Revert "using at() instead of [] to ensure array bounds check (#23)"

This reverts commit 96060d9.

Author: Alexandru Kampmann

include/rtps/common/Locator.h

@@ -110,8 +110,8 @@ struct FullLengthLocator {
 inline FullLengthLocator
 getBuiltInUnicastLocator(ParticipantId_t participantId) {
  return FullLengthLocator::createUDPv4Locator(
- Config::IP_ADDRESS.at(0), Config::IP_ADDRESS.at(1), Config::IP_ADDRESS.at(2),
- Config::IP_ADDRESS.at(3), getBuiltInUnicastPort(participantId));
+ Config::IP_ADDRESS[0], Config::IP_ADDRESS[1], Config::IP_ADDRESS[2],
+ Config::IP_ADDRESS[3], getBuiltInUnicastPort(participantId));
 }
 
 inline FullLengthLocator getBuiltInMulticastLocator() {
@@ -121,16 +121,16 @@ inline FullLengthLocator getBuiltInMulticastLocator() {
 
 inline FullLengthLocator getUserUnicastLocator(ParticipantId_t participantId) {
  return FullLengthLocator::createUDPv4Locator(
- Config::IP_ADDRESS.at(0), Config::IP_ADDRESS.at(1), Config::IP_ADDRESS.at(2),
- Config::IP_ADDRESS.at(3), getUserUnicastPort(participantId));
+ Config::IP_ADDRESS[0], Config::IP_ADDRESS[1], Config::IP_ADDRESS[2],
+ Config::IP_ADDRESS[3], getUserUnicastPort(participantId));
 }
 
 inline FullLengthLocator
 getUserMulticastLocator() { // this would be a unicastaddress, as
  // defined in config
  return FullLengthLocator::createUDPv4Locator(
- Config::IP_ADDRESS.at(0), Config::IP_ADDRESS.at(1), Config::IP_ADDRESS.at(2),
- Config::IP_ADDRESS.at(3), getUserMulticastPort());
+ Config::IP_ADDRESS[0], Config::IP_ADDRESS[1], Config::IP_ADDRESS[2],
+ Config::IP_ADDRESS[3], getUserMulticastPort());
 }
 
 inline FullLengthLocator getDefaultSendMulticastLocator() {
@@ -148,16 +148,16 @@ struct LocatorIPv4 {
 
  LocatorIPv4() = default;
  LocatorIPv4(const FullLengthLocator &locator) {
- address.at(0) = locator.address[12];
- address.at(1) = locator.address[13];
- address.at(2) = locator.address[14];
- address.at(3) = locator.address[15];
+ address[0] = locator.address[12];
+ address[1] = locator.address[13];
+ address[2] = locator.address[14];
+ address[3] = locator.address[15];
  port = locator.port;
  kind = locator.kind;
  }
 
  ip4_addr_t getIp4Address() const {
- return transformIP4ToU32(address.at(0), address.at(1), address.at(2), address.at(3));
+ return transformIP4ToU32(address[0], address[1], address[2], address[3]);
  }
 
  void setInvalid() { kind = LocatorKind_t::LOCATOR_KIND_INVALID; }

include/rtps/config_aurix.h

@@ -50,8 +50,8 @@ const uint8_t NUM_READERS_PER_PARTICIPANT = 4;
 const uint8_t NUM_WRITER_PROXIES_PER_READER = 3;
 const uint8_t NUM_READER_PROXIES_PER_WRITER = 3;
 
-const uint32_t MAX_NUM_UNMATCHED_REMOTE_WRITERS = 100;
-const uint32_t MAX_NUM_UNMATCHED_REMOTE_READERS = 10;
+const uint8_t MAX_NUM_UNMATCHED_REMOTE_WRITERS = 100;
+const uint8_t MAX_NUM_UNMATCHED_REMOTE_READERS = 10;
 
 const uint8_t HISTORY_SIZE = 10;
 

include/rtps/config_desktop.h

@@ -54,8 +54,8 @@ const uint8_t NUM_READERS_PER_PARTICIPANT = 4;
 const uint8_t NUM_WRITER_PROXIES_PER_READER = 3;
 const uint8_t NUM_READER_PROXIES_PER_WRITER = 3;
 
-const uint32_t MAX_NUM_UNMATCHED_REMOTE_WRITERS = 100;
-const uint32_t MAX_NUM_UNMATCHED_REMOTE_READERS = 10;
+const uint8_t MAX_NUM_UNMATCHED_REMOTE_WRITERS = 100;
+const uint8_t MAX_NUM_UNMATCHED_REMOTE_READERS = 10;
 
 const uint8_t HISTORY_SIZE = 10;
 

include/rtps/config_r5.h

@@ -26,8 +26,8 @@ const uint8_t NUM_READERS_PER_PARTICIPANT =
 const uint8_t NUM_WRITER_PROXIES_PER_READER = 60;
 const uint8_t NUM_READER_PROXIES_PER_WRITER = 60;
 
-const uint32_t MAX_NUM_UNMATCHED_REMOTE_WRITERS = 150;
-const uint32_t MAX_NUM_UNMATCHED_REMOTE_READERS = 150;
+const uint8_t MAX_NUM_UNMATCHED_REMOTE_WRITERS = 150;
+const uint8_t MAX_NUM_UNMATCHED_REMOTE_READERS = 150;
 
 const uint8_t MAX_NUM_READER_CALLBACKS = 5;
 

include/rtps/config_stm.h

@@ -37,7 +37,7 @@ namespace rtps {
 namespace Config {
 const VendorId_t VENDOR_ID = {13, 37};
 const std::array<uint8_t, 4> IP_ADDRESS = {
- 192, 168, 1, 103}; // Needs to be set in lwipcfg.h too.
+ 192, 168, 0, 66}; // Needs to be set in lwipcfg.h too.
 const GuidPrefix_t BASE_GUID_PREFIX{1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 12};
 
 const uint8_t DOMAIN_ID = 0; // 230 possible with UDP
@@ -51,14 +51,7 @@ const uint8_t NUM_READERS_PER_PARTICIPANT = 4;
 const uint8_t NUM_WRITER_PROXIES_PER_READER = 3;
 const uint8_t NUM_READER_PROXIES_PER_WRITER = 3;
 
-const uint8_t MAX_NUM_UNMATCHED_REMOTE_WRITERS = 15;
-const uint8_t MAX_NUM_UNMATCHED_REMOTE_READERS = 15;
- 
-const uint8_t MAX_NUM_READER_CALLBACKS = 5;
-
-
-const uint8_t HISTORY_SIZE_STATELESS = 2;
-const uint8_t HISTORY_SIZE_STATEFUL = 10;
+const uint8_t HISTORY_SIZE = 10;
 
 const uint8_t MAX_TYPENAME_LENGTH = 20;
 const uint8_t MAX_TOPICNAME_LENGTH = 20;
@@ -69,27 +62,20 @@ const int THREAD_POOL_READER_STACKSIZE = 1600; // byte
 const uint16_t SPDP_WRITER_STACKSIZE = 550; // byte
 
 const uint16_t SF_WRITER_HB_PERIOD_MS = 4000;
-const uint16_t SPDP_RESEND_PERIOD_MS = 1000;
+const uint16_t SPDP_RESEND_PERIOD_MS = 10000;
 const uint8_t SPDP_CYCLECOUNT_HEARTBEAT =
  2; // skip x SPDP rounds before checking liveliness
-const uint8_t SPDP_WRITER_PRIO = 24;
+const uint8_t SPDP_WRITER_PRIO = 3;
 const uint8_t SPDP_MAX_NUMBER_FOUND_PARTICIPANTS = 5;
-const uint8_t SPDP_MAX_NUM_LOCATORS = 1;
-const Duration_t SPDP_DEFAULT_REMOTE_LEASE_DURATION = {
- 100, 0}; // Default lease duration for remote participants, usually
- // overwritten by remote info
-const Duration_t SPDP_MAX_REMOTE_LEASE_DURATION = {
- 180,
- 0}; // Absolute maximum lease duration, ignoring remote participant info
-
+const uint8_t SPDP_MAX_NUM_LOCATORS = 5;
 const Duration_t SPDP_LEASE_DURATION = {100, 0};
 
 const int MAX_NUM_UDP_CONNECTIONS = 10;
 
 const int THREAD_POOL_NUM_WRITERS = 1;
 const int THREAD_POOL_NUM_READERS = 1;
-const int THREAD_POOL_WRITER_PRIO = 24;
-const int THREAD_POOL_READER_PRIO = 24;
+const int THREAD_POOL_WRITER_PRIO = 3;
+const int THREAD_POOL_READER_PRIO = 3;
 const int THREAD_POOL_WORKLOAD_QUEUE_LENGTH = 10;
 
 constexpr int OVERALL_HEAP_SIZE =

include/rtps/discovery/SEDPAgent.h

@@ -60,7 +60,7 @@ class SEDPAgent {
 private:
  Participant *m_part;
  SemaphoreHandle_t m_mutex;
- std::array<uint8_t, 600> m_buffer; // TODO check size, currently changed from 300 to 600
+ uint8_t m_buffer[600]; // TODO check size, currently changed from 300 to 600
  // (FastDDS gives too many options)
  BuiltInEndpoints m_endpoints;
  /*

include/rtps/discovery/TopicData.h

@@ -41,8 +41,8 @@ struct BuiltInTopicKey {
 
 struct TopicData {
  Guid_t endpointGuid;
- std::array<char, Config::MAX_TYPENAME_LENGTH> typeName;
- std::array<char, Config::MAX_TOPICNAME_LENGTH> topicName;
+ char typeName[Config::MAX_TYPENAME_LENGTH];
+ char topicName[Config::MAX_TOPICNAME_LENGTH];
  ReliabilityKind_t reliabilityKind;
  DurabilityKind_t durabilityKind;
  FullLengthLocator unicastLocator;
@@ -93,8 +93,8 @@ struct TopicDataCompressed {
  TopicDataCompressed(const TopicData &topic_data) {
  endpointGuid = topic_data.endpointGuid;
  topicHash =
- hashCharArray(topic_data.topicName.data(), topic_data.topicName.size());
- typeHash = hashCharArray(topic_data.typeName.data(),topic_data.typeName.size());
+ hashCharArray(topic_data.topicName, Config::MAX_TOPICNAME_LENGTH);
+ typeHash = hashCharArray(topic_data.typeName, Config::MAX_TYPENAME_LENGTH);
  is_reliable = (topic_data.reliabilityKind == ReliabilityKind_t::RELIABLE)
  ? true
  : false;

include/rtps/entities/Domain.h

@@ -76,8 +76,8 @@ class Domain {
  std::array<StatefulWriter, Config::NUM_STATEFUL_WRITERS> m_statefulWriters;
  template <typename A, typename B> B *getNextUnusedEndpoint(A &a) {
  for (unsigned int i = 0; i < a.size(); i++) {
- if (!a.at(i).isInitialized()) {
- return &(a.at(i));
+ if (!a[i].isInitialized()) {
+ return &(a[i]);
  }
  }
  return nullptr;

include/rtps/entities/StatefulReader.tpp

@@ -33,7 +33,7 @@ Author: i11 - Embedded Software, RWTH Aachen University
 #include "rtps/utils/printutils.h"
 #define SFR_LOG(...) \
  if (true) { \
- printf("[StatefulReader %s] ", m_attributes.topicName.data()); \
+ printf("[StatefulReader %s] ", &m_attributes.topicName[0]); \
  printf(__VA_ARGS__); \
  printf("\n"); \
  }
@@ -148,7 +148,7 @@ bool StatefulReaderT<NetworkDriver>::onNewGapMessage(
  SequenceNumberSet set;
  set.numBits = 1;
  set.base = writer->expectedSN;
- set.bitMap.at(0) = uint32_t{1} << 31;
+ set.bitMap[0] = uint32_t{1} << 31;
  rtps::MessageFactory::addAckNack(info.buffer, msg.writerId, msg.readerId, set,
  writer->getNextAckNackCount(), false);
  m_transport->sendPacket(info);

include/rtps/entities/StatefulWriter.tpp

@@ -36,7 +36,7 @@ using rtps::StatefulWriterT;
 #include "rtps/utils/printutils.h"
 #define SFW_LOG(...) \
  if (true) { \
- printf("[Stateful Writer %s] ", this->m_attributes.topicName.data()); \
+ printf("[Stateful Writer %s] ", this->m_attributes.topicName); \
  printf(__VA_ARGS__); \
  printf("\n"); \
  }
@@ -423,7 +423,7 @@ void StatefulWriterT<NetworkDriver>::sendHeartBeat() {
  }
  if (firstSN == SEQUENCENUMBER_UNKNOWN || lastSN == SEQUENCENUMBER_UNKNOWN) {
 
- if (strlen(&this->m_attributes.typeName.at(0)) != 0) {
+ if (strlen(&this->m_attributes.typeName[0]) != 0) {
  SFW_LOG("Skipping heartbeat. No data.\n");
  }
  return;