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fix cppcheck warnings in dds code #11489

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merged 4 commits into from
Feb 27, 2023
Merged

fix cppcheck warnings in dds code #11489

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e725492
add third-party/realdds to pr_check.sh script
maloel Feb 27, 2023
a68084e
fix cppcheck warnings in dds code
maloel Feb 27, 2023
69b3be4
update cppcheck_run.log
maloel Feb 27, 2023
da074af
fix CRLF
maloel Feb 27, 2023
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90 changes: 31 additions & 59 deletions .github/workflows/cppcheck_run.log
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7 changes: 0 additions & 7 deletions .github/workflows/cppcheck_run.parsed.log
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Original file line number Diff line number Diff line change
@@ -1,7 +0,0 @@
E uninitvar src/context.cpp+803 Uninitialized variables: prof.bpp, prof.intrinsics
E danglingTempReference src/context.cpp+843 Using reference to dangling temporary.
E danglingTempReference src/context.cpp+844 Using reference to dangling temporary.
E danglingTempReference src/context.cpp+845 Using reference to dangling temporary.
E danglingTempReference src/context.cpp+846 Using reference to dangling temporary.
E danglingTempReference src/context.cpp+847 Using reference to dangling temporary.
E danglingTempReference src/context.cpp+848 Using reference to dangling temporary.
4 changes: 2 additions & 2 deletions scripts/pr_check.sh
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Expand Up @@ -121,12 +121,12 @@ if [[ $1 == *"help"* ]]; then
echo " --fix Try to auto-fix defects"
exit 0
fi

cd ..
check_folder include $1
check_folder src $1
check_folder examples $1
check_folder third-party/libtm $1
check_folder third-party/realdds $1
check_folder tools $1
cd scripts

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29 changes: 17 additions & 12 deletions src/context.cpp
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Expand Up @@ -773,7 +773,7 @@ namespace librealsense
to_rs2_video_stream( rs2_stream const stream_type,
sid_index const & sidx,
std::shared_ptr< realdds::dds_video_stream_profile > const & profile,
const std::set< realdds::video_intrinsics > & intrinsics)
const std::set< realdds::video_intrinsics > & intrinsics )
{
rs2_video_stream prof;
prof.type = stream_type;
Expand All @@ -783,11 +783,13 @@ namespace librealsense
prof.height = profile->height();
prof.fps = profile->frequency();
prof.fmt = static_cast< rs2_format >( profile->format().to_rs2() );
prof.bpp = 0;

//Handle intrinsics
auto intr = std::find_if( intrinsics.begin(), intrinsics.end(), [profile]( const realdds::video_intrinsics & intr ) {
return profile->width() == intr.width && profile->height() == intr.height;
} );
// Handle intrinsics
auto intr = std::find_if( intrinsics.begin(),
intrinsics.end(),
[profile]( const realdds::video_intrinsics & intr )
{ return profile->width() == intr.width && profile->height() == intr.height; } );
if( intr != intrinsics.end() ) //Some profiles don't have intrinsics
{
prof.intrinsics.width = intr->width;
Expand All @@ -799,6 +801,10 @@ namespace librealsense
prof.intrinsics.model = static_cast< rs2_distortion >( intr->distortion_model );
memcpy( prof.intrinsics.coeffs, intr->distortion_coeffs.data(), sizeof( prof.intrinsics.coeffs ) );
}
else
{
memset( &prof.intrinsics, 0, sizeof( prof.intrinsics ) );
}

return prof;
}
Expand Down Expand Up @@ -839,13 +845,12 @@ namespace librealsense
, _dds_dev( dev )
{
LOG_DEBUG( "=====> dds-device-proxy " << this << " created on top of dds-device " << _dds_dev.get() );
auto & dev_info = dev->device_info();
register_info( RS2_CAMERA_INFO_NAME, dev_info.name );
register_info( RS2_CAMERA_INFO_SERIAL_NUMBER, dev_info.serial );
register_info( RS2_CAMERA_INFO_PRODUCT_LINE, dev_info.product_line );
register_info( RS2_CAMERA_INFO_PRODUCT_ID, dev_info.product_id );
register_info( RS2_CAMERA_INFO_PHYSICAL_PORT, dev_info.topic_root );
register_info( RS2_CAMERA_INFO_CAMERA_LOCKED, dev_info.locked ? "YES" : "NO" );
register_info( RS2_CAMERA_INFO_NAME, dev->device_info().name );
register_info( RS2_CAMERA_INFO_SERIAL_NUMBER, dev->device_info().serial );
register_info( RS2_CAMERA_INFO_PRODUCT_LINE, dev->device_info().product_line );
register_info( RS2_CAMERA_INFO_PRODUCT_ID, dev->device_info().product_id );
register_info( RS2_CAMERA_INFO_PHYSICAL_PORT, dev->device_info().topic_root );
register_info( RS2_CAMERA_INFO_CAMERA_LOCKED, dev->device_info().locked ? "YES" : "NO" );

//Assumes dds_device initialization finished
struct sensor_info
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96 changes: 48 additions & 48 deletions third-party/realdds/include/realdds/dds-log-consumer.h
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@@ -1,48 +1,48 @@
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2022 Intel Corporation. All Rights Reserved.
#pragma once
#include <fastdds/dds/log/Log.hpp>
#include <memory>
namespace realdds {
// Convert FastDDS Log::Entry to EasyLogging log (see ELPP_WRITE_LOG)
#define LOG_DDS_ENTRY( ENTRY, LEVEL, ... ) \
do \
{ \
char const * filename = ( ENTRY ).context.filename; \
char const * func = ( ENTRY ).context.function; \
if( ! func ) \
func = "n/a"; \
if( ! filename ) \
filename = func; \
el::base::Writer writer( el::Level::LEVEL, filename, ( ENTRY ).context.line, func ); \
writer.construct( 1, "librealsense" ); \
writer << __VA_ARGS__; \
writer << " [DDS]"; \
if( ( ENTRY ).context.category ) \
writer << "[" << ( ENTRY ).context.category << "]"; \
} \
while( false )
struct log_consumer : eprosima::fastdds::dds::LogConsumer
{
static std::unique_ptr< eprosima::fastdds::dds::LogConsumer > create()
{
return std::unique_ptr< eprosima::fastdds::dds::LogConsumer >( new log_consumer );
}
void Consume( const eprosima::fastdds::dds::Log::Entry & e ) override;
private:
log_consumer() = default;
};
} // namespace realdds
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2022 Intel Corporation. All Rights Reserved.

#pragma once


#include <fastdds/dds/log/Log.hpp>
#include <memory>


namespace realdds {


// Convert FastDDS Log::Entry to EasyLogging log (see ELPP_WRITE_LOG)
#define LOG_DDS_ENTRY( ENTRY, LEVEL, ... ) \
do \
{ \
char const * filename = ( ENTRY ).context.filename; \
char const * func = ( ENTRY ).context.function; \
if( ! func ) \
func = "n/a"; \
if( ! filename ) \
filename = func; \
el::base::Writer writer( el::Level::LEVEL, filename, ( ENTRY ).context.line, func ); \
writer.construct( 1, "librealsense" ); \
writer << __VA_ARGS__; \
writer << " [DDS]"; \
if( ( ENTRY ).context.category ) \
writer << "[" << ( ENTRY ).context.category << "]"; \
} \
while( false )


struct log_consumer : eprosima::fastdds::dds::LogConsumer
{
static std::unique_ptr< eprosima::fastdds::dds::LogConsumer > create()
{
return std::unique_ptr< eprosima::fastdds::dds::LogConsumer >( new log_consumer );
}

void Consume( const eprosima::fastdds::dds::Log::Entry & e ) override;

private:
log_consumer() = default;
};


} // namespace realdds
180 changes: 90 additions & 90 deletions third-party/realdds/include/realdds/dds-topic-reader.h
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@@ -1,90 +1,90 @@
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2022 Intel Corporation. All Rights Reserved.
#pragma once
#include <fastdds/dds/subscriber/DataReaderListener.hpp>
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
#include <functional>
#include <memory>
namespace eprosima {
namespace fastdds {
namespace dds {
class Subscriber;
} // namespace dds
} // namespace fastdds
} // namespace eprosima
namespace realdds {
class dds_topic;
class dds_subscriber;
// The 'reader' is the entity used to subscribe to updated values of data in a topic. It is bound at creation to this
// topic.
//
// You may choose to create one via a 'subscriber' that manages the activities of several readers.
// on_data_available callback will be called when a sample is received.
//
class dds_topic_reader : public eprosima::fastdds::dds::DataReaderListener
{
std::shared_ptr< dds_topic > const _topic;
std::shared_ptr < dds_subscriber > const _subscriber;
eprosima::fastdds::dds::DataReader * _reader = nullptr;
public:
dds_topic_reader( std::shared_ptr< dds_topic > const & topic );
dds_topic_reader( std::shared_ptr< dds_topic > const & topic, std::shared_ptr< dds_subscriber > const & subscriber );
~dds_topic_reader();
eprosima::fastdds::dds::DataReader * get() const { return _reader; }
eprosima::fastdds::dds::DataReader * operator->() const { return get(); }
bool is_running() const { return ( get() != nullptr ); }
std::shared_ptr< dds_topic > const & topic() const { return _topic; }
typedef std::function< void() > on_data_available_callback;
typedef std::function< void( eprosima::fastdds::dds::SubscriptionMatchedStatus const & ) >
on_subscription_matched_callback;
void on_data_available( on_data_available_callback callback ) { _on_data_available = std::move( callback ); }
void on_subscription_matched( on_subscription_matched_callback callback )
{
_on_subscription_matched = std::move( callback );
}
class qos : public eprosima::fastdds::dds::DataReaderQos
{
using super = eprosima::fastdds::dds::DataReaderQos;
public:
qos( eprosima::fastdds::dds::ReliabilityQosPolicyKind reliability
= eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS, // default
eprosima::fastdds::dds::DurabilityQosPolicyKind durability
= eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS ); // default is transient local
};
// The callbacks should be set before we actually create the underlying DDS objects, so the reader does not
void run( qos const & = qos() );
// DataReaderListener
protected:
void on_subscription_matched( eprosima::fastdds::dds::DataReader *,
eprosima::fastdds::dds::SubscriptionMatchedStatus const & info ) override;
void on_data_available( eprosima::fastdds::dds::DataReader * ) override;
private:
on_data_available_callback _on_data_available;
on_subscription_matched_callback _on_subscription_matched;
};
} // namespace realdds
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2022 Intel Corporation. All Rights Reserved.

#pragma once

#include <fastdds/dds/subscriber/DataReaderListener.hpp>
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>

#include <functional>
#include <memory>


namespace eprosima {
namespace fastdds {
namespace dds {
class Subscriber;
} // namespace dds
} // namespace fastdds
} // namespace eprosima


namespace realdds {


class dds_topic;
class dds_subscriber;

// The 'reader' is the entity used to subscribe to updated values of data in a topic. It is bound at creation to this
// topic.
//
// You may choose to create one via a 'subscriber' that manages the activities of several readers.
// on_data_available callback will be called when a sample is received.
//
class dds_topic_reader : public eprosima::fastdds::dds::DataReaderListener
{
std::shared_ptr< dds_topic > const _topic;
std::shared_ptr < dds_subscriber > const _subscriber;

eprosima::fastdds::dds::DataReader * _reader = nullptr;

public:
dds_topic_reader( std::shared_ptr< dds_topic > const & topic );
dds_topic_reader( std::shared_ptr< dds_topic > const & topic, std::shared_ptr< dds_subscriber > const & subscriber );
~dds_topic_reader();

eprosima::fastdds::dds::DataReader * get() const { return _reader; }
eprosima::fastdds::dds::DataReader * operator->() const { return get(); }

bool is_running() const { return ( get() != nullptr ); }

std::shared_ptr< dds_topic > const & topic() const { return _topic; }

typedef std::function< void() > on_data_available_callback;
typedef std::function< void( eprosima::fastdds::dds::SubscriptionMatchedStatus const & ) >
on_subscription_matched_callback;

void on_data_available( on_data_available_callback callback ) { _on_data_available = std::move( callback ); }
void on_subscription_matched( on_subscription_matched_callback callback )
{
_on_subscription_matched = std::move( callback );
}

class qos : public eprosima::fastdds::dds::DataReaderQos
{
using super = eprosima::fastdds::dds::DataReaderQos;

public:
qos( eprosima::fastdds::dds::ReliabilityQosPolicyKind reliability
= eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS, // default
eprosima::fastdds::dds::DurabilityQosPolicyKind durability
= eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS ); // default is transient local
};

// The callbacks should be set before we actually create the underlying DDS objects, so the reader does not
void run( qos const & = qos() );

// DataReaderListener
protected:
void on_subscription_matched( eprosima::fastdds::dds::DataReader *,
eprosima::fastdds::dds::SubscriptionMatchedStatus const & info ) override;

void on_data_available( eprosima::fastdds::dds::DataReader * ) override;

private:
on_data_available_callback _on_data_available;
on_subscription_matched_callback _on_subscription_matched;
};


} // namespace realdds
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