New API and static analysis

.github/workflows/main.yml

@@ -1,14 +1,15 @@
 name: Main Workflow
-on: [push, pull_request]
+on: [ push, pull_request ]
 env:
-  LLVM_VERSION: 13
+  LLVM_VERSION: 15
 jobs:
   debug:
+    if: github.event_name == 'push'
     runs-on: ubuntu-latest
-    container: ghcr.io/opencyphal/toolshed:ts20.4.1
+    container: ghcr.io/opencyphal/toolshed:ts22.4.3
     strategy:
       matrix:
-        toolchain: ['clang', 'gcc']
+        toolchain: [ 'clang', 'gcc' ]
         include:
           - toolchain: gcc
             c-compiler: gcc
@@ -18,57 +19,176 @@ jobs:
             cxx-compiler: clang++
     steps:
       - uses: actions/checkout@v3
+      # language=bash
+      - run: |
+          # TODO https://github.com/OpenCyphal/docker_toolchains/issues/36
+          dpkg --add-architecture i386
+          apt-get update
+          apt-get install -y libgtest-dev libgtest-dev:i386
+      # language=bash
       - run: >
           cmake
           -B ${{ github.workspace }}/build
           -DCMAKE_BUILD_TYPE=Debug
           -DCMAKE_C_COMPILER=${{ matrix.c-compiler }}
           -DCMAKE_CXX_COMPILER=${{ matrix.cxx-compiler }}
           tests
-      - name: make
-        run: |
+      # language=bash
+      - run: |
           cd ${{ github.workspace }}/build
-          make VERBOSE=1
-          make test
-      - uses: actions/upload-artifact@v2
+          make VERBOSE=1 -j$(nproc)
+          make test ARGS="--verbose"
+      - uses: actions/upload-artifact@v3
         if: always()
         with:
-          name: ${{github.job}}
+          # The matrix is shown for convenience but this is fragile because the values may not be string-convertible.
+          # Shall it break one day, feel free to remove the matrix from here.
+          name: ${{github.job}}-#${{strategy.job-index}}-${{job.status}}-${{join(matrix.*, ',')}}
           path: ${{github.workspace}}/**/*
           retention-days: 2
 
   optimizations:
+    if: github.event_name == 'push'
     runs-on: ubuntu-latest
-    container: ghcr.io/opencyphal/toolshed:ts20.4.1
+    container: ghcr.io/opencyphal/toolshed:ts22.4.3
     strategy:
       matrix:
-        toolchain: ['clang', 'gcc']
-        build_type: [Release, MinSizeRel]
+        toolchain: [ 'clang', 'gcc' ]
+        build_type: [ Release, MinSizeRel ]
         include:
           - toolchain: gcc
             c-compiler: gcc
             cxx-compiler: g++
+            cxx-flags: -fno-strict-aliasing  # GCC in MinSizeRel C++20 mode misoptimizes the Cavl test.
           - toolchain: clang
             c-compiler: clang
             cxx-compiler: clang++
     steps:
       - uses: actions/checkout@v3
+      # language=bash
+      - run: |
+          # TODO https://github.com/OpenCyphal/docker_toolchains/issues/36
+          dpkg --add-architecture i386
+          apt-get update
+          apt-get install -y libgtest-dev libgtest-dev:i386
+      # language=bash
       - run: >
           cmake
           -B ${{ github.workspace }}/build
           -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}
           -DCMAKE_C_COMPILER=${{ matrix.c-compiler }}
           -DCMAKE_CXX_COMPILER=${{ matrix.cxx-compiler }}
+          -DCMAKE_CXX_FLAGS="${{ matrix.cxx-flags }}"
           -DNO_STATIC_ANALYSIS=1
           tests
-      - name: make
-        run: |
+      # language=bash
+      - run: |
           cd ${{ github.workspace }}/build
-          make VERBOSE=1
-          make test
-      - uses: actions/upload-artifact@v2
+          make VERBOSE=1 -j$(nproc)
+          make test ARGS="--verbose"
+      - uses: actions/upload-artifact@v3
         if: always()
         with:
-          name: ${{github.job}}
+          # The matrix is shown for convenience but this is fragile because the values may not be string-convertible.
+          # Shall it break one day, feel free to remove the matrix from here.
+          name: ${{github.job}}-#${{strategy.job-index}}-${{job.status}}-${{join(matrix.*, ',')}}
           path: ${{github.workspace}}/**/*
           retention-days: 2
+
+  avr:
+    if: github.event_name == 'push'
+    runs-on: ubuntu-latest
+    env:
+      mcu: at90can64
+      flags: -Wall -Wextra -Werror -pedantic -Wconversion -Wtype-limits
+    strategy:
+      matrix:
+        std: [ 'c99', 'c11', 'gnu99', 'gnu11' ]
+    steps:
+      - uses: actions/checkout@v3
+      # language=bash
+      - run: |
+          sudo apt update -y && sudo apt upgrade -y
+          sudo apt install gcc-avr avr-libc
+          avr-gcc --version
+      - run: avr-gcc libudpard/*.c -c -std=${{matrix.std}} -mmcu=${{env.mcu}} ${{env.flags}}
+
+  arm:
+    if: github.event_name == 'push'
+    runs-on: ubuntu-latest
+    env:
+      flags: -Wall -Wextra -Werror -pedantic -Wconversion -Wtype-limits -Wcast-align -Wfatal-errors
+    strategy:
+      matrix:
+        std: [ 'c99', 'c11', 'gnu99', 'gnu11' ]
+    steps:
+      - uses: actions/checkout@v3
+      # language=bash
+      - run: |
+          sudo apt update -y && sudo apt upgrade -y
+          sudo apt-get install -y gcc-arm-none-eabi
+      - run: arm-none-eabi-gcc libudpard/*.c -c -std=${{matrix.std}} ${{ env.flags }}
+
+  sonar:
+    runs-on: ubuntu-latest
+    container: ghcr.io/opencyphal/toolshed:ts22.4.3
+    if: >
+      (
+        (github.event_name == 'pull_request' || contains(github.ref, '/main') || contains(github.ref, '/release')) &&
+        !contains(github.event.head_commit.message, '#yolo')
+      ) || (
+        contains(github.event.head_commit.message, '#sonar')
+      )
+    env:
+      SONAR_SCANNER_VERSION: 4.8.0.2856
+      GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0  # Shallow clones should be disabled for a better relevancy of analysis
+      - uses: actions/setup-java@v3
+        with:
+          java-version: 11
+          distribution: 'zulu'
+      # language=bash
+      - run: |
+          clang --version
+          # TODO https://github.com/OpenCyphal/docker_toolchains/issues/36
+          dpkg --add-architecture i386
+          apt-get update
+          apt-get install -y libgtest-dev libgtest-dev:i386
+      - name: Install Sonar tools
+        env:
+          SONAR_SCANNER_DOWNLOAD_URL: https://binaries.sonarsource.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-${{ env.SONAR_SCANNER_VERSION }}-linux.zip
+          BUILD_WRAPPER_DOWNLOAD_URL: https://sonarcloud.io/static/cpp/build-wrapper-linux-x86.zip
+        # language=bash
+        run: |
+          mkdir -p $HOME/.sonar
+          curl -sSLo $HOME/.sonar/sonar-scanner.zip ${{ env.SONAR_SCANNER_DOWNLOAD_URL }}
+          unzip -o $HOME/.sonar/sonar-scanner.zip -d $HOME/.sonar/
+          echo "$HOME/.sonar/sonar-scanner-${{ env.SONAR_SCANNER_VERSION }}-linux/bin" >> $GITHUB_PATH
+          curl -sSLo $HOME/.sonar/build-wrapper-linux-x86.zip ${{ env.BUILD_WRAPPER_DOWNLOAD_URL }}
+          unzip -o $HOME/.sonar/build-wrapper-linux-x86.zip -d $HOME/.sonar/
+          echo "$HOME/.sonar/build-wrapper-linux-x86" >> $GITHUB_PATH
+      # Sonar is not run on builds originating from forks due to secrets not being available (avoids errors).
+      # language=bash
+      - run: |
+          [ -z "$SONAR_TOKEN" ] || tools/run_sonar.sh
+      - uses: actions/upload-artifact@v3
+        if: always()
+        with:
+          name: ${{github.job}}
+          path: ${{github.workspace}}/
+          retention-days: 3
+
+  style_check:
+    if: github.event_name == 'push'
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: DoozyX/[email protected]
+        with:
+          source: './libudpard ./tests'
+          extensions: 'c,h,cpp,hpp'
+          clangFormatVersion: ${{ env.LLVM_VERSION }}

.gitignore

@@ -1,52 +1,38 @@
-# Object files
 *.o
 *.ko
 *.obj
 *.elf
-
-# Precompiled Headers
 *.gch
 *.pch
-
-# Libraries
 *.lib
 *.a
 *.la
 *.lo
-
-# Shared objects (inc. Windows DLLs)
 *.dll
 *.so
 *.so.*
 *.dylib
-
-# Executables
 *.exe
 *.out
 *.app
 *.i*86
 *.x86_64
 *.hex
-
-# Debug files
 *.dSYM/
-
-# CMake build directory
-build/
+*build/
 cmake-build-*/
 build-avr/
-
-# IDE and tools
 .metadata
 .settings
 .project
 .cproject
 .pydevproject
 .gdbinit
+.scannerwork/
 .vscode/
 **/.idea/*
 !**/.idea/dictionaries
 !**/.idea/dictionaries/*
-
-# Pycache
 __pycache__/
+*.pyo
+*.pyc

README.md

@@ -4,12 +4,19 @@ This package is a staging package to make changes before committing a pull reque
 
 # Compact Cyphal/UDP v1 in C
 
-Libudpard is a compact implementation of the Cyphal/UDP protocol stack in C99/C11 for high-integrity real-time
+[![Main Workflow](https://github.com/OpenCyphal-Garage/libudpard/actions/workflows/main.yml/badge.svg)](https://github.com/OpenCyphal-Garage/libudpard/actions/workflows/main.yml)
+[![Reliability Rating](https://sonarcloud.io/api/project_badges/measure?project=libudpard&metric=reliability_rating)](https://sonarcloud.io/summary?id=libudpard)
+[![Coverage](https://sonarcloud.io/api/project_badges/measure?project=libudpard&metric=coverage)](https://sonarcloud.io/summary?id=libudpard)
+[![Forum](https://img.shields.io/discourse/users.svg?server=https%3A%2F%2Fforum.opencyphal.org&color=1700b3)](https://forum.opencyphal.org)
+
+LibUDPard is a compact implementation of the Cyphal/UDP protocol stack in C99/C11 for high-integrity real-time
 embedded systems.
 
 [Cyphal](https://opencyphal.org) is an open lightweight data bus standard designed for reliable intravehicular
 communication in aerospace and robotic applications via CAN bus, UDP, and other robust transports.
 
+We pronounce LibUDPard as *lib-you-dee-pee-ard*.
+
 ## WORK IN PROGRESS, NOT READY FOR FORMAL USE
 
 **Read the docs in [`libudpard/udpard.h`](/libudpard/udpard.h).**

libudpard/.clang-tidy

@@ -21,6 +21,7 @@ Checks: >-
   -cert-dcl03-c,
   -hicpp-static-assert,
   -misc-static-assert,
+  -modernize-macro-to-enum,
 CheckOptions:
   - key:   readability-function-cognitive-complexity.Threshold
     value: '99'

libudpard/cavl.h → libudpard/_udpard_cavl.h

@@ -42,7 +42,7 @@ extern "C" {
 
 // ----------------------------------------         PUBLIC API SECTION         ----------------------------------------
 
-/// Modified for use with Libudpard: expose the Cavl structure via public API as UdpardTreeNode.
+/// Modified for use with LibUDPard: expose the Cavl structure via public API as UdpardTreeNode.
 typedef UdpardTreeNode Cavl;
 
 /// Returns POSITIVE if the search target is GREATER than the provided node, negative if smaller, zero on match (found).
@@ -118,7 +118,7 @@ static inline Cavl* cavlPrivateAdjustBalance(Cavl* const x, const bool increment
 {
     CAVL_ASSERT((x != NULL) && ((x->bf >= -1) && (x->bf <= +1)));
     Cavl*        out    = x;
-    const int8_t new_bf = (int8_t)(x->bf + (increment ? +1 : -1));
+    const int8_t new_bf = (int8_t) (x->bf + (increment ? +1 : -1));
     if ((new_bf < -1) || (new_bf > 1))
     {
         const bool   r    = new_bf < 0;   // bf<0 if left-heavy --> right rotation is needed.
@@ -131,8 +131,8 @@ static inline Cavl* cavlPrivateAdjustBalance(Cavl* const x, const bool increment
             cavlPrivateRotate(x, r);
             if (0 == z->bf)
             {
-                x->bf = (int8_t)(-sign);
-                z->bf = (int8_t)(+sign);
+                x->bf = (int8_t) (-sign);
+                z->bf = (int8_t) (+sign);
             }
             else
             {
@@ -149,15 +149,15 @@ static inline Cavl* cavlPrivateAdjustBalance(Cavl* const x, const bool increment
             cavlPrivateRotate(x, r);
             if ((y->bf * sign) < 0)
             {
-                x->bf = (int8_t)(+sign);
+                x->bf = (int8_t) (+sign);
                 y->bf = 0;
                 z->bf = 0;
             }
             else if ((y->bf * sign) > 0)
             {
                 x->bf = 0;
                 y->bf = 0;
-                z->bf = (int8_t)(-sign);
+                z->bf = (int8_t) (-sign);
             }
             else
             {