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address cpp:S134 "Refactor this code to not nest more than 3..." #ver…
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…ification #docs #sonar

use `break` and "extract function" refactoring
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@serges147
serges147 committed May 9, 2024
1 parent 04e5eff commit b76eb0c
Showing 1 changed file with 62 additions and 58 deletions.
120 changes: 62 additions & 58 deletions include/libcyphal/transport/can/transport.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -446,80 +446,84 @@ class TransportImpl final : public ICanTransport, private TransportDelegate
{
// TODO: Handle errors.
const Expected<cetl::optional<RxMetadata>, MediaError> pop_result = media.interface().pop(payload);
if (const auto* const opt_rx_meta = cetl::get_if<cetl::optional<RxMetadata>>(&pop_result))
const auto* const opt_rx_meta = cetl::get_if<cetl::optional<RxMetadata>>(&pop_result);
if ((opt_rx_meta == nullptr) || !opt_rx_meta->has_value())
{
if (opt_rx_meta->has_value())
{
const RxMetadata& rx_meta = opt_rx_meta->value();

const auto timestamp_us =
std::chrono::duration_cast<std::chrono::microseconds>(rx_meta.timestamp.time_since_epoch());
const CanardFrame canard_frame{rx_meta.can_id, rx_meta.payload_size, payload.cbegin()};

CanardRxTransfer out_transfer{};
CanardRxSubscription* out_subscription{};

// TODO: Handle errors.
const std::int8_t result = ::canardRxAccept(&canard_instance(),
static_cast<CanardMicrosecond>(timestamp_us.count()),
&canard_frame,
media.index(),
&out_transfer,
&out_subscription);
if (result > 0)
{
CETL_DEBUG_ASSERT(out_subscription != nullptr, "Expected subscription.");
CETL_DEBUG_ASSERT(out_subscription->user_reference != nullptr, "Expected session delegate.");

auto* const delegate = static_cast<IRxSessionDelegate*>(out_subscription->user_reference);
delegate->acceptRxTransfer(out_transfer);
}
}
continue;
}

const RxMetadata& rx_meta = opt_rx_meta->value();

const auto timestamp_us =
std::chrono::duration_cast<std::chrono::microseconds>(rx_meta.timestamp.time_since_epoch());
const CanardFrame canard_frame{rx_meta.can_id, rx_meta.payload_size, payload.cbegin()};

CanardRxTransfer out_transfer{};
CanardRxSubscription* out_subscription{};

// TODO: Handle errors.
const std::int8_t result = ::canardRxAccept(&canard_instance(),
static_cast<CanardMicrosecond>(timestamp_us.count()),
&canard_frame,
media.index(),
&out_transfer,
&out_subscription);
if (result > 0)
{
CETL_DEBUG_ASSERT(out_subscription != nullptr, "Expected subscription.");
CETL_DEBUG_ASSERT(out_subscription->user_reference != nullptr, "Expected session delegate.");

auto* const delegate = static_cast<IRxSessionDelegate*>(out_subscription->user_reference);
delegate->acceptRxTransfer(out_transfer);
}

} // for each media
}

/// @brief Runs transmission loop for each redundant media interface.
///
void runMediaTransmit(const TimePoint now)
{
for (Media& media : media_array_)
{
while (const CanardTxQueueItem* const tx_item = ::canardTxPeek(&media.canard_tx_queue()))
runSingleMediaTransmit(media, now);
}
}

/// @brief Runs transmission loop for a single media interface.
///
/// Transmits as much as possible frames that are ready to be sent by the media interface.
///
void runSingleMediaTransmit(Media& media, const TimePoint now)
{
while (const CanardTxQueueItem* const tx_item = ::canardTxPeek(&media.canard_tx_queue()))
{
// We are dropping any TX item that has expired.
// Otherwise, we would send it to the media interface.
// We use strictly `<` (instead of `<=`) to give this frame a chance (one extra 1us) at media level.
//
if (const auto deadline = TimePoint{std::chrono::microseconds{tx_item->tx_deadline_usec}}; now < deadline)
{
// We are dropping any TX item that has expired.
// Otherwise, we would send it to the media interface.
// We use strictly `<` (instead of `<=`) to give this frame a chance (one extra 1us) at media level.
//
const auto deadline = TimePoint{std::chrono::microseconds{tx_item->tx_deadline_usec}};
if (now < deadline)
const cetl::span<const cetl::byte> payload{static_cast<const cetl::byte*>(tx_item->frame.payload),
tx_item->frame.payload_size};

const Expected<bool, MediaError> maybe_pushed =
media.interface().push(deadline, tx_item->frame.extended_can_id, payload);
if (const auto* const is_pushed = cetl::get_if<bool>(&maybe_pushed); !*is_pushed)
{
const cetl::span<const cetl::byte> payload{static_cast<const cetl::byte*>(tx_item->frame.payload),
tx_item->frame.payload_size};
const Expected<bool, MediaError> maybe_pushed =
media.interface().push(deadline, tx_item->frame.extended_can_id, payload);
if (const auto* const is_pushed = cetl::get_if<bool>(&maybe_pushed))
{
if (!*is_pushed)
{
// Media interface is busy, so we will try again with it later (on next `run`).
break;
}
}
else
{
// In case of media error we are going to drop this frame
// (b/c it looks like media can't handle this frame),
// but we will continue to process other frames.

// TODO: Add error reporting somehow.
}
// Media interface is busy, so we will try again with it later (on next `run`).
break;
}
// TODO: Add error (if any) reporting somehow.

freeCanardMemory(::canardTxPop(&media.canard_tx_queue(), tx_item));
// In case of media error we are going to drop this frame
// (b/c it looks like media can't handle this frame),
// but we will continue to process other frames.
}

} // for each frame
freeCanardMemory(::canardTxPop(&media.canard_tx_queue(), tx_item));

} // for each media
} // for each frame
}

/// \brief Runs (if needed) reconfiguration of media filters based on the currently active subscriptions.
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