Most enums were replaced with constants, according to MISRA

libuavcan/include/uavcan/data_type.hpp

@@ -29,7 +29,7 @@ class UAVCAN_EXPORT DataTypeID
     uint16_t value_;
 
 public:
-    enum { Max = 1023 };
+    static const uint16_t Max = 1023;
 
     DataTypeID() : value_(0xFFFF) { }
 
@@ -69,13 +69,13 @@ class UAVCAN_EXPORT DataTypeSignatureCRC
 public:
     static DataTypeSignatureCRC extend(uint64_t crc);
 
-    DataTypeSignatureCRC() : crc_(0xFFFFFFFFFFFFFFFF) { }
+    DataTypeSignatureCRC() : crc_(0xFFFFFFFFFFFFFFFFULL) { }
 
     void add(uint8_t byte);
 
     void add(const uint8_t* bytes, unsigned len);
 
-    uint64_t get() const { return crc_ ^ 0xFFFFFFFFFFFFFFFF; }
+    uint64_t get() const { return crc_ ^ 0xFFFFFFFFFFFFFFFFULL; }
 };
 
 
@@ -108,7 +108,7 @@ class UAVCAN_EXPORT DataTypeDescriptor
     const char* full_name_;
 
 public:
-    enum { MaxFullNameLen = 80 };
+    static const unsigned MaxFullNameLen = 80;
 
     DataTypeDescriptor()
         : kind_(DataTypeKind(0))

libuavcan/include/uavcan/driver/can.hpp

@@ -95,11 +95,8 @@ struct UAVCAN_EXPORT CanSelectMasks
     { }
 };
 
-enum
-{
-    CanIOFlagLoopback = 1  ///< Send the frame back to RX with true TX timestamps
-};
 typedef uint16_t CanIOFlags;
+static const CanIOFlags CanIOFlagLoopback = 1; ///< Send the frame back to RX with true TX timestamps
 
 /**
  * Single non-blocking CAN interface.

libuavcan/include/uavcan/error.hpp

@@ -9,14 +9,13 @@
 
 namespace uavcan
 {
+namespace
+{
 /**
  * Common error codes.
  * Functions that return signed integers may also return inverted error codes,
  * i.e. returned value should be inverted back to get the actual error code.
  */
-namespace
-{
-
 const int16_t ErrOk                      = 0;
 const int16_t ErrFailure                 = 1;
 const int16_t ErrInvalidParam            = 2;

libuavcan/include/uavcan/impl_constants.hpp

@@ -91,15 +91,15 @@ namespace uavcan
  * fit this size; otherwise compilation fails.
  */
 #if UAVCAN_MEM_POOL_BLOCK_SIZE
-enum { MemPoolBlockSize = UAVCAN_MEM_POOL_BLOCK_SIZE };
+static const unsigned MemPoolBlockSize = UAVCAN_MEM_POOL_BLOCK_SIZE;
 #else
-enum { MemPoolBlockSize = 64 };
+static const unsigned MemPoolBlockSize = 64;
 #endif
 
 #ifdef __BIGGEST_ALIGNMENT__
-enum { MemPoolAlignment = __BIGGEST_ALIGNMENT__ };
+static const unsigned MemPoolAlignment = __BIGGEST_ALIGNMENT__;
 #else
-enum { MemPoolAlignment = 16 };
+static const unsigned MemPoolAlignment = 16;
 #endif
 
 typedef char _alignment_check_for_MEM_POOL_BLOCK_SIZE[((MemPoolBlockSize & (MemPoolAlignment - 1)) == 0) ? 1 : -1];

libuavcan/include/uavcan/map.hpp

@@ -46,7 +46,7 @@ class UAVCAN_EXPORT MapBase : Noncopyable
 
         KVGroup()
         {
-            StaticAssert<(NumKV > 0)>::check();
+            StaticAssert<(static_cast<unsigned>(NumKV) > 0)>::check();
             IsDynamicallyAllocatable<KVGroup>::check();
         }
 
@@ -72,7 +72,7 @@ class UAVCAN_EXPORT MapBase : Noncopyable
 
         KVPair* find(const Key& key)
         {
-            for (int i = 0; i < NumKV; i++)
+            for (unsigned i = 0; i < static_cast<unsigned>(NumKV); i++)
             {
                 if (kvs[i].match(key))
                 {

libuavcan/include/uavcan/marshal/array.hpp

@@ -344,7 +344,7 @@ class UAVCAN_EXPORT Array : public ArrayImpl<T, ArrayMode, MaxSize_>
     void packSquareMatrixImpl(const InputIter src_row_major)
     {
         StaticAssert<IsDynamic>::check();
-        enum { Width = CompileTimeIntSqrt<MaxSize>::Result };
+        const unsigned Width = CompileTimeIntSqrt<MaxSize>::Result;
 
         bool all_nans = true;
         bool scalar_matrix = true;
@@ -409,7 +409,7 @@ class UAVCAN_EXPORT Array : public ArrayImpl<T, ArrayMode, MaxSize_>
     void unpackSquareMatrixImpl(OutputIter it) const
     {
         StaticAssert<IsDynamic>::check();
-        enum { Width = CompileTimeIntSqrt<MaxSize>::Result };
+        const unsigned Width = CompileTimeIntSqrt<MaxSize>::Result;
         /*
          * Unpacking as follows:
          * - Array of length 1 will be unpacked to scalar matrix
@@ -453,8 +453,17 @@ public:
 
     enum { IsDynamic = ArrayMode == ArrayModeDynamic };
     enum { MaxSize = MaxSize_ };
-    enum { MinBitLen = IsDynamic ? 0 : (RawValueType::MinBitLen * MaxSize) };
-    enum { MaxBitLen = Base::SizeBitLen + RawValueType::MaxBitLen * MaxSize };
+    enum
+    {
+        MinBitLen = (IsDynamic == 0)
+                    ? (static_cast<unsigned>(RawValueType::MinBitLen) * static_cast<unsigned>(MaxSize))
+                    : 0
+    };
+    enum
+    {
+        MaxBitLen = static_cast<unsigned>(Base::SizeBitLen) +
+                    static_cast<unsigned>(RawValueType::MaxBitLen) * static_cast<unsigned>(MaxSize)
+    };
 
     static int encode(const SelfType& array, ScalarCodec& codec, const TailArrayOptimizationMode tao_mode)
     {

libuavcan/include/uavcan/marshal/bit_stream.hpp

@@ -17,7 +17,7 @@ void bitarrayCopy(const unsigned char* src_org, int src_offset, int src_len, uns
 
 class UAVCAN_EXPORT BitStream
 {
-    enum { MaxBytesPerRW = 16 };
+    static const unsigned MaxBytesPerRW = 16;
 
     ITransferBuffer& buf_;
     int bit_offset_;
@@ -33,7 +33,7 @@ class UAVCAN_EXPORT BitStream
     }
 
 public:
-    enum { MaxBitsPerRW = MaxBytesPerRW * 8 };
+    static const unsigned MaxBitsPerRW = MaxBytesPerRW * 8;
 
     enum
     {

libuavcan/include/uavcan/marshal/float_spec.hpp

@@ -152,7 +152,7 @@ private:
     static inline void saturate(StorageType& value)
     {
         using namespace std;
-        if (!IsExactRepresentation && isfinite(value))
+        if ((IsExactRepresentation == 0) && isfinite(value))
         {
             if (value > max())
             {
@@ -172,7 +172,7 @@ private:
     static inline void truncate(StorageType& value)
     {
         using namespace std;
-        if (!IsExactRepresentation && isfinite(value))
+        if ((IsExactRepresentation == 0) && isfinite(value))
         {
             if (value > max())
             {

libuavcan/include/uavcan/marshal/integer_spec.hpp

@@ -44,19 +44,29 @@ private:
         static StorageType max()
         {
             StaticAssert<(sizeof(uintmax_t) >= 8)>::check();
-            return StorageType(IsSigned ? ((uintmax_t(1) << (BitLen - 1)) - 1) : ((uintmax_t(1) << BitLen) - 1));
+            if (IsSigned == 0)
+            {
+                return StorageType((uintmax_t(1) << static_cast<unsigned>(BitLen)) - 1U);
+            }
+            else
+            {
+                return StorageType((uintmax_t(1) << (static_cast<unsigned>(BitLen) - 1U)) - 1);
+            }
         }
         static UnsignedStorageType mask()
         {
-            StaticAssert<(sizeof(uintmax_t) >= 8)>::check();
-            return UnsignedStorageType((uintmax_t(1) << BitLen) - 1);
+            StaticAssert<(sizeof(uintmax_t) >= 8U)>::check();
+            return UnsignedStorageType((uintmax_t(1) << static_cast<unsigned>(BitLen)) - 1U);
         }
     };
 
     struct LimitsImpl64
     {
-        static StorageType max() { return StorageType(IsSigned ? 0x7FFFFFFFFFFFFFFF : 0xFFFFFFFFFFFFFFFF); }
-        static UnsignedStorageType mask() { return 0xFFFFFFFFFFFFFFFF; }
+        static StorageType max()
+        {
+            return StorageType((IsSigned != 0) ? 0x7FFFFFFFFFFFFFFFLL : 0xFFFFFFFFFFFFFFFFULL);
+        }
+        static UnsignedStorageType mask() { return 0xFFFFFFFFFFFFFFFFULL; }
     };
 
     typedef typename Select<(BitLen == 64), LimitsImpl64, LimitsImplGeneric>::Result Limits;

libuavcan/include/uavcan/protocol/node_status_monitor.hpp

@@ -36,7 +36,7 @@ public:
     };
 
 private:
-    enum { TimerPeriodMs100 = 5 };
+    static const unsigned TimerPeriodMs100 = 5;
 
     typedef MethodBinder<NodeStatusMonitor*,
                          void (NodeStatusMonitor::*)(const ReceivedDataStructure<protocol::NodeStatus>&)>

libuavcan/include/uavcan/time.hpp

@@ -83,7 +83,7 @@ public:
         return *static_cast<D*>(this);
     }
 
-    enum { StringBufSize = 32 };
+    static const unsigned StringBufSize = 32;
     void toString(char buf[StringBufSize]) const;
 #if UAVCAN_TOSTRING
     std::string toString() const;
@@ -169,7 +169,7 @@ public:
         return *static_cast<T*>(this);
     }
 
-    enum { StringBufSize = 32 };
+    static const unsigned StringBufSize = 32;
     void toString(char buf[StringBufSize]) const;
 #if UAVCAN_TOSTRING
     std::string toString() const;
@@ -214,6 +214,12 @@ public:
 
 // ----------------------------------------------------------------------------
 
+template <typename D>
+const unsigned DurationBase<D>::StringBufSize;
+
+template <typename T, typename D>
+const unsigned TimeBase<T, D>::StringBufSize;
+
 template <typename D>
 void DurationBase<D>::toString(char buf[StringBufSize]) const
 {

libuavcan/include/uavcan/transport/can_io.hpp

@@ -56,7 +56,7 @@ public:
             , qos(uint8_t(qos))
             , flags(flags)
         {
-            assert(qos == Volatile || qos == Persistent);
+            assert((qos == Volatile) || (qos == Persistent));
             IsDynamicallyAllocatable<Entry>::check();
         }
 

libuavcan/include/uavcan/transport/transfer.hpp

@@ -11,9 +11,9 @@
 namespace uavcan
 {
 
-enum { MaxTransferPayloadLen = 439 }; ///< According to the standard
+static const unsigned MaxTransferPayloadLen = 439; ///< According to the RFC
 
-enum { MaxSingleFrameTransferPayloadLen = 7 };
+static const unsigned MaxSingleFrameTransferPayloadLen = 7;
 
 enum TransferType
 {
@@ -30,8 +30,8 @@ class UAVCAN_EXPORT TransferID
     uint8_t value_;
 
 public:
-    enum { BitLen = 3 };
-    enum { Max = (1 << BitLen) - 1 };
+    static const uint8_t BitLen = 3U;
+    static const uint8_t Max = (1U << BitLen) - 1U;
 
     TransferID()
         : value_(0)
@@ -67,17 +67,13 @@ public:
 
 class UAVCAN_EXPORT NodeID
 {
-    enum
-    {
-        ValueBroadcast = 0,
-        ValueInvalid = 0xFF
-    };
+    static const uint8_t ValueBroadcast = 0;
+    static const uint8_t ValueInvalid   = 0xFF;
     uint8_t value_;
 
 public:
-    enum { BitLen = 7 };
-    enum { Max = (1 << BitLen) - 1 };
-
+    static const uint8_t BitLen = 7U;
+    static const uint8_t Max = (1U << BitLen) - 1U;
     static const NodeID Broadcast;
 
     NodeID() : value_(ValueInvalid) { }

libuavcan/include/uavcan/transport/transfer_buffer.hpp

@@ -94,7 +94,7 @@ class UAVCAN_EXPORT DynamicTransferBufferManagerEntry
     struct Block : LinkedListNode<Block>
     {
         enum { Size = MemPoolBlockSize - sizeof(LinkedListNode<Block>) };
-        uint8_t data[Size];
+        uint8_t data[static_cast<unsigned>(Size)];
 
         static Block* instantiate(IPoolAllocator& allocator);
         static void destroy(Block*& obj, IPoolAllocator& allocator);

libuavcan/include/uavcan/transport/transfer_receiver.hpp

@@ -31,7 +31,7 @@ public:
 
 private:
     enum TidRelation { TidSame, TidRepeat, TidFuture };
-    enum { IfaceIndexNotSet = 0xFF };
+    static const uint8_t IfaceIndexNotSet = 0xFF;
 
     MonotonicTime prev_transfer_ts_;
     MonotonicTime this_transfer_ts_;

libuavcan/src/driver/uc_can.cpp

@@ -63,7 +63,7 @@ std::string CanFrame::toString(StringRepresentation mode) const
 
     assert(mode == StrTight || mode == StrAligned);
 
-    static const int ASCII_COLUMN_OFFSET = 36;
+    static const unsigned AsciiColumnOffset = 36U;
 
     char buf[50];
     char* wpos = buf;
@@ -96,7 +96,7 @@ std::string CanFrame::toString(StringRepresentation mode) const
             wpos += snprintf(wpos, epos - wpos, " %02x", unsigned(data[dlen]));
         }
 
-        while (mode == StrAligned && wpos < buf + ASCII_COLUMN_OFFSET)        // alignment
+        while ((mode == StrAligned) && (wpos < buf + AsciiColumnOffset))        // alignment
         {
             *wpos++ = ' ';
         }

libuavcan/src/marshal/uc_bit_stream.cpp

@@ -9,13 +9,16 @@
 namespace uavcan
 {
 
+const unsigned BitStream::MaxBytesPerRW;
+const unsigned BitStream::MaxBitsPerRW;
+
 int BitStream::write(const uint8_t* bytes, const int bitlen)
 {
     // Temporary buffer is needed to merge new bits with cached unaligned bits from the last write() (see byte_cache_)
     uint8_t tmp[MaxBytesPerRW + 1];
 
     // Tmp space must be large enough to accomodate new bits AND unaligned bits from the last write()
-    const int bytelen = bitlenToBytelen(bitlen + (bit_offset_ % 8));
+    const unsigned bytelen = bitlenToBytelen(bitlen + (bit_offset_ % 8));
     assert(MaxBytesPerRW >= bytelen);
     tmp[0] = tmp[bytelen - 1] = 0;
 
@@ -40,7 +43,7 @@ int BitStream::write(const uint8_t* bytes, const int bitlen)
     {
         return write_res;
     }
-    if (write_res < bytelen)
+    if (static_cast<unsigned>(write_res) < bytelen)
     {
         return ResultOutOfBuffer;
     }
@@ -53,7 +56,7 @@ int BitStream::read(uint8_t* bytes, const int bitlen)
 {
     uint8_t tmp[MaxBytesPerRW + 1];
 
-    const int bytelen = bitlenToBytelen(bitlen + (bit_offset_ % 8));
+    const unsigned bytelen = bitlenToBytelen(bitlen + (bit_offset_ % 8));
     assert(MaxBytesPerRW >= bytelen);
 
     const int read_res = buf_.read(bit_offset_ / 8, tmp, bytelen);
@@ -61,7 +64,7 @@ int BitStream::read(uint8_t* bytes, const int bitlen)
     {
         return read_res;
     }
-    if (read_res < bytelen)
+    if (static_cast<unsigned>(read_res) < bytelen)
     {
         return ResultOutOfBuffer;
     }

libuavcan/src/protocol/uc_node_status_monitor.cpp

@@ -11,6 +11,8 @@
 namespace uavcan
 {
 
+const unsigned NodeStatusMonitor::TimerPeriodMs100;
+
 NodeStatusMonitor::Entry& NodeStatusMonitor::getEntry(NodeID node_id) const
 {
     if (node_id.get() < 1 || node_id.get() > NodeID::Max)
@@ -55,7 +57,7 @@ void NodeStatusMonitor::handleNodeStatus(const ReceivedDataStructure<protocol::N
 
 void NodeStatusMonitor::handleTimerEvent(const TimerEvent&)
 {
-    enum { OfflineTimeoutMs100 = protocol::NodeStatus::OFFLINE_TIMEOUT_MS / 100 };
+    const int OfflineTimeoutMs100 = protocol::NodeStatus::OFFLINE_TIMEOUT_MS / 100;
 
     for (int i = 1; i <= NodeID::Max; i++)
     {

libuavcan/src/transport/uc_transfer.cpp

@@ -8,9 +8,19 @@
 
 namespace uavcan
 {
+/**
+ * TransferID
+ */
+const uint8_t TransferID::BitLen;
+const uint8_t TransferID::Max;
+
 /**
  * NodeID
  */
+const uint8_t NodeID::ValueBroadcast;
+const uint8_t NodeID::ValueInvalid;
+const uint8_t NodeID::BitLen;
+const uint8_t NodeID::Max;
 const NodeID NodeID::Broadcast(ValueBroadcast);
 
 /**

libuavcan/src/transport/uc_transfer_receiver.cpp

@@ -15,6 +15,7 @@ namespace uavcan
 const uint32_t TransferReceiver::MinTransferIntervalUSec;
 const uint32_t TransferReceiver::MaxTransferIntervalUSec;
 const uint32_t TransferReceiver::DefaultTransferIntervalUSec;
+const uint8_t TransferReceiver::IfaceIndexNotSet;
 
 void TransferReceiver::registerError() const
 {

libuavcan/src/uc_data_type.cpp

@@ -9,6 +9,11 @@
 
 namespace uavcan
 {
+/*
+ * DataTypeID
+ */
+const uint16_t DataTypeID::Max;
+
 /*
  * DataTypeSignatureCRC
  */
@@ -71,6 +76,8 @@ TransferCRC DataTypeSignature::toTransferCRC() const
 /*
  * DataTypeDescriptor
  */
+const unsigned DataTypeDescriptor::MaxFullNameLen;
+
 bool DataTypeDescriptor::match(DataTypeKind kind, const char* name) const
 {
     return (kind_ == kind) && !std::strcmp(full_name_, name);