Feature/check for exisiting endpoints

ci/clang-check-format.sh

@@ -0,0 +1,13 @@
+#!/bin/bash
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+
+cd $DIR/../
+
+# DIR dos2unix to clean-up line endings
+echo "Applying dos2unix"
+find . -iname *.hpp -o -iname *.cpp -o -iname *.tpp -o -iname *.h | grep -vi config.h | grep -vi thirdparty | xargs dos2unix
+
+# Apply clang-format
+echo "Applying clang-format"
+find . -iname *.hpp -o -iname *.cpp -o -iname *.tpp -o -iname *.h | grep -vi config.h | grep -vi thirdparty | xargs clang-format -i --verbose style=Google

include/rtps/ThreadPool.h

@@ -25,57 +25,58 @@ Author: i11 - Embedded Software, RWTH Aachen University
 #ifndef RTPS_THREADPOOL_H
 #define RTPS_THREADPOOL_H
 
-#include "rtps/config.h"
 #include "lwip/sys.h"
-#include "rtps/communication/UdpDriver.h"
 #include "rtps/communication/PacketInfo.h"
+#include "rtps/communication/UdpDriver.h"
+#include "rtps/config.h"
 #include "rtps/storages/PBufWrapper.h"
 #include "rtps/storages/ThreadSafeCircularBuffer.h"
 
 #include <array>
 
 namespace rtps {
 
- class Writer;
-
-
- class ThreadPool {
- public:
- using receiveJumppad_fp = void(*)(void* callee, const PacketInfo& packet);
-
- ThreadPool(receiveJumppad_fp receiveCallback, void* callee);
+class Writer;
 
- ~ThreadPool();
+class ThreadPool {
+public:
+ using receiveJumppad_fp = void (*)(void *callee, const PacketInfo &packet);
 
- bool startThreads();
- void stopThreads();
+ ThreadPool(receiveJumppad_fp receiveCallback, void *callee);
 
- void clearQueues();
- bool addWorkload(Writer* workload);
- bool addNewPacket(PacketInfo&& packet);
+ ~ThreadPool();
 
- static void readCallback(void* arg, udp_pcb* pcb, pbuf* p, const ip_addr_t* addr, Ip4Port_t port);
+ bool startThreads();
+ void stopThreads();
 
+ void clearQueues();
+ bool addWorkload(Writer *workload);
+ bool addNewPacket(PacketInfo &&packet);
 
- private:
- receiveJumppad_fp m_receiveJumppad;
- void* m_callee;
- bool m_running = false;
- std::array<sys_thread_t, Config::THREAD_POOL_NUM_WRITERS> m_writers;
- std::array<sys_thread_t, Config::THREAD_POOL_NUM_READERS> m_readers;
+ static void readCallback(void *arg, udp_pcb *pcb, pbuf *p,
+ const ip_addr_t *addr, Ip4Port_t port);
 
- sys_sem_t m_readerNotificationSem;
- sys_sem_t m_writerNotificationSem;
+private:
+ receiveJumppad_fp m_receiveJumppad;
+ void *m_callee;
+ bool m_running = false;
+ std::array<sys_thread_t, Config::THREAD_POOL_NUM_WRITERS> m_writers;
+ std::array<sys_thread_t, Config::THREAD_POOL_NUM_READERS> m_readers;
 
-  ThreadSafeCircularBuffer<Writer*, Config::THREAD_POOL_WORKLOAD_QUEUE_LENGTH> m_queueOutgoing;
-  ThreadSafeCircularBuffer<PacketInfo, Config::THREAD_POOL_WORKLOAD_QUEUE_LENGTH> m_queueIncoming;
+ sys_sem_t m_readerNotificationSem;
+ sys_sem_t m_writerNotificationSem;
 
- static void writerThreadFunction(void* arg);
- static void readerThreadFunction(void* arg);
- void doWriterWork();
- void doReaderWork();
+ ThreadSafeCircularBuffer<Writer *, Config::THREAD_POOL_WORKLOAD_QUEUE_LENGTH>
+ m_queueOutgoing;
+ ThreadSafeCircularBuffer<PacketInfo,
+ Config::THREAD_POOL_WORKLOAD_QUEUE_LENGTH>
+ m_queueIncoming;
 
- };
-}
+ static void writerThreadFunction(void *arg);
+ static void readerThreadFunction(void *arg);
+ void doWriterWork();
+ void doReaderWork();
+};
+} // namespace rtps
 
-#endif //RTPS_THREADPOOL_H
+#endif // RTPS_THREADPOOL_H

include/rtps/common/Locator.h

@@ -25,97 +25,99 @@ Author: i11 - Embedded Software, RWTH Aachen University
 #ifndef RTPS_LOCATOR_T_H
 #define RTPS_LOCATOR_T_H
 
-#include "ucdr/microcdr.h"
-#include "rtps/utils/udpUtils.h"
 #include "rtps/communication/UdpDriver.h"
+#include "rtps/utils/udpUtils.h"
+#include "ucdr/microcdr.h"
 
 #include <array>
 
-namespace rtps{
- enum class LocatorKind_t : int32_t{
- LOCATOR_KIND_INVALID = -1,
- LOCATOR_KIND_RESERVED = 0,
- LOCATOR_KIND_UDPv4 = 1,
- LOCATOR_KIND_UDPv6 = 2
- };
-
- const uint32_t LOCATOR_PORT_INVALID = 0;
- const std::array<uint8_t, 16> LOCATOR_ADDRESS_INVALID = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
-
- struct Locator{
- LocatorKind_t kind = LocatorKind_t::LOCATOR_KIND_INVALID;
- uint32_t port = LOCATOR_PORT_INVALID;
- std::array<uint8_t,16> address = LOCATOR_ADDRESS_INVALID; // TODO make private such that kind and address always match?
-
- static Locator createUDPv4Locator(uint8_t a, uint8_t b, uint8_t c, uint8_t d, uint32_t port){
- Locator locator;
- locator.kind = LocatorKind_t::LOCATOR_KIND_UDPv4;
- locator.address = {0,0,0,0,0,0,0,0,0,0,0,0,a,b,c,d};
- locator.port = port;
- return locator;
- }
-
- void setInvalid(){
- kind = LocatorKind_t::LOCATOR_KIND_INVALID;
- }
-
- bool isValid() const{
- return kind != LocatorKind_t::LOCATOR_KIND_INVALID;
- }
-
- bool readFromUcdrBuffer(ucdrBuffer& buffer){
- if(ucdr_buffer_remaining(&buffer) < sizeof(Locator)){
- return false;
- }else{
- ucdr_deserialize_array_uint8_t(&buffer, reinterpret_cast<uint8_t*>(this), sizeof(Locator));
- return true;
- }
- }
-
- bool serializeIntoUdcrBuffer(ucdrBuffer& buffer){
- if(ucdr_buffer_remaining(&buffer) < sizeof(Locator)){
- return false;
- }else{
- ucdr_serialize_array_uint8_t(&buffer, reinterpret_cast<uint8_t*>(this), sizeof(Locator));
- }
- }
-
- ip4_addr_t getIp4Address() const{
- return transformIP4ToU32(address[12], address[13], address[14], address[15]);
- }
-
- inline bool isSameSubnet() const{
-	return UdpDriver::isSameSubnet(getIp4Address());
- }
-
- } __attribute__((packed));
-
- inline Locator getBuiltInUnicastLocator(ParticipantId_t participantId) {
- return Locator::createUDPv4Locator(Config::IP_ADDRESS[0], Config::IP_ADDRESS[1],
- Config::IP_ADDRESS[2], Config::IP_ADDRESS[3],
- getBuiltInUnicastPort(participantId));
+namespace rtps {
+enum class LocatorKind_t : int32_t {
+ LOCATOR_KIND_INVALID = -1,
+ LOCATOR_KIND_RESERVED = 0,
+ LOCATOR_KIND_UDPv4 = 1,
+ LOCATOR_KIND_UDPv6 = 2
+};
+
+const uint32_t LOCATOR_PORT_INVALID = 0;
+const std::array<uint8_t, 16> LOCATOR_ADDRESS_INVALID = {
+ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+
+struct Locator {
+ LocatorKind_t kind = LocatorKind_t::LOCATOR_KIND_INVALID;
+ uint32_t port = LOCATOR_PORT_INVALID;
+ std::array<uint8_t, 16> address =
+ LOCATOR_ADDRESS_INVALID; // TODO make private such that kind and address
+ // always match?
+
+ static Locator createUDPv4Locator(uint8_t a, uint8_t b, uint8_t c, uint8_t d,
+ uint32_t port) {
+ Locator locator;
+ locator.kind = LocatorKind_t::LOCATOR_KIND_UDPv4;
+ locator.address = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a, b, c, d};
+ locator.port = port;
+ return locator;
+ }
+
+ void setInvalid() { kind = LocatorKind_t::LOCATOR_KIND_INVALID; }
+
+ bool isValid() const { return kind != LocatorKind_t::LOCATOR_KIND_INVALID; }
+
+ bool readFromUcdrBuffer(ucdrBuffer &buffer) {
+ if (ucdr_buffer_remaining(&buffer) < sizeof(Locator)) {
+ return false;
+ } else {
+ ucdr_deserialize_array_uint8_t(&buffer, reinterpret_cast<uint8_t *>(this),
+ sizeof(Locator));
+ return true;
  }
-
- inline Locator getBuiltInMulticastLocator() {
- return Locator::createUDPv4Locator(239, 255, 0, 1, getBuiltInMulticastPort());
+ }
+
+ bool serializeIntoUdcrBuffer(ucdrBuffer &buffer) {
+ if (ucdr_buffer_remaining(&buffer) < sizeof(Locator)) {
+ return false;
+ } else {
+ ucdr_serialize_array_uint8_t(&buffer, reinterpret_cast<uint8_t *>(this),
+ sizeof(Locator));
  }
+ }
 
- inline Locator getUserUnicastLocator(ParticipantId_t participantId) {
- return Locator::createUDPv4Locator(Config::IP_ADDRESS[0], Config::IP_ADDRESS[1],
- Config::IP_ADDRESS[2], Config::IP_ADDRESS[3],
- getUserUnicastPort(participantId));
- }
+ ip4_addr_t getIp4Address() const {
+ return transformIP4ToU32(address[12], address[13], address[14],
+ address[15]);
+ }
 
- inline Locator getUserMulticastLocator() {
- return Locator::createUDPv4Locator(Config::IP_ADDRESS[0], Config::IP_ADDRESS[1],
- Config::IP_ADDRESS[2], Config::IP_ADDRESS[3],
- getUserMulticastPort());
- }
+ inline bool isSameSubnet() const {
+ return UdpDriver::isSameSubnet(getIp4Address());
+ }
 
- inline Locator getDefaultSendMulticastLocator() {
- return Locator::createUDPv4Locator(239, 255, 0, 1,
- getBuiltInMulticastPort());
- }
+} __attribute__((packed));
+
+inline Locator getBuiltInUnicastLocator(ParticipantId_t participantId) {
+ return Locator::createUDPv4Locator(
+ Config::IP_ADDRESS[0], Config::IP_ADDRESS[1], Config::IP_ADDRESS[2],
+ Config::IP_ADDRESS[3], getBuiltInUnicastPort(participantId));
+}
+
+inline Locator getBuiltInMulticastLocator() {
+ return Locator::createUDPv4Locator(239, 255, 0, 1, getBuiltInMulticastPort());
+}
+
+inline Locator getUserUnicastLocator(ParticipantId_t participantId) {
+ return Locator::createUDPv4Locator(
+ Config::IP_ADDRESS[0], Config::IP_ADDRESS[1], Config::IP_ADDRESS[2],
+ Config::IP_ADDRESS[3], getUserUnicastPort(participantId));
+}
+
+inline Locator getUserMulticastLocator() {
+ return Locator::createUDPv4Locator(
+ Config::IP_ADDRESS[0], Config::IP_ADDRESS[1], Config::IP_ADDRESS[2],
+ Config::IP_ADDRESS[3], getUserMulticastPort());
+}
+
+inline Locator getDefaultSendMulticastLocator() {
+ return Locator::createUDPv4Locator(239, 255, 0, 1, getBuiltInMulticastPort());
 }
+} // namespace rtps
 
-#endif //RTPS_LOCATOR_T_H
+#endif // RTPS_LOCATOR_T_H