Skip to content

Commit

Permalink
sonar fixes #verification #sonar #docs
Browse files Browse the repository at this point in the history
  • Loading branch information
@serges147
serges147 committed Dec 9, 2024
1 parent bc19292 commit bc4a315
Showing 1 changed file with 68 additions and 58 deletions.
126 changes: 68 additions & 58 deletions include/libcyphal/transport/can/can_transport_impl.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -574,73 +574,83 @@ class TransportImpl final : private TransportDelegate, public ICanTransport
}
}

/// @brief Tries to push next frame from TX queue to media.
///
void pushNextFrameToMedia(Media& media)
std::int8_t handleMediaTxFrame(Media& media, const CanardMicrosecond deadline, CanardMutableFrame& frame)
{
auto frame_handler = [this, &media](const CanardMicrosecond deadline,
CanardMutableFrame& frame) -> std::int8_t {
//
// Move the payload from the frame to the media payload - `media.push` might take ownership of it.
// No Sonar `cpp:S5356` and `cpp:S5357` b/c we integrate here with C libcanard API.
//
MediaPayload payload{frame.payload.size,
static_cast<cetl::byte*>(frame.payload.data), // NOSONAR cpp:S5356 cpp:S5357
frame.payload.allocated_size,
&media.interface().getTxMemoryResource()};
frame.payload = {0, nullptr, 0};
//
// Move the payload from the frame to the media payload - `media.push` might take ownership of it.
// No Sonar `cpp:S5356` and `cpp:S5357` b/c we integrate here with C libcanard API.
//
MediaPayload payload{frame.payload.size,
static_cast<cetl::byte*>(frame.payload.data), // NOSONAR cpp:S5356 cpp:S5357
frame.payload.allocated_size,
&media.interface().getTxMemoryResource()};
frame.payload = {0, nullptr, 0};

auto push_result = media.interface().push(TimePoint{std::chrono::microseconds{deadline}}, //
frame.extended_can_id,
payload);
auto push_result = media.interface().push(TimePoint{std::chrono::microseconds{deadline}}, //
frame.extended_can_id,
payload);

if (const auto* const push = cetl::get_if<IMedia::PushResult::Success>(&push_result))
if (const auto* const push = cetl::get_if<IMedia::PushResult::Success>(&push_result))
{
if (!push->is_accepted)
{
if (!push->is_accepted)
{
// Media has not accepted the frame, so we need return original payload back to the item,
// so that in the future potential retry could try to push it again.
const auto org_payload = payload.release();
frame.payload.size = org_payload.size;
frame.payload.data = org_payload.data;
frame.payload.allocated_size = org_payload.allocated_size;
}
// Media has not accepted the frame, so we need return original payload back to the item,
// so that in the future potential retry could try to push it again.
// No Sonar `cpp:S5356` b/c we need to pass payload as a raw data to the libcanard.
const auto org_payload = payload.release();
frame.payload.size = org_payload.size;
frame.payload.data = org_payload.data; // NOSONAR cpp:S5356
frame.payload.allocated_size = org_payload.allocated_size;
}

// If needed schedule (recursively!) next frame to push.
// Already existing callback will be called by executor when media TX is ready to push more.
//
if (!media.tx_callback())
{
media.tx_callback() = media.interface().registerPushCallback([this, &media](const auto&) {
//
pushNextFrameToMedia(media);
});
}
return push->is_accepted ? 1 : 0;
// If needed schedule (recursively!) next frame to push.
// Already existing callback will be called by executor when media TX is ready to push more.
//
if (!media.tx_callback())
{
media.tx_callback() = media.interface().registerPushCallback([this, &media](const auto&) {
//
pushNextFrameToMedia(media);
});
}
return push->is_accepted ? 1 : 0;
}

using Report = TransientErrorReport::MediaPush;
tryHandleTransientMediaFailure<Report>(media,
cetl::get<IMedia::PushResult::Failure>(std::move(push_result)));
return -1;
using Report = TransientErrorReport::MediaPush;
tryHandleTransientMediaFailure<Report>(media, cetl::get<IMedia::PushResult::Failure>(std::move(push_result)));
return -1;
}

/// @brief Tries to push next frame from TX queue to media.
///
void pushNextFrameToMedia(Media& media)
{
auto frame_handler = [this, &media](const CanardMicrosecond deadline,
CanardMutableFrame& frame) -> std::int8_t {
//
return handleMediaTxFrame(media, deadline, frame);
};

while (true)
{
const auto result =
::canardTxPoll(&media.canard_tx_queue(),
&canardInstance(),
static_cast<CanardMicrosecond>(executor_.now().time_since_epoch().count()),
&frame_handler,
[](auto* const user_reference, const auto deadline, auto* frame) {
//
auto* frame_handler_ptr = static_cast<decltype(frame_handler)*>(user_reference);
return (*frame_handler_ptr)(deadline, *frame);
});
if (result >= 0)
{
return;
}
// In case of a media failure we gonna try to push another frame from the next transfer in the queue, so
// that at least (and at most) one new frame will be succesfully attempted to be pushed in the end.
// Everytime we poll the queue, its size surely decrements (when `result != 0`),
// so there is no risk of infinite loop here.
//
std::int8_t result = -1;
while (result < 0)
{
// No Sonar `cpp:S5356` & `cpp:S5356` b/c we integrate with Canard C api.
result = ::canardTxPoll( //
&media.canard_tx_queue(),
&canardInstance(),
static_cast<CanardMicrosecond>(executor_.now().time_since_epoch().count()),
&frame_handler, // NOSONAR cpp:S5356
[](auto* const user_reference, const auto deadline, auto* frame) {
//
auto* const frame_handler_ptr =
static_cast<decltype(frame_handler)*>(user_reference); // NOSONAR cpp:S5356, cpp:S5357
return (*frame_handler_ptr)(deadline, *frame);
});
}
}

Expand Down

0 comments on commit bc4a315

Please sign in to comment.