Added config macro UAVCAN_TOSTRING

libuavcan/include/uavcan/data_type.hpp

@@ -6,7 +6,6 @@
 
 #include <cassert>
 #include <cstring>
-#include <string>
 #include <algorithm>
 #include <uavcan/stdint.hpp>
 #include <uavcan/impl_constants.hpp>
@@ -155,10 +154,12 @@ public:
     bool match(DataTypeKind kind, const char* name) const;
     bool match(DataTypeKind kind, DataTypeID id) const;
 
-    std::string toString() const;
-
     bool operator!=(const DataTypeDescriptor& rhs) const { return !operator==(rhs); }
     bool operator==(const DataTypeDescriptor& rhs) const;
+
+#if UAVCAN_TOSTRING
+    std::string toString() const;
+#endif
 };
 
 }

libuavcan/include/uavcan/driver/can.hpp

@@ -7,7 +7,6 @@
 
 #include <cassert>
 #include <algorithm>
-#include <string>
 #include <uavcan/stdint.hpp>
 #include <uavcan/impl_constants.hpp>
 #include <uavcan/driver/system_clock.hpp>
@@ -58,8 +57,10 @@ struct UAVCAN_EXPORT CanFrame
     bool isRemoteTransmissionRequest() const { return id & FlagRTR; }
     bool isErrorFrame()                const { return id & FlagERR; }
 
+#if UAVCAN_TOSTRING
     enum StringRepresentation { StrTight, StrAligned };
     std::string toString(StringRepresentation mode = StrTight) const;
+#endif
 
     /**
      * CAN frames arbitration rules, particularly STD vs EXT:

libuavcan/include/uavcan/dynamic_memory.hpp

@@ -11,6 +11,7 @@
 #include <limits>
 #include <uavcan/stdint.hpp>
 #include <uavcan/util/compile_time.hpp>
+#include <uavcan/impl_constants.hpp>
 
 namespace uavcan
 {

libuavcan/include/uavcan/impl_constants.hpp

@@ -60,6 +60,18 @@
 # define UAVCAN_EXPORT
 #endif
 
+/**
+ * It might make sense to remove toString() methods for an embedded system
+ */
+#ifndef UAVCAN_TOSTRING
+# define UAVCAN_TOSTRING 1
+#endif
+
+#if UAVCAN_TOSTRING
+# include <string>
+# include <cstdio>
+#endif
+
 namespace uavcan
 {
 

libuavcan/include/uavcan/marshal/bit_stream.hpp

@@ -5,7 +5,6 @@
 #pragma once
 
 #include <cassert>
-#include <string>
 #include <uavcan/stdint.hpp>
 #include <uavcan/util/compile_time.hpp>
 #include <uavcan/impl_constants.hpp>
@@ -65,7 +64,9 @@ public:
     int write(const uint8_t* bytes, const int bitlen);
     int read(uint8_t* bytes, const int bitlen);
 
+#if UAVCAN_TOSTRING
     std::string toString() const;
+#endif
 };
 
 }

libuavcan/include/uavcan/time.hpp

@@ -4,10 +4,9 @@
 
 #pragma once
 
-#include <uavcan/stdint.hpp>
 #include <algorithm>
 #include <limits>
-#include <cstdio>
+#include <uavcan/stdint.hpp>
 #include <uavcan/impl_constants.hpp>
 #include <uavcan/util/compile_time.hpp>
 #include <uavcan/Timestamp.hpp>
@@ -83,7 +82,9 @@ public:
 
     enum { StringBufSize = 32 };
     void toString(char buf[StringBufSize]) const;
+#if UAVCAN_TOSTRING
     std::string toString() const;
+#endif
 };
 
 
@@ -164,7 +165,9 @@ public:
 
     enum { StringBufSize = 32 };
     void toString(char buf[StringBufSize]) const;
+#if UAVCAN_TOSTRING
     std::string toString() const;
+#endif
 };
 
 /*
@@ -230,6 +233,8 @@ void TimeBase<T, D>::toString(char buf[StringBufSize]) const
 }
 
 
+#if UAVCAN_TOSTRING
+
 template <typename D>
 std::string DurationBase<D>::toString() const
 {
@@ -246,6 +251,8 @@ std::string TimeBase<T, D>::toString() const
     return std::string(buf);
 }
 
+#endif
+
 
 template <typename Stream, typename D>
 UAVCAN_EXPORT

libuavcan/include/uavcan/transport/can_io.hpp

@@ -31,7 +31,9 @@ struct UAVCAN_EXPORT CanRxFrame : public CanFrame
         : iface_index(0)
     { }
 
+#if UAVCAN_TOSTRING
     std::string toString(StringRepresentation mode = StrTight) const;
+#endif
 };
 
 
@@ -66,7 +68,9 @@ public:
         bool qosHigherThan(const Entry& rhs) const { return qosHigherThan(rhs.frame, Qos(rhs.qos)); }
         bool qosLowerThan(const Entry& rhs)  const { return qosLowerThan(rhs.frame, Qos(rhs.qos)); }
 
+#if UAVCAN_TOSTRING
         std::string toString() const;
+#endif
     };
 
 private:

libuavcan/include/uavcan/transport/frame.hpp

@@ -6,7 +6,6 @@
 
 #include <cassert>
 #include <algorithm>
-#include <string>
 #include <uavcan/transport/transfer.hpp>
 #include <uavcan/transport/can_io.hpp>
 #include <uavcan/impl_constants.hpp>
@@ -82,7 +81,9 @@ public:
     bool operator!=(const Frame& rhs) const { return !operator==(rhs); }
     bool operator==(const Frame& rhs) const;
 
+#if UAVCAN_TOSTRING
     std::string toString() const;
+#endif
 };
 
 
@@ -112,7 +113,9 @@ public:
 
     uint8_t getIfaceIndex() const { return iface_index_; }
 
+#if UAVCAN_TOSTRING
     std::string toString() const;
+#endif
 };
 
 }

libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp

@@ -5,7 +5,6 @@
 #pragma once
 
 #include <cassert>
-#include <string>
 #include <uavcan/stdint.hpp>
 #include <uavcan/impl_constants.hpp>
 #include <uavcan/map.hpp>
@@ -52,7 +51,9 @@ public:
             (destination_node_id_ == rhs.destination_node_id_);
     }
 
+#if UAVCAN_TOSTRING
     std::string toString() const;
+#endif
 };
 UAVCAN_PACKED_END
 

libuavcan/include/uavcan/transport/transfer_buffer.hpp

@@ -61,7 +61,9 @@ public:
     NodeID getNodeID() const { return node_id_; }
     TransferType getTransferType() const { return TransferType(transfer_type_); }
 
+#if UAVCAN_TOSTRING
     std::string toString() const;
+#endif
 };
 
 /**