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Fix #36
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@pavel-kirienko
pavel-kirienko committed Jul 12, 2023
1 parent de2e14e commit 50ec426
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Showing 6 changed files with 233 additions and 226 deletions.
2 changes: 1 addition & 1 deletion libudpard/_udpard_cavl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@ extern "C" {
// ---------------------------------------- PUBLIC API SECTION ----------------------------------------

/// Modified for use with LibUDPard: expose the Cavl structure via public API as UdpardTreeNode.
typedef UdpardTreeNode Cavl;
typedef struct UdpardTreeNode Cavl;

/// Returns POSITIVE if the search target is GREATER than the provided node, negative if smaller, zero on match (found).
/// Values other than {-1, 0, +1} are not recommended to avoid overflow during the narrowing conversion of the result.
Expand Down
176 changes: 89 additions & 87 deletions libudpard/udpard.c
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Original file line number Diff line number Diff line change
Expand Up @@ -37,11 +37,11 @@ static const byte_t ByteMask = 0xFFU;

typedef struct
{
UdpardPriority priority;
UdpardNodeID src_node_id;
UdpardNodeID dst_node_id;
uint16_t data_specifier;
UdpardTransferID transfer_id;
enum UdpardPriority priority;
UdpardNodeID src_node_id;
UdpardNodeID dst_node_id;
uint16_t data_specifier;
UdpardTransferID transfer_id;
} TransferMetadata;

#define DATA_SPECIFIER_SERVICE_NOT_MESSAGE_MASK 0x8000U
Expand Down Expand Up @@ -71,20 +71,22 @@ static inline uint32_t makeServiceIPGroupAddress(const UdpardNodeID destination_
return SERVICE_MULTICAST_GROUP_ADDRESS_MASK | ((uint32_t) destination_node_id);
}

static inline UdpardUDPIPEndpoint makeSubjectUDPIPEndpoint(const UdpardPortID subject_id)
static inline struct UdpardUDPIPEndpoint makeSubjectUDPIPEndpoint(const UdpardPortID subject_id)
{
return (UdpardUDPIPEndpoint){.ip_address = makeSubjectIPGroupAddress(subject_id), .udp_port = UDP_PORT};
return (struct UdpardUDPIPEndpoint){.ip_address = makeSubjectIPGroupAddress(subject_id), //
.udp_port = UDP_PORT};
}

static inline UdpardUDPIPEndpoint makeServiceUDPIPEndpoint(const UdpardNodeID destination_node_id)
static inline struct UdpardUDPIPEndpoint makeServiceUDPIPEndpoint(const UdpardNodeID destination_node_id)
{
return (UdpardUDPIPEndpoint){.ip_address = makeServiceIPGroupAddress(destination_node_id), .udp_port = UDP_PORT};
return (struct UdpardUDPIPEndpoint){.ip_address = makeServiceIPGroupAddress(destination_node_id),
.udp_port = UDP_PORT};
}

/// Used for inserting new items into AVL trees. Refer to the documentation for cavlSearch() for details.
static inline UdpardTreeNode* avlTrivialFactory(void* const user_reference)
static inline struct UdpardTreeNode* avlTrivialFactory(void* const user_reference)
{
return (UdpardTreeNode*) user_reference;
return (struct UdpardTreeNode*) user_reference;
}

static inline size_t smaller(const size_t a, const size_t b)
Expand All @@ -97,7 +99,7 @@ static inline size_t larger(const size_t a, const size_t b)
return (a > b) ? a : b;
}

static inline bool isValidMemoryResource(const UdpardMemoryResource* const memory)
static inline bool isValidMemoryResource(const struct UdpardMemoryResource* const memory)
{
return (memory != NULL) && (memory->allocate != NULL) && (memory->free != NULL);
}
Expand Down Expand Up @@ -227,8 +229,8 @@ static inline uint32_t transferCRCCompute(const size_t size, const void* const d
/// structure object, but not at its beginning.
typedef struct
{
UdpardTxItem base;
UdpardPriority priority; ///< Do we need this exposed in the public structure? We already have DSCP there.
struct UdpardTxItem base;
enum UdpardPriority priority; ///< Do we need this exposed in the public structure? We already have DSCP there.
// The MISRA violation here is hard to get rid of without having to allocate a separate memory block for the
// payload, which is much more costly risk-wise.
byte_t payload_buffer[]; // NOSONAR MISRA C 18.7 Flexible array member.
Expand All @@ -242,13 +244,13 @@ typedef struct
size_t count;
} TxChain;

static inline TxItem* txNewItem(UdpardMemoryResource* const memory,
const uint_least8_t dscp_value_per_priority[UDPARD_PRIORITY_MAX + 1U],
const UdpardMicrosecond deadline_usec,
const UdpardPriority priority,
const UdpardUDPIPEndpoint endpoint,
const size_t datagram_payload_size,
void* const user_transfer_reference)
static inline TxItem* txNewItem(struct UdpardMemoryResource* const memory,
const uint_least8_t dscp_value_per_priority[UDPARD_PRIORITY_MAX + 1U],
const UdpardMicrosecond deadline_usec,
const enum UdpardPriority priority,
const struct UdpardUDPIPEndpoint endpoint,
const size_t datagram_payload_size,
void* const user_transfer_reference)
{
UDPARD_ASSERT(memory != NULL);
TxItem* const out = (TxItem*) memory->allocate(memory, sizeof(TxItem) + datagram_payload_size);
Expand Down Expand Up @@ -277,7 +279,7 @@ static inline TxItem* txNewItem(UdpardMemoryResource* const memory,
/// Frames with identical weight are processed in the FIFO order.
/// Frames with higher weight compare smaller (i.e., put on the left side of the tree).
static inline int8_t txAVLPredicate(void* const user_reference, // NOSONAR Cavl API requires pointer to non-const.
const UdpardTreeNode* const node)
const struct UdpardTreeNode* const node)
{
const TxItem* const target = (const TxItem*) user_reference;
const TxItem* const other = (const TxItem*) (const void*) node;
Expand Down Expand Up @@ -340,14 +342,14 @@ static inline byte_t* txSerializeHeader(byte_t* const destination_buffe

/// Produces a chain of Tx queue items for later insertion into the Tx queue. The tail is NULL if OOM.
/// The caller is responsible for freeing the memory allocated for the chain.
static inline TxChain txMakeChain(UdpardMemoryResource* const memory,
const uint_least8_t dscp_value_per_priority[UDPARD_PRIORITY_MAX + 1U],
const size_t mtu,
const UdpardMicrosecond deadline_usec,
const TransferMetadata meta,
const UdpardUDPIPEndpoint endpoint,
const UdpardConstPayload payload,
void* const user_transfer_reference)
static inline TxChain txMakeChain(struct UdpardMemoryResource* const memory,
const uint_least8_t dscp_value_per_priority[UDPARD_PRIORITY_MAX + 1U],
const size_t mtu,
const UdpardMicrosecond deadline_usec,
const TransferMetadata meta,
const struct UdpardUDPIPEndpoint endpoint,
const struct UdpardConstPayload payload,
void* const user_transfer_reference)
{
UDPARD_ASSERT(memory != NULL);
UDPARD_ASSERT(mtu > 0);
Expand All @@ -374,7 +376,7 @@ static inline TxChain txMakeChain(UdpardMemoryResource* const memory,
{
// C std, 6.7.2.1.15: A pointer to a structure object <...> points to its initial member, and vice versa.
// Can't just read tqi->base because tqi may be NULL; https://github.com/OpenCyphal/libcanard/issues/203.
out.tail->base.next_in_transfer = (UdpardTxItem*) item;
out.tail->base.next_in_transfer = (struct UdpardTxItem*) item;
}
out.tail = item;
if (NULL == out.tail)
Expand Down Expand Up @@ -411,12 +413,12 @@ static inline TxChain txMakeChain(UdpardMemoryResource* const memory,
return out;
}

static inline int32_t txPush(UdpardTx* const tx,
const UdpardMicrosecond deadline_usec,
const TransferMetadata meta,
const UdpardUDPIPEndpoint endpoint,
const UdpardConstPayload payload,
void* const user_transfer_reference)
static inline int32_t txPush(struct UdpardTx* const tx,
const UdpardMicrosecond deadline_usec,
const TransferMetadata meta,
const struct UdpardUDPIPEndpoint endpoint,
const struct UdpardConstPayload payload,
void* const user_transfer_reference)
{
UDPARD_ASSERT(tx != NULL);
int32_t out = 0; // The number of frames enqueued or negated error.
Expand Down Expand Up @@ -446,10 +448,10 @@ static inline int32_t txPush(UdpardTx* const tx,
if (chain.tail != NULL)
{
UDPARD_ASSERT(frame_count == chain.count);
UdpardTxItem* next = &chain.head->base;
struct UdpardTxItem* next = &chain.head->base;
do
{
const UdpardTreeNode* const res =
const struct UdpardTreeNode* const res =
cavlSearch(&tx->root, &next->base, &txAVLPredicate, &avlTrivialFactory);
(void) res;
UDPARD_ASSERT(res == &next->base);
Expand All @@ -463,11 +465,11 @@ static inline int32_t txPush(UdpardTx* const tx,
}
else // The queue is large enough but we ran out of heap memory, so we have to unwind the chain.
{
out = -UDPARD_ERROR_MEMORY;
UdpardTxItem* head = &chain.head->base;
out = -UDPARD_ERROR_MEMORY;
struct UdpardTxItem* head = &chain.head->base;
while (head != NULL)
{
UdpardTxItem* const next = head->next_in_transfer;
struct UdpardTxItem* const next = head->next_in_transfer;
tx->memory->free(tx->memory, sizeof(TxItem) + head->datagram_payload.size, head);
head = next;
}
Expand All @@ -477,10 +479,10 @@ static inline int32_t txPush(UdpardTx* const tx,
return out;
}

int8_t udpardTxInit(UdpardTx* const self,
const UdpardNodeID* const local_node_id,
const size_t queue_capacity,
UdpardMemoryResource* const memory)
int8_t udpardTxInit(struct UdpardTx* const self,
const UdpardNodeID* const local_node_id,
const size_t queue_capacity,
struct UdpardMemoryResource* const memory)
{
int8_t ret = -UDPARD_ERROR_ARGUMENT;
if ((NULL != self) && (NULL != local_node_id) && isValidMemoryResource(memory))
Expand All @@ -499,13 +501,13 @@ int8_t udpardTxInit(UdpardTx* const self,
return ret;
}

int32_t udpardTxPublish(UdpardTx* const self,
const UdpardMicrosecond deadline_usec,
const UdpardPriority priority,
const UdpardPortID subject_id,
UdpardTransferID* const transfer_id,
const UdpardConstPayload payload,
void* const user_transfer_reference)
int32_t udpardTxPublish(struct UdpardTx* const self,
const UdpardMicrosecond deadline_usec,
const enum UdpardPriority priority,
const UdpardPortID subject_id,
UdpardTransferID* const transfer_id,
const struct UdpardConstPayload payload,
void* const user_transfer_reference)
{
int32_t out = -UDPARD_ERROR_ARGUMENT;
const bool args_ok = (self != NULL) && (self->local_node_id != NULL) && (priority <= UDPARD_PRIORITY_MAX) &&
Expand Down Expand Up @@ -533,14 +535,14 @@ int32_t udpardTxPublish(UdpardTx* const self,
return out;
}

int32_t udpardTxRequest(UdpardTx* const self,
const UdpardMicrosecond deadline_usec,
const UdpardPriority priority,
const UdpardPortID service_id,
const UdpardNodeID server_node_id,
UdpardTransferID* const transfer_id,
const UdpardConstPayload payload,
void* const user_transfer_reference)
int32_t udpardTxRequest(struct UdpardTx* const self,
const UdpardMicrosecond deadline_usec,
const enum UdpardPriority priority,
const UdpardPortID service_id,
const UdpardNodeID server_node_id,
UdpardTransferID* const transfer_id,
const struct UdpardConstPayload payload,
void* const user_transfer_reference)
{
int32_t out = -UDPARD_ERROR_ARGUMENT;
const bool args_ok = (self != NULL) && (self->local_node_id != NULL) && (priority <= UDPARD_PRIORITY_MAX) &&
Expand Down Expand Up @@ -569,14 +571,14 @@ int32_t udpardTxRequest(UdpardTx* const self,
return out;
}

int32_t udpardTxRespond(UdpardTx* const self,
const UdpardMicrosecond deadline_usec,
const UdpardPriority priority,
const UdpardPortID service_id,
const UdpardNodeID client_node_id,
const UdpardTransferID transfer_id,
const UdpardConstPayload payload,
void* const user_transfer_reference)
int32_t udpardTxRespond(struct UdpardTx* const self,
const UdpardMicrosecond deadline_usec,
const enum UdpardPriority priority,
const UdpardPortID service_id,
const UdpardNodeID client_node_id,
const UdpardTransferID transfer_id,
const struct UdpardConstPayload payload,
void* const user_transfer_reference)
{
int32_t out = -UDPARD_ERROR_ARGUMENT;
const bool args_ok = (self != NULL) && (self->local_node_id != NULL) && (priority <= UDPARD_PRIORITY_MAX) &&
Expand All @@ -600,27 +602,27 @@ int32_t udpardTxRespond(UdpardTx* const self,
return out;
}

const UdpardTxItem* udpardTxPeek(const UdpardTx* const self)
const struct UdpardTxItem* udpardTxPeek(const struct UdpardTx* const self)
{
const UdpardTxItem* out = NULL;
const struct UdpardTxItem* out = NULL;
if (self != NULL)
{
// Paragraph 6.7.2.1.15 of the C standard says:
// A pointer to a structure object, suitably converted, points to its initial member, and vice versa.
out = (const UdpardTxItem*) (void*) cavlFindExtremum(self->root, false);
out = (const struct UdpardTxItem*) (void*) cavlFindExtremum(self->root, false);
}
return out;
}

UdpardTxItem* udpardTxPop(UdpardTx* const self, const UdpardTxItem* const item)
struct UdpardTxItem* udpardTxPop(struct UdpardTx* const self, const struct UdpardTxItem* const item)
{
UdpardTxItem* out = NULL;
struct UdpardTxItem* out = NULL;
if ((self != NULL) && (item != NULL))
{
// Intentional violation of MISRA: casting away const qualifier. This is considered safe because the API
// contract dictates that the pointer shall point to a mutable entity in RAM previously allocated by the
// memory manager. It is difficult to avoid this cast in this context.
out = (UdpardTxItem*) item; // NOSONAR casting away const qualifier.
out = (struct UdpardTxItem*) item; // NOSONAR casting away const qualifier.
// Paragraph 6.7.2.1.15 of the C standard says:
// A pointer to a structure object, suitably converted, points to its initial member, and vice versa.
// Note that the highest-priority frame is always a leaf node in the AVL tree, which means that it is very
Expand All @@ -632,7 +634,7 @@ UdpardTxItem* udpardTxPop(UdpardTx* const self, const UdpardTxItem* const item)
return out;
}

void udpardTxFree(UdpardMemoryResource* const memory, UdpardTxItem* const item)
void udpardTxFree(struct UdpardMemoryResource* const memory, struct UdpardTxItem* const item)
{
if ((memory != NULL) && (item != NULL))
{
Expand All @@ -646,10 +648,10 @@ void udpardTxFree(UdpardMemoryResource* const memory, UdpardTxItem* const item)

typedef struct
{
TransferMetadata meta;
uint32_t frame_index;
bool end_of_transfer;
UdpardConstPayload payload; ///< Also contains the transfer CRC (but not the header CRC).
TransferMetadata meta;
uint32_t frame_index;
bool end_of_transfer;
struct UdpardConstPayload payload; ///< Also contains the transfer CRC (but not the header CRC).
} RxFrame;

/// The primitive deserialization functions are endian-agnostic.
Expand Down Expand Up @@ -687,7 +689,7 @@ static inline const byte_t* txDeserializeU64(const byte_t* const source_buffer,
}

/// This is roughly the inverse of the txSerializeHeader function, but it also handles the frame payload.
static inline bool rxParseFrame(const UdpardConstPayload datagram_payload, RxFrame* const out)
static inline bool rxParseFrame(const struct UdpardConstPayload datagram_payload, RxFrame* const out)
{
UDPARD_ASSERT((out != NULL) && (datagram_payload.data != NULL));
bool ok = false;
Expand All @@ -700,7 +702,7 @@ static inline bool rxParseFrame(const UdpardConstPayload datagram_payload, RxFra
const uint_fast8_t prio = *ptr++;
if (prio <= UDPARD_PRIORITY_MAX)
{
out->meta.priority = (UdpardPriority) prio;
out->meta.priority = (enum UdpardPriority) prio;
ptr = txDeserializeU16(ptr, &out->meta.src_node_id);
ptr = txDeserializeU16(ptr, &out->meta.dst_node_id);
ptr = txDeserializeU16(ptr, &out->meta.data_specifier);
Expand All @@ -722,11 +724,11 @@ static inline bool rxParseFrame(const UdpardConstPayload datagram_payload, RxFra
return ok;
}

int8_t udpardRxSubscriptionInit(UdpardRxSubscription* const self,
const UdpardPortID subject_id,
const size_t extent,
UdpardMemoryResource* const memory_for_sessions,
UdpardMemoryResource* const memory_for_payloads)
int8_t udpardRxSubscriptionInit(struct UdpardRxSubscription* const self,
const UdpardPortID subject_id,
const size_t extent,
struct UdpardMemoryResource* const memory_for_sessions,
struct UdpardMemoryResource* const memory_for_payloads)
{
(void) self;
(void) subject_id;
Expand Down
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