use new CETL cetl::pmr::InterfacePtr #verification #docs #sonar

cmake/modules/Findcetl.cmake

@@ -6,7 +6,7 @@
 
 include(FetchContent)
 set(cetl_GIT_REPOSITORY "https://github.com/OpenCyphal/cetl.git")
-set(cetl_GIT_TAG "63a118441a80078ebfeabf509c342bc0480a50b2")
+set(cetl_GIT_TAG "386c1c09967b20a0f0f28df52989bfd704887831")
 
 FetchContent_Declare(
     cetl

include/libcyphal/runnable.hpp

@@ -18,12 +18,12 @@ class IRunnable
     IRunnable(IRunnable&&) noexcept            = delete;
     IRunnable& operator=(const IRunnable&)     = delete;
     IRunnable& operator=(IRunnable&&) noexcept = delete;
-    virtual ~IRunnable()                       = default;
 
     virtual void run(const TimePoint now) = 0;
 
 protected:
-    IRunnable() = default;
+    IRunnable()  = default;
+    ~IRunnable() = default;
 };
 
 }  // namespace libcyphal

include/libcyphal/transport/can/msg_rx_session.hpp

@@ -40,7 +40,7 @@ namespace detail
 /// NOSONAR cpp:S4963 for below `class MessageRxSession` - we do directly handle resources here;
 /// namely: in destructor we have to unsubscribe, as well as let delegate to know this fact.
 ///
-class MessageRxSession final : public IMessageRxSession, private IRxSessionDelegate  // NOSONAR cpp:S4963
+class MessageRxSession final : private IRxSessionDelegate, public IMessageRxSession  // NOSONAR cpp:S4963
 {
     /// @brief Defines specification for making interface unique ptr.
     ///
@@ -97,7 +97,7 @@ class MessageRxSession final : public IMessageRxSession, private IRxSessionDeleg
     MessageRxSession& operator=(const MessageRxSession&)     = delete;
     MessageRxSession& operator=(MessageRxSession&&) noexcept = delete;
 
-    ~MessageRxSession() override
+    ~MessageRxSession()
     {
         const int8_t result =
             ::canardRxUnsubscribe(&delegate_.canard_instance(), CanardTransferKindMessage, params_.subject_id);

include/libcyphal/transport/can/svc_rx_sessions.hpp

@@ -48,7 +48,7 @@ namespace detail
 /// namely: in destructor we have to unsubscribe, as well as let delegate to know this fact.
 ///
 template <typename Interface_, typename Params, CanardTransferKind TransferKind>
-class SvcRxSession final : public Interface_, private IRxSessionDelegate  // NOSONAR cpp:S4963
+class SvcRxSession final : private IRxSessionDelegate, public Interface_  // NOSONAR cpp:S4963
 {
     /// @brief Defines specification for making interface unique ptr.
     ///
@@ -105,7 +105,7 @@ class SvcRxSession final : public Interface_, private IRxSessionDelegate  // NOS
     SvcRxSession& operator=(const SvcRxSession&)     = delete;
     SvcRxSession& operator=(SvcRxSession&&) noexcept = delete;
 
-    ~SvcRxSession() override
+    ~SvcRxSession()
     {
         const int8_t result = ::canardRxUnsubscribe(&delegate_.canard_instance(), TransferKind, params_.service_id);
         (void) result;

include/libcyphal/transport/can/transport.hpp

@@ -42,7 +42,10 @@ namespace can
 {
 
 class ICanTransport : public ITransport
-{};
+{
+protected:
+    ~ICanTransport() = default;
+};
 
 /// Internal implementation details of the CAN transport.
 /// Not supposed to be used directly by the users of the library.
@@ -55,7 +58,7 @@ namespace detail
 /// NOSONAR cpp:S4963 for below `class TransportImpl` - we do directly handle resources here;
 /// namely: in destructor we have to unsubscribe, as well as let delegate to know this fact.
 ///
-class TransportImpl final : public ICanTransport, private TransportDelegate  // NOSONAR cpp:S4963
+class TransportImpl final : private TransportDelegate, public ICanTransport  // NOSONAR cpp:S4963
 {
     /// @brief Defines specification for making interface unique ptr.
     ///
@@ -155,7 +158,7 @@ class TransportImpl final : public ICanTransport, private TransportDelegate  //
     TransportImpl& operator=(const TransportImpl&)     = delete;
     TransportImpl& operator=(TransportImpl&&) noexcept = delete;
 
-    ~TransportImpl() override
+    ~TransportImpl()
     {
         for (Media& media : media_array_)
         {

include/libcyphal/transport/msg_sessions.hpp

@@ -43,6 +43,9 @@ class IMessageRxSession : public IRxSession
     ///
     virtual cetl::optional<MessageRxTransfer> receive() = 0;
 
+protected:
+    ~IMessageRxSession() = default;
+
 };  // IMessageRxSession
 
 class IMessageTxSession : public ITxSession
@@ -58,6 +61,10 @@ class IMessageTxSession : public ITxSession
     ///
     virtual cetl::optional<AnyError> send(const TransferMetadata& metadata,
                                           const PayloadFragments  payload_fragments) = 0;
+
+protected:
+    ~IMessageTxSession() = default;
+
 };  // IMessageTxSession
 
 }  // namespace transport

include/libcyphal/transport/session.hpp

@@ -16,13 +16,17 @@ namespace transport
 
 class ISession : public IRunnable
 {
-public:
+protected:
+    ~ISession() = default;
 };
 
 class IRxSession : public ISession
 {
 public:
     virtual void setTransferIdTimeout(const Duration timeout) = 0;
+
+protected:
+    ~IRxSession() = default;
 };
 
 class ITxSession : public ISession
@@ -36,6 +40,9 @@ class ITxSession : public ISession
     /// @param timeout - Positive duration for transmission timeout. Default value is 1 second.
     ///
     virtual void setSendTimeout(const Duration timeout) = 0;
+
+protected:
+    ~ITxSession() = default;
 };
 
 }  // namespace transport

include/libcyphal/transport/svc_sessions.hpp

@@ -52,12 +52,18 @@ class ISvcRxSession : public IRxSession
     /// @return A service transfer if available; otherwise an empty optional.
     ///
     virtual cetl::optional<ServiceRxTransfer> receive() = 0;
+
+protected:
+    ~ISvcRxSession() = default;
 };
 
 class IRequestRxSession : public ISvcRxSession
 {
 public:
     virtual RequestRxParams getParams() const noexcept = 0;
+
+protected:
+    ~IRequestRxSession() = default;
 };
 
 class IRequestTxSession : public ITxSession
@@ -73,12 +79,18 @@ class IRequestTxSession : public ITxSession
     ///
     virtual cetl::optional<AnyError> send(const TransferMetadata& metadata,
                                           const PayloadFragments  payload_fragments) = 0;
+
+protected:
+    ~IRequestTxSession() = default;
 };
 
 class IResponseRxSession : public ISvcRxSession
 {
 public:
     virtual ResponseRxParams getParams() const noexcept = 0;
+
+protected:
+    ~IResponseRxSession() = default;
 };
 
 class IResponseTxSession : public ITxSession
@@ -94,6 +106,9 @@ class IResponseTxSession : public ITxSession
     ///
     virtual cetl::optional<AnyError> send(const ServiceTransferMetadata& metadata,
                                           const PayloadFragments         payload_fragments) = 0;
+
+protected:
+    ~IResponseTxSession() = default;
 };
 
 }  // namespace transport

include/libcyphal/transport/transport.hpp

@@ -98,6 +98,9 @@ class ITransport : public IRunnable
     ///
     virtual Expected<UniquePtr<IResponseTxSession>, AnyError> makeResponseTxSession(const ResponseTxParams& params) = 0;
 
+protected:
+    ~ITransport() = default;
+
 };  // ITransport
 
 }  // namespace transport

include/libcyphal/transport/udp/transport.hpp

@@ -29,7 +29,10 @@ namespace udp
 {
 
 class IUdpTransport : public ITransport
-{};
+{
+protected:
+    ~IUdpTransport() = default;
+};
 
 /// Internal implementation details of the UDP transport.
 /// Not supposed to be used directly by the users of the library.

include/libcyphal/types.hpp

@@ -8,7 +8,7 @@
 
 #include <cetl/cetl.hpp>
 #include <cetl/pf17/cetlpf.hpp>
-#include <cetl/pmr/memory.hpp>
+#include <cetl/pmr/interface_ptr.hpp>
 #include <cetl/variable_length_array.hpp>
 
 #include <chrono>
@@ -50,7 +50,7 @@ using TimePoint = MonotonicClock::time_point;
 using Duration  = MonotonicClock::duration;
 
 template <typename T>
-using UniquePtr = cetl::pmr::Factory::unique_ptr_t<cetl::pmr::polymorphic_allocator<T>>;
+using UniquePtr = cetl::pmr::InterfacePtr<T>;
 
 // TODO: Maybe introduce `cetl::expected` at CETL repo.
 template <typename Success, typename Failure>
@@ -68,13 +68,8 @@ using VarArray = cetl::VariableLengthArray<T, PmrAllocator<T>>;
 template <typename Spec, typename... Args>
 CETL_NODISCARD UniquePtr<typename Spec::Interface> makeUniquePtr(cetl::pmr::memory_resource& memory, Args&&... args)
 {
-    PmrAllocator<typename Spec::Concrete> allocator{&memory};
-    auto interface_deleter = typename UniquePtr<typename Spec::Interface>::deleter_type{allocator, 1};
-
-    auto concrete  = cetl::pmr::Factory::make_unique(allocator, std::forward<Args>(args)...);
-    auto interface = UniquePtr<typename Spec::Interface>{concrete.release(), interface_deleter};
-
-    return interface;
+    return cetl::pmr::InterfaceFactory::make_unique<
+        typename Spec::Interface>(PmrAllocator<typename Spec::Concrete>{&memory}, std::forward<Args>(args)...);
 }
 
 }  // namespace detail

test/unittest/transport/can/test_can_msg_rx_session.cpp

@@ -67,8 +67,7 @@ class TestCanMsgRxSession : public testing::Test
     void TearDown() override
     {
         EXPECT_THAT(mr_.allocations, IsEmpty());
-        // TODO: Uncomment this when PMR deleter is fixed.
-        // EXPECT_EQ(mr_.total_allocated_bytes, mr_.total_deallocated_bytes);
+        EXPECT_THAT(mr_.total_allocated_bytes, mr_.total_deallocated_bytes);
     }
 
     TimePoint now() const

test/unittest/transport/can/test_can_msg_tx_session.cpp

@@ -68,8 +68,7 @@ class TestCanMsgTxSession : public testing::Test
     void TearDown() override
     {
         EXPECT_THAT(mr_.allocations, IsEmpty());
-        // TODO: Uncomment this when PMR deleter is fixed.
-        // EXPECT_EQ(mr_.total_allocated_bytes, mr_.total_deallocated_bytes);
+        EXPECT_THAT(mr_.total_allocated_bytes, mr_.total_deallocated_bytes);
     }
 
     TimePoint now() const

test/unittest/transport/can/test_can_svc_rx_sessions.cpp

@@ -68,8 +68,7 @@ class TestCanSvcRxSessions : public testing::Test
     void TearDown() override
     {
         EXPECT_THAT(mr_.allocations, IsEmpty());
-        // TODO: Uncomment this when PMR deleter is fixed.
-        // EXPECT_EQ(mr_.total_allocated_bytes, mr_.total_deallocated_bytes);
+        EXPECT_THAT(mr_.total_allocated_bytes, mr_.total_deallocated_bytes);
     }
 
     TimePoint now() const

test/unittest/transport/can/test_can_svc_tx_sessions.cpp

@@ -63,8 +63,7 @@ class TestCanSvcTxSessions : public testing::Test
     void TearDown() override
     {
         EXPECT_THAT(mr_.allocations, IsEmpty());
-        // TODO: Uncomment this when PMR deleter is fixed.
-        // EXPECT_EQ(mr_.total_allocated_bytes, mr_.total_deallocated_bytes);
+        EXPECT_THAT(mr_.total_allocated_bytes, mr_.total_deallocated_bytes);
     }
 
     TimePoint now() const

test/unittest/transport/can/test_can_transport.cpp

@@ -75,8 +75,7 @@ class TestCanTransport : public testing::Test
     void TearDown() override
     {
         EXPECT_THAT(mr_.allocations, IsEmpty());
-        // TODO: Uncomment this when PMR deleter is fixed.
-        // EXPECT_EQ(mr_.total_allocated_bytes, mr_.total_deallocated_bytes);
+        EXPECT_THAT(mr_.total_allocated_bytes, mr_.total_deallocated_bytes);
     }
 
     TimePoint now() const

test/unittest/transport/test_contiguous_payload.cpp

@@ -39,7 +39,7 @@ class TestContiguousPayload : public testing::Test
     void TearDown() override
     {
         EXPECT_THAT(mr_.allocations, IsEmpty());
-        EXPECT_EQ(mr_.total_allocated_bytes, mr_.total_deallocated_bytes);
+        EXPECT_THAT(mr_.total_allocated_bytes, mr_.total_deallocated_bytes);
     }
 
     // MARK: Data members:

test/unittest/transport/udp/test_udp_transport.cpp

@@ -32,8 +32,7 @@ class TestUpdTransport : public testing::Test
     void TearDown() override
     {
         EXPECT_THAT(mr_.allocations, IsEmpty());
-        // TODO: Uncomment this when PMR deleter is fixed.
-        // EXPECT_EQ(mr_.total_allocated_bytes, mr_.total_deallocated_bytes);
+        EXPECT_THAT(mr_.total_allocated_bytes, mr_.total_deallocated_bytes);
     }
 
     // MARK: Data members: