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Mark code that should be unreachable (#77)

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Introduce a new [[noreturn]] unreachable() function that marks code as unreachable and throws a logic error if it is executed.
Fix build error due to Windows min/max macros.
Fix linker errors from referring to a non-constexpr extern from a constexpr.
Fix warnings about narrowing conversions.

Signed-off-by: Dan Rose <dan@digilabs.io>
This commit is contained in:
Dan Rose 2019-12-08 16:03:30 -06:00 • committed by GitHub
parent 9b264c6480
commit c25f22e565
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
8 changed files with 85 additions and 24 deletions
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16
rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/exception.hpp
View file

@ -15,8 +15,8 @@
#ifndef RMW_CYCLONEDDS_CPP__EXCEPTION_HPP_
#define RMW_CYCLONEDDS_CPP__EXCEPTION_HPP_
#include <stdexcept>
#include <string>
#include <exception>
namespace rmw_cyclonedds_cpp
{
@ -35,6 +35,20 @@ protected:
std::string m_message;
};
/// Stub for code that should never be reachable by design.
/// If it is possible to reach the code due to bad data or other runtime conditions,
/// use a runtime_error instead
[[noreturn]] inline void unreachable()
{
#if defined(__has_builtin)
#if __has_builtin(__builtin_unreachable)
__builtin_unreachable();
#endif
#elif (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 5))
__builtin_unreachable();
#endif
throw std::logic_error("This code should be unreachable.");
}
} // namespace rmw_cyclonedds_cpp
#endif // RMW_CYCLONEDDS_CPP__EXCEPTION_HPP_

27
rmw_cyclonedds_cpp/src/Serialization.cpp
View file

@ -11,16 +11,22 @@
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// suppress definition of min/max macros on Windows.
// TODO(dan@digilabs.io): Move this closer to where Windows.h/Windef.h is included
#ifndef NOMINMAX
#define NOMINMAX
#endif
#include "Serialization.hpp"
#include <algorithm>
#include <array>
#include <limits>
#include <unordered_map>
#include <vector>
#include "TypeSupport2.hpp"
#include "bytewise.hpp"
#include "rmw_cyclonedds_cpp/TypeSupport_impl.hpp"
namespace rmw_cyclonedds_cpp
{
@ -51,7 +57,7 @@ struct CDRCursor
if (n_bytes == 1 || start_offset % n_bytes == 0) {
return;
}
advance((-start_offset) % n_bytes);
advance(n_bytes - start_offset % n_bytes);
assert(offset() - start_offset < n_bytes);
assert(offset() % n_bytes == 0);
}
@ -194,6 +200,8 @@ protected:
case EncodingVersion::CDR1:
eversion_byte = '\1';
break;
default:
unreachable();
}
std::array<char, 4> rtps_header{eversion_byte,
// encoding format = PLAIN_CDR
@ -304,17 +312,21 @@ protected:
case EValueType::SpanSequenceValueType:
case EValueType::BoolVectorValueType:
result = false;
break;
default:
unreachable();
}
trivially_serialized_cache.emplace(key, result);
}
return result;
}
size_t get_cdr_alignof_primitive(ROSIDL_TypeKind vt)
size_t get_cdr_alignof_primitive(ROSIDL_TypeKind tk)
{
/// return 0 if the value type is not primitive
/// else returns the number of bytes it should align to
return std::min(get_cdr_size_of_primitive(vt), max_align);
size_t sizeof_ = get_cdr_size_of_primitive(tk);
return sizeof_ < max_align ? sizeof_ : max_align;
}
void serialize(CDRCursor * cursor, const void * data, const PrimitiveValueType & value_type)
@ -357,7 +369,8 @@ protected:
case ROSIDL_TypeKind::STRING:
case ROSIDL_TypeKind::WSTRING:
case ROSIDL_TypeKind::MESSAGE:
throw std::logic_error("not a primitive");
default:
unreachable();
}
}
@ -443,7 +456,7 @@ protected:
if (auto s = dynamic_cast<const BoolVectorValueType *>(value_type)) {
return serialize(cursor, data, *s);
}
throw std::logic_error("Unhandled case");
unreachable();
}
}

12
rmw_cyclonedds_cpp/src/TypeSupport2.cpp
View file

@ -68,11 +68,13 @@ public:
std::unique_ptr<StructValueType> make_message_value_type(const rosidl_message_type_support_t * mts)
{
if (auto ts_c = mts->func(mts, TypeGeneratorInfo<TypeGenerator::ROSIDL_C>::identifier)) {
if (auto ts_c = mts->func(mts, TypeGeneratorInfo<TypeGenerator::ROSIDL_C>::get_identifier())) {
auto members = static_cast<const MetaMessage<TypeGenerator::ROSIDL_C> *>(ts_c->data);
return std::make_unique<ROSIDLC_StructValueType>(members);
}
if (auto ts_cpp = mts->func(mts, TypeGeneratorInfo<TypeGenerator::ROSIDL_Cpp>::identifier)) {
if (auto ts_cpp =
mts->func(mts, TypeGeneratorInfo<TypeGenerator::ROSIDL_Cpp>::get_identifier()))
{
auto members = static_cast<const MetaMessage<TypeGenerator::ROSIDL_Cpp> *>(ts_cpp->data);
return std::make_unique<ROSIDLCPP_StructValueType>(members);
}
@ -83,7 +85,9 @@ std::unique_ptr<StructValueType> make_message_value_type(const rosidl_message_ty
std::pair<std::unique_ptr<StructValueType>, std::unique_ptr<StructValueType>>
make_request_response_value_types(const rosidl_service_type_support_t * svc_ts)
{
if (auto tsc = svc_ts->func(svc_ts, TypeGeneratorInfo<TypeGenerator::ROSIDL_C>::identifier)) {
if (auto tsc =
svc_ts->func(svc_ts, TypeGeneratorInfo<TypeGenerator::ROSIDL_C>::get_identifier()))
{
auto typed =
static_cast<const TypeGeneratorInfo<TypeGenerator::ROSIDL_C>::MetaService *>(tsc->data);
return {
@ -93,7 +97,7 @@ make_request_response_value_types(const rosidl_service_type_support_t * svc_ts)
}
if (auto tscpp =
svc_ts->func(svc_ts, TypeGeneratorInfo<TypeGenerator::ROSIDL_Cpp>::identifier))
svc_ts->func(svc_ts, TypeGeneratorInfo<TypeGenerator::ROSIDL_Cpp>::get_identifier()))
{
auto typed =
static_cast<const TypeGeneratorInfo<TypeGenerator::ROSIDL_Cpp>::MetaService *>(tscpp->data);

19
rmw_cyclonedds_cpp/src/TypeSupport2.hpp
View file

@ -15,6 +15,7 @@
#define TYPESUPPORT2_HPP_
#include <cassert>
#include <functional>
#include <memory>
#include <regex>
#include <string>
@ -22,6 +23,7 @@
#include <vector>
#include "bytewise.hpp"
#include "rmw_cyclonedds_cpp/exception.hpp"
#include "rosidl_generator_c/string_functions.h"
#include "rosidl_generator_c/u16string_functions.h"
#include "rosidl_typesupport_introspection_c/identifier.h"
@ -79,8 +81,7 @@ template<>
struct TypeGeneratorInfo<TypeGenerator::ROSIDL_C>
{
static constexpr auto enum_value = TypeGenerator::ROSIDL_C;
static constexpr auto & identifier = rosidl_typesupport_introspection_c__identifier;
static const auto & get_identifier() {return rosidl_typesupport_introspection_c__identifier;}
using MetaMessage = rosidl_typesupport_introspection_c__MessageMembers;
using MetaMember = rosidl_typesupport_introspection_c__MessageMember;
using MetaService = rosidl_typesupport_introspection_c__ServiceMembers;
@ -90,7 +91,10 @@ template<>
struct TypeGeneratorInfo<TypeGenerator::ROSIDL_Cpp>
{
static constexpr auto enum_value = TypeGenerator::ROSIDL_Cpp;
static constexpr auto & identifier = rosidl_typesupport_introspection_cpp::typesupport_identifier;
static const auto & get_identifier()
{
return rosidl_typesupport_introspection_cpp::typesupport_identifier;
}
using MetaMessage = rosidl_typesupport_introspection_cpp::MessageMembers;
using MetaMember = rosidl_typesupport_introspection_cpp::MessageMember;
using MetaService = rosidl_typesupport_introspection_cpp::ServiceMembers;
@ -327,9 +331,8 @@ struct PrimitiveValueType : public AnyValueType
case ROSIDL_TypeKind::STRING:
case ROSIDL_TypeKind::WSTRING:
case ROSIDL_TypeKind::MESSAGE:
throw std::runtime_error(
"not a primitive value type: " +
std::to_string(std::underlying_type_t<ROSIDL_TypeKind>(m_type_kind)));
default:
unreachable();
}
}
EValueType e_value_type() const override {return EValueType::PrimitiveValueType;}
@ -482,6 +485,8 @@ auto AnyValueType::apply(UnaryFunction f) const
return f(*static_cast<const SpanSequenceValueType *>(this));
case EValueType::BoolVectorValueType:
return f(*static_cast<const BoolVectorValueType *>(this));
default:
unreachable();
}
}
@ -503,6 +508,8 @@ auto AnyValueType::apply(UnaryFunction f)
return f(*static_cast<SpanSequenceValueType *>(this));
case EValueType::BoolVectorValueType:
return f(*static_cast<BoolVectorValueType *>(this));
default:
unreachable();
}
}

3
rmw_cyclonedds_cpp/src/bytewise.hpp
View file

@ -18,6 +18,9 @@
#include "dds/ddsrt/endian.h"
using std::size_t;
using std::ptrdiff_t;
enum class endian
{
little = DDSRT_LITTLE_ENDIAN,

17
rmw_cyclonedds_cpp/src/rmw_node.cpp
View file

@ -1031,6 +1031,8 @@ static dds_qos_t * create_readwrite_qos(
case RMW_QOS_POLICY_HISTORY_KEEP_ALL:
dds_qset_history(qos, DDS_HISTORY_KEEP_ALL, DDS_LENGTH_UNLIMITED);
break;
default:
rmw_cyclonedds_cpp::unreachable();
}
switch (qos_policies->reliability) {
case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT:
@ -1041,6 +1043,8 @@ static dds_qos_t * create_readwrite_qos(
case RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT:
dds_qset_reliability(qos, DDS_RELIABILITY_BEST_EFFORT, 0);
break;
default:
rmw_cyclonedds_cpp::unreachable();
}
switch (qos_policies->durability) {
case RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT:
@ -1060,6 +1064,8 @@ static dds_qos_t * create_readwrite_qos(
DDS_LENGTH_UNLIMITED, DDS_LENGTH_UNLIMITED);
break;
}
default:
rmw_cyclonedds_cpp::unreachable();
}
/* deadline, lifespan, liveliness are not yet supported */
if (ignore_local_publications) {
@ -1092,6 +1098,8 @@ static bool get_readwrite_qos(dds_entity_t handle, rmw_qos_profile_t * qos_polic
qos_policies->history = RMW_QOS_POLICY_HISTORY_KEEP_ALL;
qos_policies->depth = (uint32_t) depth;
break;
default:
rmw_cyclonedds_cpp::unreachable();
}
}
@ -1109,6 +1117,8 @@ static bool get_readwrite_qos(dds_entity_t handle, rmw_qos_profile_t * qos_polic
case DDS_RELIABILITY_RELIABLE:
qos_policies->reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
break;
default:
rmw_cyclonedds_cpp::unreachable();
}
}
@ -1129,6 +1139,8 @@ static bool get_readwrite_qos(dds_entity_t handle, rmw_qos_profile_t * qos_polic
case DDS_DURABILITY_PERSISTENT:
qos_policies->durability = RMW_QOS_POLICY_DURABILITY_UNKNOWN;
break;
default:
rmw_cyclonedds_cpp::unreachable();
}
}
@ -1176,6 +1188,8 @@ static bool get_readwrite_qos(dds_entity_t handle, rmw_qos_profile_t * qos_polic
case DDS_LIVELINESS_MANUAL_BY_TOPIC:
qos_policies->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;
break;
default:
rmw_cyclonedds_cpp::unreachable();
}
if (lease_duration == DDS_INFINITY) {
qos_policies->liveliness_lease_duration.sec = qos_policies->liveliness_lease_duration.nsec =
@ -1823,6 +1837,9 @@ extern "C" rmw_ret_t rmw_take_event(
case RMW_EVENT_INVALID: {
break;
}
default:
rmw_cyclonedds_cpp::unreachable();
}
*taken = false;
return RMW_RET_ERROR;

9
rmw_cyclonedds_cpp/src/serdata.cpp
View file

@ -111,7 +111,10 @@ void * create_response_type_support(
static uint32_t serdata_rmw_size(const struct ddsi_serdata * dcmn)
{
return static_cast<const serdata_rmw *>(dcmn)->size();
size_t size = static_cast<const serdata_rmw *>(dcmn)->size();
uint32_t size_u32(size);
assert(size == size_u32);
return size_u32;
}
static void serdata_rmw_free(struct ddsi_serdata * dcmn)
@ -142,7 +145,7 @@ static struct ddsi_serdata * serdata_rmw_from_ser(
memcpy(cursor, src, n_bytes);
cursor = byte_offset(cursor, n_bytes);
off = fragchain->maxp1;
assert(off < size);
assert(off <= size);
}
fragchain = fragchain->nextfrag;
}
@ -491,7 +494,7 @@ struct sertopic_rmw * create_sertopic(
return st;
}
void serdata_rmw::resize(uint32_t requested_size)
void serdata_rmw::resize(size_t requested_size)
{
if (!requested_size) {
m_size = 0;

6
rmw_cyclonedds_cpp/src/serdata.hpp
View file

@ -43,15 +43,15 @@ struct sertopic_rmw : ddsi_sertopic
class serdata_rmw : public ddsi_serdata
{
protected:
uint32_t m_size {0};
size_t m_size {0};
/* first two bytes of data is CDR encoding
second two bytes are encoding options */
std::unique_ptr<byte[]> m_data {nullptr};
public:
serdata_rmw(const ddsi_sertopic * topic, ddsi_serdata_kind kind);
void resize(uint32_t requested_size);
uint32_t size() const {return m_size;}
void resize(size_t requested_size);
size_t size() const {return m_size;}
void * data() const {return m_data.get();}
};