Merge branch 'master' into dsdl_review

.gitignore

@@ -10,8 +10,8 @@ __pycache__
 *.pyc
 
 # Eclipse
-.metadata/*
+.metadata
-.settings/*
+.settings
 .project
 .cproject
 .pydevproject

README.md

@@ -18,10 +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
+* Optional: static analysis tool for C++ - cppcheck (use Debian/Ubuntu package `cppcheck`)
 
 Building the debug version and running the unit tests:
 ```bash
@@ -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.

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
+uint16 id                   # Ignored if 'name' is non-empty
-DataTypeKind kind
+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)

dsdl/uavcan/protocol/DataTypeKind.uavcan

@@ -2,6 +2,6 @@
 # Data type kind (message or service).
 #
 
-uint2 SERVICE = 0
+uint8 SERVICE = 0
-uint2 MESSAGE = 1
+uint8 MESSAGE = 1
-uint2 value
+uint8 value

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 ()

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):

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}

libuavcan/include/uavcan/build_config.hpp

@@ -2,13 +2,14 @@
  * 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
  */
-#define UAVCAN_VERSION_MAJOR    0
+#define UAVCAN_VERSION_MAJOR    1
-#define UAVCAN_VERSION_MINOR    1
+#define UAVCAN_VERSION_MINOR    0
 
 /**
  * UAVCAN_CPP_VERSION - version of the C++ standard used during compilation.
@@ -58,6 +59,22 @@
 # 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.
@@ -196,3 +213,5 @@ static const unsigned FloatComparisonEpsilonMult = 10;
 #endif
 
 }
+
+#endif // UAVCAN_BUILD_CONFIG_HPP_INCLUDED

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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>
@@ -207,10 +208,13 @@ 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_; }
 };
 
 // ----------------------------------------------------------------------------
@@ -284,3 +288,5 @@ genericStart(bool (Dispatcher::*registration_method)(TransferListenerBase*))
 
 
 }
+
+#endif // UAVCAN_NODE_GENERIC_SUBSCRIBER_HPP_INCLUDED

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>
@@ -69,12 +70,12 @@ public:
     /**
      * Result of data type registration
      */
-    enum RegistResult
+    enum RegistrationResult
     {
-        RegistResultOk,            ///< Success, data type is now registered and can be used.
+        RegistrationResultOk,            ///< Success, data type is now registered and can be used.
-        RegistResultCollision,     ///< Data type name or ID is not unique.
+        RegistrationResultCollision,     ///< Data type name or ID is not unique.
-        RegistResultInvalidParams, ///< Invalid input parameters.
+        RegistrationResultInvalidParams, ///< Invalid input parameters.
-        RegistResultFrozen         ///< Data Type Registery has been frozen and can't be modified anymore.
+        RegistrationResultFrozen         ///< Data Type Registery has been frozen and can't be modified anymore.
     };
 
 private:
@@ -87,8 +88,8 @@ private:
 
     List* selectList(DataTypeKind kind) const;
 
-    RegistResult remove(Entry* dtd);
+    RegistrationResult remove(Entry* dtd);
-    RegistResult registImpl(Entry* dtd);
+    RegistrationResult registImpl(Entry* dtd);
 
 public:
     /**
@@ -107,7 +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
@@ -125,6 +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
@@ -204,10 +214,10 @@ struct UAVCAN_EXPORT DefaultDataTypeRegistrator
 {
     DefaultDataTypeRegistrator()
     {
-        const GlobalDataTypeRegistry::RegistResult res =
+        const GlobalDataTypeRegistry::RegistrationResult res =
-            GlobalDataTypeRegistry::instance().regist<Type>(Type::DefaultDataTypeID);
+            GlobalDataTypeRegistry::instance().registerDataType<Type>(Type::DefaultDataTypeID);
 
-        if (res != GlobalDataTypeRegistry::RegistResultOk)
+        if (res != GlobalDataTypeRegistry::RegistrationResultOk)
         {
             handleFatalError("Type reg failed");
         }
@@ -220,24 +230,24 @@ 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);
+        const RegistrationResult remove_res = remove(&entry);
-        if (remove_res != RegistResultOk)
+        if (remove_res != RegistrationResultOk)
         {
             return remove_res;
         }
     }
     entry = Entry(DataTypeKind(Type::DataTypeKind), id, Type::getDataTypeSignature(), Type::getDataTypeFullName());
     {
-        const RegistResult remove_res = remove(&entry);
+        const RegistrationResult remove_res = remove(&entry);
-        if (remove_res != RegistResultOk)
+        if (remove_res != RegistrationResultOk)
         {
             return remove_res;
         }
@@ -246,3 +256,5 @@ GlobalDataTypeRegistry::RegistResult GlobalDataTypeRegistry::regist(DataTypeID i
 }
 
 }
+
+#endif // UAVCAN_NODE_GLOBAL_DATA_TYPE_REGISTRY_HPP_INCLUDED

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

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

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

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

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

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

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

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

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

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

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

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>
@@ -148,52 +149,52 @@ 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);
     }
@@ -207,20 +208,33 @@ 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;
+        if (level >= level_ || level >= getExternalSinkLevel())
-        msg_buf_.source = source;
+        {
-        msg_buf_.text.clear();
+            msg_buf_.level.value = level;
-        CharArrayFormatter<typename protocol::debug::LogMessage::FieldTypes::text> formatter(msg_buf_.text);
+            msg_buf_.source = source;
-        formatter.write(format, args...);
+            msg_buf_.text.clear();
-        return log(msg_buf_);
+            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
 
 }
+
+#endif // UAVCAN_PROTOCOL_LOGGER_HPP_INCLUDED

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

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>
@@ -128,3 +129,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_PROTOCOL_NODE_STATUS_MONITOR_HPP_INCLUDED

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

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>
@@ -31,10 +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.
@@ -47,3 +50,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_PROTOCOL_PANIC_BROADCASTER_HPP_INCLUDED

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

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

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

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

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

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

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

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>
@@ -164,6 +165,9 @@ public:
 
     CanIfacePerfCounters getIfacePerfCounters(uint8_t iface_index) const;
 
+    const ICanDriver& getCanDriver() const { return driver_; }
+    ICanDriver& getCanDriver()             { return driver_; }
+
     /**
      * Returns:
      *  0 - rejected/timedout/enqueued
@@ -176,3 +180,5 @@ public:
 };
 
 }
+
+#endif // UAVCAN_TRANSPORT_CAN_IO_HPP_INCLUDED

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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>
@@ -99,9 +100,9 @@ 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 +114,9 @@ template <typename T>
 template <typename Predicate>
 void LinkedListRoot<T>::insertBefore(T* node, Predicate predicate)
 {
-    UAVCAN_ASSERT(node);
     if (node == NULL)
     {
+        UAVCAN_ASSERT(0);
         return;
     }
 
@@ -170,3 +171,5 @@ void LinkedListRoot<T>::remove(const T* node)
 }
 
 }
+
+#endif // UAVCAN_UTIL_LINKED_LIST_HPP_INCLUDED

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

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

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

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>
@@ -479,8 +480,11 @@ 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
 }
 
 }
+
+#endif // UAVCAN_UTIL_TEMPLATES_HPP_INCLUDED

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)

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()
@@ -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)

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);
+        response.id   = request.id;   // Pre-setting the fields so they have meaningful values even in
-        return;
+        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 == NULL)
-    if (!desc)
     {
-        UAVCAN_TRACE("DataTypeInfoProvider", "Cannot process GetDataTypeInfo for nonexistent type dtid=%i dtk=%i",
+        UAVCAN_TRACE("DataTypeInfoProvider",
-                     int(request.id), int(request.kind.value));
+                     "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();
+     * Filling the response struct
-    response.mask = protocol::GetDataTypeInfo::Response::MASK_KNOWN;
+     */
+    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;
         }

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;
+        if (level >= level_ || level >= getExternalSinkLevel())
-        msg_buf_.source = source;
+        {
-        msg_buf_.text = text;
+            msg_buf_.level.value = level;
-        return log(msg_buf_);
+            msg_buf_.source = source;
+            msg_buf_.text = text;
+            return log(msg_buf_);
+        }
+        return 0;
     }
-    return 0;
+#if UAVCAN_EXCEPTIONS
+    catch (...)
+    {
+        return -ErrFailure;
+    }
+#endif
 }
 
 #endif

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())

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)

libuavcan/test/node/global_data_type_registry.cpp

@@ -95,8 +95,9 @@ TEST(GlobalDataTypeRegistry, Basic)
     /*
      * Runtime registrations
      */
-    ASSERT_EQ(GlobalDataTypeRegistry::RegistResultOk,
+    ASSERT_EQ(GlobalDataTypeRegistry::RegistrationResultOk,
-              GlobalDataTypeRegistry::instance().regist<DataTypeAService>(DataTypeAService::DefaultDataTypeID));
+              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::RegistrationResultOk,
-    ASSERT_EQ(GlobalDataTypeRegistry::RegistResultOk, GlobalDataTypeRegistry::instance().regist<DataTypeB>(741));
+              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,
+    ASSERT_EQ(GlobalDataTypeRegistry::RegistrationResultCollision,
-              GlobalDataTypeRegistry::instance().regist<DataTypeC>(741));                        // ID COLLISION
+              GlobalDataTypeRegistry::instance().registerDataType<DataTypeC>(741));                   // ID COLLISION
 
-    ASSERT_EQ(GlobalDataTypeRegistry::RegistResultOk,
+    ASSERT_EQ(GlobalDataTypeRegistry::RegistrationResultOk,
-              GlobalDataTypeRegistry::instance().regist<DataTypeC>(DataTypeC::DefaultDataTypeID));
+              GlobalDataTypeRegistry::instance().registerDataType<DataTypeC>(DataTypeC::DefaultDataTypeID));
     uavcan::DefaultDataTypeRegistrator<DataTypeD> reg_DataTypeD;
 
     GlobalDataTypeRegistry::instance().getDataTypeIDMask(uavcan::DataTypeKindMessage, dtmask);
@@ -154,20 +157,21 @@ TEST(GlobalDataTypeRegistry, Basic)
      */
     GlobalDataTypeRegistry::instance().freeze();
 
-    ASSERT_EQ(GlobalDataTypeRegistry::RegistResultFrozen,
+    ASSERT_EQ(GlobalDataTypeRegistry::RegistrationResultFrozen,
-              GlobalDataTypeRegistry::instance().regist<DataTypeAService>(555)); // Rejected
+              GlobalDataTypeRegistry::instance().registerDataType<DataTypeAService>(555)); // Rejected
 
-    ASSERT_EQ(GlobalDataTypeRegistry::RegistResultFrozen,
+    ASSERT_EQ(GlobalDataTypeRegistry::RegistrationResultFrozen,
-              GlobalDataTypeRegistry::instance().regist<DataTypeAMessage>(999)); // Rejected
+              GlobalDataTypeRegistry::instance().registerDataType<DataTypeAMessage>(999)); // Rejected
 
-    ASSERT_EQ(GlobalDataTypeRegistry::RegistResultFrozen,
+    ASSERT_EQ(GlobalDataTypeRegistry::RegistrationResultFrozen,
-              GlobalDataTypeRegistry::instance().regist<DataTypeB>(888));        // Rejected
+              GlobalDataTypeRegistry::instance().registerDataType<DataTypeB>(888));        // Rejected
 
     /*
      * Searching
      */
     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"));
@@ -175,12 +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);

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

libuavcan_drivers/linux/CMakeLists.txt

@@ -11,6 +11,11 @@ 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 +41,28 @@ 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)
+        

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::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]);
+        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;
 }

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::cerr << "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;
 }

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::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]);
+        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;
 }

libuavcan_drivers/linux/apps/uavcan_nodetool.cpp

@@ -104,12 +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)
@@ -347,14 +352,22 @@ 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::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]);
+        const std::vector<std::string> iface_names(argv + 2, argv + argc);
+        uavcan_linux::NodePtr node = initNode(iface_names, self_node_id, "org.uavcan.linux_app.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;
 }

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::cerr << "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.linux_app.node_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;
 }

libuavcan_drivers/linux/scripts/vcan_init

@@ -1,4 +1,4 @@
-#!/bin/sh
+#!/bin/bash
 #
 # Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
 #

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 \

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()
 {