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Merged
pavel-kirienko merged 7 commits into from
Jul 8, 2023
Merged

Switch from Google Test to Unity; make the internal tests include udpard.c directly #37

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44e6935
Switch to Unity; include udpard.c directly to test its internals
pavel-kirienko Jul 7, 2023
0f7d5b5
style
pavel-kirienko Jul 7, 2023
aa2695d
Submodules
pavel-kirienko Jul 7, 2023
4564683
C-specific fix
pavel-kirienko Jul 7, 2023
b5585a1
Format
pavel-kirienko Jul 7, 2023
a57a864
Remove obsolete references to gtest
pavel-kirienko Jul 7, 2023
a5f4b70
Switch the Unity submodule to the latest release
pavel-kirienko Jul 7, 2023
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21 changes: 5 additions & 16 deletions .github/workflows/main.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,12 +19,8 @@ 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
with:
submodules: true
# language=bash
- run: >
cmake
Expand Down Expand Up @@ -65,12 +61,8 @@ 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
with:
submodules: true
# language=bash
- run: >
cmake
Expand Down Expand Up @@ -147,17 +139,14 @@ jobs:
- uses: actions/checkout@v3
with:
fetch-depth: 0 # Shallow clones should be disabled for a better relevancy of analysis
submodules: true
- 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
Expand Down
3 changes: 3 additions & 0 deletions .gitmodules
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Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
[submodule "submodules/unity"]
path = submodules/unity
url = https://github.com/ThrowTheSwitch/Unity
91 changes: 43 additions & 48 deletions libudpard/udpard.c
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Original file line number Diff line number Diff line change
Expand Up @@ -24,11 +24,6 @@
# define UDPARD_ASSERT(x) assert(x) // NOSONAR
#endif

/// This macro is needed for testing and for library development.
#ifndef UDPARD_PRIVATE
# define UDPARD_PRIVATE static inline
#endif

#if !defined(__STDC_VERSION__) || (__STDC_VERSION__ < 199901L)
# error "Unsupported language: ISO C99 or a newer version is required."
#endif
Expand Down Expand Up @@ -65,38 +60,38 @@ typedef struct
#define SUBJECT_MULTICAST_GROUP_ADDRESS_MASK 0xEF000000UL
#define SERVICE_MULTICAST_GROUP_ADDRESS_MASK 0xEF010000UL

UDPARD_PRIVATE uint32_t makeSubjectIPGroupAddress(const UdpardPortID subject_id)
static inline uint32_t makeSubjectIPGroupAddress(const UdpardPortID subject_id)
{
return SUBJECT_MULTICAST_GROUP_ADDRESS_MASK | ((uint32_t) subject_id);
}

UDPARD_PRIVATE uint32_t makeServiceIPGroupAddress(const UdpardNodeID destination_node_id)
static inline uint32_t makeServiceIPGroupAddress(const UdpardNodeID destination_node_id)
{
return SERVICE_MULTICAST_GROUP_ADDRESS_MASK | ((uint32_t) destination_node_id);
}

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

UDPARD_PRIVATE UdpardUDPIPEndpoint makeServiceUDPIPEndpoint(const UdpardNodeID destination_node_id)
static inline UdpardUDPIPEndpoint makeServiceUDPIPEndpoint(const UdpardNodeID destination_node_id)
{
return (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.
UDPARD_PRIVATE UdpardTreeNode* avlTrivialFactory(void* const user_reference)
static inline UdpardTreeNode* avlTrivialFactory(void* const user_reference)
{
return (UdpardTreeNode*) user_reference;
}

UDPARD_PRIVATE size_t smaller(const size_t a, const size_t b)
static inline size_t smaller(const size_t a, const size_t b)
{
return (a < b) ? a : b;
}

UDPARD_PRIVATE size_t larger(const size_t a, const size_t b)
static inline size_t larger(const size_t a, const size_t b)
{
return (a > b) ? a : b;
}
Expand All @@ -107,7 +102,7 @@ UDPARD_PRIVATE size_t larger(const size_t a, const size_t b)
#define HEADER_CRC_RESIDUE 0x0000U
#define HEADER_CRC_SIZE_BYTES 2U

UDPARD_PRIVATE uint16_t headerCRCAddByte(const uint16_t crc, const byte_t byte)
static inline uint16_t headerCRCAddByte(const uint16_t crc, const byte_t byte)
{
static const uint16_t Table[256] = {
0x0000U, 0x1021U, 0x2042U, 0x3063U, 0x4084U, 0x50A5U, 0x60C6U, 0x70E7U, 0x8108U, 0x9129U, 0xA14AU, 0xB16BU,
Expand Down Expand Up @@ -137,7 +132,7 @@ UDPARD_PRIVATE uint16_t headerCRCAddByte(const uint16_t crc, const byte_t byte)
Table[(uint16_t) ((uint16_t) (crc >> ByteWidth) ^ byte) & ByteMask]);
}

UDPARD_PRIVATE uint16_t headerCRCCompute(const size_t size, const void* const data)
static inline uint16_t headerCRCCompute(const size_t size, const void* const data)
{
UDPARD_ASSERT((data != NULL) || (size == 0U));
uint16_t out = HEADER_CRC_INITIAL;
Expand All @@ -157,7 +152,7 @@ UDPARD_PRIVATE uint16_t headerCRCCompute(const size_t size, const void* const da
#define TRANSFER_CRC_RESIDUE_BEFORE_OUTPUT_XOR 0xB798B438UL
#define TRANSFER_CRC_SIZE_BYTES 4U

UDPARD_PRIVATE uint32_t transferCRCAddByte(const uint32_t crc, const byte_t byte)
static inline uint32_t transferCRCAddByte(const uint32_t crc, const byte_t byte)
{
static const uint32_t Table[256] = {
0x00000000UL, 0xF26B8303UL, 0xE13B70F7UL, 0x1350F3F4UL, 0xC79A971FUL, 0x35F1141CUL, 0x26A1E7E8UL, 0xD4CA64EBUL,
Expand Down Expand Up @@ -197,7 +192,7 @@ UDPARD_PRIVATE uint32_t transferCRCAddByte(const uint32_t crc, const byte_t byte
}

/// Do not forget to apply the output XOR when done, or use transferCRCCompute().
UDPARD_PRIVATE uint32_t transferCRCAdd(const uint32_t crc, const size_t size, const void* const data)
static inline uint32_t transferCRCAdd(const uint32_t crc, const size_t size, const void* const data)
{
UDPARD_ASSERT((data != NULL) || (size == 0U));
uint32_t out = crc;
Expand All @@ -210,7 +205,7 @@ UDPARD_PRIVATE uint32_t transferCRCAdd(const uint32_t crc, const size_t size, co
return out;
}

UDPARD_PRIVATE uint32_t transferCRCCompute(const size_t size, const void* const data)
static inline uint32_t transferCRCCompute(const size_t size, const void* const data)
{
return transferCRCAdd(TRANSFER_CRC_INITIAL, size, data) ^ TRANSFER_CRC_OUTPUT_XOR;
}
Expand All @@ -219,7 +214,7 @@ UDPARD_PRIVATE uint32_t transferCRCCompute(const size_t size, const void* const
// ================================================= MEMORY RESOURCE =================================================
// =====================================================================================================================

UDPARD_PRIVATE bool isValidMemoryResource(const UdpardMemoryResource* const memory)
static inline bool isValidMemoryResource(const UdpardMemoryResource* const memory)
{
return (memory != NULL) && (memory->allocate != NULL) && (memory->free != NULL);
}
Expand Down Expand Up @@ -250,13 +245,13 @@ typedef struct
size_t count;
} TxChain;

UDPARD_PRIVATE 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(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)
{
UDPARD_ASSERT(memory != NULL);
TxItem* const out = (TxItem*) memory->allocate(memory, sizeof(TxItem) + datagram_payload_size);
Expand Down Expand Up @@ -284,8 +279,8 @@ UDPARD_PRIVATE 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).
UDPARD_PRIVATE int8_t txAVLPredicate(void* const user_reference, // NOSONAR Cavl API requires pointer to non-const.
const UdpardTreeNode* const node)
static inline int8_t txAVLPredicate(void* const user_reference, // NOSONAR Cavl API requires pointer to non-const.
const UdpardTreeNode* const node)
{
const TxItem* const target = (const TxItem*) user_reference;
const TxItem* const other = (const TxItem*) (const void*) node;
Expand All @@ -294,15 +289,15 @@ UDPARD_PRIVATE int8_t txAVLPredicate(void* const user_reference, // NOSONAR Cav
}

/// The primitive serialization functions are endian-agnostic.
UDPARD_PRIVATE byte_t* txSerializeU16(byte_t* const destination_buffer, const uint16_t value)
static inline byte_t* txSerializeU16(byte_t* const destination_buffer, const uint16_t value)
{
byte_t* p = destination_buffer;
*p++ = (byte_t) (value & ByteMask);
*p++ = (byte_t) ((byte_t) (value >> ByteWidth) & ByteMask);
return p;
}

UDPARD_PRIVATE byte_t* txSerializeU32(byte_t* const destination_buffer, const uint32_t value)
static inline byte_t* txSerializeU32(byte_t* const destination_buffer, const uint32_t value)
{
byte_t* p = destination_buffer;
for (size_t i = 0; i < sizeof(value); i++) // We sincerely hope that the compiler will use memcpy.
Expand All @@ -312,7 +307,7 @@ UDPARD_PRIVATE byte_t* txSerializeU32(byte_t* const destination_buffer, const ui
return p;
}

UDPARD_PRIVATE byte_t* txSerializeU64(byte_t* const destination_buffer, const uint64_t value)
static inline byte_t* txSerializeU64(byte_t* const destination_buffer, const uint64_t value)
{
byte_t* p = destination_buffer;
for (size_t i = 0; i < sizeof(value); i++) // We sincerely hope that the compiler will use memcpy.
Expand All @@ -322,10 +317,10 @@ UDPARD_PRIVATE byte_t* txSerializeU64(byte_t* const destination_buffer, const ui
return p;
}

UDPARD_PRIVATE byte_t* txSerializeHeader(byte_t* const destination_buffer,
const TransferMetadata meta,
const uint32_t frame_index,
const bool end_of_transfer)
static inline byte_t* txSerializeHeader(byte_t* const destination_buffer,
const TransferMetadata meta,
const uint32_t frame_index,
const bool end_of_transfer)
{
byte_t* p = destination_buffer;
*p++ = HEADER_VERSION;
Expand All @@ -348,14 +343,14 @@ UDPARD_PRIVATE byte_t* txSerializeHeader(byte_t* const destination_buff

/// 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.
UDPARD_PRIVATE 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(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)
{
UDPARD_ASSERT(memory != NULL);
UDPARD_ASSERT(mtu > 0);
Expand Down Expand Up @@ -419,12 +414,12 @@ UDPARD_PRIVATE TxChain txMakeChain(UdpardMemoryResource* const memory,
return out;
}

UDPARD_PRIVATE 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(UdpardTx* const tx,
const UdpardMicrosecond deadline_usec,
const TransferMetadata meta,
const UdpardUDPIPEndpoint endpoint,
const 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
1 change: 1 addition & 0 deletions submodules/unity
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Submodule unity added at 0b899a
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