Strict sign conversions

libuavcan/include/uavcan/marshal/array.hpp

@@ -540,16 +540,16 @@ public:
     {
         if (new_size > size())
         {
-            unsigned cnt = new_size - size();
-            while (cnt--)
+            SizeType cnt = SizeType(new_size - size());
+            while (cnt-- > 0)
             {
                 push_back(filler);
             }
         }
         else if (new_size < size())
         {
-            unsigned cnt = size() - new_size;
-            while (cnt--)
+            SizeType cnt = SizeType(size() - new_size);
+            while (cnt-- > 0)
             {
                 pop_back();
             }
@@ -623,7 +623,7 @@ public:
         }
         while (*ch)
         {
-            push_back(*ch++);
+            push_back(ValueType(*ch++));  // Value type is likely to be unsigned char, so conversion may be required.
         }
         return *this;
     }
@@ -642,7 +642,7 @@ public:
         }
         while (*ch)
         {
-            push_back(*ch++);
+            push_back(ValueType(*ch++));
         }
         return *this;
     }

libuavcan/include/uavcan/marshal/bit_stream.hpp

@@ -13,7 +13,8 @@
 namespace uavcan
 {
 
-void bitarrayCopy(const unsigned char* src_org, int src_offset, int src_len, unsigned char* dst_org, int dst_offset);
+void bitarrayCopy(const unsigned char* src_org, unsigned src_offset, unsigned src_len,
+                  unsigned char* dst_org, unsigned dst_offset);
 
 /**
  * This class treats a chunk of memory as an array of bits.
@@ -24,13 +25,13 @@ class UAVCAN_EXPORT BitStream
     static const unsigned MaxBytesPerRW = 16;
 
     ITransferBuffer& buf_;
-    int bit_offset_;
+    unsigned bit_offset_;
     uint8_t byte_cache_;
 
     static inline unsigned bitlenToBytelen(unsigned bits) { return (bits + 7) / 8; }
 
-    static inline void copyBitArray(const uint8_t* src_org, int src_offset, int src_len,
-                                    uint8_t* dst_org, int dst_offset)
+    static inline void copyBitArray(const uint8_t* src_org, unsigned src_offset, unsigned src_len,
+                                    uint8_t* dst_org, unsigned dst_offset)
     {
         bitarrayCopy(reinterpret_cast<const unsigned char*>(src_org), src_offset, src_len,
                      reinterpret_cast<unsigned char*>(dst_org), dst_offset);
@@ -64,8 +65,8 @@ public:
      *   Zero     - Out of buffer space
      *   Positive - OK
      */
-    int write(const uint8_t* bytes, const int bitlen);
-    int read(uint8_t* bytes, const int bitlen);
+    int write(const uint8_t* bytes, const unsigned bitlen);
+    int read(uint8_t* bytes, const unsigned bitlen);
 
 #if UAVCAN_TOSTRING
     std::string toString() const;

libuavcan/include/uavcan/marshal/integer_spec.hpp

@@ -86,7 +86,7 @@ private:
         }
     }
 
-    static void truncate(StorageType& value) { value &= mask(); }
+    static void truncate(StorageType& value) { value = value & StorageType(mask()); }
 
     static void validate()
     {

libuavcan/include/uavcan/time.hpp

@@ -140,12 +140,12 @@ public:
         }
         else
         {
-            if (uint64_t(usec_ + r.toUSec()) < usec_)
+            if (uint64_t(int64_t(usec_) + r.toUSec()) < usec_)
             {
                 return fromUSec(NumericTraits<uint64_t>::max());
             }
         }
-        return fromUSec(usec_ + r.toUSec());
+        return fromUSec(uint64_t(int64_t(usec_) + r.toUSec()));
     }
 
     T operator-(const D& r) const
@@ -154,7 +154,7 @@ public:
     }
     D operator-(const T& r) const
     {
-        return D::fromUSec((usec_ > r.usec_) ? (usec_ - r.usec_) : -(r.usec_ - usec_));
+        return D::fromUSec((usec_ > r.usec_) ? int64_t(usec_ - r.usec_) : -int64_t(r.usec_ - usec_));
     }
 
     T& operator+=(const D& r)

libuavcan/include/uavcan/transport/crc.hpp

@@ -58,7 +58,7 @@ public:
 #else
     void add(uint8_t byte)
     {
-        value_ = ((value_ << 8) ^ Table[((value_ >> 8) ^ byte) & 0xFFU]) & 0xFFFFU;
+        value_ = uint16_t(uint16_t((value_ << 8) ^ Table[uint16_t((value_ >> 8) ^ byte) & 0xFFU]) & 0xFFFFU);
     }
 #endif
 

libuavcan/include/uavcan/transport/dispatcher.hpp

@@ -92,7 +92,7 @@ class UAVCAN_EXPORT Dispatcher : Noncopyable
         void cleanup(MonotonicTime ts);
         void handleFrame(const RxFrame& frame);
 
-        int getNumEntries() const { return list_.getLength(); }
+        unsigned getNumEntries() const { return list_.getLength(); }
     };
 
     ListenerRegistry lmsg_;
@@ -137,9 +137,9 @@ public:
     bool hasPublisher(DataTypeID dtid) const;
     bool hasServer(DataTypeID dtid) const;
 
-    int getNumMessageListeners()         const { return lmsg_.getNumEntries(); }
-    int getNumServiceRequestListeners()  const { return lsrv_req_.getNumEntries(); }
-    int getNumServiceResponseListeners() const { return lsrv_resp_.getNumEntries(); }
+    unsigned getNumMessageListeners()         const { return lmsg_.getNumEntries(); }
+    unsigned getNumServiceRequestListeners()  const { return lsrv_req_.getNumEntries(); }
+    unsigned getNumServiceResponseListeners() const { return lsrv_resp_.getNumEntries(); }
 
     IOutgoingTransferRegistry& getOutgoingTransferRegistry() { return outgoing_transfer_reg_; }
 

libuavcan/include/uavcan/transport/transfer_sender.hpp

@@ -62,7 +62,7 @@ public:
      * Send with explicit Transfer ID.
      * Should be used only for service responses, where response TID should match request TID.
      */
-    int send(const uint8_t* payload, int payload_len, MonotonicTime tx_deadline,
+    int send(const uint8_t* payload, unsigned payload_len, MonotonicTime tx_deadline,
              MonotonicTime blocking_deadline, TransferType transfer_type, NodeID dst_node_id,
              TransferID tid);
 
@@ -70,7 +70,7 @@ public:
      * Send with automatic Transfer ID.
      * TID is managed by OutgoingTransferRegistry.
      */
-    int send(const uint8_t* payload, int payload_len, MonotonicTime tx_deadline,
+    int send(const uint8_t* payload, unsigned payload_len, MonotonicTime tx_deadline,
              MonotonicTime blocking_deadline, TransferType transfer_type, NodeID dst_node_id);
 };