATCH 22/35] .gitignore update

---
 .gitignore | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.gitignore b/.gitignore
index 179d3cd025..0ad0dfa15d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -10,8 +10,8 @@ __pycache__
 *.pyc
 
 # Eclipse
-.metadata/*
-.settings/*
+.metadata
+.settings
 .project
 .cproject
 .pydevproject

From d4986598b154c1292289335fa99b0d999d9d57ea Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Fri, 27 Feb 2015 16:17:03 +0300
Subject: [PATCH 23/35] LPC11C24: Stack overflow fix

---
 libuavcan_drivers/lpc11c24/test_olimex_lpc_p11c24/src/main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libuavcan_drivers/lpc11c24/test_olimex_lpc_p11c24/src/main.cpp b/libuavcan_drivers/lpc11c24/test_olimex_lpc_p11c24/src/main.cpp
index a5e7e85321..22485746e3 100644
--- a/libuavcan_drivers/lpc11c24/test_olimex_lpc_p11c24/src/main.cpp
+++ b/libuavcan_drivers/lpc11c24/test_olimex_lpc_p11c24/src/main.cpp
@@ -13,7 +13,7 @@
 namespace
 {
 
-typedef uavcan::Node<3136> Node;
+typedef uavcan::Node<2800> Node;
 
 Node& getNode()
 {

From 79623033c1b938ec21e405130ee66832ef6a9657 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 12 Mar 2015 00:36:25 +0300
Subject: [PATCH 24/35] Abandoning pragma once

---
 libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/__init__.py  | 1 +
 .../libuavcan_dsdl_compiler/data_type_template.tmpl          | 5 ++++-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/__init__.py b/libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/__init__.py
index 88b4def241..0de8fea8a9 100644
--- a/libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/__init__.py
+++ b/libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/__init__.py
@@ -165,6 +165,7 @@ def generate_one_type(template_expander, t):
     t.short_name = t.full_name.split('.')[-1]
     t.cpp_type_name = t.short_name + '_'
     t.cpp_full_type_name = '::' + t.full_name.replace('.', '::')
+    t.include_guard = t.full_name.replace('.', '_').upper() + '_HPP_INCLUDED'
 
     # Dependencies (no duplicates)
     def fields_includes(fields):
diff --git a/libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/data_type_template.tmpl b/libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/data_type_template.tmpl
index 144bd58850..8b3ba7855e 100644
--- a/libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/data_type_template.tmpl
+++ b/libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/data_type_template.tmpl
@@ -6,7 +6,8 @@
  * Source file: ${t.source_file}
  */
 
-#pragma once
+#ifndef ${t.include_guard}
+#define ${t.include_guard}
 
 #include <uavcan/build_config.hpp>
 #include <uavcan/node/global_data_type_registry.hpp>
@@ -385,3 +386,5 @@ ${define_streaming_operator(type_name=t.cpp_full_type_name)}
 % for nsc in t.cpp_namespace_components:
 }
 % endfor
+
+#endif // ${t.include_guard}

From c47f196281b0a15829bdc5cb9debc8f961e7f921 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 12 Mar 2015 00:52:23 +0300
Subject: [PATCH 25/35] New tool: unpragma_once.pl

---
 libuavcan/tools/unpragma_once.pl | 59 ++++++++++++++++++++++++++++++++
 1 file changed, 59 insertions(+)
 create mode 100755 libuavcan/tools/unpragma_once.pl

diff --git a/libuavcan/tools/unpragma_once.pl b/libuavcan/tools/unpragma_once.pl
new file mode 100755
index 0000000000..e21e759827
--- /dev/null
+++ b/libuavcan/tools/unpragma_once.pl
@@ -0,0 +1,59 @@
+#!/usr/bin/env perl
+###############################################################################
+# Purpose:      Remove all occurrences of "#pragma once" from the source tree.
+# Usage:        "unpragma-once *.h" or "find . -name \*.h | xargs unpragma-once"
+# Author:       Vadim Zeitlin <vadim@tt-solutions.com>
+# Licence:      Free Software released under BSD license
+# Copyright:    (C) 2011 TT-Solutions SARL
+###############################################################################
+# Pavel Kirienko <pavel.kirienko@gmail.com>, 2015:
+#       Include guard naming adapted to UAVCAN coding style.
+###############################################################################
+
+use warnings;
+use strict;
+use autodie;
+
+use File::Copy qw(move);
+use File::Spec ();
+use File::Temp ();
+use IO::Handle;
+
+sub process_single_file
+{
+    my $filename = shift;
+
+    my ($volume, $dir, $basename) = File::Spec->splitpath($filename);
+
+    open my $in, '<', $filename;
+    my $out = File::Temp->new(DIR => $volume . $dir);
+
+    my $guard = '';
+    my $last_was_empty = 0;
+    while (<$in>) {
+        if (/^#pragma\s+once\s+$/) {
+            die "Duplicate #pragma once at $filename:$.\n" if $guard;
+
+            ($guard = uc $filename) =~ s/[\/\.]/_/g;
+            $guard .= "_INCLUDED";
+            print $out "#ifndef $guard\n";
+            print $out "#define $guard\n";
+        }
+        else {
+            $last_was_empty = ($_ =~ /^\s*$/);
+            print $out $_
+        }
+    }
+
+    if ($guard) {
+        print $out "\n" unless $last_was_empty;
+        print $out "#endif // $guard\n";
+
+        $out->flush();
+        move($out->filename, $filename);
+    }
+}
+
+for (@ARGV) {
+    process_single_file $_
+}

From eb982bdd40e3b47bf436cec5c91aab5ac836b1d1 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 12 Mar 2015 00:53:18 +0300
Subject: [PATCH 26/35] All occurences of pragma once in libuavcan headers were
 replaced with conventional include guards.

---
 libuavcan/include/uavcan/build_config.hpp                    | 5 ++++-
 libuavcan/include/uavcan/data_type.hpp                       | 5 ++++-
 libuavcan/include/uavcan/debug.hpp                           | 5 ++++-
 libuavcan/include/uavcan/driver/can.hpp                      | 5 ++++-
 libuavcan/include/uavcan/driver/system_clock.hpp             | 5 ++++-
 libuavcan/include/uavcan/dynamic_memory.hpp                  | 5 ++++-
 libuavcan/include/uavcan/error.hpp                           | 5 ++++-
 .../include/uavcan/helpers/component_status_manager.hpp      | 5 ++++-
 libuavcan/include/uavcan/helpers/ostream.hpp                 | 5 ++++-
 libuavcan/include/uavcan/marshal/array.hpp                   | 5 ++++-
 libuavcan/include/uavcan/marshal/bit_stream.hpp              | 5 ++++-
 libuavcan/include/uavcan/marshal/char_array_formatter.hpp    | 5 ++++-
 libuavcan/include/uavcan/marshal/float_spec.hpp              | 5 ++++-
 libuavcan/include/uavcan/marshal/integer_spec.hpp            | 5 ++++-
 libuavcan/include/uavcan/marshal/scalar_codec.hpp            | 5 ++++-
 libuavcan/include/uavcan/marshal/type_util.hpp               | 5 ++++-
 libuavcan/include/uavcan/marshal/types.hpp                   | 5 ++++-
 libuavcan/include/uavcan/node/abstract_node.hpp              | 5 ++++-
 libuavcan/include/uavcan/node/generic_publisher.hpp          | 5 ++++-
 libuavcan/include/uavcan/node/generic_subscriber.hpp         | 5 ++++-
 libuavcan/include/uavcan/node/global_data_type_registry.hpp  | 5 ++++-
 libuavcan/include/uavcan/node/marshal_buffer.hpp             | 5 ++++-
 libuavcan/include/uavcan/node/node.hpp                       | 5 ++++-
 libuavcan/include/uavcan/node/publisher.hpp                  | 5 ++++-
 libuavcan/include/uavcan/node/scheduler.hpp                  | 5 ++++-
 libuavcan/include/uavcan/node/service_client.hpp             | 5 ++++-
 libuavcan/include/uavcan/node/service_server.hpp             | 5 ++++-
 libuavcan/include/uavcan/node/subscriber.hpp                 | 5 ++++-
 libuavcan/include/uavcan/node/timer.hpp                      | 5 ++++-
 .../include/uavcan/protocol/data_type_info_provider.hpp      | 5 ++++-
 .../include/uavcan/protocol/global_time_sync_master.hpp      | 5 ++++-
 libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp | 5 ++++-
 libuavcan/include/uavcan/protocol/logger.hpp                 | 5 ++++-
 libuavcan/include/uavcan/protocol/network_compat_checker.hpp | 5 ++++-
 libuavcan/include/uavcan/protocol/node_status_monitor.hpp    | 5 ++++-
 libuavcan/include/uavcan/protocol/node_status_provider.hpp   | 5 ++++-
 libuavcan/include/uavcan/protocol/panic_broadcaster.hpp      | 5 ++++-
 libuavcan/include/uavcan/protocol/panic_listener.hpp         | 5 ++++-
 libuavcan/include/uavcan/protocol/param_server.hpp           | 5 ++++-
 libuavcan/include/uavcan/protocol/restart_request_server.hpp | 5 ++++-
 .../include/uavcan/protocol/transport_stats_provider.hpp     | 5 ++++-
 libuavcan/include/uavcan/stdint.hpp                          | 5 ++++-
 libuavcan/include/uavcan/time.hpp                            | 5 ++++-
 .../include/uavcan/transport/abstract_transfer_buffer.hpp    | 5 ++++-
 libuavcan/include/uavcan/transport/can_io.hpp                | 5 ++++-
 libuavcan/include/uavcan/transport/crc.hpp                   | 5 ++++-
 libuavcan/include/uavcan/transport/dispatcher.hpp            | 5 ++++-
 libuavcan/include/uavcan/transport/frame.hpp                 | 5 ++++-
 .../include/uavcan/transport/outgoing_transfer_registry.hpp  | 5 ++++-
 libuavcan/include/uavcan/transport/perf_counter.hpp          | 5 ++++-
 libuavcan/include/uavcan/transport/transfer.hpp              | 5 ++++-
 libuavcan/include/uavcan/transport/transfer_buffer.hpp       | 5 ++++-
 libuavcan/include/uavcan/transport/transfer_listener.hpp     | 5 ++++-
 libuavcan/include/uavcan/transport/transfer_receiver.hpp     | 5 ++++-
 libuavcan/include/uavcan/transport/transfer_sender.hpp       | 5 ++++-
 libuavcan/include/uavcan/uavcan.hpp                          | 5 ++++-
 libuavcan/include/uavcan/util/bitset.hpp                     | 5 ++++-
 libuavcan/include/uavcan/util/comparison.hpp                 | 5 ++++-
 libuavcan/include/uavcan/util/lazy_constructor.hpp           | 5 ++++-
 libuavcan/include/uavcan/util/linked_list.hpp                | 5 ++++-
 libuavcan/include/uavcan/util/map.hpp                        | 5 ++++-
 libuavcan/include/uavcan/util/method_binder.hpp              | 5 ++++-
 libuavcan/include/uavcan/util/placement_new.hpp              | 5 ++++-
 libuavcan/include/uavcan/util/templates.hpp                  | 5 ++++-
 64 files changed, 256 insertions(+), 64 deletions(-)

diff --git a/libuavcan/include/uavcan/build_config.hpp b/libuavcan/include/uavcan/build_config.hpp
index 06a771c2cc..31c34ecf3f 100644
--- a/libuavcan/include/uavcan/build_config.hpp
+++ b/libuavcan/include/uavcan/build_config.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_BUILD_CONFIG_HPP_INCLUDED
+#define UAVCAN_BUILD_CONFIG_HPP_INCLUDED
 
 /**
  * UAVCAN version definition
@@ -212,3 +213,5 @@ static const unsigned FloatComparisonEpsilonMult = 10;
 #endif
 
 }
+
+#endif // UAVCAN_BUILD_CONFIG_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/data_type.hpp b/libuavcan/include/uavcan/data_type.hpp
index 4fb3daf12f..8e47751647 100644
--- a/libuavcan/include/uavcan/data_type.hpp
+++ b/libuavcan/include/uavcan/data_type.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_DATA_TYPE_HPP_INCLUDED
+#define UAVCAN_DATA_TYPE_HPP_INCLUDED
 
 #include <cassert>
 #include <cstring>
@@ -144,3 +145,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_DATA_TYPE_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/debug.hpp b/libuavcan/include/uavcan/debug.hpp
index bee2dd0ad1..8b2ca17247 100644
--- a/libuavcan/include/uavcan/debug.hpp
+++ b/libuavcan/include/uavcan/debug.hpp
@@ -3,7 +3,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_DEBUG_HPP_INCLUDED
+#define UAVCAN_DEBUG_HPP_INCLUDED
 
 #include <uavcan/build_config.hpp>
 
@@ -30,3 +31,5 @@ static void UAVCAN_TRACE(const char* src, const char* fmt, ...)
 # define UAVCAN_TRACE(...) ((void)0)
 
 #endif
+
+#endif // UAVCAN_DEBUG_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/driver/can.hpp b/libuavcan/include/uavcan/driver/can.hpp
index d55859d0a0..ad77abfcf7 100644
--- a/libuavcan/include/uavcan/driver/can.hpp
+++ b/libuavcan/include/uavcan/driver/can.hpp
@@ -3,7 +3,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_DRIVER_CAN_HPP_INCLUDED
+#define UAVCAN_DRIVER_CAN_HPP_INCLUDED
 
 #include <cassert>
 #include <uavcan/stdint.hpp>
@@ -187,3 +188,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_DRIVER_CAN_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/driver/system_clock.hpp b/libuavcan/include/uavcan/driver/system_clock.hpp
index d19480e358..22055b457e 100644
--- a/libuavcan/include/uavcan/driver/system_clock.hpp
+++ b/libuavcan/include/uavcan/driver/system_clock.hpp
@@ -3,7 +3,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_DRIVER_SYSTEM_CLOCK_HPP_INCLUDED
+#define UAVCAN_DRIVER_SYSTEM_CLOCK_HPP_INCLUDED
 
 #include <uavcan/stdint.hpp>
 #include <uavcan/build_config.hpp>
@@ -44,3 +45,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_DRIVER_SYSTEM_CLOCK_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/dynamic_memory.hpp b/libuavcan/include/uavcan/dynamic_memory.hpp
index 3783f8ba8f..7c0ffb2038 100644
--- a/libuavcan/include/uavcan/dynamic_memory.hpp
+++ b/libuavcan/include/uavcan/dynamic_memory.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_DYNAMIC_MEMORY_HPP_INCLUDED
+#define UAVCAN_DYNAMIC_MEMORY_HPP_INCLUDED
 
 #include <cassert>
 #include <cstdlib>
@@ -297,3 +298,5 @@ unsigned PoolAllocator<PoolSize, BlockSize>::getNumFreeBlocks() const
 }
 
 }
+
+#endif // UAVCAN_DYNAMIC_MEMORY_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/error.hpp b/libuavcan/include/uavcan/error.hpp
index 13935a1fd6..1cbeafcc22 100644
--- a/libuavcan/include/uavcan/error.hpp
+++ b/libuavcan/include/uavcan/error.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_ERROR_HPP_INCLUDED
+#define UAVCAN_ERROR_HPP_INCLUDED
 
 #include <uavcan/build_config.hpp>
 #include <uavcan/stdint.hpp>
@@ -53,3 +54,5 @@ UAVCAN_EXPORT
 void handleFatalError(const char* msg);
 
 }
+
+#endif // UAVCAN_ERROR_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/helpers/component_status_manager.hpp b/libuavcan/include/uavcan/helpers/component_status_manager.hpp
index a71610b3ce..78d700b758 100644
--- a/libuavcan/include/uavcan/helpers/component_status_manager.hpp
+++ b/libuavcan/include/uavcan/helpers/component_status_manager.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_HELPERS_COMPONENT_STATUS_MANAGER_HPP_INCLUDED
+#define UAVCAN_HELPERS_COMPONENT_STATUS_MANAGER_HPP_INCLUDED
 
 #include <uavcan/build_config.hpp>
 #include <uavcan/stdint.hpp>
@@ -68,3 +69,5 @@ template <unsigned NumComponents_>
 const unsigned ComponentStatusManager<NumComponents_>::NumComponents;
 
 }
+
+#endif // UAVCAN_HELPERS_COMPONENT_STATUS_MANAGER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/helpers/ostream.hpp b/libuavcan/include/uavcan/helpers/ostream.hpp
index e75f9d22fe..5add58f4f3 100644
--- a/libuavcan/include/uavcan/helpers/ostream.hpp
+++ b/libuavcan/include/uavcan/helpers/ostream.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_HELPERS_OSTREAM_HPP_INCLUDED
+#define UAVCAN_HELPERS_OSTREAM_HPP_INCLUDED
 
 #include <uavcan/util/templates.hpp>
 #include <cstdio>
@@ -58,3 +59,5 @@ inline OStream& operator<<(OStream& s, const char* x) { std::printf("%s", x); re
 inline OStream& operator<<(OStream& s, OStream&(*manip)(OStream&)) { return manip(s); }
 
 }
+
+#endif // UAVCAN_HELPERS_OSTREAM_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/marshal/array.hpp b/libuavcan/include/uavcan/marshal/array.hpp
index 8fc64f350f..70f1c27d97 100644
--- a/libuavcan/include/uavcan/marshal/array.hpp
+++ b/libuavcan/include/uavcan/marshal/array.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_MARSHAL_ARRAY_HPP_INCLUDED
+#define UAVCAN_MARSHAL_ARRAY_HPP_INCLUDED
 
 #include <cassert>
 #include <cstdio>
@@ -1034,3 +1035,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_MARSHAL_ARRAY_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/marshal/bit_stream.hpp b/libuavcan/include/uavcan/marshal/bit_stream.hpp
index 413893e627..b7504112ec 100644
--- a/libuavcan/include/uavcan/marshal/bit_stream.hpp
+++ b/libuavcan/include/uavcan/marshal/bit_stream.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_MARSHAL_BIT_STREAM_HPP_INCLUDED
+#define UAVCAN_MARSHAL_BIT_STREAM_HPP_INCLUDED
 
 #include <cassert>
 #include <uavcan/stdint.hpp>
@@ -116,3 +117,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_MARSHAL_BIT_STREAM_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/marshal/char_array_formatter.hpp b/libuavcan/include/uavcan/marshal/char_array_formatter.hpp
index 85e9d37678..244c3b1204 100644
--- a/libuavcan/include/uavcan/marshal/char_array_formatter.hpp
+++ b/libuavcan/include/uavcan/marshal/char_array_formatter.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_MARSHAL_CHAR_ARRAY_FORMATTER_HPP_INCLUDED
+#define UAVCAN_MARSHAL_CHAR_ARRAY_FORMATTER_HPP_INCLUDED
 
 #include <uavcan/build_config.hpp>
 #include <uavcan/marshal/array.hpp>
@@ -137,3 +138,5 @@ public:
 #endif
 
 }
+
+#endif // UAVCAN_MARSHAL_CHAR_ARRAY_FORMATTER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/marshal/float_spec.hpp b/libuavcan/include/uavcan/marshal/float_spec.hpp
index ec06e53f60..ab0063056a 100644
--- a/libuavcan/include/uavcan/marshal/float_spec.hpp
+++ b/libuavcan/include/uavcan/marshal/float_spec.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_MARSHAL_FLOAT_SPEC_HPP_INCLUDED
+#define UAVCAN_MARSHAL_FLOAT_SPEC_HPP_INCLUDED
 
 #include <cmath>
 #include <uavcan/stdint.hpp>
@@ -222,3 +223,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_MARSHAL_FLOAT_SPEC_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/marshal/integer_spec.hpp b/libuavcan/include/uavcan/marshal/integer_spec.hpp
index 8561b02155..2a74218581 100644
--- a/libuavcan/include/uavcan/marshal/integer_spec.hpp
+++ b/libuavcan/include/uavcan/marshal/integer_spec.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_MARSHAL_INTEGER_SPEC_HPP_INCLUDED
+#define UAVCAN_MARSHAL_INTEGER_SPEC_HPP_INCLUDED
 
 #include <uavcan/stdint.hpp>
 #include <uavcan/data_type.hpp>
@@ -164,3 +165,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_MARSHAL_INTEGER_SPEC_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/marshal/scalar_codec.hpp b/libuavcan/include/uavcan/marshal/scalar_codec.hpp
index 6bc62c8e80..b46c1b16bb 100644
--- a/libuavcan/include/uavcan/marshal/scalar_codec.hpp
+++ b/libuavcan/include/uavcan/marshal/scalar_codec.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_MARSHAL_SCALAR_CODEC_HPP_INCLUDED
+#define UAVCAN_MARSHAL_SCALAR_CODEC_HPP_INCLUDED
 
 #include <cassert>
 #include <uavcan/stdint.hpp>
@@ -135,3 +136,5 @@ int ScalarCodec::decode(T& value)
 }
 
 }
+
+#endif // UAVCAN_MARSHAL_SCALAR_CODEC_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/marshal/type_util.hpp b/libuavcan/include/uavcan/marshal/type_util.hpp
index 45df4d03c4..5be02921e8 100644
--- a/libuavcan/include/uavcan/marshal/type_util.hpp
+++ b/libuavcan/include/uavcan/marshal/type_util.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_MARSHAL_TYPE_UTIL_HPP_INCLUDED
+#define UAVCAN_MARSHAL_TYPE_UTIL_HPP_INCLUDED
 
 #include <uavcan/build_config.hpp>
 #include <uavcan/util/templates.hpp>
@@ -83,3 +84,5 @@ template <typename T>
 class UAVCAN_EXPORT YamlStreamer;
 
 }
+
+#endif // UAVCAN_MARSHAL_TYPE_UTIL_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/marshal/types.hpp b/libuavcan/include/uavcan/marshal/types.hpp
index a9df753a21..4fbbe98371 100644
--- a/libuavcan/include/uavcan/marshal/types.hpp
+++ b/libuavcan/include/uavcan/marshal/types.hpp
@@ -2,9 +2,12 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_MARSHAL_TYPES_HPP_INCLUDED
+#define UAVCAN_MARSHAL_TYPES_HPP_INCLUDED
 
 #include <uavcan/marshal/integer_spec.hpp>
 #include <uavcan/marshal/float_spec.hpp>
 #include <uavcan/marshal/array.hpp>
 #include <uavcan/marshal/type_util.hpp>
+
+#endif // UAVCAN_MARSHAL_TYPES_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/node/abstract_node.hpp b/libuavcan/include/uavcan/node/abstract_node.hpp
index 9b93646000..cebdcec7fc 100644
--- a/libuavcan/include/uavcan/node/abstract_node.hpp
+++ b/libuavcan/include/uavcan/node/abstract_node.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_NODE_ABSTRACT_NODE_HPP_INCLUDED
+#define UAVCAN_NODE_ABSTRACT_NODE_HPP_INCLUDED
 
 #include <uavcan/build_config.hpp>
 #include <uavcan/node/scheduler.hpp>
@@ -78,3 +79,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_NODE_ABSTRACT_NODE_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/node/generic_publisher.hpp b/libuavcan/include/uavcan/node/generic_publisher.hpp
index 38bb31826f..aece082ddb 100644
--- a/libuavcan/include/uavcan/node/generic_publisher.hpp
+++ b/libuavcan/include/uavcan/node/generic_publisher.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_NODE_GENERIC_PUBLISHER_HPP_INCLUDED
+#define UAVCAN_NODE_GENERIC_PUBLISHER_HPP_INCLUDED
 
 #include <uavcan/error.hpp>
 #include <uavcan/node/abstract_node.hpp>
@@ -172,3 +173,5 @@ int GenericPublisher<DataSpec, DataStruct>::genericPublish(const DataStruct& mes
 }
 
 }
+
+#endif // UAVCAN_NODE_GENERIC_PUBLISHER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/node/generic_subscriber.hpp b/libuavcan/include/uavcan/node/generic_subscriber.hpp
index 0782d718bf..3ec6b87f92 100644
--- a/libuavcan/include/uavcan/node/generic_subscriber.hpp
+++ b/libuavcan/include/uavcan/node/generic_subscriber.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_NODE_GENERIC_SUBSCRIBER_HPP_INCLUDED
+#define UAVCAN_NODE_GENERIC_SUBSCRIBER_HPP_INCLUDED
 
 #include <uavcan/error.hpp>
 #include <uavcan/node/abstract_node.hpp>
@@ -287,3 +288,5 @@ genericStart(bool (Dispatcher::*registration_method)(TransferListenerBase*))
 
 
 }
+
+#endif // UAVCAN_NODE_GENERIC_SUBSCRIBER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/node/global_data_type_registry.hpp b/libuavcan/include/uavcan/node/global_data_type_registry.hpp
index 8ee9d39a95..f1b8cbf6dd 100644
--- a/libuavcan/include/uavcan/node/global_data_type_registry.hpp
+++ b/libuavcan/include/uavcan/node/global_data_type_registry.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_NODE_GLOBAL_DATA_TYPE_REGISTRY_HPP_INCLUDED
+#define UAVCAN_NODE_GLOBAL_DATA_TYPE_REGISTRY_HPP_INCLUDED
 
 #include <cassert>
 #include <uavcan/error.hpp>
@@ -246,3 +247,5 @@ GlobalDataTypeRegistry::RegistResult GlobalDataTypeRegistry::regist(DataTypeID i
 }
 
 }
+
+#endif // UAVCAN_NODE_GLOBAL_DATA_TYPE_REGISTRY_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/node/marshal_buffer.hpp b/libuavcan/include/uavcan/node/marshal_buffer.hpp
index f33c037653..7e55ce49dc 100644
--- a/libuavcan/include/uavcan/node/marshal_buffer.hpp
+++ b/libuavcan/include/uavcan/node/marshal_buffer.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_NODE_MARSHAL_BUFFER_HPP_INCLUDED
+#define UAVCAN_NODE_MARSHAL_BUFFER_HPP_INCLUDED
 
 #include <uavcan/build_config.hpp>
 #include <uavcan/transport/transfer.hpp>
@@ -87,3 +88,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_NODE_MARSHAL_BUFFER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/node/node.hpp b/libuavcan/include/uavcan/node/node.hpp
index 7f20d714c3..c04bf1103b 100644
--- a/libuavcan/include/uavcan/node/node.hpp
+++ b/libuavcan/include/uavcan/node/node.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_NODE_NODE_HPP_INCLUDED
+#define UAVCAN_NODE_NODE_HPP_INCLUDED
 
 #include <cassert>
 #include <uavcan/error.hpp>
@@ -322,3 +323,5 @@ checkNetworkCompatibility(NetworkCompatibilityCheckResult& result)
 #endif
 
 }
+
+#endif // UAVCAN_NODE_NODE_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/node/publisher.hpp b/libuavcan/include/uavcan/node/publisher.hpp
index 5d1524f4da..6abb3bd533 100644
--- a/libuavcan/include/uavcan/node/publisher.hpp
+++ b/libuavcan/include/uavcan/node/publisher.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_NODE_PUBLISHER_HPP_INCLUDED
+#define UAVCAN_NODE_PUBLISHER_HPP_INCLUDED
 
 #include <uavcan/node/generic_publisher.hpp>
 
@@ -95,3 +96,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_NODE_PUBLISHER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/node/scheduler.hpp b/libuavcan/include/uavcan/node/scheduler.hpp
index f283f72e7e..847f76b9d9 100644
--- a/libuavcan/include/uavcan/node/scheduler.hpp
+++ b/libuavcan/include/uavcan/node/scheduler.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_NODE_SCHEDULER_HPP_INCLUDED
+#define UAVCAN_NODE_SCHEDULER_HPP_INCLUDED
 
 #include <uavcan/error.hpp>
 #include <uavcan/util/linked_list.hpp>
@@ -130,3 +131,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_NODE_SCHEDULER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/node/service_client.hpp b/libuavcan/include/uavcan/node/service_client.hpp
index 378c0601ff..1b73c5163b 100644
--- a/libuavcan/include/uavcan/node/service_client.hpp
+++ b/libuavcan/include/uavcan/node/service_client.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_NODE_SERVICE_CLIENT_HPP_INCLUDED
+#define UAVCAN_NODE_SERVICE_CLIENT_HPP_INCLUDED
 
 #include <uavcan/build_config.hpp>
 #include <uavcan/node/generic_publisher.hpp>
@@ -368,3 +369,5 @@ void ServiceClient<DataType_, Callback_>::cancel()
 }
 
 }
+
+#endif // UAVCAN_NODE_SERVICE_CLIENT_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/node/service_server.hpp b/libuavcan/include/uavcan/node/service_server.hpp
index 5ca6f970b5..6d5695451c 100644
--- a/libuavcan/include/uavcan/node/service_server.hpp
+++ b/libuavcan/include/uavcan/node/service_server.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_NODE_SERVICE_SERVER_HPP_INCLUDED
+#define UAVCAN_NODE_SERVICE_SERVER_HPP_INCLUDED
 
 #include <uavcan/build_config.hpp>
 #include <uavcan/node/generic_publisher.hpp>
@@ -157,3 +158,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_NODE_SERVICE_SERVER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/node/subscriber.hpp b/libuavcan/include/uavcan/node/subscriber.hpp
index 62b15e11b7..1112a6abc0 100644
--- a/libuavcan/include/uavcan/node/subscriber.hpp
+++ b/libuavcan/include/uavcan/node/subscriber.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_NODE_SUBSCRIBER_HPP_INCLUDED
+#define UAVCAN_NODE_SUBSCRIBER_HPP_INCLUDED
 
 #include <cassert>
 #include <uavcan/build_config.hpp>
@@ -115,3 +116,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_NODE_SUBSCRIBER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/node/timer.hpp b/libuavcan/include/uavcan/node/timer.hpp
index 3e0b360a84..1521489f99 100644
--- a/libuavcan/include/uavcan/node/timer.hpp
+++ b/libuavcan/include/uavcan/node/timer.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_NODE_TIMER_HPP_INCLUDED
+#define UAVCAN_NODE_TIMER_HPP_INCLUDED
 
 #include <uavcan/stdint.hpp>
 #include <uavcan/error.hpp>
@@ -143,3 +144,5 @@ typedef TimerEventForwarder<std::function<void (const TimerEvent& event)> > Time
 #endif
 
 }
+
+#endif // UAVCAN_NODE_TIMER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/protocol/data_type_info_provider.hpp b/libuavcan/include/uavcan/protocol/data_type_info_provider.hpp
index 799dc51ac4..9ec95c73d4 100644
--- a/libuavcan/include/uavcan/protocol/data_type_info_provider.hpp
+++ b/libuavcan/include/uavcan/protocol/data_type_info_provider.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_PROTOCOL_DATA_TYPE_INFO_PROVIDER_HPP_INCLUDED
+#define UAVCAN_PROTOCOL_DATA_TYPE_INFO_PROVIDER_HPP_INCLUDED
 
 #include <uavcan/node/service_server.hpp>
 #include <uavcan/util/method_binder.hpp>
@@ -51,3 +52,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_PROTOCOL_DATA_TYPE_INFO_PROVIDER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/protocol/global_time_sync_master.hpp b/libuavcan/include/uavcan/protocol/global_time_sync_master.hpp
index 0d477cc0e1..e658b33730 100644
--- a/libuavcan/include/uavcan/protocol/global_time_sync_master.hpp
+++ b/libuavcan/include/uavcan/protocol/global_time_sync_master.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_PROTOCOL_GLOBAL_TIME_SYNC_MASTER_HPP_INCLUDED
+#define UAVCAN_PROTOCOL_GLOBAL_TIME_SYNC_MASTER_HPP_INCLUDED
 
 #include <uavcan/node/publisher.hpp>
 #include <uavcan/node/subscriber.hpp>
@@ -92,3 +93,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_PROTOCOL_GLOBAL_TIME_SYNC_MASTER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp b/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp
index 04c4e0f955..3da6532998 100644
--- a/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp
+++ b/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_PROTOCOL_GLOBAL_TIME_SYNC_SLAVE_HPP_INCLUDED
+#define UAVCAN_PROTOCOL_GLOBAL_TIME_SYNC_SLAVE_HPP_INCLUDED
 
 #include <uavcan/node/subscriber.hpp>
 #include <uavcan/util/method_binder.hpp>
@@ -103,3 +104,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_PROTOCOL_GLOBAL_TIME_SYNC_SLAVE_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/protocol/logger.hpp b/libuavcan/include/uavcan/protocol/logger.hpp
index 9001dcf65f..fcacfc4801 100644
--- a/libuavcan/include/uavcan/protocol/logger.hpp
+++ b/libuavcan/include/uavcan/protocol/logger.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_PROTOCOL_LOGGER_HPP_INCLUDED
+#define UAVCAN_PROTOCOL_LOGGER_HPP_INCLUDED
 
 #include <uavcan/time.hpp>
 #include <uavcan/protocol/debug/LogMessage.hpp>
@@ -235,3 +236,5 @@ int Logger::log(LogLevel level, const char* source, const char* format, Args...
 #endif
 
 }
+
+#endif // UAVCAN_PROTOCOL_LOGGER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/protocol/network_compat_checker.hpp b/libuavcan/include/uavcan/protocol/network_compat_checker.hpp
index 2a5799e3bc..5a39b5c6fc 100644
--- a/libuavcan/include/uavcan/protocol/network_compat_checker.hpp
+++ b/libuavcan/include/uavcan/protocol/network_compat_checker.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_PROTOCOL_NETWORK_COMPAT_CHECKER_HPP_INCLUDED
+#define UAVCAN_PROTOCOL_NETWORK_COMPAT_CHECKER_HPP_INCLUDED
 
 #include <uavcan/util/bitset.hpp>
 #include <uavcan/util/method_binder.hpp>
@@ -104,3 +105,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_PROTOCOL_NETWORK_COMPAT_CHECKER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/protocol/node_status_monitor.hpp b/libuavcan/include/uavcan/protocol/node_status_monitor.hpp
index 1c499014ee..0cf829a63a 100644
--- a/libuavcan/include/uavcan/protocol/node_status_monitor.hpp
+++ b/libuavcan/include/uavcan/protocol/node_status_monitor.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_PROTOCOL_NODE_STATUS_MONITOR_HPP_INCLUDED
+#define UAVCAN_PROTOCOL_NODE_STATUS_MONITOR_HPP_INCLUDED
 
 #include <uavcan/util/method_binder.hpp>
 #include <uavcan/node/subscriber.hpp>
@@ -123,3 +124,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_PROTOCOL_NODE_STATUS_MONITOR_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/protocol/node_status_provider.hpp b/libuavcan/include/uavcan/protocol/node_status_provider.hpp
index 22f6eb2f80..524dd43c35 100644
--- a/libuavcan/include/uavcan/protocol/node_status_provider.hpp
+++ b/libuavcan/include/uavcan/protocol/node_status_provider.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_PROTOCOL_NODE_STATUS_PROVIDER_HPP_INCLUDED
+#define UAVCAN_PROTOCOL_NODE_STATUS_PROVIDER_HPP_INCLUDED
 
 #include <uavcan/node/publisher.hpp>
 #include <uavcan/node/subscriber.hpp>
@@ -110,3 +111,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_PROTOCOL_NODE_STATUS_PROVIDER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/protocol/panic_broadcaster.hpp b/libuavcan/include/uavcan/protocol/panic_broadcaster.hpp
index 0fe5b9fca4..2976933919 100644
--- a/libuavcan/include/uavcan/protocol/panic_broadcaster.hpp
+++ b/libuavcan/include/uavcan/protocol/panic_broadcaster.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_PROTOCOL_PANIC_BROADCASTER_HPP_INCLUDED
+#define UAVCAN_PROTOCOL_PANIC_BROADCASTER_HPP_INCLUDED
 
 #include <uavcan/node/publisher.hpp>
 #include <uavcan/node/timer.hpp>
@@ -47,3 +48,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_PROTOCOL_PANIC_BROADCASTER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/protocol/panic_listener.hpp b/libuavcan/include/uavcan/protocol/panic_listener.hpp
index d39f41115f..4a93252608 100644
--- a/libuavcan/include/uavcan/protocol/panic_listener.hpp
+++ b/libuavcan/include/uavcan/protocol/panic_listener.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_PROTOCOL_PANIC_LISTENER_HPP_INCLUDED
+#define UAVCAN_PROTOCOL_PANIC_LISTENER_HPP_INCLUDED
 
 #include <cassert>
 #include <uavcan/debug.hpp>
@@ -123,3 +124,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_PROTOCOL_PANIC_LISTENER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/protocol/param_server.hpp b/libuavcan/include/uavcan/protocol/param_server.hpp
index ad82f4f57a..f0292198a2 100644
--- a/libuavcan/include/uavcan/protocol/param_server.hpp
+++ b/libuavcan/include/uavcan/protocol/param_server.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_PROTOCOL_PARAM_SERVER_HPP_INCLUDED
+#define UAVCAN_PROTOCOL_PARAM_SERVER_HPP_INCLUDED
 
 #include <uavcan/protocol/param/GetSet.hpp>
 #include <uavcan/protocol/param/SaveErase.hpp>
@@ -105,3 +106,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_PROTOCOL_PARAM_SERVER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/protocol/restart_request_server.hpp b/libuavcan/include/uavcan/protocol/restart_request_server.hpp
index 7964f61a77..4f9a414e13 100644
--- a/libuavcan/include/uavcan/protocol/restart_request_server.hpp
+++ b/libuavcan/include/uavcan/protocol/restart_request_server.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_PROTOCOL_RESTART_REQUEST_SERVER_HPP_INCLUDED
+#define UAVCAN_PROTOCOL_RESTART_REQUEST_SERVER_HPP_INCLUDED
 
 #include <uavcan/node/service_server.hpp>
 #include <uavcan/util/method_binder.hpp>
@@ -66,3 +67,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_PROTOCOL_RESTART_REQUEST_SERVER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/protocol/transport_stats_provider.hpp b/libuavcan/include/uavcan/protocol/transport_stats_provider.hpp
index 3687e94015..173e9c4b7c 100644
--- a/libuavcan/include/uavcan/protocol/transport_stats_provider.hpp
+++ b/libuavcan/include/uavcan/protocol/transport_stats_provider.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_PROTOCOL_TRANSPORT_STATS_PROVIDER_HPP_INCLUDED
+#define UAVCAN_PROTOCOL_TRANSPORT_STATS_PROVIDER_HPP_INCLUDED
 
 #include <uavcan/node/service_server.hpp>
 #include <uavcan/util/method_binder.hpp>
@@ -39,3 +40,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_PROTOCOL_TRANSPORT_STATS_PROVIDER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/stdint.hpp b/libuavcan/include/uavcan/stdint.hpp
index a3340a0b77..4fc668a2a7 100644
--- a/libuavcan/include/uavcan/stdint.hpp
+++ b/libuavcan/include/uavcan/stdint.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_STDINT_HPP_INCLUDED
+#define UAVCAN_STDINT_HPP_INCLUDED
 
 #include <uavcan/build_config.hpp>
 
@@ -52,3 +53,5 @@ typedef ::int64_t int64_t;
 }
 
 #endif
+
+#endif // UAVCAN_STDINT_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/time.hpp b/libuavcan/include/uavcan/time.hpp
index 8158c802b9..094016fb35 100644
--- a/libuavcan/include/uavcan/time.hpp
+++ b/libuavcan/include/uavcan/time.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_TIME_HPP_INCLUDED
+#define UAVCAN_TIME_HPP_INCLUDED
 
 #include <cstdio>
 #include <uavcan/stdint.hpp>
@@ -286,3 +287,5 @@ Stream& operator<<(Stream& s, const TimeBase<T, D>& t)
 }
 
 }
+
+#endif // UAVCAN_TIME_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/transport/abstract_transfer_buffer.hpp b/libuavcan/include/uavcan/transport/abstract_transfer_buffer.hpp
index 660ae794c7..7cc703c4c2 100644
--- a/libuavcan/include/uavcan/transport/abstract_transfer_buffer.hpp
+++ b/libuavcan/include/uavcan/transport/abstract_transfer_buffer.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_TRANSPORT_ABSTRACT_TRANSFER_BUFFER_HPP_INCLUDED
+#define UAVCAN_TRANSPORT_ABSTRACT_TRANSFER_BUFFER_HPP_INCLUDED
 
 #include <uavcan/build_config.hpp>
 #include <uavcan/stdint.hpp>
@@ -22,3 +23,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_TRANSPORT_ABSTRACT_TRANSFER_BUFFER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/transport/can_io.hpp b/libuavcan/include/uavcan/transport/can_io.hpp
index 2d2e945033..cee418569d 100644
--- a/libuavcan/include/uavcan/transport/can_io.hpp
+++ b/libuavcan/include/uavcan/transport/can_io.hpp
@@ -3,7 +3,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_TRANSPORT_CAN_IO_HPP_INCLUDED
+#define UAVCAN_TRANSPORT_CAN_IO_HPP_INCLUDED
 
 #include <cassert>
 #include <uavcan/error.hpp>
@@ -179,3 +180,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_TRANSPORT_CAN_IO_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/transport/crc.hpp b/libuavcan/include/uavcan/transport/crc.hpp
index 15b19e4e97..abee099522 100644
--- a/libuavcan/include/uavcan/transport/crc.hpp
+++ b/libuavcan/include/uavcan/transport/crc.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_TRANSPORT_CRC_HPP_INCLUDED
+#define UAVCAN_TRANSPORT_CRC_HPP_INCLUDED
 
 #include <cassert>
 #include <uavcan/stdint.hpp>
@@ -75,3 +76,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_TRANSPORT_CRC_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/transport/dispatcher.hpp b/libuavcan/include/uavcan/transport/dispatcher.hpp
index 94e70a6ef4..a34789bf36 100644
--- a/libuavcan/include/uavcan/transport/dispatcher.hpp
+++ b/libuavcan/include/uavcan/transport/dispatcher.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_TRANSPORT_DISPATCHER_HPP_INCLUDED
+#define UAVCAN_TRANSPORT_DISPATCHER_HPP_INCLUDED
 
 #include <cassert>
 #include <uavcan/error.hpp>
@@ -192,3 +193,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_TRANSPORT_DISPATCHER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/transport/frame.hpp b/libuavcan/include/uavcan/transport/frame.hpp
index ce8d82cff7..49d1da2214 100644
--- a/libuavcan/include/uavcan/transport/frame.hpp
+++ b/libuavcan/include/uavcan/transport/frame.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_TRANSPORT_FRAME_HPP_INCLUDED
+#define UAVCAN_TRANSPORT_FRAME_HPP_INCLUDED
 
 #include <cassert>
 #include <uavcan/transport/transfer.hpp>
@@ -128,3 +129,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_TRANSPORT_FRAME_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp b/libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp
index 72144e7647..9d91ac1955 100644
--- a/libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp
+++ b/libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_TRANSPORT_OUTGOING_TRANSFER_REGISTRY_HPP_INCLUDED
+#define UAVCAN_TRANSPORT_OUTGOING_TRANSFER_REGISTRY_HPP_INCLUDED
 
 #include <cassert>
 #include <uavcan/stdint.hpp>
@@ -174,3 +175,5 @@ void OutgoingTransferRegistry<NumStaticEntries>::cleanup(MonotonicTime ts)
 }
 
 }
+
+#endif // UAVCAN_TRANSPORT_OUTGOING_TRANSFER_REGISTRY_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/transport/perf_counter.hpp b/libuavcan/include/uavcan/transport/perf_counter.hpp
index 2e35fdc06e..009dfeec81 100644
--- a/libuavcan/include/uavcan/transport/perf_counter.hpp
+++ b/libuavcan/include/uavcan/transport/perf_counter.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_TRANSPORT_PERF_COUNTER_HPP_INCLUDED
+#define UAVCAN_TRANSPORT_PERF_COUNTER_HPP_INCLUDED
 
 #include <uavcan/stdint.hpp>
 #include <uavcan/build_config.hpp>
@@ -57,3 +58,5 @@ public:
 #endif
 
 }
+
+#endif // UAVCAN_TRANSPORT_PERF_COUNTER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/transport/transfer.hpp b/libuavcan/include/uavcan/transport/transfer.hpp
index c2ca103008..d5c3f8268f 100644
--- a/libuavcan/include/uavcan/transport/transfer.hpp
+++ b/libuavcan/include/uavcan/transport/transfer.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_TRANSPORT_TRANSFER_HPP_INCLUDED
+#define UAVCAN_TRANSPORT_TRANSFER_HPP_INCLUDED
 
 #include <cassert>
 #include <uavcan/build_config.hpp>
@@ -100,3 +101,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_TRANSPORT_TRANSFER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/transport/transfer_buffer.hpp b/libuavcan/include/uavcan/transport/transfer_buffer.hpp
index 15d337daad..d29bcce9ed 100644
--- a/libuavcan/include/uavcan/transport/transfer_buffer.hpp
+++ b/libuavcan/include/uavcan/transport/transfer_buffer.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_TRANSPORT_TRANSFER_BUFFER_HPP_INCLUDED
+#define UAVCAN_TRANSPORT_TRANSFER_BUFFER_HPP_INCLUDED
 
 #include <uavcan/stdint.hpp>
 #include <uavcan/error.hpp>
@@ -324,3 +325,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_TRANSPORT_TRANSFER_BUFFER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/transport/transfer_listener.hpp b/libuavcan/include/uavcan/transport/transfer_listener.hpp
index 2965415735..a8210821ce 100644
--- a/libuavcan/include/uavcan/transport/transfer_listener.hpp
+++ b/libuavcan/include/uavcan/transport/transfer_listener.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_TRANSPORT_TRANSFER_LISTENER_HPP_INCLUDED
+#define UAVCAN_TRANSPORT_TRANSFER_LISTENER_HPP_INCLUDED
 
 #include <cassert>
 #include <uavcan/error.hpp>
@@ -246,3 +247,5 @@ void ServiceResponseTransferListener<MaxBufSize>::stopAcceptingAnything()
 }
 
 }
+
+#endif // UAVCAN_TRANSPORT_TRANSFER_LISTENER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/transport/transfer_receiver.hpp b/libuavcan/include/uavcan/transport/transfer_receiver.hpp
index 8fbb6865bd..737c9bc2db 100644
--- a/libuavcan/include/uavcan/transport/transfer_receiver.hpp
+++ b/libuavcan/include/uavcan/transport/transfer_receiver.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_TRANSPORT_TRANSFER_RECEIVER_HPP_INCLUDED
+#define UAVCAN_TRANSPORT_TRANSFER_RECEIVER_HPP_INCLUDED
 
 #include <cstdlib>
 #include <uavcan/build_config.hpp>
@@ -83,3 +84,5 @@ public:
 UAVCAN_PACKED_END
 
 }
+
+#endif // UAVCAN_TRANSPORT_TRANSFER_RECEIVER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/transport/transfer_sender.hpp b/libuavcan/include/uavcan/transport/transfer_sender.hpp
index 0e5ac32a3a..27ab8a1038 100644
--- a/libuavcan/include/uavcan/transport/transfer_sender.hpp
+++ b/libuavcan/include/uavcan/transport/transfer_sender.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_TRANSPORT_TRANSFER_SENDER_HPP_INCLUDED
+#define UAVCAN_TRANSPORT_TRANSFER_SENDER_HPP_INCLUDED
 
 #include <cstdlib>
 #include <cassert>
@@ -75,3 +76,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_TRANSPORT_TRANSFER_SENDER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/uavcan.hpp b/libuavcan/include/uavcan/uavcan.hpp
index cb925b139c..9a0139aeb3 100644
--- a/libuavcan/include/uavcan/uavcan.hpp
+++ b/libuavcan/include/uavcan/uavcan.hpp
@@ -4,7 +4,8 @@
  * This header should be included by the user application.
  */
 
-#pragma once
+#ifndef UAVCAN_UAVCAN_HPP_INCLUDED
+#define UAVCAN_UAVCAN_HPP_INCLUDED
 
 #include <uavcan/build_config.hpp>
 #include <uavcan/time.hpp>
@@ -22,3 +23,5 @@
 #include <uavcan/util/templates.hpp>
 #include <uavcan/util/lazy_constructor.hpp>
 #include <uavcan/util/method_binder.hpp>
+
+#endif // UAVCAN_UAVCAN_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/util/bitset.hpp b/libuavcan/include/uavcan/util/bitset.hpp
index 0a9c5ea43e..3ef06494bb 100644
--- a/libuavcan/include/uavcan/util/bitset.hpp
+++ b/libuavcan/include/uavcan/util/bitset.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_UTIL_BITSET_HPP_INCLUDED
+#define UAVCAN_UTIL_BITSET_HPP_INCLUDED
 
 #include <cassert>
 #include <cstddef>
@@ -184,3 +185,5 @@ Stream& operator<<(Stream& s, const BitSet<NumBits>& x)
 }
 
 }
+
+#endif // UAVCAN_UTIL_BITSET_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/util/comparison.hpp b/libuavcan/include/uavcan/util/comparison.hpp
index d53116790d..8c8f007371 100644
--- a/libuavcan/include/uavcan/util/comparison.hpp
+++ b/libuavcan/include/uavcan/util/comparison.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_UTIL_COMPARISON_HPP_INCLUDED
+#define UAVCAN_UTIL_COMPARISON_HPP_INCLUDED
 
 #include <uavcan/util/templates.hpp>
 #include <uavcan/build_config.hpp>
@@ -266,3 +267,5 @@ inline bool isCloseToZero<long double>(const long double& x)
 }
 
 }
+
+#endif // UAVCAN_UTIL_COMPARISON_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/util/lazy_constructor.hpp b/libuavcan/include/uavcan/util/lazy_constructor.hpp
index 3ca212d006..93152adc71 100644
--- a/libuavcan/include/uavcan/util/lazy_constructor.hpp
+++ b/libuavcan/include/uavcan/util/lazy_constructor.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_UTIL_LAZY_CONSTRUCTOR_HPP_INCLUDED
+#define UAVCAN_UTIL_LAZY_CONSTRUCTOR_HPP_INCLUDED
 
 #include <cstdlib>
 #include <uavcan/error.hpp>
@@ -173,3 +174,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_UTIL_LAZY_CONSTRUCTOR_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/util/linked_list.hpp b/libuavcan/include/uavcan/util/linked_list.hpp
index dcc91d61ed..9ca898e1fd 100644
--- a/libuavcan/include/uavcan/util/linked_list.hpp
+++ b/libuavcan/include/uavcan/util/linked_list.hpp
@@ -3,7 +3,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_UTIL_LINKED_LIST_HPP_INCLUDED
+#define UAVCAN_UTIL_LINKED_LIST_HPP_INCLUDED
 
 #include <cstdlib>
 #include <cassert>
@@ -170,3 +171,5 @@ void LinkedListRoot<T>::remove(const T* node)
 }
 
 }
+
+#endif // UAVCAN_UTIL_LINKED_LIST_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/util/map.hpp b/libuavcan/include/uavcan/util/map.hpp
index 1cedffb1cc..d72ca18578 100644
--- a/libuavcan/include/uavcan/util/map.hpp
+++ b/libuavcan/include/uavcan/util/map.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_UTIL_MAP_HPP_INCLUDED
+#define UAVCAN_UTIL_MAP_HPP_INCLUDED
 
 #include <cassert>
 #include <cstdlib>
@@ -500,3 +501,5 @@ unsigned MapBase<Key, Value>::getNumDynamicPairs() const
 }
 
 }
+
+#endif // UAVCAN_UTIL_MAP_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/util/method_binder.hpp b/libuavcan/include/uavcan/util/method_binder.hpp
index 23fa476f87..5cf89e07f6 100644
--- a/libuavcan/include/uavcan/util/method_binder.hpp
+++ b/libuavcan/include/uavcan/util/method_binder.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_UTIL_METHOD_BINDER_HPP_INCLUDED
+#define UAVCAN_UTIL_METHOD_BINDER_HPP_INCLUDED
 
 #include <uavcan/error.hpp>
 #include <uavcan/build_config.hpp>
@@ -79,3 +80,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_UTIL_METHOD_BINDER_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/util/placement_new.hpp b/libuavcan/include/uavcan/util/placement_new.hpp
index d05bac40c1..8c13308111 100644
--- a/libuavcan/include/uavcan/util/placement_new.hpp
+++ b/libuavcan/include/uavcan/util/placement_new.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_UTIL_PLACEMENT_NEW_HPP_INCLUDED
+#define UAVCAN_UTIL_PLACEMENT_NEW_HPP_INCLUDED
 
 #include <cstddef>
 #include <uavcan/build_config.hpp>
@@ -33,3 +34,5 @@ inline void  operator delete[](void*, void*) throw() { }
 #else
 # include <new>
 #endif
+
+#endif // UAVCAN_UTIL_PLACEMENT_NEW_HPP_INCLUDED
diff --git a/libuavcan/include/uavcan/util/templates.hpp b/libuavcan/include/uavcan/util/templates.hpp
index 8e2db29b7e..e25102790d 100644
--- a/libuavcan/include/uavcan/util/templates.hpp
+++ b/libuavcan/include/uavcan/util/templates.hpp
@@ -2,7 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#pragma once
+#ifndef UAVCAN_UTIL_TEMPLATES_HPP_INCLUDED
+#define UAVCAN_UTIL_TEMPLATES_HPP_INCLUDED
 
 #include <climits>
 #include <cstddef>
@@ -485,3 +486,5 @@ inline bool getSignBit(T arg)
 }
 
 }
+
+#endif // UAVCAN_UTIL_TEMPLATES_HPP_INCLUDED

From 5b8bb647271d5d69c81a30540b40ef4d84e3aa84 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 12 Mar 2015 00:54:09 +0300
Subject: [PATCH 27/35] Revert "New tool: unpragma_once.pl"

This reverts commit c47f196281b0a15829bdc5cb9debc8f961e7f921.
---
 libuavcan/tools/unpragma_once.pl | 59 --------------------------------
 1 file changed, 59 deletions(-)
 delete mode 100755 libuavcan/tools/unpragma_once.pl

diff --git a/libuavcan/tools/unpragma_once.pl b/libuavcan/tools/unpragma_once.pl
deleted file mode 100755
index e21e759827..0000000000
--- a/libuavcan/tools/unpragma_once.pl
+++ /dev/null
@@ -1,59 +0,0 @@
-#!/usr/bin/env perl
-###############################################################################
-# Purpose:      Remove all occurrences of "#pragma once" from the source tree.
-# Usage:        "unpragma-once *.h" or "find . -name \*.h | xargs unpragma-once"
-# Author:       Vadim Zeitlin <vadim@tt-solutions.com>
-# Licence:      Free Software released under BSD license
-# Copyright:    (C) 2011 TT-Solutions SARL
-###############################################################################
-# Pavel Kirienko <pavel.kirienko@gmail.com>, 2015:
-#       Include guard naming adapted to UAVCAN coding style.
-###############################################################################
-
-use warnings;
-use strict;
-use autodie;
-
-use File::Copy qw(move);
-use File::Spec ();
-use File::Temp ();
-use IO::Handle;
-
-sub process_single_file
-{
-    my $filename = shift;
-
-    my ($volume, $dir, $basename) = File::Spec->splitpath($filename);
-
-    open my $in, '<', $filename;
-    my $out = File::Temp->new(DIR => $volume . $dir);
-
-    my $guard = '';
-    my $last_was_empty = 0;
-    while (<$in>) {
-        if (/^#pragma\s+once\s+$/) {
-            die "Duplicate #pragma once at $filename:$.\n" if $guard;
-
-            ($guard = uc $filename) =~ s/[\/\.]/_/g;
-            $guard .= "_INCLUDED";
-            print $out "#ifndef $guard\n";
-            print $out "#define $guard\n";
-        }
-        else {
-            $last_was_empty = ($_ =~ /^\s*$/);
-            print $out $_
-        }
-    }
-
-    if ($guard) {
-        print $out "\n" unless $last_was_empty;
-        print $out "#endif // $guard\n";
-
-        $out->flush();
-        move($out->filename, $filename);
-    }
-}
-
-for (@ARGV) {
-    process_single_file $_
-}

From c791f65ccd87a019b8ad310283202ed9b502828e Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 12 Mar 2015 01:01:07 +0300
Subject: [PATCH 28/35] UAVCAN_VERSION_NUMBER set to 1.0. Although it is not a
 release yet, no major changes are anticipated

---
 libuavcan/include/uavcan/build_config.hpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libuavcan/include/uavcan/build_config.hpp b/libuavcan/include/uavcan/build_config.hpp
index 31c34ecf3f..fac52be812 100644
--- a/libuavcan/include/uavcan/build_config.hpp
+++ b/libuavcan/include/uavcan/build_config.hpp
@@ -8,8 +8,8 @@
 /**
  * UAVCAN version definition
  */
-#define UAVCAN_VERSION_MAJOR    0
-#define UAVCAN_VERSION_MINOR    1
+#define UAVCAN_VERSION_MAJOR    1
+#define UAVCAN_VERSION_MINOR    0
 
 /**
  * UAVCAN_CPP_VERSION - version of the C++ standard used during compilation.

From 5694ea55088582c9563be07c97bc0d0201e92809 Mon Sep 17 00:00:00 2001
From: Jani Hirvinen <jani@jdrones.com>
Date: Mon, 16 Mar 2015 15:53:11 +0700
Subject: [PATCH 29/35] Adding more install instructions

---
 README.md | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/README.md b/README.md
index d49680ef24..c31f2b132c 100644
--- a/README.md
+++ b/README.md
@@ -23,6 +23,14 @@ Prerequisites:
 * CMake 2.8+
 * Optional: static analysis tool for C++ - cppcheck
 
+Installring GTest libraries:
+* [GTest Install guide](http://stackoverflow.com/questions/13513905/how-to-properly-setup-googletest-on-linux)
+
+Install cppcheck
+```bash
+sudo apt-get install cppcheck
+```
+
 Building the debug version and running the unit tests:
 ```bash
 mkdir build

From e17ad9fc008a3d3dc481c3b42ba2e8ce4457af36 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Mon, 16 Mar 2015 13:10:33 +0300
Subject: [PATCH 30/35] README formatting

---
 README.md | 12 ++----------
 1 file changed, 2 insertions(+), 10 deletions(-)

diff --git a/README.md b/README.md
index c31f2b132c..14e62c21de 100644
--- a/README.md
+++ b/README.md
@@ -18,18 +18,10 @@ Despite the fact that the library itself can be used on virtually any platform t
 
 Prerequisites:
 
-* Google test library for C++ - gtest
+* Google test library for C++ - gtest (see [how to install on Debian/Ubuntu](http://stackoverflow.com/questions/13513905/how-to-properly-setup-googletest-on-linux))
 * C++03 *and* C++11 capable compiler with GCC-like interface (e.g. GCC, Clang)
 * CMake 2.8+
-* Optional: static analysis tool for C++ - cppcheck
-
-Installring GTest libraries:
-* [GTest Install guide](http://stackoverflow.com/questions/13513905/how-to-properly-setup-googletest-on-linux)
-
-Install cppcheck
-```bash
-sudo apt-get install cppcheck
-```
+* Optional: static analysis tool for C++ - cppcheck (use Debian/Ubuntu package `cppcheck`)
 
 Building the debug version and running the unit tests:
 ```bash

From 7ecd0a425952a2698668a0327ffcc65f870b34d1 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Mon, 16 Mar 2015 19:34:32 +0300
Subject: [PATCH 31/35] Bit array copy algorithm update - Fixed an error with 1
 bit lengthed copies (see the original discussion at stackoverflow.com)

---
 libuavcan/src/marshal/uc_bit_array_copy.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libuavcan/src/marshal/uc_bit_array_copy.cpp b/libuavcan/src/marshal/uc_bit_array_copy.cpp
index ae516b1f4c..034b752584 100644
--- a/libuavcan/src/marshal/uc_bit_array_copy.cpp
+++ b/libuavcan/src/marshal/uc_bit_array_copy.cpp
@@ -11,7 +11,7 @@
 namespace uavcan
 {
 
-static const unsigned char reverse_mask[]     = { 0x55U, 0x80U, 0xC0U, 0xE0U, 0xF0U, 0xF8U, 0xFCU, 0xFEU, 0xFFU };
+static const unsigned char reverse_mask[]     = { 0x00U, 0x80U, 0xC0U, 0xE0U, 0xF0U, 0xF8U, 0xFCU, 0xFEU, 0xFFU };
 static const unsigned char reverse_mask_xor[] = { 0xFFU, 0x7FU, 0x3FU, 0x1FU, 0x0FU, 0x07U, 0x03U, 0x01U, 0x00U };
 
 #if UAVCAN_TINY
@@ -23,7 +23,7 @@ static const unsigned char reverse_mask_xor[] = { 0xFFU, 0x7FU, 0x3FU, 0x1FU, 0x
         src_len -= CHAR_BIT - dst_offset_modulo;                   \
     } else {                                                       \
         *dst &= reverse_mask[dst_offset_modulo] |                  \
-                reverse_mask_xor[dst_offset_modulo + src_len + 1]; \
+                reverse_mask_xor[dst_offset_modulo + src_len];     \
         c &= reverse_mask[dst_offset_modulo + src_len];            \
         src_len = 0;                                               \
     } } while (0)

From 670e8bda518e4032f5a40e5b48d74ec1b42f72dd Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Mon, 16 Mar 2015 20:01:39 +0300
Subject: [PATCH 32/35] Minor API cleanup in GDTR: regist() -->
 registerDataType()

---
 .../uavcan/node/global_data_type_registry.hpp | 34 +++++++++----------
 .../src/node/uc_global_data_type_registry.cpp | 24 ++++++-------
 .../test/node/global_data_type_registry.cpp   | 31 +++++++++--------
 3 files changed, 46 insertions(+), 43 deletions(-)

diff --git a/libuavcan/include/uavcan/node/global_data_type_registry.hpp b/libuavcan/include/uavcan/node/global_data_type_registry.hpp
index f1b8cbf6dd..3fc788d0ce 100644
--- a/libuavcan/include/uavcan/node/global_data_type_registry.hpp
+++ b/libuavcan/include/uavcan/node/global_data_type_registry.hpp
@@ -70,12 +70,12 @@ public:
     /**
      * Result of data type registration
      */
-    enum RegistResult
+    enum RegistrationResult
     {
-        RegistResultOk,            ///< Success, data type is now registered and can be used.
-        RegistResultCollision,     ///< Data type name or ID is not unique.
-        RegistResultInvalidParams, ///< Invalid input parameters.
-        RegistResultFrozen         ///< Data Type Registery has been frozen and can't be modified anymore.
+        RegistrationResultOk,            ///< Success, data type is now registered and can be used.
+        RegistrationResultCollision,     ///< Data type name or ID is not unique.
+        RegistrationResultInvalidParams, ///< Invalid input parameters.
+        RegistrationResultFrozen         ///< Data Type Registery has been frozen and can't be modified anymore.
     };
 
 private:
@@ -88,8 +88,8 @@ private:
 
     List* selectList(DataTypeKind kind) const;
 
-    RegistResult remove(Entry* dtd);
-    RegistResult registImpl(Entry* dtd);
+    RegistrationResult remove(Entry* dtd);
+    RegistrationResult registImpl(Entry* dtd);
 
 public:
     /**
@@ -108,7 +108,7 @@ public:
      * @param id        Data Type ID for this data type.
      */
     template <typename Type>
-    RegistResult regist(DataTypeID id);
+    RegistrationResult registerDataType(DataTypeID id);
 
     /**
      * Data Type registry needs to be frozen before a node instance can use it in
@@ -205,10 +205,10 @@ struct UAVCAN_EXPORT DefaultDataTypeRegistrator
 {
     DefaultDataTypeRegistrator()
     {
-        const GlobalDataTypeRegistry::RegistResult res =
-            GlobalDataTypeRegistry::instance().regist<Type>(Type::DefaultDataTypeID);
+        const GlobalDataTypeRegistry::RegistrationResult res =
+            GlobalDataTypeRegistry::instance().registerDataType<Type>(Type::DefaultDataTypeID);
 
-        if (res != GlobalDataTypeRegistry::RegistResultOk)
+        if (res != GlobalDataTypeRegistry::RegistrationResultOk)
         {
             handleFatalError("Type reg failed");
         }
@@ -221,24 +221,24 @@ struct UAVCAN_EXPORT DefaultDataTypeRegistrator
  * GlobalDataTypeRegistry
  */
 template <typename Type>
-GlobalDataTypeRegistry::RegistResult GlobalDataTypeRegistry::regist(DataTypeID id)
+GlobalDataTypeRegistry::RegistrationResult GlobalDataTypeRegistry::registerDataType(DataTypeID id)
 {
     if (isFrozen())
     {
-        return RegistResultFrozen;
+        return RegistrationResultFrozen;
     }
     static Entry entry;
     {
-        const RegistResult remove_res = remove(&entry);
-        if (remove_res != RegistResultOk)
+        const RegistrationResult remove_res = remove(&entry);
+        if (remove_res != RegistrationResultOk)
         {
             return remove_res;
         }
     }
     entry = Entry(DataTypeKind(Type::DataTypeKind), id, Type::getDataTypeSignature(), Type::getDataTypeFullName());
     {
-        const RegistResult remove_res = remove(&entry);
-        if (remove_res != RegistResultOk)
+        const RegistrationResult remove_res = remove(&entry);
+        if (remove_res != RegistrationResultOk)
         {
             return remove_res;
         }
diff --git a/libuavcan/src/node/uc_global_data_type_registry.cpp b/libuavcan/src/node/uc_global_data_type_registry.cpp
index 13250d991e..20fa8b03c9 100644
--- a/libuavcan/src/node/uc_global_data_type_registry.cpp
+++ b/libuavcan/src/node/uc_global_data_type_registry.cpp
@@ -27,22 +27,22 @@ GlobalDataTypeRegistry::List* GlobalDataTypeRegistry::selectList(DataTypeKind ki
     }
 }
 
-GlobalDataTypeRegistry::RegistResult GlobalDataTypeRegistry::remove(Entry* dtd)
+GlobalDataTypeRegistry::RegistrationResult GlobalDataTypeRegistry::remove(Entry* dtd)
 {
     if (!dtd)
     {
         UAVCAN_ASSERT(0);
-        return RegistResultInvalidParams;
+        return RegistrationResultInvalidParams;
     }
     if (isFrozen())
     {
-        return RegistResultFrozen;
+        return RegistrationResultFrozen;
     }
 
     List* list = selectList(dtd->descriptor.getKind());
     if (!list)
     {
-        return RegistResultInvalidParams;
+        return RegistrationResultInvalidParams;
     }
 
     list->remove(dtd);       // If this call came from regist<>(), that would be enough
@@ -56,25 +56,25 @@ GlobalDataTypeRegistry::RegistResult GlobalDataTypeRegistry::remove(Entry* dtd)
         }
         p = next;
     }
-    return RegistResultOk;
+    return RegistrationResultOk;
 }
 
-GlobalDataTypeRegistry::RegistResult GlobalDataTypeRegistry::registImpl(Entry* dtd)
+GlobalDataTypeRegistry::RegistrationResult GlobalDataTypeRegistry::registImpl(Entry* dtd)
 {
     if (!dtd || (dtd->descriptor.getID() > DataTypeID::Max))
     {
         UAVCAN_ASSERT(0);
-        return RegistResultInvalidParams;
+        return RegistrationResultInvalidParams;
     }
     if (isFrozen())
     {
-        return RegistResultFrozen;
+        return RegistrationResultFrozen;
     }
 
     List* list = selectList(dtd->descriptor.getKind());
     if (!list)
     {
-        return RegistResultInvalidParams;
+        return RegistrationResultInvalidParams;
     }
 
     {   // Collision check
@@ -83,12 +83,12 @@ GlobalDataTypeRegistry::RegistResult GlobalDataTypeRegistry::registImpl(Entry* d
         {
             if (p->descriptor.getID() == dtd->descriptor.getID()) // ID collision
             {
-                return RegistResultCollision;
+                return RegistrationResultCollision;
             }
             if (!std::strncmp(p->descriptor.getFullName(), dtd->descriptor.getFullName(),
                               DataTypeDescriptor::MaxFullNameLen))                        // Name collision
             {
-                return RegistResultCollision;
+                return RegistrationResultCollision;
             }
             p = p->getNextListNode();
         }
@@ -122,7 +122,7 @@ GlobalDataTypeRegistry::RegistResult GlobalDataTypeRegistry::registImpl(Entry* d
         }
     }
 #endif
-    return RegistResultOk;
+    return RegistrationResultOk;
 }
 
 GlobalDataTypeRegistry& GlobalDataTypeRegistry::instance()
diff --git a/libuavcan/test/node/global_data_type_registry.cpp b/libuavcan/test/node/global_data_type_registry.cpp
index 9e8db32e6a..63dc87e5f3 100644
--- a/libuavcan/test/node/global_data_type_registry.cpp
+++ b/libuavcan/test/node/global_data_type_registry.cpp
@@ -95,8 +95,9 @@ TEST(GlobalDataTypeRegistry, Basic)
     /*
      * Runtime registrations
      */
-    ASSERT_EQ(GlobalDataTypeRegistry::RegistResultOk,
-              GlobalDataTypeRegistry::instance().regist<DataTypeAService>(DataTypeAService::DefaultDataTypeID));
+    ASSERT_EQ(GlobalDataTypeRegistry::RegistrationResultOk,
+              GlobalDataTypeRegistry::instance().registerDataType<DataTypeAService>(
+                  DataTypeAService::DefaultDataTypeID));
 
     ASSERT_EQ(2, GlobalDataTypeRegistry::instance().getNumMessageTypes());
     ASSERT_EQ(1, GlobalDataTypeRegistry::instance().getNumServiceTypes());
@@ -109,8 +110,10 @@ TEST(GlobalDataTypeRegistry, Basic)
     /*
      * Runtime re-registration
      */
-    ASSERT_EQ(GlobalDataTypeRegistry::RegistResultOk, GlobalDataTypeRegistry::instance().regist<DataTypeAService>(147));
-    ASSERT_EQ(GlobalDataTypeRegistry::RegistResultOk, GlobalDataTypeRegistry::instance().regist<DataTypeB>(741));
+    ASSERT_EQ(GlobalDataTypeRegistry::RegistrationResultOk,
+              GlobalDataTypeRegistry::instance().registerDataType<DataTypeAService>(147));
+    ASSERT_EQ(GlobalDataTypeRegistry::RegistrationResultOk,
+              GlobalDataTypeRegistry::instance().registerDataType<DataTypeB>(741));
 
     ASSERT_EQ(2, GlobalDataTypeRegistry::instance().getNumMessageTypes());
     ASSERT_EQ(1, GlobalDataTypeRegistry::instance().getNumServiceTypes());
@@ -129,11 +132,11 @@ TEST(GlobalDataTypeRegistry, Basic)
     /*
      * These types will be necessary for the aggregate signature test
      */
-    ASSERT_EQ(GlobalDataTypeRegistry::RegistResultCollision,
-              GlobalDataTypeRegistry::instance().regist<DataTypeC>(741));                        // ID COLLISION
+    ASSERT_EQ(GlobalDataTypeRegistry::RegistrationResultCollision,
+              GlobalDataTypeRegistry::instance().registerDataType<DataTypeC>(741));                   // ID COLLISION
 
-    ASSERT_EQ(GlobalDataTypeRegistry::RegistResultOk,
-              GlobalDataTypeRegistry::instance().regist<DataTypeC>(DataTypeC::DefaultDataTypeID));
+    ASSERT_EQ(GlobalDataTypeRegistry::RegistrationResultOk,
+              GlobalDataTypeRegistry::instance().registerDataType<DataTypeC>(DataTypeC::DefaultDataTypeID));
     uavcan::DefaultDataTypeRegistrator<DataTypeD> reg_DataTypeD;
 
     GlobalDataTypeRegistry::instance().getDataTypeIDMask(uavcan::DataTypeKindMessage, dtmask);
@@ -154,14 +157,14 @@ TEST(GlobalDataTypeRegistry, Basic)
      */
     GlobalDataTypeRegistry::instance().freeze();
 
-    ASSERT_EQ(GlobalDataTypeRegistry::RegistResultFrozen,
-              GlobalDataTypeRegistry::instance().regist<DataTypeAService>(555)); // Rejected
+    ASSERT_EQ(GlobalDataTypeRegistry::RegistrationResultFrozen,
+              GlobalDataTypeRegistry::instance().registerDataType<DataTypeAService>(555)); // Rejected
 
-    ASSERT_EQ(GlobalDataTypeRegistry::RegistResultFrozen,
-              GlobalDataTypeRegistry::instance().regist<DataTypeAMessage>(999)); // Rejected
+    ASSERT_EQ(GlobalDataTypeRegistry::RegistrationResultFrozen,
+              GlobalDataTypeRegistry::instance().registerDataType<DataTypeAMessage>(999)); // Rejected
 
-    ASSERT_EQ(GlobalDataTypeRegistry::RegistResultFrozen,
-              GlobalDataTypeRegistry::instance().regist<DataTypeB>(888));        // Rejected
+    ASSERT_EQ(GlobalDataTypeRegistry::RegistrationResultFrozen,
+              GlobalDataTypeRegistry::instance().registerDataType<DataTypeB>(888));        // Rejected
 
     /*
      * Searching

From 14c176015a797bbb14c048d9e1cf537932ffecd3 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Mon, 16 Mar 2015 20:18:36 +0300
Subject: [PATCH 33/35] GDTR find() overload for name only

---
 .../include/uavcan/node/global_data_type_registry.hpp  |  9 +++++++++
 libuavcan/src/node/uc_global_data_type_registry.cpp    | 10 ++++++++++
 libuavcan/test/node/global_data_type_registry.cpp      |  3 +++
 3 files changed, 22 insertions(+)

diff --git a/libuavcan/include/uavcan/node/global_data_type_registry.hpp b/libuavcan/include/uavcan/node/global_data_type_registry.hpp
index 3fc788d0ce..7e27d92886 100644
--- a/libuavcan/include/uavcan/node/global_data_type_registry.hpp
+++ b/libuavcan/include/uavcan/node/global_data_type_registry.hpp
@@ -126,6 +126,15 @@ public:
 
     /**
      * Finds data type descriptor by full data type name, e.g. "uavcan.protocol.NodeStatus".
+     * Messages are searched first, then services.
+     * Returns null pointer if the data type with this name is not registered.
+     * @param name  Full data type name
+     * @return      Descriptor for this data type or null pointer if not found
+     */
+    const DataTypeDescriptor* find(const char* name) const;
+
+    /**
+     * Finds data type descriptor by full data type name, e.g. "uavcan.protocol.NodeStatus", and data type kind.
      * Returns null pointer if the data type with this name is not registered.
      * @param kind  Data Type Kind - message or service
      * @param name  Full data type name
diff --git a/libuavcan/src/node/uc_global_data_type_registry.cpp b/libuavcan/src/node/uc_global_data_type_registry.cpp
index 20fa8b03c9..aa96308d0d 100644
--- a/libuavcan/src/node/uc_global_data_type_registry.cpp
+++ b/libuavcan/src/node/uc_global_data_type_registry.cpp
@@ -141,6 +141,16 @@ void GlobalDataTypeRegistry::freeze()
     }
 }
 
+const DataTypeDescriptor* GlobalDataTypeRegistry::find(const char* name) const
+{
+    const DataTypeDescriptor* desc = find(DataTypeKindMessage, name);
+    if (desc == NULL)
+    {
+        desc = find(DataTypeKindService, name);
+    }
+    return desc;
+}
+
 const DataTypeDescriptor* GlobalDataTypeRegistry::find(DataTypeKind kind, const char* name) const
 {
     if (!name)
diff --git a/libuavcan/test/node/global_data_type_registry.cpp b/libuavcan/test/node/global_data_type_registry.cpp
index 63dc87e5f3..7edf41d2b2 100644
--- a/libuavcan/test/node/global_data_type_registry.cpp
+++ b/libuavcan/test/node/global_data_type_registry.cpp
@@ -171,6 +171,7 @@ TEST(GlobalDataTypeRegistry, Basic)
      */
     const uavcan::DataTypeDescriptor* pdtd = NULL;
     ASSERT_FALSE(GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindMessage, "Nonexistent"));
+    ASSERT_FALSE(GlobalDataTypeRegistry::instance().find("Nonexistent"));
     ASSERT_FALSE(GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindMessage, 987));
     // Asking for service, but this is a message:
     ASSERT_FALSE(GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindService, "my_namespace.DataTypeB"));
@@ -178,12 +179,14 @@ TEST(GlobalDataTypeRegistry, Basic)
 
     ASSERT_TRUE((pdtd = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindMessage,
                                                                 "my_namespace.DataTypeB")));
+    ASSERT_TRUE((pdtd = GlobalDataTypeRegistry::instance().find("my_namespace.DataTypeB")));
     ASSERT_EQ(extractDescriptor<DataTypeB>(741), *pdtd);
     ASSERT_TRUE((pdtd = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindMessage, 741)));
     ASSERT_EQ(extractDescriptor<DataTypeB>(741), *pdtd);
 
     ASSERT_TRUE((pdtd = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindMessage,
                                                                 "my_namespace.DataTypeA")));
+    ASSERT_TRUE((pdtd = GlobalDataTypeRegistry::instance().find("my_namespace.DataTypeA")));
     ASSERT_EQ(extractDescriptor<DataTypeAMessage>(), *pdtd);
     ASSERT_TRUE((pdtd = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindMessage, uavcan::DataTypeID(0))));
     ASSERT_EQ(extractDescriptor<DataTypeAMessage>(), *pdtd);

From f2cfed70cb4b3b24f58e15fefc2e21c553aac271 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Mon, 16 Mar 2015 23:35:37 +0300
Subject: [PATCH 34/35] GetDataTypeInfo now can be requested either by dtid/id,
 or by name

---
 .../protocol/552.GetDataTypeInfo.uavcan       | 18 ++++--
 dsdl/uavcan/protocol/DataTypeKind.uavcan      |  6 +-
 .../protocol/uc_data_type_info_provider.cpp   | 56 +++++++++++++-----
 .../test/protocol/data_type_info_provider.cpp | 59 ++++++++++++++++++-
 4 files changed, 114 insertions(+), 25 deletions(-)

diff --git a/dsdl/uavcan/protocol/552.GetDataTypeInfo.uavcan b/dsdl/uavcan/protocol/552.GetDataTypeInfo.uavcan
index 8392045c26..c744ad707a 100644
--- a/dsdl/uavcan/protocol/552.GetDataTypeInfo.uavcan
+++ b/dsdl/uavcan/protocol/552.GetDataTypeInfo.uavcan
@@ -1,13 +1,23 @@
 #
 # Get the implementation details of a given data type.
 #
+# Request is interpreted as follows:
+#  - If the field 'name' is empty, the fields 'kind' and 'id' will be used to identify the data type.
+#  - If the field 'name' is non-empty, it will be used to identify the data type; the
+#    fields 'kind' and 'id' will be ignored.
+#
 
-uint16 id
-DataTypeKind kind
+uint16 id                   # Ignored if 'name' is non-empty
+DataTypeKind kind           # Ignored if 'name' is non-empty
+
+uint8[<=80] name            # Full data type name, e.g. "uavcan.protocol.GetDataTypeInfo"
 
 ---
 
-uint64 signature            # Data type signature
+uint64 signature            # Data type signature; valid only if the data type is known (see MASK_KNOWN)
+
+uint16 id                   # Valid only if the data type is known (see MASK_KNOWN)
+DataTypeKind kind           # Ditto
 
 uint8 MASK_KNOWN      = 1   # This data type is defined
 uint8 MASK_SUBSCRIBED = 2   # Subscribed to messages of this type
@@ -15,4 +25,4 @@ uint8 MASK_PUBLISHING = 4   # Publishing messages of this type
 uint8 MASK_SERVING    = 8   # Providing service of this type
 uint8 mask
 
-uint8[<=80] name            # Full data type name, e.g. "uavcan.protocol.GetDataTypeInfo"
+uint8[<=80] name            # Full data type name; valid only if the data type is known (see MASK_KNOWN)
diff --git a/dsdl/uavcan/protocol/DataTypeKind.uavcan b/dsdl/uavcan/protocol/DataTypeKind.uavcan
index 925a575e0c..58dd68b056 100644
--- a/dsdl/uavcan/protocol/DataTypeKind.uavcan
+++ b/dsdl/uavcan/protocol/DataTypeKind.uavcan
@@ -2,6 +2,6 @@
 # Data type kind (message or service).
 #
 
-uint2 SERVICE = 0
-uint2 MESSAGE = 1
-uint2 value
+uint8 SERVICE = 0
+uint8 MESSAGE = 1
+uint8 value
diff --git a/libuavcan/src/protocol/uc_data_type_info_provider.cpp b/libuavcan/src/protocol/uc_data_type_info_provider.cpp
index 38a0a023b5..c736d06842 100644
--- a/libuavcan/src/protocol/uc_data_type_info_provider.cpp
+++ b/libuavcan/src/protocol/uc_data_type_info_provider.cpp
@@ -35,43 +35,67 @@ void DataTypeInfoProvider::handleComputeAggregateTypeSignatureRequest(
 void DataTypeInfoProvider::handleGetDataTypeInfoRequest(const protocol::GetDataTypeInfo::Request& request,
                                                         protocol::GetDataTypeInfo::Response& response)
 {
-    const DataTypeKind kind = DataTypeKind(request.kind.value);
-    if (!isValidDataTypeKind(kind))
+    /*
+     * Asking the Global Data Type Registry for the matching type descriptor, either by name or by ID
+     */
+    const DataTypeDescriptor* desc = NULL;
+
+    if (request.name.empty())
     {
-        UAVCAN_TRACE("DataTypeInfoProvider", "GetDataTypeInfo request with invalid DataTypeKind %i", kind);
-        return;
+        response.id   = request.id;   // Pre-setting the fields so they have meaningful values even in
+        response.kind = request.kind; // ...case of failure.
+
+        if (!isValidDataTypeKind(DataTypeKind(request.kind.value)))
+        {
+            UAVCAN_TRACE("DataTypeInfoProvider", "GetDataTypeInfo request with invalid DataTypeKind %i",
+                         static_cast<int>(request.kind.value));
+            return;
+        }
+
+        desc = GlobalDataTypeRegistry::instance().find(DataTypeKind(request.kind.value), request.id);
+    }
+    else
+    {
+        response.name = request.name;
+
+        desc = GlobalDataTypeRegistry::instance().find(request.name.c_str());
     }
 
-    const DataTypeDescriptor* const desc = GlobalDataTypeRegistry::instance().find(kind, request.id);
-    if (!desc)
+    if (desc == NULL)
     {
-        UAVCAN_TRACE("DataTypeInfoProvider", "Cannot process GetDataTypeInfo for nonexistent type dtid=%i dtk=%i",
-                     int(request.id), int(request.kind.value));
+        UAVCAN_TRACE("DataTypeInfoProvider",
+                     "Cannot process GetDataTypeInfo for nonexistent type: dtid=%i dtk=%i name='%s'",
+                     static_cast<int>(request.id), static_cast<int>(request.kind.value), request.name.c_str());
         return;
     }
 
     UAVCAN_TRACE("DataTypeInfoProvider", "GetDataTypeInfo request for %s", desc->toString().c_str());
 
-    response.signature = desc->getSignature().get();
-    response.name = desc->getFullName();
-    response.mask = protocol::GetDataTypeInfo::Response::MASK_KNOWN;
+    /*
+     * Filling the response struct
+     */
+    response.signature  = desc->getSignature().get();
+    response.id         = desc->getID().get();
+    response.kind.value = desc->getKind();
+    response.mask       = protocol::GetDataTypeInfo::Response::MASK_KNOWN;
+    response.name       = desc->getFullName();
 
     const Dispatcher& dispatcher = getNode().getDispatcher();
 
-    if (request.kind.value == protocol::DataTypeKind::SERVICE)
+    if (desc->getKind() == DataTypeKindService)
     {
-        if (dispatcher.hasServer(request.id))
+        if (dispatcher.hasServer(desc->getID().get()))
         {
             response.mask |= protocol::GetDataTypeInfo::Response::MASK_SERVING;
         }
     }
-    else if (request.kind.value == protocol::DataTypeKind::MESSAGE)
+    else if (desc->getKind() == DataTypeKindMessage)
     {
-        if (dispatcher.hasSubscriber(request.id))
+        if (dispatcher.hasSubscriber(desc->getID().get()))
         {
             response.mask |= protocol::GetDataTypeInfo::Response::MASK_SUBSCRIBED;
         }
-        if (dispatcher.hasPublisher(request.id))
+        if (dispatcher.hasPublisher(desc->getID().get()))
         {
             response.mask |= protocol::GetDataTypeInfo::Response::MASK_PUBLISHING;
         }
diff --git a/libuavcan/test/protocol/data_type_info_provider.cpp b/libuavcan/test/protocol/data_type_info_provider.cpp
index 046d6074fa..add46c17ac 100644
--- a/libuavcan/test/protocol/data_type_info_provider.cpp
+++ b/libuavcan/test/protocol/data_type_info_provider.cpp
@@ -23,22 +23,39 @@ static bool validateDataTypeInfoResponse(const std::auto_ptr<ServiceCallResult<G
 {
     if (!resp.get())
     {
+        std::cout << "Null response" << std::endl;
         return false;
     }
     if (!resp->isSuccessful())
     {
+        std::cout << "Request was not successful" << std::endl;
         return false;
     }
     if (resp->response.name != DataType::getDataTypeFullName())
     {
+        std::cout << "Type name mismatch: '"
+            << resp->response.name.c_str() << "' '"
+            << DataType::getDataTypeFullName() << "'" << std::endl;
         return false;
     }
     if (DataType::getDataTypeSignature().get() != resp->response.signature)
     {
+        std::cout << "Signature mismatch" << std::endl;
         return false;
     }
     if (resp->response.mask != mask)
     {
+        std::cout << "Mask mismatch" << std::endl;
+        return false;
+    }
+    if (resp->response.kind.value != DataType::DataTypeKind)
+    {
+        std::cout << "Kind mismatch" << std::endl;
+        return false;
+    }
+    if (resp->response.id != DataType::DefaultDataTypeID)
+    {
+        std::cout << "DTID mismatch" << std::endl;
         return false;
     }
     return true;
@@ -75,9 +92,25 @@ TEST(DataTypeInfoProvider, Basic)
                                                               GetDataTypeInfo::Response::MASK_SERVING));
     ASSERT_EQ(1, gdti_cln.collector.result->server_node_id.get());
 
+    /*
+     * GetDataTypeInfo request for GetDataTypeInfo by name
+     */
+    gdti_request = GetDataTypeInfo::Request();
+    gdti_request.id = 999;                             // Intentionally wrong
+    gdti_request.kind.value = DataTypeKind::MESSAGE;   // Intentionally wrong
+    gdti_request.name = "uavcan.protocol.GetDataTypeInfo";
+    ASSERT_LE(0, gdti_cln.call(1, gdti_request));
+    nodes.spinBoth(MonotonicDuration::fromMSec(10));
+
+    ASSERT_TRUE(validateDataTypeInfoResponse<GetDataTypeInfo>(gdti_cln.collector.result,
+                                                              GetDataTypeInfo::Response::MASK_KNOWN |
+                                                              GetDataTypeInfo::Response::MASK_SERVING));
+    ASSERT_EQ(1, gdti_cln.collector.result->server_node_id.get());
+
     /*
      * GetDataTypeInfo request for NodeStatus - not used yet
      */
+    gdti_request = GetDataTypeInfo::Request();
     gdti_request.id = NodeStatus::DefaultDataTypeID;
     gdti_request.kind.value = DataTypeKind::MESSAGE;
     ASSERT_LE(0, gdti_cln.call(1, gdti_request));
@@ -107,15 +140,37 @@ TEST(DataTypeInfoProvider, Basic)
     /*
      * Requesting a non-existent type
      */
+    gdti_request = GetDataTypeInfo::Request();
     gdti_request.id = ComputeAggregateTypeSignature::DefaultDataTypeID;
-    gdti_request.kind.value = 0xFF;               // INVALID VALUE
+    gdti_request.kind.value = 3;                 // INVALID VALUE
     ASSERT_LE(0, gdti_cln.call(1, gdti_request));
     nodes.spinBoth(MonotonicDuration::fromMSec(10));
 
     ASSERT_TRUE(gdti_cln.collector.result.get());
     ASSERT_TRUE(gdti_cln.collector.result->isSuccessful());
     ASSERT_EQ(1, gdti_cln.collector.result->server_node_id.get());
-    ASSERT_TRUE(gdti_cln.collector.result->response == GetDataTypeInfo::Response());  // Empty response
+    ASSERT_EQ(0, gdti_cln.collector.result->response.mask);
+    ASSERT_TRUE(gdti_cln.collector.result->response.name.empty());  // Empty name
+    ASSERT_EQ(gdti_request.id, gdti_cln.collector.result->response.id);
+    ASSERT_EQ(gdti_request.kind.value, gdti_cln.collector.result->response.kind.value);
+
+    /*
+     * Requesting a non-existent type by name
+     */
+    gdti_request = GetDataTypeInfo::Request();
+    gdti_request.id = 999;                        // Intentionally wrong
+    gdti_request.kind.value = 3;                  // Intentionally wrong
+    gdti_request.name = "uavcan.equipment.gnss.Fix";
+    ASSERT_LE(0, gdti_cln.call(1, gdti_request));
+    nodes.spinBoth(MonotonicDuration::fromMSec(10));
+
+    ASSERT_TRUE(gdti_cln.collector.result.get());
+    ASSERT_TRUE(gdti_cln.collector.result->isSuccessful());
+    ASSERT_EQ(1, gdti_cln.collector.result->server_node_id.get());
+    ASSERT_EQ(0, gdti_cln.collector.result->response.mask);
+    ASSERT_EQ("uavcan.equipment.gnss.Fix", gdti_cln.collector.result->response.name);
+    ASSERT_EQ(0, gdti_cln.collector.result->response.id);
+    ASSERT_EQ(0, gdti_cln.collector.result->response.kind.value);
 
     /*
      * ComputeAggregateTypeSignature test

From 2d7e20b88510bce0532a36dfdd3d191b130297fd Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Mon, 16 Mar 2015 23:43:42 +0300
Subject: [PATCH 35/35] Improved doc for PanicBroadcaster

---
 libuavcan/include/uavcan/protocol/panic_broadcaster.hpp | 6 ++++--
 libuavcan/src/protocol/uc_panic_broadcaster.cpp         | 4 ++--
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/libuavcan/include/uavcan/protocol/panic_broadcaster.hpp b/libuavcan/include/uavcan/protocol/panic_broadcaster.hpp
index 2976933919..c05a55fe2e 100644
--- a/libuavcan/include/uavcan/protocol/panic_broadcaster.hpp
+++ b/libuavcan/include/uavcan/protocol/panic_broadcaster.hpp
@@ -32,10 +32,12 @@ public:
     }
 
     /**
-     * Begin broadcasting at the standard interval.
+     * Begin broadcasting at the standard interval (see BROADCASTING_INTERVAL_MS).
      * This method does not block and can't fail.
+     * @param short_reason Short ASCII string that describes the reason of the panic, 7 characters max.
+     *                     If the string exceeds 7 characters, it will be truncated.
      */
-    void panic(const char* short_reason);
+    void panic(const char* short_reason_description);
 
     /**
      * Stop broadcasting immediately.
diff --git a/libuavcan/src/protocol/uc_panic_broadcaster.cpp b/libuavcan/src/protocol/uc_panic_broadcaster.cpp
index 059e288320..8c73929586 100644
--- a/libuavcan/src/protocol/uc_panic_broadcaster.cpp
+++ b/libuavcan/src/protocol/uc_panic_broadcaster.cpp
@@ -22,10 +22,10 @@ void PanicBroadcaster::handleTimerEvent(const TimerEvent&)
     publishOnce();
 }
 
-void PanicBroadcaster::panic(const char* short_reason)
+void PanicBroadcaster::panic(const char* short_reason_description)
 {
     msg_.reason_text.clear();
-    const char* p = short_reason;
+    const char* p = short_reason_description;
     while (p && *p)
     {
         if (msg_.reason_text.size() == msg_.reason_text.capacity())