Merge "Add casadi generator to symengine code"
diff --git a/aos/analysis/py_log_reader.cc b/aos/analysis/py_log_reader.cc
index 340140c..c190acb 100644
--- a/aos/analysis/py_log_reader.cc
+++ b/aos/analysis/py_log_reader.cc
@@ -111,7 +111,8 @@
return -1;
}
- LogReaderTools *tools = CHECK_NOTNULL(self->tools);
+ LogReaderTools *tools = self->tools;
+ CHECK(tools != nullptr);
tools->reader = std::make_unique<aos::logger::LogReader>(log_file_name);
tools->reader->Register();
@@ -140,7 +141,8 @@
return nullptr;
}
- LogReaderTools *tools = CHECK_NOTNULL(self->tools);
+ LogReaderTools *tools = self->tools;
+ CHECK(tools != nullptr);
if (!tools->processed) {
PyErr_SetString(PyExc_RuntimeError,
@@ -188,7 +190,8 @@
return nullptr;
}
- LogReaderTools *tools = CHECK_NOTNULL(self->tools);
+ LogReaderTools *tools = self->tools;
+ CHECK(tools != nullptr);
if (tools->processed) {
PyErr_SetString(PyExc_RuntimeError,
@@ -217,7 +220,8 @@
static PyObject *LogReader_process(LogReaderType *self,
PyObject *Py_UNUSED(ignored)) {
- LogReaderTools *tools = CHECK_NOTNULL(self->tools);
+ LogReaderTools *tools = self->tools;
+ CHECK(tools != nullptr);
if (tools->processed) {
PyErr_SetString(PyExc_RuntimeError, "process() may only be called once.");
@@ -233,7 +237,8 @@
static PyObject *LogReader_configuration(LogReaderType *self,
PyObject *Py_UNUSED(ignored)) {
- LogReaderTools *tools = CHECK_NOTNULL(self->tools);
+ LogReaderTools *tools = self->tools;
+ CHECK(tools != nullptr);
// I have no clue if the Configuration that we get from the log reader is in a
// contiguous chunk of memory, and I'm too lazy to either figure it out or
diff --git a/aos/configuration.cc b/aos/configuration.cc
index cfc53a5..3b52e0c 100644
--- a/aos/configuration.cc
+++ b/aos/configuration.cc
@@ -1135,9 +1135,11 @@
const flatbuffers::Vector<flatbuffers::Offset<aos::Map>> *maps,
std::string_view type, const Node *node, std::set<std::string> *names) {
for (const Map *map : *maps) {
- CHECK_NOTNULL(map);
- const Channel *const match = CHECK_NOTNULL(map->match());
- const Channel *const rename = CHECK_NOTNULL(map->rename());
+ CHECK(map != nullptr);
+ const Channel *const match = map->match();
+ CHECK(match != nullptr);
+ const Channel *const rename = map->rename();
+ CHECK(rename != nullptr);
// Handle type specific maps.
const flatbuffers::String *const match_type_string = match->type();
@@ -1728,8 +1730,8 @@
}
CHECK(channel->has_source_node()) << FlatbufferToJson(channel);
CHECK(node->has_name()) << FlatbufferToJson(node);
- return (CHECK_NOTNULL(channel)->source_node()->string_view() ==
- node->name()->string_view());
+ CHECK(channel != nullptr);
+ return (channel->source_node()->string_view() == node->name()->string_view());
}
bool ChannelIsReadableOnNode(const Channel *channel, const Node *node) {
@@ -1776,8 +1778,8 @@
LOG(FATAL) << "Unsupported logging configuration in a single node world: "
<< CleanedChannelToString(channel);
}
- return ChannelMessageIsLoggedOnNode(
- channel, CHECK_NOTNULL(node)->name()->string_view());
+ CHECK(node != nullptr);
+ return ChannelMessageIsLoggedOnNode(channel, node->name()->string_view());
}
bool ChannelMessageIsLoggedOnNode(const Channel *channel,
@@ -2116,7 +2118,7 @@
flatbuffers::FlatBufferBuilder fbb;
std::vector<flatbuffers::Offset<Channel>> new_channels_vec;
for (const auto &channel : *configuration.channels()) {
- CHECK_NOTNULL(channel);
+ CHECK(channel != nullptr);
if (should_include_channel(*channel)) {
new_channels_vec.push_back(RecursiveCopyFlatBuffer(channel, &fbb));
}
diff --git a/aos/configuration_test.cc b/aos/configuration_test.cc
index da96402..d980dad 100644
--- a/aos/configuration_test.cc
+++ b/aos/configuration_test.cc
@@ -979,14 +979,16 @@
TEST_F(ConfigurationTest, GetNodeFromHostname) {
FlatbufferDetachedBuffer<Configuration> config =
ReadConfig(ArtifactPath("aos/testdata/good_multinode.json"));
- EXPECT_EQ("pi1",
- CHECK_NOTNULL(GetNodeFromHostname(&config.message(), "raspberrypi"))
- ->name()
- ->string_view());
- EXPECT_EQ("pi2", CHECK_NOTNULL(
- GetNodeFromHostname(&config.message(), "raspberrypi2"))
- ->name()
- ->string_view());
+ {
+ const Node *pi1 = GetNodeFromHostname(&config.message(), "raspberrypi");
+ ASSERT_TRUE(pi1 != nullptr);
+ EXPECT_EQ("pi1", pi1->name()->string_view());
+ }
+ {
+ const Node *pi2 = GetNodeFromHostname(&config.message(), "raspberrypi2");
+ ASSERT_TRUE(pi2 != nullptr);
+ EXPECT_EQ("pi2", pi2->name()->string_view());
+ }
EXPECT_EQ(nullptr, GetNodeFromHostname(&config.message(), "raspberrypi3"));
EXPECT_EQ(nullptr, GetNodeFromHostname(&config.message(), "localhost"));
EXPECT_EQ(nullptr, GetNodeFromHostname(&config.message(), "3"));
@@ -995,22 +997,26 @@
TEST_F(ConfigurationTest, GetNodeFromHostnames) {
FlatbufferDetachedBuffer<Configuration> config =
ReadConfig(ArtifactPath("aos/testdata/good_multinode_hostnames.json"));
- EXPECT_EQ("pi1",
- CHECK_NOTNULL(GetNodeFromHostname(&config.message(), "raspberrypi"))
- ->name()
- ->string_view());
- EXPECT_EQ("pi2", CHECK_NOTNULL(
- GetNodeFromHostname(&config.message(), "raspberrypi2"))
- ->name()
- ->string_view());
- EXPECT_EQ("pi2", CHECK_NOTNULL(
- GetNodeFromHostname(&config.message(), "raspberrypi3"))
- ->name()
- ->string_view());
- EXPECT_EQ("pi2",
- CHECK_NOTNULL(GetNodeFromHostname(&config.message(), "other"))
- ->name()
- ->string_view());
+ {
+ const Node *pi1 = GetNodeFromHostname(&config.message(), "raspberrypi");
+ ASSERT_TRUE(pi1 != nullptr);
+ EXPECT_EQ("pi1", pi1->name()->string_view());
+ }
+ {
+ const Node *pi2 = GetNodeFromHostname(&config.message(), "raspberrypi2");
+ ASSERT_TRUE(pi2 != nullptr);
+ EXPECT_EQ("pi2", pi2->name()->string_view());
+ }
+ {
+ const Node *pi2 = GetNodeFromHostname(&config.message(), "raspberrypi3");
+ ASSERT_TRUE(pi2 != nullptr);
+ EXPECT_EQ("pi2", pi2->name()->string_view());
+ }
+ {
+ const Node *pi2 = GetNodeFromHostname(&config.message(), "other");
+ ASSERT_TRUE(pi2 != nullptr);
+ EXPECT_EQ("pi2", pi2->name()->string_view());
+ }
EXPECT_EQ(nullptr, GetNodeFromHostname(&config.message(), "raspberrypi4"));
EXPECT_EQ(nullptr, GetNodeFromHostname(&config.message(), "localhost"));
EXPECT_EQ(nullptr, GetNodeFromHostname(&config.message(), "3"));
diff --git a/aos/containers/resizeable_buffer.h b/aos/containers/resizeable_buffer.h
index 664fa2f..1af888d 100644
--- a/aos/containers/resizeable_buffer.h
+++ b/aos/containers/resizeable_buffer.h
@@ -108,7 +108,9 @@
void Allocate(size_t new_capacity) {
void *const old = storage_.release();
- storage_.reset(CHECK_NOTNULL(F::Realloc(old, capacity_, new_capacity)));
+ void *new_ptr = F::Realloc(old, capacity_, new_capacity);
+ CHECK(new_ptr != nullptr);
+ storage_.reset(new_ptr);
capacity_ = new_capacity;
}
diff --git a/aos/events/epoll.cc b/aos/events/epoll.cc
index 61c346e..d5f5162 100644
--- a/aos/events/epoll.cc
+++ b/aos/events/epoll.cc
@@ -193,7 +193,9 @@
}
void EPoll::SetEvents(int fd, uint32_t events) {
- DoEpollCtl(CHECK_NOTNULL(GetEventData(fd)), events);
+ EventData *event_data;
+ CHECK((event_data = GetEventData(fd)) != nullptr);
+ DoEpollCtl(event_data, events);
}
// Removes fd from the event loop.
@@ -257,12 +259,14 @@
}
void EPoll::EnableEvents(int fd, uint32_t events) {
- EventData *const event_data = CHECK_NOTNULL(GetEventData(fd));
+ EventData *const event_data = GetEventData(fd);
+ CHECK(event_data != nullptr);
DoEpollCtl(event_data, event_data->events | events);
}
void EPoll::DisableEvents(int fd, uint32_t events) {
- EventData *const event_data = CHECK_NOTNULL(GetEventData(fd));
+ EventData *const event_data = GetEventData(fd);
+ CHECK(event_data != nullptr);
DoEpollCtl(event_data, event_data->events & ~events);
}
diff --git a/aos/events/event_loop.h b/aos/events/event_loop.h
index 389ea08..c8cf487 100644
--- a/aos/events/event_loop.h
+++ b/aos/events/event_loop.h
@@ -265,7 +265,8 @@
// Fetches the next message. Returns true if it fetched a new message. This
// method will only return messages sent after the Fetcher was created.
bool FetchNext() {
- const bool result = CHECK_NOTNULL(fetcher_)->FetchNext();
+ CHECK(fetcher_ != nullptr);
+ const bool result = fetcher_->FetchNext();
if (result) {
CheckChannelDataAlignment(fetcher_->context().data,
fetcher_->context().size);
@@ -277,7 +278,8 @@
// true. The data and buffer_index are the only pieces of the Context which
// are zeroed out. The function must be valid.
bool FetchNextIf(std::function<bool(const Context &)> fn) {
- const bool result = CHECK_NOTNULL(fetcher_)->FetchNextIf(std::move(fn));
+ CHECK(fetcher_ != nullptr);
+ const bool result = fetcher_->FetchNextIf(std::move(fn));
if (result) {
CheckChannelDataAlignment(fetcher_->context().data,
fetcher_->context().size);
@@ -289,7 +291,8 @@
// This will return the latest message regardless of if it was sent before or
// after the fetcher was created.
bool Fetch() {
- const bool result = CHECK_NOTNULL(fetcher_)->Fetch();
+ CHECK(fetcher_ != nullptr);
+ const bool result = fetcher_->Fetch();
if (result) {
CheckChannelDataAlignment(fetcher_->context().data,
fetcher_->context().size);
@@ -301,7 +304,8 @@
// new message. This will return the latest message regardless of if it was
// sent before or after the fetcher was created. The function must be valid.
bool FetchIf(std::function<bool(const Context &)> fn) {
- const bool result = CHECK_NOTNULL(fetcher_)->FetchIf(std::move(fn));
+ CHECK(fetcher_ != nullptr);
+ const bool result = fetcher_->FetchIf(std::move(fn));
if (result) {
CheckChannelDataAlignment(fetcher_->context().data,
fetcher_->context().size);
@@ -312,18 +316,25 @@
// Returns a pointer to the contained flatbuffer, or nullptr if there is no
// available message.
const T *get() const {
- return CHECK_NOTNULL(fetcher_)->context().data != nullptr
+ CHECK(fetcher_ != nullptr);
+ return fetcher_->context().data != nullptr
? flatbuffers::GetRoot<T>(
reinterpret_cast<const char *>(fetcher_->context().data))
: nullptr;
}
// Returns the channel this fetcher uses
- const Channel *channel() const { return CHECK_NOTNULL(fetcher_)->channel(); }
+ const Channel *channel() const {
+ CHECK(fetcher_ != nullptr);
+ return fetcher_->channel();
+ }
// Returns the context holding timestamps and other metadata about the
// message.
- const Context &context() const { return CHECK_NOTNULL(fetcher_)->context(); }
+ const Context &context() const {
+ CHECK(fetcher_ != nullptr);
+ return fetcher_->context();
+ }
const T &operator*() const { return *get(); }
const T *operator->() const { return get(); }
@@ -366,7 +377,9 @@
class StaticBuilder {
public:
StaticBuilder(RawSender *sender, fbs::SpanAllocator *allocator)
- : builder_(allocator), sender_(CHECK_NOTNULL(sender)) {}
+ : builder_(allocator), sender_(sender) {
+ CHECK(sender != nullptr);
+ }
StaticBuilder(const StaticBuilder &) = delete;
StaticBuilder(StaticBuilder &&) = default;
@@ -408,7 +421,8 @@
Builder(RawSender *sender, ChannelPreallocatedAllocator *allocator)
: fbb_(allocator->size(), allocator),
allocator_(allocator),
- sender_(CHECK_NOTNULL(sender)) {
+ sender_(sender) {
+ CHECK(sender != nullptr);
CheckChannelDataAlignment(allocator->data(), allocator->size());
fbb_.ForceDefaults(true);
}
@@ -480,12 +494,16 @@
// Equivalent to RawSender::CheckOk
void CheckOk(const RawSender::Error err) {
- CHECK_NOTNULL(sender_)->CheckOk(err);
+ CHECK(sender_ != nullptr);
+ sender_->CheckOk(err);
};
// Returns the name of the underlying queue, if valid. You must check valid()
// first.
- const Channel *channel() const { return CHECK_NOTNULL(sender_)->channel(); }
+ const Channel *channel() const {
+ CHECK(sender_ != nullptr);
+ return sender_->channel();
+ }
// Returns true if the Sender is a valid Sender. If you, e.g., are using
// TryMakeSender, then you must check valid() before attempting to use the
@@ -496,19 +514,25 @@
// Returns the time_points that the last message was sent at.
aos::monotonic_clock::time_point monotonic_sent_time() const {
- return CHECK_NOTNULL(sender_)->monotonic_sent_time();
+ CHECK(sender_ != nullptr);
+ return sender_->monotonic_sent_time();
}
aos::realtime_clock::time_point realtime_sent_time() const {
- return CHECK_NOTNULL(sender_)->realtime_sent_time();
+ CHECK(sender_ != nullptr);
+ return sender_->realtime_sent_time();
}
// Returns the queue index that this was sent with.
uint32_t sent_queue_index() const {
- return CHECK_NOTNULL(sender_)->sent_queue_index();
+ CHECK(sender_ != nullptr);
+ return sender_->sent_queue_index();
}
// Returns the buffer index which MakeBuilder() will expose access to. This is
// the buffer the caller can fill out.
- int buffer_index() const { return CHECK_NOTNULL(sender_)->buffer_index(); }
+ int buffer_index() const {
+ CHECK(sender_ != nullptr);
+ return sender_->buffer_index();
+ }
// Convenience function to build and send a message created from JSON
// representation.
diff --git a/aos/events/logging/buffer_encoder_param_test.cc b/aos/events/logging/buffer_encoder_param_test.cc
index 7c9bb4b..f6bc3b6 100644
--- a/aos/events/logging/buffer_encoder_param_test.cc
+++ b/aos/events/logging/buffer_encoder_param_test.cc
@@ -2,6 +2,8 @@
#include "gmock/gmock.h"
+#include "aos/testing/tmpdir.h"
+
namespace aos::logger::testing {
// Verifies that Clear affects the sizes as expected.
@@ -39,8 +41,8 @@
// it comes back out the same.
TEST_P(BufferEncoderTest, RoundTrip) {
std::uniform_int_distribution<int> quantity_distribution(20, 60);
- const char *const test_dir = CHECK_NOTNULL(getenv("TEST_TMPDIR"));
- const std::string file_path = std::string(test_dir) + "/foo";
+ const std::string test_dir = aos::testing::TestTmpDir();
+ const std::string file_path = test_dir + "/foo";
std::vector<std::vector<uint8_t>> encoded_buffers;
{
diff --git a/aos/events/logging/buffer_encoder_test.cc b/aos/events/logging/buffer_encoder_test.cc
index 7dda300..127fb4f 100644
--- a/aos/events/logging/buffer_encoder_test.cc
+++ b/aos/events/logging/buffer_encoder_test.cc
@@ -9,6 +9,7 @@
#include "gtest/gtest.h"
#include "aos/events/logging/buffer_encoder_param_test.h"
+#include "aos/testing/tmpdir.h"
namespace aos::logger::testing {
@@ -44,8 +45,7 @@
TEST(DummyDecoderTest, ReadsIntoExactBuffer) {
static const std::string kTestString{"Just some random words."};
- const char *const test_dir = CHECK_NOTNULL(getenv("TEST_TMPDIR"));
- const std::string file_path = std::string(test_dir) + "/foo";
+ const std::string file_path = aos::testing::TestTmpDir() + "/foo";
std::ofstream(file_path, std::ios::binary) << kTestString;
// Read the contents of the file into the buffer.
@@ -65,8 +65,7 @@
TEST(DummyDecoderTest, ReadsIntoLargerBuffer) {
static const std::string kTestString{"Just some random words."};
- const char *const test_dir = CHECK_NOTNULL(getenv("TEST_TMPDIR"));
- const std::string file_path = std::string(test_dir) + "/foo";
+ const std::string file_path = aos::testing::TestTmpDir() + "/foo";
std::ofstream(file_path, std::ios::binary) << kTestString;
DummyDecoder dummy_decoder(file_path.c_str());
@@ -84,8 +83,7 @@
TEST(DummyDecoderTest, ReadsRepeatedlyIntoSmallerBuffer) {
static const std::string kTestString{"Just some random words."};
- const char *const test_dir = CHECK_NOTNULL(getenv("TEST_TMPDIR"));
- const std::string file_path = std::string(test_dir) + "/foo";
+ const std::string file_path = aos::testing::TestTmpDir() + "/foo";
std::ofstream(file_path, std::ios::binary) << kTestString;
DummyDecoder dummy_decoder(file_path.c_str());
diff --git a/aos/events/logging/config_remapper.cc b/aos/events/logging/config_remapper.cc
index 21f45d5..088d393 100644
--- a/aos/events/logging/config_remapper.cc
+++ b/aos/events/logging/config_remapper.cc
@@ -263,7 +263,8 @@
result.reserve(remapped_channels_.size());
for (auto &pair : remapped_channels_) {
const Channel *const original_channel =
- CHECK_NOTNULL(original_configuration()->channels()->Get(pair.first));
+ original_configuration()->channels()->Get(pair.first);
+ CHECK(original_channel != nullptr);
auto channel_iterator = std::lower_bound(
remapped_configuration_->channels()->cbegin(),
@@ -472,9 +473,10 @@
// Reconstruct the remapped channels.
for (auto &pair : remapped_channels_) {
- const Channel *const c = CHECK_NOTNULL(configuration::GetChannel(
+ const Channel *const c = configuration::GetChannel(
base_config, original_configuration()->channels()->Get(pair.first), "",
- nullptr));
+ nullptr);
+ CHECK(c != nullptr);
channel_offsets.emplace_back(
CopyChannel(c, pair.second.remapped_name, "", &fbb));
diff --git a/aos/events/logging/log_cat.cc b/aos/events/logging/log_cat.cc
index 31d12be..d7347be 100644
--- a/aos/events/logging/log_cat.cc
+++ b/aos/events/logging/log_cat.cc
@@ -245,7 +245,7 @@
}
VLOG(1) << "Listening on " << name << " " << type;
- CHECK_NOTNULL(channel->schema());
+ CHECK(channel->schema() != nullptr);
event_loop_->MakeRawWatcher(channel, [this, channel, start_time,
end_time](
const aos::Context &context,
diff --git a/aos/events/logging/log_namer.cc b/aos/events/logging/log_namer.cc
index 6c88d89..c065f68 100644
--- a/aos/events/logging/log_namer.cc
+++ b/aos/events/logging/log_namer.cc
@@ -1065,7 +1065,7 @@
void MultiNodeLogNamer::CloseWriter(
std::unique_ptr<DetachedBufferWriter> *writer_pointer) {
- CHECK_NOTNULL(writer_pointer);
+ CHECK(writer_pointer != nullptr);
if (!(*writer_pointer)) {
return;
}
diff --git a/aos/events/logging/log_namer.h b/aos/events/logging/log_namer.h
index 08601f2..2c0982a 100644
--- a/aos/events/logging/log_namer.h
+++ b/aos/events/logging/log_namer.h
@@ -422,7 +422,7 @@
bool ran_out_of_space() const {
return accumulate_data_writers<bool>(
ran_out_of_space_, [](bool x, const NewDataWriter &data_writer) {
- CHECK_NOTNULL(data_writer.writer);
+ CHECK(data_writer.writer != nullptr);
return x ||
(data_writer.writer && data_writer.writer->ran_out_of_space());
});
@@ -435,7 +435,7 @@
size_t maximum_total_bytes() const {
return accumulate_data_writers<size_t>(
0, [](size_t x, const NewDataWriter &data_writer) {
- CHECK_NOTNULL(data_writer.writer);
+ CHECK(data_writer.writer != nullptr);
return std::max(x, data_writer.writer->total_bytes());
});
}
@@ -452,7 +452,7 @@
return accumulate_data_writers(
max_write_time_,
[](std::chrono::nanoseconds x, const NewDataWriter &data_writer) {
- CHECK_NOTNULL(data_writer.writer);
+ CHECK(data_writer.writer != nullptr);
return std::max(
x, data_writer.writer->WriteStatistics()->max_write_time());
});
@@ -462,7 +462,7 @@
std::make_tuple(max_write_time_bytes_, max_write_time_),
[](std::tuple<int, std::chrono::nanoseconds> x,
const NewDataWriter &data_writer) {
- CHECK_NOTNULL(data_writer.writer);
+ CHECK(data_writer.writer != nullptr);
if (data_writer.writer->WriteStatistics()->max_write_time() >
std::get<1>(x)) {
return std::make_tuple(
@@ -477,7 +477,7 @@
std::make_tuple(max_write_time_messages_, max_write_time_),
[](std::tuple<int, std::chrono::nanoseconds> x,
const NewDataWriter &data_writer) {
- CHECK_NOTNULL(data_writer.writer);
+ CHECK(data_writer.writer != nullptr);
if (data_writer.writer->WriteStatistics()->max_write_time() >
std::get<1>(x)) {
return std::make_tuple(
@@ -492,14 +492,14 @@
return accumulate_data_writers(
total_write_time_,
[](std::chrono::nanoseconds x, const NewDataWriter &data_writer) {
- CHECK_NOTNULL(data_writer.writer);
+ CHECK(data_writer.writer != nullptr);
return x + data_writer.writer->WriteStatistics()->total_write_time();
});
}
int total_write_count() const {
return accumulate_data_writers(
total_write_count_, [](int x, const NewDataWriter &data_writer) {
- CHECK_NOTNULL(data_writer.writer);
+ CHECK(data_writer.writer != nullptr);
return x + data_writer.writer->WriteStatistics()->total_write_count();
});
}
@@ -513,7 +513,7 @@
int total_write_bytes() const {
return accumulate_data_writers(
total_write_bytes_, [](int x, const NewDataWriter &data_writer) {
- CHECK_NOTNULL(data_writer.writer);
+ CHECK(data_writer.writer != nullptr);
return x + data_writer.writer->WriteStatistics()->total_write_bytes();
});
}
@@ -522,7 +522,7 @@
return accumulate_data_writers(
total_encode_duration_,
[](std::chrono::nanoseconds x, const NewDataWriter &data_writer) {
- CHECK_NOTNULL(data_writer.writer);
+ CHECK(data_writer.writer != nullptr);
return x +
data_writer.writer->WriteStatistics()->total_encode_duration();
});
diff --git a/aos/events/logging/log_reader.cc b/aos/events/logging/log_reader.cc
index 192dade..81f8466 100644
--- a/aos/events/logging/log_reader.cc
+++ b/aos/events/logging/log_reader.cc
@@ -196,7 +196,7 @@
{
// Log files container validates that log files shared the same config.
const Configuration *config = log_files_.config().get();
- CHECK_NOTNULL(config);
+ CHECK(config != nullptr);
}
if (replay_channels_ != nullptr) {
@@ -386,7 +386,7 @@
std::vector<
std::pair<const aos::Channel *, NodeEventLoopFactory::ExclusiveSenders>>
LogReader::State::NonExclusiveChannels() {
- CHECK_NOTNULL(node_event_loop_factory_);
+ CHECK(node_event_loop_factory_ != nullptr);
const aos::Configuration *config = node_event_loop_factory_->configuration();
std::vector<
std::pair<const aos::Channel *, NodeEventLoopFactory::ExclusiveSenders>>
@@ -1423,10 +1423,11 @@
if (remote_timestamp_senders_[timestamped_message.channel_index] != nullptr) {
State *source_state =
- CHECK_NOTNULL(channel_source_state_[timestamped_message.channel_index]);
- std::vector<ContiguousSentTimestamp> *queue_index_map = CHECK_NOTNULL(
- source_state->queue_index_map_[timestamped_message.channel_index]
- .get());
+ channel_source_state_[timestamped_message.channel_index];
+ CHECK(source_state != nullptr);
+ std::vector<ContiguousSentTimestamp> *queue_index_map =
+ source_state->queue_index_map_[timestamped_message.channel_index].get();
+ CHECK(queue_index_map != nullptr);
struct SentTimestamp {
monotonic_clock::time_point monotonic_event_time;
@@ -1495,15 +1496,13 @@
// Sanity check that we are using consistent boot uuids.
State *source_state =
channel_source_state_[timestamped_message.channel_index];
+ CHECK(source_state != nullptr);
+ CHECK(source_state->event_loop_ != nullptr);
CHECK_EQ(multinode_filters_->boot_uuid(
configuration::GetNodeIndex(event_loop_->configuration(),
source_state->node()),
timestamped_message.monotonic_remote_time.boot),
- CHECK_NOTNULL(
- CHECK_NOTNULL(
- channel_source_state_[timestamped_message.channel_index])
- ->event_loop_)
- ->boot_uuid());
+ source_state->event_loop_->boot_uuid());
}
SharedSpan to_send;
@@ -1529,20 +1528,23 @@
// Send! Use the replayed queue index here instead of the logged queue index
// for the remote queue index. This makes re-logging work.
+ const UUID boot_uuid = [&]() -> UUID {
+ if (channel_source_state_[timestamped_message.channel_index] != nullptr) {
+ CHECK(multinode_filters_ != nullptr);
+ return multinode_filters_->boot_uuid(
+ configuration::GetNodeIndex(
+ event_loop_->configuration(),
+ channel_source_state_[timestamped_message.channel_index]->node()),
+ timestamped_message.monotonic_remote_time.boot);
+ } else {
+ return event_loop_->boot_uuid();
+ }
+ }();
const RawSender::Error err = sender->Send(
std::move(to_send), timestamped_message.monotonic_remote_time.time,
timestamped_message.realtime_remote_time,
timestamped_message.monotonic_remote_transmit_time.time,
- remote_queue_index,
- (channel_source_state_[timestamped_message.channel_index] != nullptr
- ? CHECK_NOTNULL(multinode_filters_)
- ->boot_uuid(configuration::GetNodeIndex(
- event_loop_->configuration(),
- channel_source_state_[timestamped_message
- .channel_index]
- ->node()),
- timestamped_message.monotonic_remote_time.boot)
- : event_loop_->boot_uuid()));
+ remote_queue_index, boot_uuid);
if (err != RawSender::Error::kOk) return false;
if (monotonic_start_time(timestamped_message.monotonic_event_time.boot) <=
timestamped_message.monotonic_event_time.time) {
@@ -1601,7 +1603,8 @@
// that the timestamps correspond to. This code, as written, also doesn't
// correctly handle a non-zero clock_offset for the *_remote_time fields.
State *source_state =
- CHECK_NOTNULL(channel_source_state_[timestamped_message.channel_index]);
+ channel_source_state_[timestamped_message.channel_index];
+ CHECK(source_state != nullptr);
flatbuffers::FlatBufferBuilder fbb;
fbb.ForceDefaults(true);
@@ -1655,14 +1658,14 @@
void LogReader::RemoteMessageSender::ScheduleTimestamp() {
if (remote_timestamps_.empty()) {
- CHECK_NOTNULL(timer_);
+ CHECK(timer_ != nullptr);
timer_->Disable();
scheduled_time_ = monotonic_clock::min_time;
return;
}
if (scheduled_time_ != remote_timestamps_.front().monotonic_timestamp_time) {
- CHECK_NOTNULL(timer_);
+ CHECK(timer_ != nullptr);
timer_->Schedule(remote_timestamps_.front().monotonic_timestamp_time);
scheduled_time_ = remote_timestamps_.front().monotonic_timestamp_time;
CHECK_GE(scheduled_time_, event_loop_->monotonic_now())
diff --git a/aos/events/logging/log_reader.h b/aos/events/logging/log_reader.h
index f25f1f6..85d4d2c 100644
--- a/aos/events/logging/log_reader.h
+++ b/aos/events/logging/log_reader.h
@@ -655,7 +655,7 @@
}
monotonic_clock::time_point monotonic_now() const {
- CHECK_NOTNULL(event_loop_);
+ CHECK(event_loop_ != nullptr);
return event_loop_->monotonic_now();
}
diff --git a/aos/events/logging/log_stats.cc b/aos/events/logging/log_stats.cc
index c0540bf..a45a167 100644
--- a/aos/events/logging/log_stats.cc
+++ b/aos/events/logging/log_stats.cc
@@ -128,7 +128,10 @@
: channel_(channel),
config_(factory->configuration()),
factory_(factory),
- schema_(CHECK_NOTNULL(schema)),
+ schema_([&]() {
+ CHECK(schema != nullptr);
+ return schema;
+ }()),
destination_node_(destination_node),
flatbuffer_type_(schema) {
// Multi-node channel
diff --git a/aos/events/logging/log_writer.cc b/aos/events/logging/log_writer.cc
index c00d216..42dbbb5 100644
--- a/aos/events/logging/log_writer.cc
+++ b/aos/events/logging/log_writer.cc
@@ -297,8 +297,9 @@
log_namer_->MakeTimestampWriter(f.event_loop_channel);
}
if (f.wants_contents_writer) {
+ CHECK(f.timestamp_node != nullptr);
f.contents_writer = log_namer_->MakeForwardedTimestampWriter(
- f.event_loop_channel, CHECK_NOTNULL(f.timestamp_node));
+ f.event_loop_channel, f.timestamp_node);
}
}
@@ -426,8 +427,9 @@
log_namer_->MakeTimestampWriter(f.event_loop_channel);
}
if (f.wants_contents_writer) {
+ CHECK(f.timestamp_node != nullptr);
f.contents_writer = log_namer_->MakeForwardedTimestampWriter(
- f.event_loop_channel, CHECK_NOTNULL(f.timestamp_node));
+ f.event_loop_channel, f.timestamp_node);
}
// Mark each channel with data as not written. That triggers each channel
diff --git a/aos/events/logging/logfile_utils.cc b/aos/events/logging/logfile_utils.cc
index 30ed3d7..0d10a99 100644
--- a/aos/events/logging/logfile_utils.cc
+++ b/aos/events/logging/logfile_utils.cc
@@ -2442,7 +2442,7 @@
Message TimestampMapper::MatchingMessageFor(const Message &message) {
// Figure out what queue index we are looking for.
- CHECK_NOTNULL(message.header);
+ CHECK(message.header != nullptr);
CHECK(message.header->remote_queue_index.has_value());
const BootQueueIndex remote_queue_index =
BootQueueIndex{.boot = message.monotonic_remote_boot,
diff --git a/aos/events/logging/lzma_encoder_test.cc b/aos/events/logging/lzma_encoder_test.cc
index 60444d3..92b4f54 100644
--- a/aos/events/logging/lzma_encoder_test.cc
+++ b/aos/events/logging/lzma_encoder_test.cc
@@ -4,6 +4,7 @@
#include "gtest/gtest.h"
#include "aos/events/logging/buffer_encoder_param_test.h"
+#include "aos/testing/tmpdir.h"
#include "aos/util/file.h"
DECLARE_int32(lzma_threads);
@@ -62,8 +63,7 @@
// corrupted.
TEST_F(BufferEncoderBaseTest, CorruptedBuffer) {
std::uniform_int_distribution<int> quantity_distribution(20, 60);
- const char *const test_dir = CHECK_NOTNULL(getenv("TEST_TMPDIR"));
- const std::string file_path = std::string(test_dir) + "/foo";
+ const std::string file_path = aos::testing::TestTmpDir() + "/foo";
std::vector<std::vector<uint8_t>> encoded_buffers;
{
diff --git a/aos/events/logging/snappy_encoder.cc b/aos/events/logging/snappy_encoder.cc
index 0160177..b1cd80e 100644
--- a/aos/events/logging/snappy_encoder.cc
+++ b/aos/events/logging/snappy_encoder.cc
@@ -127,7 +127,8 @@
}
const char *SnappyEncoder::DetachedBufferSource::Peek(size_t *length) {
- *CHECK_NOTNULL(length) = data_.size() - index_into_first_buffer_;
+ CHECK(length != nullptr);
+ *length = data_.size() - index_into_first_buffer_;
return reinterpret_cast<char *>(data_.data()) + index_into_first_buffer_;
}
diff --git a/aos/events/shm_event_loop_test.cc b/aos/events/shm_event_loop_test.cc
index 2fbe735..aae8f15 100644
--- a/aos/events/shm_event_loop_test.cc
+++ b/aos/events/shm_event_loop_test.cc
@@ -17,13 +17,6 @@
class ShmEventLoopTestFactory : public EventLoopTestFactory {
public:
ShmEventLoopTestFactory() {
- // Put all the queue files in ${TEST_TMPDIR} if it is set, otherwise
- // everything will be reusing /dev/shm when sharded.
- char *test_tmpdir = getenv("TEST_TMPDIR");
- if (test_tmpdir != nullptr) {
- FLAGS_shm_base = std::string(test_tmpdir) + "/aos";
- }
-
// Clean up anything left there before.
unlink((FLAGS_shm_base + "/test/aos.TestMessage.v7").c_str());
unlink((FLAGS_shm_base + "/test1/aos.TestMessage.v7").c_str());
@@ -58,14 +51,19 @@
}
Result<void> Run() override {
- return CHECK_NOTNULL(primary_event_loop_)->Run();
+ CHECK(primary_event_loop_ != nullptr);
+ return primary_event_loop_->Run();
}
std::unique_ptr<ExitHandle> MakeExitHandle() override {
- return CHECK_NOTNULL(primary_event_loop_)->MakeExitHandle();
+ CHECK(primary_event_loop_ != nullptr);
+ return primary_event_loop_->MakeExitHandle();
}
- void Exit() override { CHECK_NOTNULL(primary_event_loop_)->Exit(); }
+ void Exit() override {
+ CHECK(primary_event_loop_ != nullptr);
+ primary_event_loop_->Exit();
+ }
void SleepFor(::std::chrono::nanoseconds duration) override {
::std::this_thread::sleep_for(duration);
diff --git a/aos/events/simple_channel.cc b/aos/events/simple_channel.cc
index 00e30ba..51d9ef6 100644
--- a/aos/events/simple_channel.cc
+++ b/aos/events/simple_channel.cc
@@ -5,9 +5,15 @@
namespace aos {
-SimpleChannel::SimpleChannel(const Channel *channel)
- : name(CHECK_NOTNULL(CHECK_NOTNULL(channel)->name())->str()),
- type(CHECK_NOTNULL(CHECK_NOTNULL(channel)->type())->str()) {}
+SimpleChannel::SimpleChannel(const Channel *channel) {
+ CHECK(channel != nullptr);
+ const flatbuffers::String *channel_name = channel->name();
+ CHECK(channel_name != nullptr);
+ name = channel_name->str();
+ const flatbuffers::String *channel_type = channel->type();
+ CHECK(channel_type != nullptr);
+ type = channel_type->str();
+}
std::string SimpleChannel::DebugString() const {
return absl::StrCat("{ ", name, ", ", type, "}");
diff --git a/aos/events/simulated_event_loop.cc b/aos/events/simulated_event_loop.cc
index 3c84cfb..64e64ca 100644
--- a/aos/events/simulated_event_loop.cc
+++ b/aos/events/simulated_event_loop.cc
@@ -586,7 +586,7 @@
const Configuration *configuration,
std::vector<SimulatedEventLoop *> *event_loops_, const Node *node,
pid_t tid, EventLoopOptions options)
- : EventLoop(CHECK_NOTNULL(configuration)),
+ : EventLoop(configuration),
scheduler_(scheduler),
node_event_loop_factory_(node_event_loop_factory),
channels_(channels),
@@ -945,7 +945,8 @@
if (token_ != scheduler_->InvalidToken()) {
scheduler_->Deschedule(token_);
}
- CHECK_NOTNULL(simulated_channel_)->RemoveWatcher(this);
+ CHECK(simulated_channel_ != nullptr);
+ simulated_channel_->RemoveWatcher(this);
}
bool SimulatedWatcher::has_run() const {
@@ -1387,8 +1388,13 @@
SimulatedEventLoopFactory::SimulatedEventLoopFactory(
const Configuration *configuration)
- : configuration_(CHECK_NOTNULL(configuration)),
- nodes_(configuration::GetNodes(configuration_)) {
+ : configuration_(configuration),
+ nodes_(
+ // Don't crash if configuration is nullptr, handle it a bit better
+ // before doing anything.
+ configuration == nullptr ? std::vector<const Node *>{}
+ : configuration::GetNodes(configuration_)) {
+ CHECK(configuration_ != nullptr);
CHECK(IsInitialized()) << ": Need to initialize AOS first.";
for (const Node *node : nodes_) {
node_factories_.emplace_back(
diff --git a/aos/events/simulated_network_bridge.cc b/aos/events/simulated_network_bridge.cc
index 66c902f..fd2dead 100644
--- a/aos/events/simulated_network_bridge.cc
+++ b/aos/events/simulated_network_bridge.cc
@@ -863,8 +863,11 @@
}
// And the timestamps are then logged back by us again.
- if (!delivery_time_is_logged ||
- CHECK_NOTNULL(delayer)->forwarding_disabled()) {
+ if (!delivery_time_is_logged) {
+ continue;
+ }
+ CHECK(delayer != nullptr);
+ if (delayer->forwarding_disabled()) {
continue;
}
diff --git a/aos/events/timing_report_dump_lib.cc b/aos/events/timing_report_dump_lib.cc
index 15a8eb9..d83cf69 100644
--- a/aos/events/timing_report_dump_lib.cc
+++ b/aos/events/timing_report_dump_lib.cc
@@ -120,8 +120,9 @@
std::stringstream errors;
CHECK(sender->has_error_counts());
for (size_t ii = 0; ii < sender->error_counts()->size(); ++ii) {
- const size_t error_count =
- CHECK_NOTNULL(sender->error_counts()->Get(ii))->count();
+ auto *error_counts = sender->error_counts()->Get(ii);
+ CHECK(error_counts != nullptr);
+ const size_t error_count = error_counts->count();
errors << error_count;
if (error_count > 0) {
// Put send errors onto stderr so that people just interested in
diff --git a/aos/flatbuffer_utils.cc b/aos/flatbuffer_utils.cc
index 5abe676..afa1cb4 100644
--- a/aos/flatbuffer_utils.cc
+++ b/aos/flatbuffer_utils.cc
@@ -6,6 +6,33 @@
namespace aos {
+FlatbufferType::FlatbufferType(const flatbuffers::TypeTable *type_table) {
+ CHECK(type_table != nullptr);
+ type_table_ = type_table;
+}
+FlatbufferType::FlatbufferType(const reflection::Schema *schema) {
+ CHECK(schema != nullptr);
+ schema_ = schema;
+ DCHECK(schema->root_table() != nullptr);
+ object_ = schema->root_table();
+}
+
+FlatbufferType::FlatbufferType(const reflection::Schema *schema,
+ const reflection::Object *object) {
+ CHECK(schema != nullptr);
+ schema_ = schema;
+ DCHECK(object != nullptr);
+ object_ = object;
+}
+
+FlatbufferType::FlatbufferType(const reflection::Schema *schema,
+ const reflection::Enum *fb_enum) {
+ CHECK(schema != nullptr);
+ schema_ = schema;
+ CHECK(fb_enum != nullptr);
+ enum_ = fb_enum;
+}
+
bool FlatbufferType::IsSequence() const {
if (type_table_) {
return type_table_->st != flatbuffers::ST_ENUM;
diff --git a/aos/flatbuffer_utils.h b/aos/flatbuffer_utils.h
index aa22e68..003f141 100644
--- a/aos/flatbuffer_utils.h
+++ b/aos/flatbuffer_utils.h
@@ -24,11 +24,8 @@
class FlatbufferType final {
public:
// Implicit on purpose, to allow freely creating a FlatbufferType.
- FlatbufferType(const flatbuffers::TypeTable *type_table)
- : type_table_(CHECK_NOTNULL(type_table)) {}
- FlatbufferType(const reflection::Schema *schema)
- : schema_(CHECK_NOTNULL(schema)),
- object_(DCHECK_NOTNULL(schema->root_table())) {}
+ FlatbufferType(const flatbuffers::TypeTable *type_table);
+ FlatbufferType(const reflection::Schema *schema);
// This is deliberately copyable, for ease of memory management. It is cheap
// to pass by value.
@@ -114,11 +111,9 @@
private:
explicit FlatbufferType(const reflection::Schema *schema,
- const reflection::Object *object)
- : schema_(DCHECK_NOTNULL(schema)), object_(DCHECK_NOTNULL(object)) {}
+ const reflection::Object *object);
explicit FlatbufferType(const reflection::Schema *schema,
- const reflection::Enum *fb_enum)
- : schema_(DCHECK_NOTNULL(schema)), enum_(DCHECK_NOTNULL(fb_enum)) {}
+ const reflection::Enum *fb_enum);
const reflection::Type *ReflectionType(int index) const;
const reflection::Field *ReflectionObjectField(int index) const;
diff --git a/aos/flatbuffers.h b/aos/flatbuffers.h
index e5de120..f1ed626 100644
--- a/aos/flatbuffers.h
+++ b/aos/flatbuffers.h
@@ -87,10 +87,12 @@
}
uint8_t *data() final {
- return reinterpret_cast<uint8_t *>(CHECK_NOTNULL(data_));
+ CHECK(data_ != nullptr);
+ return reinterpret_cast<uint8_t *>(data_);
}
const uint8_t *data() const final {
- return reinterpret_cast<const uint8_t *>(CHECK_NOTNULL(data_));
+ CHECK(data_ != nullptr);
+ return reinterpret_cast<const uint8_t *>(data_);
}
size_t size() const final { return size_; }
diff --git a/aos/flatbuffers/base.cc b/aos/flatbuffers/base.cc
index afd48a2..f0e7a8b 100644
--- a/aos/flatbuffers/base.cc
+++ b/aos/flatbuffers/base.cc
@@ -51,10 +51,9 @@
if (parent_ != nullptr) {
return parent_->InsertBytes(insertion_point, aligned_bytes, set_zero);
} else {
- std::optional<std::span<uint8_t>> new_buffer =
- CHECK_NOTNULL(allocator_)
- ->InsertBytes(insertion_point, aligned_bytes, Alignment(),
- set_zero);
+ CHECK(allocator_ != nullptr);
+ std::optional<std::span<uint8_t>> new_buffer = allocator_->InsertBytes(
+ insertion_point, aligned_bytes, Alignment(), set_zero);
if (!new_buffer.has_value()) {
return std::nullopt;
}
@@ -94,6 +93,7 @@
if (absolute_offset >= modification_point &&
object.inline_entry < modification_point) {
if (*object.inline_entry != 0) {
+ CHECK(object.object != nullptr);
CHECK_EQ(static_cast<const void *>(
static_cast<const uint8_t *>(absolute_offset)),
DereferenceOffset(object.inline_entry));
diff --git a/aos/flatbuffers/static_flatbuffers.cc b/aos/flatbuffers/static_flatbuffers.cc
index 4c013a2..449bcbc 100644
--- a/aos/flatbuffers/static_flatbuffers.cc
+++ b/aos/flatbuffers/static_flatbuffers.cc
@@ -558,25 +558,35 @@
// Unconditionally copy strings/vectors, even if it will just end up
// being 0-length (this maintains consistency with the flatbuffer Pack()
// behavior).
- if (!CHECK_NOTNULL(add_%s())->FromFlatbuffer(other.%s)) {
- // Fail if we were unable to copy (e.g., if we tried to copy in a long
- // vector and do not have the space for it).
- return false;
- }
- )code",
- field.name, field.name));
- } else {
- // Tables are stored as unique_ptr<FooTable>
- copiers.emplace_back(absl::StrFormat(R"code(
- if (other.%s) {
- if (!CHECK_NOTNULL(add_%s())->FromFlatbuffer(*other.%s)) {
+ {
+ %s* added_%s = add_%s();
+ CHECK(added_%s != nullptr);
+ if (!added_%s->FromFlatbuffer(other.%s)) {
// Fail if we were unable to copy (e.g., if we tried to copy in a long
// vector and do not have the space for it).
return false;
}
}
)code",
- field.name, field.name, field.name));
+ field.full_type, field.name,
+ field.name, field.name, field.name,
+ field.name));
+ } else {
+ // Tables are stored as unique_ptr<FooTable>
+ copiers.emplace_back(absl::StrFormat(R"code(
+ if (other.%s) {
+ %s* added_%s = add_%s();
+ CHECK(added_%s != nullptr);
+ if (!added_%s->FromFlatbuffer(*other.%s)) {
+ // Fail if we were unable to copy (e.g., if we tried to copy in a long
+ // vector and do not have the space for it).
+ return false;
+ }
+ }
+ )code",
+ field.name, field.full_type,
+ field.name, field.name, field.name,
+ field.name, field.name));
}
}
return absl::StrFormat(
@@ -622,14 +632,18 @@
} else {
copiers.emplace_back(absl::StrFormat(R"code(
if (other.has_%s()) {
- if (!CHECK_NOTNULL(add_%s())->FromFlatbuffer(other.%s())) {
+ %s* added_%s = add_%s();
+ CHECK(added_%s != nullptr);
+ if (!added_%s->FromFlatbuffer(other.%s())) {
// Fail if we were unable to copy (e.g., if we tried to copy in a long
// vector and do not have the space for it).
return false;
}
}
)code",
- field.name, field.name, field.name));
+ field.name, field.full_type,
+ field.name, field.name, field.name,
+ field.name, field.name));
}
}
return absl::StrFormat(
@@ -646,7 +660,8 @@
// Equivalent to FromFlatbuffer(const Flatbuffer&); this overload is provided
// to ease implementation of the aos::fbs::Vector internals.
[[nodiscard]] bool FromFlatbuffer(const Flatbuffer *other) {
- return FromFlatbuffer(*CHECK_NOTNULL(other));
+ CHECK(other != nullptr);
+ return FromFlatbuffer(*other);
}
)code",
absl::StrJoin(copiers, "\n"));
diff --git a/aos/flatbuffers/static_flatbuffers_test.cc b/aos/flatbuffers/static_flatbuffers_test.cc
index 4a8b9e9..187c72a 100644
--- a/aos/flatbuffers/static_flatbuffers_test.cc
+++ b/aos/flatbuffers/static_flatbuffers_test.cc
@@ -123,7 +123,8 @@
}
{
auto vector_of_strings = object->add_vector_of_strings();
- auto sub_string = CHECK_NOTNULL(vector_of_strings->emplace_back());
+ auto sub_string = vector_of_strings->emplace_back();
+ CHECK(sub_string != nullptr);
CHECK(sub_string->emplace_back('D'));
}
{ object->set_substruct({971, 254}); }
@@ -163,8 +164,13 @@
builder.add_foo(1234);
return builder.Finish();
}
-void PopulateStatic(SubTableStatic *subtable) { subtable->set_foo(1234); }
+void PopulateStatic(SubTableStatic *subtable) {
+ CHECK(subtable != nullptr);
+ subtable->set_foo(1234);
+}
+
} // namespace
+
TEST_F(StaticFlatbuffersTest, PopulateMethodConversionExample) {
// Using a FlatBufferBuilder:
flatbuffers::FlatBufferBuilder fbb;
@@ -178,7 +184,7 @@
// Using the static flatbuffer API.
aos::fbs::AlignedVectorAllocator allocator;
Builder<TestTableStatic> static_builder(&allocator);
- PopulateStatic(CHECK_NOTNULL(static_builder.get()->add_subtable()));
+ PopulateStatic(static_builder.get()->add_subtable());
// And confirm that they both contain the expected flatbuffer:
const std::string expected = R"json({ "subtable": { "foo": 1234 } })json";
@@ -292,7 +298,8 @@
EXPECT_FALSE(object->has_vector_of_strings());
auto vector_of_strings = object->add_vector_of_strings();
EXPECT_TRUE(object->has_vector_of_strings());
- auto sub_string = CHECK_NOTNULL(vector_of_strings->emplace_back());
+ auto sub_string = vector_of_strings->emplace_back();
+ CHECK(sub_string != nullptr);
ASSERT_TRUE(sub_string->emplace_back('D'));
EXPECT_TRUE(fbs.has_vector_of_strings());
ASSERT_EQ(1u, fbs.vector_of_strings()->size());
@@ -729,7 +736,8 @@
ASSERT_TRUE(builder.Verify());
ASSERT_FALSE(object->has_vector_of_scalars())
<< aos::FlatbufferToJson(builder.AsFlatbufferSpan());
- vector = CHECK_NOTNULL(object->add_vector_of_scalars());
+ vector = object->add_vector_of_scalars();
+ ASSERT_TRUE(vector != nullptr);
ASSERT_TRUE(builder.Verify());
EXPECT_EQ(0u, object->AsFlatbuffer().vector_of_scalars()->size());
ASSERT_TRUE(vector->emplace_back(9));
@@ -783,7 +791,8 @@
object->clear_subtable();
ASSERT_TRUE(builder.Verify());
EXPECT_FALSE(object->has_subtable());
- auto subtable = CHECK_NOTNULL(object->add_subtable());
+ auto subtable = object->add_subtable();
+ ASSERT_TRUE(subtable != nullptr);
subtable->set_baz(9.71);
EXPECT_EQ(
R"json({
@@ -806,7 +815,8 @@
object->clear_subtable();
ASSERT_TRUE(builder.Verify());
EXPECT_FALSE(object->has_subtable());
- subtable = CHECK_NOTNULL(object->add_subtable());
+ subtable = object->add_subtable();
+ ASSERT_TRUE(subtable != nullptr);
subtable->set_baz(16.78);
EXPECT_EQ(
R"json({
@@ -883,7 +893,8 @@
}
{
auto vector_of_strings = object->add_vector_of_strings();
- auto sub_string = CHECK_NOTNULL(vector_of_strings->emplace_back());
+ auto sub_string = vector_of_strings->emplace_back();
+ ASSERT_TRUE(sub_string != nullptr);
ASSERT_TRUE(sub_string->emplace_back('D'));
}
{ object->set_substruct({971, 254}); }
@@ -1048,7 +1059,8 @@
}
{
auto vector_of_strings = object->add_vector_of_strings();
- auto sub_string = CHECK_NOTNULL(vector_of_strings->emplace_back());
+ auto sub_string = vector_of_strings->emplace_back();
+ ASSERT_TRUE(sub_string != nullptr);
ASSERT_TRUE(sub_string->emplace_back('D'));
}
{ object->set_substruct({971, 254}); }
@@ -1153,7 +1165,8 @@
}
{
auto vector_of_strings = object->add_vector_of_strings();
- auto sub_string = CHECK_NOTNULL(vector_of_strings->emplace_back());
+ auto sub_string = vector_of_strings->emplace_back();
+ ASSERT_TRUE(sub_string != nullptr);
ASSERT_TRUE(sub_string->emplace_back('D'));
}
{ object->set_substruct({971, 254}); }
diff --git a/aos/flatbuffers/static_vector.h b/aos/flatbuffers/static_vector.h
index da250e2..f0c48cd 100644
--- a/aos/flatbuffers/static_vector.h
+++ b/aos/flatbuffers/static_vector.h
@@ -409,7 +409,8 @@
// This is a deep copy, and will call FromFlatbuffer on any constituent
// objects.
[[nodiscard]] bool FromFlatbuffer(ConstFlatbuffer *vector) {
- return FromFlatbuffer(*CHECK_NOTNULL(vector));
+ CHECK(vector != nullptr);
+ return FromFlatbuffer(*vector);
}
[[nodiscard]] bool FromFlatbuffer(ConstFlatbuffer &vector);
// The remaining FromFlatbuffer() overloads are for when using the flatbuffer
@@ -449,8 +450,8 @@
resize_inline(input_size, SetZero::kNo);
if (input_size > 0) {
- memcpy(inline_data(), CHECK_NOTNULL(input_data),
- size() * sizeof(InlineType));
+ CHECK(input_data != nullptr);
+ memcpy(inline_data(), input_data, size() * sizeof(InlineType));
}
return true;
}
@@ -584,7 +585,7 @@
return;
} else {
while (length_ < size) {
- CHECK_NOTNULL(emplace_back());
+ CHECK(emplace_back() != nullptr);
}
}
}
@@ -725,7 +726,9 @@
resize_not_inline(0);
for (const auto &entry : vector) {
- if (!CHECK_NOTNULL(emplace_back())->FromFlatbuffer(entry)) {
+ T *emplaced_entry = emplace_back();
+ CHECK(emplaced_entry != nullptr);
+ if (!emplaced_entry->FromFlatbuffer(entry)) {
return false;
}
}
diff --git a/aos/flatbuffers/test_dir/sample_test_static.h b/aos/flatbuffers/test_dir/sample_test_static.h
index de88c92..1aaf3f6 100644
--- a/aos/flatbuffers/test_dir/sample_test_static.h
+++ b/aos/flatbuffers/test_dir/sample_test_static.h
@@ -137,7 +137,8 @@
// Equivalent to FromFlatbuffer(const Flatbuffer&); this overload is provided
// to ease implementation of the aos::fbs::Vector internals.
[[nodiscard]] bool FromFlatbuffer(const Flatbuffer *other) {
- return FromFlatbuffer(*CHECK_NOTNULL(other));
+ CHECK(other != nullptr);
+ return FromFlatbuffer(*other);
}
// Copies the contents of the provided flatbuffer into this flatbuffer,
@@ -348,7 +349,8 @@
// Equivalent to FromFlatbuffer(const Flatbuffer&); this overload is provided
// to ease implementation of the aos::fbs::Vector internals.
[[nodiscard]] bool FromFlatbuffer(const Flatbuffer *other) {
- return FromFlatbuffer(*CHECK_NOTNULL(other));
+ CHECK(other != nullptr);
+ return FromFlatbuffer(*other);
}
// Copies the contents of the provided flatbuffer into this flatbuffer,
@@ -1460,8 +1462,10 @@
}
if (other.has_vector_of_structs()) {
- if (!CHECK_NOTNULL(add_vector_of_structs())
- ->FromFlatbuffer(other.vector_of_structs())) {
+ ::aos::fbs::Vector<aos::fbs::testing::SubStruct, 3, true, 0>
+ *added_vector_of_structs = add_vector_of_structs();
+ CHECK(added_vector_of_structs != nullptr);
+ if (!added_vector_of_structs->FromFlatbuffer(other.vector_of_structs())) {
// Fail if we were unable to copy (e.g., if we tried to copy in a long
// vector and do not have the space for it).
return false;
@@ -1469,8 +1473,12 @@
}
if (other.has_unspecified_length_vector_of_strings()) {
- if (!CHECK_NOTNULL(add_unspecified_length_vector_of_strings())
- ->FromFlatbuffer(other.unspecified_length_vector_of_strings())) {
+ ::aos::fbs::Vector<::aos::fbs::String<0>, 0, false, 0>
+ *added_unspecified_length_vector_of_strings =
+ add_unspecified_length_vector_of_strings();
+ CHECK(added_unspecified_length_vector_of_strings != nullptr);
+ if (!added_unspecified_length_vector_of_strings->FromFlatbuffer(
+ other.unspecified_length_vector_of_strings())) {
// Fail if we were unable to copy (e.g., if we tried to copy in a long
// vector and do not have the space for it).
return false;
@@ -1478,8 +1486,10 @@
}
if (other.has_vector_of_tables()) {
- if (!CHECK_NOTNULL(add_vector_of_tables())
- ->FromFlatbuffer(other.vector_of_tables())) {
+ ::aos::fbs::Vector<aos::fbs::testing::SubTableStatic, 3, false, 0>
+ *added_vector_of_tables = add_vector_of_tables();
+ CHECK(added_vector_of_tables != nullptr);
+ if (!added_vector_of_tables->FromFlatbuffer(other.vector_of_tables())) {
// Fail if we were unable to copy (e.g., if we tried to copy in a long
// vector and do not have the space for it).
return false;
@@ -1487,8 +1497,10 @@
}
if (other.has_vector_aligned()) {
- if (!CHECK_NOTNULL(add_vector_aligned())
- ->FromFlatbuffer(other.vector_aligned())) {
+ ::aos::fbs::Vector<int32_t, 3, true, 64> *added_vector_aligned =
+ add_vector_aligned();
+ CHECK(added_vector_aligned != nullptr);
+ if (!added_vector_aligned->FromFlatbuffer(other.vector_aligned())) {
// Fail if we were unable to copy (e.g., if we tried to copy in a long
// vector and do not have the space for it).
return false;
@@ -1496,8 +1508,10 @@
}
if (other.has_vector_of_strings()) {
- if (!CHECK_NOTNULL(add_vector_of_strings())
- ->FromFlatbuffer(other.vector_of_strings())) {
+ ::aos::fbs::Vector<::aos::fbs::String<10>, 3, false, 0>
+ *added_vector_of_strings = add_vector_of_strings();
+ CHECK(added_vector_of_strings != nullptr);
+ if (!added_vector_of_strings->FromFlatbuffer(other.vector_of_strings())) {
// Fail if we were unable to copy (e.g., if we tried to copy in a long
// vector and do not have the space for it).
return false;
@@ -1505,8 +1519,10 @@
}
if (other.has_vector_of_scalars()) {
- if (!CHECK_NOTNULL(add_vector_of_scalars())
- ->FromFlatbuffer(other.vector_of_scalars())) {
+ ::aos::fbs::Vector<int32_t, 3, true, 0> *added_vector_of_scalars =
+ add_vector_of_scalars();
+ CHECK(added_vector_of_scalars != nullptr);
+ if (!added_vector_of_scalars->FromFlatbuffer(other.vector_of_scalars())) {
// Fail if we were unable to copy (e.g., if we tried to copy in a long
// vector and do not have the space for it).
return false;
@@ -1514,8 +1530,11 @@
}
if (other.has_unspecified_length_string()) {
- if (!CHECK_NOTNULL(add_unspecified_length_string())
- ->FromFlatbuffer(other.unspecified_length_string())) {
+ ::aos::fbs::String<0> *added_unspecified_length_string =
+ add_unspecified_length_string();
+ CHECK(added_unspecified_length_string != nullptr);
+ if (!added_unspecified_length_string->FromFlatbuffer(
+ other.unspecified_length_string())) {
// Fail if we were unable to copy (e.g., if we tried to copy in a long
// vector and do not have the space for it).
return false;
@@ -1523,8 +1542,11 @@
}
if (other.has_unspecified_length_vector()) {
- if (!CHECK_NOTNULL(add_unspecified_length_vector())
- ->FromFlatbuffer(other.unspecified_length_vector())) {
+ ::aos::fbs::Vector<uint8_t, 0, true, 0> *added_unspecified_length_vector =
+ add_unspecified_length_vector();
+ CHECK(added_unspecified_length_vector != nullptr);
+ if (!added_unspecified_length_vector->FromFlatbuffer(
+ other.unspecified_length_vector())) {
// Fail if we were unable to copy (e.g., if we tried to copy in a long
// vector and do not have the space for it).
return false;
@@ -1532,8 +1554,10 @@
}
if (other.has_included_table()) {
- if (!CHECK_NOTNULL(add_included_table())
- ->FromFlatbuffer(other.included_table())) {
+ aos::fbs::testing::included::IncludedTableStatic *added_included_table =
+ add_included_table();
+ CHECK(added_included_table != nullptr);
+ if (!added_included_table->FromFlatbuffer(other.included_table())) {
// Fail if we were unable to copy (e.g., if we tried to copy in a long
// vector and do not have the space for it).
return false;
@@ -1541,7 +1565,9 @@
}
if (other.has_subtable()) {
- if (!CHECK_NOTNULL(add_subtable())->FromFlatbuffer(other.subtable())) {
+ aos::fbs::testing::SubTableStatic *added_subtable = add_subtable();
+ CHECK(added_subtable != nullptr);
+ if (!added_subtable->FromFlatbuffer(other.subtable())) {
// Fail if we were unable to copy (e.g., if we tried to copy in a long
// vector and do not have the space for it).
return false;
@@ -1549,7 +1575,9 @@
}
if (other.has_string()) {
- if (!CHECK_NOTNULL(add_string())->FromFlatbuffer(other.string())) {
+ ::aos::fbs::String<20> *added_string = add_string();
+ CHECK(added_string != nullptr);
+ if (!added_string->FromFlatbuffer(other.string())) {
// Fail if we were unable to copy (e.g., if we tried to copy in a long
// vector and do not have the space for it).
return false;
@@ -1565,7 +1593,8 @@
// Equivalent to FromFlatbuffer(const Flatbuffer&); this overload is provided
// to ease implementation of the aos::fbs::Vector internals.
[[nodiscard]] bool FromFlatbuffer(const Flatbuffer *other) {
- return FromFlatbuffer(*CHECK_NOTNULL(other));
+ CHECK(other != nullptr);
+ return FromFlatbuffer(*other);
}
// Copies the contents of the provided flatbuffer into this flatbuffer,
@@ -1585,86 +1614,124 @@
// Unconditionally copy strings/vectors, even if it will just end up
// being 0-length (this maintains consistency with the flatbuffer Pack()
// behavior).
- if (!CHECK_NOTNULL(add_vector_of_structs())
- ->FromFlatbuffer(other.vector_of_structs)) {
- // Fail if we were unable to copy (e.g., if we tried to copy in a long
- // vector and do not have the space for it).
- return false;
+ {
+ ::aos::fbs::Vector<aos::fbs::testing::SubStruct, 3, true, 0>
+ *added_vector_of_structs = add_vector_of_structs();
+ CHECK(added_vector_of_structs != nullptr);
+ if (!added_vector_of_structs->FromFlatbuffer(other.vector_of_structs)) {
+ // Fail if we were unable to copy (e.g., if we tried to copy in a long
+ // vector and do not have the space for it).
+ return false;
+ }
}
// Unconditionally copy strings/vectors, even if it will just end up
// being 0-length (this maintains consistency with the flatbuffer Pack()
// behavior).
- if (!CHECK_NOTNULL(add_unspecified_length_vector_of_strings())
- ->FromFlatbuffer(other.unspecified_length_vector_of_strings)) {
- // Fail if we were unable to copy (e.g., if we tried to copy in a long
- // vector and do not have the space for it).
- return false;
+ {
+ ::aos::fbs::Vector<::aos::fbs::String<0>, 0, false, 0>
+ *added_unspecified_length_vector_of_strings =
+ add_unspecified_length_vector_of_strings();
+ CHECK(added_unspecified_length_vector_of_strings != nullptr);
+ if (!added_unspecified_length_vector_of_strings->FromFlatbuffer(
+ other.unspecified_length_vector_of_strings)) {
+ // Fail if we were unable to copy (e.g., if we tried to copy in a long
+ // vector and do not have the space for it).
+ return false;
+ }
}
// Unconditionally copy strings/vectors, even if it will just end up
// being 0-length (this maintains consistency with the flatbuffer Pack()
// behavior).
- if (!CHECK_NOTNULL(add_vector_of_tables())
- ->FromFlatbuffer(other.vector_of_tables)) {
- // Fail if we were unable to copy (e.g., if we tried to copy in a long
- // vector and do not have the space for it).
- return false;
+ {
+ ::aos::fbs::Vector<aos::fbs::testing::SubTableStatic, 3, false, 0>
+ *added_vector_of_tables = add_vector_of_tables();
+ CHECK(added_vector_of_tables != nullptr);
+ if (!added_vector_of_tables->FromFlatbuffer(other.vector_of_tables)) {
+ // Fail if we were unable to copy (e.g., if we tried to copy in a long
+ // vector and do not have the space for it).
+ return false;
+ }
}
// Unconditionally copy strings/vectors, even if it will just end up
// being 0-length (this maintains consistency with the flatbuffer Pack()
// behavior).
- if (!CHECK_NOTNULL(add_vector_aligned())
- ->FromFlatbuffer(other.vector_aligned)) {
- // Fail if we were unable to copy (e.g., if we tried to copy in a long
- // vector and do not have the space for it).
- return false;
+ {
+ ::aos::fbs::Vector<int32_t, 3, true, 64> *added_vector_aligned =
+ add_vector_aligned();
+ CHECK(added_vector_aligned != nullptr);
+ if (!added_vector_aligned->FromFlatbuffer(other.vector_aligned)) {
+ // Fail if we were unable to copy (e.g., if we tried to copy in a long
+ // vector and do not have the space for it).
+ return false;
+ }
}
// Unconditionally copy strings/vectors, even if it will just end up
// being 0-length (this maintains consistency with the flatbuffer Pack()
// behavior).
- if (!CHECK_NOTNULL(add_vector_of_strings())
- ->FromFlatbuffer(other.vector_of_strings)) {
- // Fail if we were unable to copy (e.g., if we tried to copy in a long
- // vector and do not have the space for it).
- return false;
+ {
+ ::aos::fbs::Vector<::aos::fbs::String<10>, 3, false, 0>
+ *added_vector_of_strings = add_vector_of_strings();
+ CHECK(added_vector_of_strings != nullptr);
+ if (!added_vector_of_strings->FromFlatbuffer(other.vector_of_strings)) {
+ // Fail if we were unable to copy (e.g., if we tried to copy in a long
+ // vector and do not have the space for it).
+ return false;
+ }
}
// Unconditionally copy strings/vectors, even if it will just end up
// being 0-length (this maintains consistency with the flatbuffer Pack()
// behavior).
- if (!CHECK_NOTNULL(add_vector_of_scalars())
- ->FromFlatbuffer(other.vector_of_scalars)) {
- // Fail if we were unable to copy (e.g., if we tried to copy in a long
- // vector and do not have the space for it).
- return false;
+ {
+ ::aos::fbs::Vector<int32_t, 3, true, 0> *added_vector_of_scalars =
+ add_vector_of_scalars();
+ CHECK(added_vector_of_scalars != nullptr);
+ if (!added_vector_of_scalars->FromFlatbuffer(other.vector_of_scalars)) {
+ // Fail if we were unable to copy (e.g., if we tried to copy in a long
+ // vector and do not have the space for it).
+ return false;
+ }
}
// Unconditionally copy strings/vectors, even if it will just end up
// being 0-length (this maintains consistency with the flatbuffer Pack()
// behavior).
- if (!CHECK_NOTNULL(add_unspecified_length_string())
- ->FromFlatbuffer(other.unspecified_length_string)) {
- // Fail if we were unable to copy (e.g., if we tried to copy in a long
- // vector and do not have the space for it).
- return false;
+ {
+ ::aos::fbs::String<0> *added_unspecified_length_string =
+ add_unspecified_length_string();
+ CHECK(added_unspecified_length_string != nullptr);
+ if (!added_unspecified_length_string->FromFlatbuffer(
+ other.unspecified_length_string)) {
+ // Fail if we were unable to copy (e.g., if we tried to copy in a long
+ // vector and do not have the space for it).
+ return false;
+ }
}
// Unconditionally copy strings/vectors, even if it will just end up
// being 0-length (this maintains consistency with the flatbuffer Pack()
// behavior).
- if (!CHECK_NOTNULL(add_unspecified_length_vector())
- ->FromFlatbuffer(other.unspecified_length_vector)) {
- // Fail if we were unable to copy (e.g., if we tried to copy in a long
- // vector and do not have the space for it).
- return false;
+ {
+ ::aos::fbs::Vector<uint8_t, 0, true, 0> *added_unspecified_length_vector =
+ add_unspecified_length_vector();
+ CHECK(added_unspecified_length_vector != nullptr);
+ if (!added_unspecified_length_vector->FromFlatbuffer(
+ other.unspecified_length_vector)) {
+ // Fail if we were unable to copy (e.g., if we tried to copy in a long
+ // vector and do not have the space for it).
+ return false;
+ }
}
if (other.included_table) {
- if (!CHECK_NOTNULL(add_included_table())
- ->FromFlatbuffer(*other.included_table)) {
+ aos::fbs::testing::included::IncludedTableStatic *added_included_table =
+ add_included_table();
+ CHECK(added_included_table != nullptr);
+ if (!added_included_table->FromFlatbuffer(*other.included_table)) {
// Fail if we were unable to copy (e.g., if we tried to copy in a long
// vector and do not have the space for it).
return false;
@@ -1672,7 +1739,9 @@
}
if (other.subtable) {
- if (!CHECK_NOTNULL(add_subtable())->FromFlatbuffer(*other.subtable)) {
+ aos::fbs::testing::SubTableStatic *added_subtable = add_subtable();
+ CHECK(added_subtable != nullptr);
+ if (!added_subtable->FromFlatbuffer(*other.subtable)) {
// Fail if we were unable to copy (e.g., if we tried to copy in a long
// vector and do not have the space for it).
return false;
@@ -1682,10 +1751,14 @@
// Unconditionally copy strings/vectors, even if it will just end up
// being 0-length (this maintains consistency with the flatbuffer Pack()
// behavior).
- if (!CHECK_NOTNULL(add_string())->FromFlatbuffer(other.string)) {
- // Fail if we were unable to copy (e.g., if we tried to copy in a long
- // vector and do not have the space for it).
- return false;
+ {
+ ::aos::fbs::String<20> *added_string = add_string();
+ CHECK(added_string != nullptr);
+ if (!added_string->FromFlatbuffer(other.string)) {
+ // Fail if we were unable to copy (e.g., if we tried to copy in a long
+ // vector and do not have the space for it).
+ return false;
+ }
}
set_scalar(other.scalar);
diff --git a/aos/ipc_lib/memory_estimation.cc b/aos/ipc_lib/memory_estimation.cc
index d193c75..b64cb3a 100644
--- a/aos/ipc_lib/memory_estimation.cc
+++ b/aos/ipc_lib/memory_estimation.cc
@@ -5,7 +5,10 @@
size_t TotalSharedMemoryUsage(const aos::Configuration *config,
const aos::Node *node) {
size_t total_size = 0;
- for (const aos::Channel *channel : *CHECK_NOTNULL(config->channels())) {
+ const flatbuffers::Vector<flatbuffers::Offset<aos::Channel>> *channels =
+ config->channels();
+ CHECK(channels != nullptr);
+ for (const aos::Channel *channel : *channels) {
if (aos::configuration::ChannelIsReadableOnNode(channel, node)) {
total_size +=
LocklessQueueMemorySize(MakeQueueConfiguration(config, channel));
diff --git a/aos/network/message_bridge_client_lib.cc b/aos/network/message_bridge_client_lib.cc
index 90c0cc0..cf52a69 100644
--- a/aos/network/message_bridge_client_lib.cc
+++ b/aos/network/message_bridge_client_lib.cc
@@ -117,8 +117,12 @@
remote_name, event_loop->boot_uuid(),
config_sha256)),
message_reception_reply_(MakeMessageHeaderReply()),
- remote_node_(CHECK_NOTNULL(
- configuration::GetNode(event_loop->configuration(), remote_name))),
+ remote_node_([&]() {
+ const aos::Node *node =
+ configuration::GetNode(event_loop->configuration(), remote_name);
+ CHECK(node != nullptr);
+ return node;
+ }()),
client_(remote_node_->hostname()->string_view(), remote_node_->port(),
connect_message_.message().channels_to_transfer()->size() +
kControlStreams(),
diff --git a/aos/network/message_bridge_server_lib.cc b/aos/network/message_bridge_server_lib.cc
index 3c7a8d2..a3f429a 100644
--- a/aos/network/message_bridge_server_lib.cc
+++ b/aos/network/message_bridge_server_lib.cc
@@ -809,12 +809,12 @@
}
CHECK_LT(message_header->channel_index(), channels_.size());
- CHECK_NOTNULL(channels_[message_header->channel_index()])
- ->HandleDelivery(
- message->header.rcvinfo.rcv_assoc_id,
- message->header.rcvinfo.rcv_ssn,
- absl::Span<const uint8_t>(message->data(), message->size),
- message->partial_deliveries, &server_status_);
+ ChannelState *channel = channels_[message_header->channel_index()].get();
+ CHECK(channel != nullptr);
+ channel->HandleDelivery(
+ message->header.rcvinfo.rcv_assoc_id, message->header.rcvinfo.rcv_ssn,
+ absl::Span<const uint8_t>(message->data(), message->size),
+ message->partial_deliveries, &server_status_);
if (VLOG_IS_ON(2)) {
message->LogRcvInfo();
}
diff --git a/aos/network/message_bridge_test.cc b/aos/network/message_bridge_test.cc
index 2dac8ed..350cf26 100644
--- a/aos/network/message_bridge_test.cc
+++ b/aos/network/message_bridge_test.cc
@@ -1368,8 +1368,9 @@
std::make_unique<aos::ShmEventLoop>(&config_.message());
pi2_.client_event_loop_->SetRuntimeRealtimePriority(1);
- const aos::Node *const remote_node = CHECK_NOTNULL(configuration::GetNode(
- pi2_.client_event_loop_->configuration(), "pi1"));
+ const aos::Node *const remote_node =
+ configuration::GetNode(pi2_.client_event_loop_->configuration(), "pi1");
+ CHECK(remote_node != nullptr);
const aos::FlatbufferDetachedBuffer<aos::message_bridge::Connect>
connect_message(MakeConnectMessage(
diff --git a/aos/network/multinode_timestamp_filter.cc b/aos/network/multinode_timestamp_filter.cc
index 1869ffb..42e4299 100644
--- a/aos/network/multinode_timestamp_filter.cc
+++ b/aos/network/multinode_timestamp_filter.cc
@@ -2017,7 +2017,7 @@
// Got a forwarding timestamp!
NoncausalOffsetEstimator *filter =
filters_per_channel_[node_index][msg->channel_index];
- CHECK_NOTNULL(filter);
+ CHECK(filter != nullptr);
const Node *node = configuration()->nodes()->Get(node_index);
// The remote time could be from a reliable message long ago,
diff --git a/aos/network/rawrtc.cc b/aos/network/rawrtc.cc
index e519b2e..6d9bc3d 100644
--- a/aos/network/rawrtc.cc
+++ b/aos/network/rawrtc.cc
@@ -164,8 +164,8 @@
void ScopedDataChannel::Send(struct mbuf *buffer) {
// TODO(austin): Checking isn't right, handle errors more gracefully.
- CHECK_RAWRTC(
- rawrtc_data_channel_send(CHECK_NOTNULL(data_channel_), buffer, true));
+ CHECK(data_channel_ != nullptr);
+ CHECK_RAWRTC(rawrtc_data_channel_send(data_channel_, buffer, true));
}
uint64_t ScopedDataChannel::buffered_amount() {
@@ -173,8 +173,8 @@
// TODO(austin): Not implemented yet...
uint64_t result;
- CHECK_RAWRTC(rawrtc_data_channel_get_buffered_amount(
- &result, CHECK_NOTNULL(data_channel_)));
+ CHECK(data_channel_ != nullptr);
+ CHECK_RAWRTC(rawrtc_data_channel_get_buffered_amount(&result, data_channel_));
return result;
}
diff --git a/aos/network/web_proxy.cc b/aos/network/web_proxy.cc
index 15ebb66..6b71433 100644
--- a/aos/network/web_proxy.cc
+++ b/aos/network/web_proxy.cc
@@ -333,7 +333,7 @@
std::shared_ptr<struct mbuf> Subscriber::NextBuffer(
ChannelInformation *channel) {
- CHECK_NOTNULL(channel);
+ CHECK(channel != nullptr);
if (message_buffer_.empty()) {
return nullptr;
}
@@ -400,7 +400,7 @@
}
void Subscriber::SkipToLastMessage(ChannelInformation *channel) {
- CHECK_NOTNULL(channel);
+ CHECK(channel != nullptr);
if (message_buffer_.empty() ||
channel->current_queue_index == message_buffer_.back().index) {
return;
diff --git a/aos/starter/starter_rpc_lib.cc b/aos/starter/starter_rpc_lib.cc
index 230e1b1..b497792 100644
--- a/aos/starter/starter_rpc_lib.cc
+++ b/aos/starter/starter_rpc_lib.cc
@@ -155,9 +155,9 @@
if (is_multi_node) {
node_offsets.push_back(builder.fbb()->CreateString(node_name));
}
- const ApplicationStatus *last_status =
- CHECK_NOTNULL(FindApplicationStatus(*status_fetchers_[node_name],
- command.application));
+ const ApplicationStatus *last_status = FindApplicationStatus(
+ *status_fetchers_[node_name], command.application);
+ CHECK(last_status != nullptr);
current_commands_[node_name].push_back(CommandStatus{
.expected_state = ExpectedStateForCommand(command.command),
.application = std::string(command.application),
@@ -207,7 +207,8 @@
const Status &status = *status_fetchers_[pair.first];
for (const auto &command : pair.second) {
const ApplicationStatus *application_status =
- CHECK_NOTNULL(FindApplicationStatus(status, command.application));
+ FindApplicationStatus(status, command.application);
+ CHECK(application_status != nullptr);
if (application_status->state() == command.expected_state) {
if (command.expected_state == State::RUNNING &&
application_status->id() == command.old_id) {
diff --git a/aos/starter/starterd_lib.cc b/aos/starter/starterd_lib.cc
index 6917bb5..79e564e 100644
--- a/aos/starter/starterd_lib.cc
+++ b/aos/starter/starterd_lib.cc
@@ -321,7 +321,7 @@
}
void Starter::AddChannel(const aos::Channel *channel) {
- CHECK_NOTNULL(channel);
+ CHECK(channel != nullptr);
std::unique_ptr<aos::ipc_lib::MemoryMappedQueue> queue =
std::make_unique<aos::ipc_lib::MemoryMappedQueue>(
shm_base_, FLAGS_permissions, event_loop_.configuration(), channel);
diff --git a/aos/starter/subprocess.cc b/aos/starter/subprocess.cc
index 60f6b92..c36d59b 100644
--- a/aos/starter/subprocess.cc
+++ b/aos/starter/subprocess.cc
@@ -637,7 +637,7 @@
util::Top *top) {
UpdateFileState();
- CHECK_NOTNULL(builder);
+ CHECK(builder != nullptr);
auto name_fbs = builder->CreateString(name_);
const bool valid_pid = pid_ > 0 && status_ != aos::starter::State::STOPPED;
diff --git a/aos/util/config_validator_lib.cc b/aos/util/config_validator_lib.cc
index eb5205a..4347017 100644
--- a/aos/util/config_validator_lib.cc
+++ b/aos/util/config_validator_lib.cc
@@ -177,8 +177,10 @@
}
// TODO(james): This will be overly noisy, as it ends up
// CHECK-failing.
- required_timestamp_channels.insert(CHECK_NOTNULL(
- timestamp_finder.ForChannel(channel, connection)));
+ const Channel *found_channel =
+ timestamp_finder.ForChannel(channel, connection);
+ CHECK(found_channel != nullptr);
+ required_timestamp_channels.insert(found_channel);
break;
}
}
diff --git a/aos/util/error_counter.h b/aos/util/error_counter.h
index e08c67e..7837f9e 100644
--- a/aos/util/error_counter.h
+++ b/aos/util/error_counter.h
@@ -51,7 +51,8 @@
static void InitializeStaticFbs(Static *builder) {
CHECK(builder->reserve(kNumErrors));
for (size_t ii = 0; ii < kNumErrors; ++ii) {
- auto element = CHECK_NOTNULL(builder->emplace_back());
+ auto element = builder->emplace_back();
+ CHECK(element != nullptr);
element->set_error(static_cast<Error>(ii));
element->set_count(0);
}
@@ -65,7 +66,7 @@
void InvalidateBuffer() { vector_ = nullptr; }
void IncrementError(Error error) {
- CHECK_NOTNULL(vector_);
+ CHECK(vector_ != nullptr);
DCHECK_LT(static_cast<size_t>(error), vector_->size());
Count *counter = vector_->GetMutableObject(static_cast<size_t>(error));
counter->mutate_count(counter->count() + 1);
@@ -73,7 +74,7 @@
// Sets all the error counts to zero.
void ResetCounts() {
- CHECK_NOTNULL(vector_);
+ CHECK(vector_ != nullptr);
DCHECK_EQ(vector_->size(), kNumErrors) << this << " vector " << vector_;
for (size_t ii = 0; ii < kNumErrors; ++ii) {
vector_->GetMutableObject(ii)->mutate_count(0);
diff --git a/aos/util/mcap_logger.cc b/aos/util/mcap_logger.cc
index 0dbb88e..a70da62 100644
--- a/aos/util/mcap_logger.cc
+++ b/aos/util/mcap_logger.cc
@@ -422,7 +422,7 @@
if (!wrote_configuration_) {
WriteConfigurationMessage();
}
- CHECK_NOTNULL(context.data);
+ CHECK(context.data != nullptr);
message_counts_[channel_id]++;
diff --git a/aos/util/scoped_pipe.cc b/aos/util/scoped_pipe.cc
index a4e5b46..d178c0d 100644
--- a/aos/util/scoped_pipe.cc
+++ b/aos/util/scoped_pipe.cc
@@ -49,7 +49,7 @@
}
size_t ScopedPipe::ScopedReadPipe::Read(std::string *buffer) {
- CHECK_NOTNULL(buffer);
+ CHECK(buffer != nullptr);
constexpr ssize_t kBufferSize = 1024;
const size_t original_size = buffer->size();
size_t read_bytes = 0;
diff --git a/frc971/constants/constants_sender_lib.h b/frc971/constants/constants_sender_lib.h
index 9bd2c00..203435a 100644
--- a/frc971/constants/constants_sender_lib.h
+++ b/frc971/constants/constants_sender_lib.h
@@ -82,7 +82,10 @@
});
}
- const ConstantsData &constants() const { return *fetcher_.get(); }
+ const ConstantsData &constants() const {
+ CHECK(fetcher_.get() != nullptr);
+ return *fetcher_.get();
+ }
private:
aos::Fetcher<ConstantsData> fetcher_;
diff --git a/frc971/control_loops/catapult/catapult.cc b/frc971/control_loops/catapult/catapult.cc
index a827dc9..153d35c 100644
--- a/frc971/control_loops/catapult/catapult.cc
+++ b/frc971/control_loops/catapult/catapult.cc
@@ -64,7 +64,7 @@
std::optional<double> solution = catapult_mpc_.Next();
if (!solution.has_value()) {
- CHECK_NOTNULL(catapult_voltage);
+ CHECK(catapult_voltage != nullptr);
*catapult_voltage = 0.0;
if (catapult_mpc_.started()) {
++shot_count_;
@@ -73,7 +73,7 @@
}
} else {
// TODO(austin): Voltage error?
- CHECK_NOTNULL(catapult_voltage);
+ CHECK(catapult_voltage != nullptr);
if (current_horizon_ == 1) {
battery_voltage = 12.0;
}
diff --git a/frc971/control_loops/drivetrain/distance_spline.cc b/frc971/control_loops/drivetrain/distance_spline.cc
index bcd9d4c..80ef4c4 100644
--- a/frc971/control_loops/drivetrain/distance_spline.cc
+++ b/frc971/control_loops/drivetrain/distance_spline.cc
@@ -77,7 +77,7 @@
}
std::vector<Spline> FlatbufferToSplines(const MultiSpline *fb) {
- CHECK_NOTNULL(fb);
+ CHECK(fb != nullptr);
const size_t spline_count = fb->spline_count();
CHECK_EQ(fb->spline_x()->size(), static_cast<size_t>(spline_count * 5 + 1));
CHECK_EQ(fb->spline_y()->size(), static_cast<size_t>(spline_count * 5 + 1));
@@ -95,7 +95,7 @@
aos::SizedArray<Spline, FinishedDistanceSpline::kMaxSplines>
SizedFlatbufferToSplines(const MultiSpline *fb) {
- CHECK_NOTNULL(fb);
+ CHECK(fb != nullptr);
const size_t spline_count = fb->spline_count();
CHECK_EQ(fb->spline_x()->size(), static_cast<size_t>(spline_count * 5 + 1));
CHECK_EQ(fb->spline_y()->size(), static_cast<size_t>(spline_count * 5 + 1));
@@ -141,8 +141,8 @@
fbb->CreateUninitializedVector(num_points, &spline_x_vector);
const flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
fbb->CreateUninitializedVector(num_points, &spline_y_vector);
- CHECK_NOTNULL(spline_x_vector);
- CHECK_NOTNULL(spline_y_vector);
+ CHECK(spline_x_vector != nullptr);
+ CHECK(spline_y_vector != nullptr);
spline_x_vector[0] = splines()[0].control_points()(0, 0);
spline_y_vector[0] = splines()[0].control_points()(1, 0);
for (size_t spline_index = 0; spline_index < splines().size();
diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h
index 4c35b6a..ae1a31a 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.h
+++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -43,9 +43,11 @@
if (fbs == nullptr) {
return {};
}
+ CHECK(fbs->q() != nullptr);
+ CHECK(fbs->r() != nullptr);
return LineFollowConfig{
- .Q = ToEigenOrDie<3, 3>(*CHECK_NOTNULL(fbs->q())),
- .R = ToEigenOrDie<2, 2>(*CHECK_NOTNULL(fbs->r())),
+ .Q = ToEigenOrDie<3, 3>(*fbs->q()),
+ .R = ToEigenOrDie<2, 2>(*fbs->r()),
.max_controllable_offset = fbs->max_controllable_offset()};
}
};
@@ -71,9 +73,10 @@
if (fbs == nullptr) {
return {};
}
- return SplineFollowerConfig{
- .Q = ToEigenOrDie<5, 5>(*CHECK_NOTNULL(fbs->q())),
- .R = ToEigenOrDie<2, 2>(*CHECK_NOTNULL(fbs->r()))};
+ CHECK(fbs->q() != nullptr);
+ CHECK(fbs->r() != nullptr);
+ return SplineFollowerConfig{.Q = ToEigenOrDie<5, 5>(*fbs->q()),
+ .R = ToEigenOrDie<2, 2>(*fbs->r())};
}
};
@@ -205,36 +208,45 @@
fbs_copy = std::make_shared<
aos::FlatbufferDetachedBuffer<fbs::DrivetrainConfig>>(
aos::RecursiveCopyFlatBuffer(&fbs));
+ CHECK(fbs_copy->message().loop_config()->drivetrain_loop() != nullptr);
+ CHECK(fbs_copy->message().loop_config()->velocity_drivetrain_loop() !=
+ nullptr);
+ CHECK(fbs_copy->message().loop_config()->kalman_drivetrain_loop() !=
+ nullptr);
+ CHECK(
+ fbs_copy->message().loop_config()->hybrid_velocity_drivetrain_loop() !=
+ nullptr);
+ CHECK(fbs.imu_transform() != nullptr);
return {
#define ASSIGN(field) .field = fbs.field()
ASSIGN(shifter_type), ASSIGN(loop_type), ASSIGN(gyro_type),
ASSIGN(imu_type),
.make_drivetrain_loop =
[fbs_copy]() {
- return MakeStateFeedbackLoop<4, 2, 2>(*CHECK_NOTNULL(
- fbs_copy->message().loop_config()->drivetrain_loop()));
+ return MakeStateFeedbackLoop<4, 2, 2>(
+ *fbs_copy->message().loop_config()->drivetrain_loop());
},
.make_v_drivetrain_loop =
[fbs_copy]() {
return MakeStateFeedbackLoop<2, 2, 2>(
- *CHECK_NOTNULL(fbs_copy->message()
- .loop_config()
- ->velocity_drivetrain_loop()));
+ *fbs_copy->message()
+ .loop_config()
+ ->velocity_drivetrain_loop());
},
.make_kf_drivetrain_loop =
[fbs_copy]() {
return MakeStateFeedbackLoop<7, 2, 4>(
- *CHECK_NOTNULL(fbs_copy->message()
- .loop_config()
- ->kalman_drivetrain_loop()));
+ *fbs_copy->message()
+ .loop_config()
+ ->kalman_drivetrain_loop());
},
#if defined(__linux__)
.make_hybrid_drivetrain_velocity_loop =
[fbs_copy]() {
return MakeHybridStateFeedbackLoop<2, 2, 2>(
- *CHECK_NOTNULL(fbs_copy->message()
- .loop_config()
- ->hybrid_velocity_drivetrain_loop()));
+ *fbs_copy->message()
+ .loop_config()
+ ->hybrid_velocity_drivetrain_loop());
},
#endif
.dt = std::chrono::nanoseconds(fbs.loop_config()->dt()),
@@ -253,8 +265,7 @@
ASSIGN(wheel_non_linearity), ASSIGN(quickturn_wheel_multiplier),
ASSIGN(wheel_multiplier),
ASSIGN(pistol_grip_shift_enables_line_follow),
- .imu_transform =
- ToEigenOrDie<3, 3>(*CHECK_NOTNULL(fbs.imu_transform())),
+ .imu_transform = ToEigenOrDie<3, 3>(*fbs.imu_transform()),
ASSIGN(is_simulated),
.down_estimator_config =
aos::UnpackFlatbuffer(fbs.down_estimator_config()),
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index 5082f39..c1aa2a5 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -75,7 +75,8 @@
// Run for enough time to allow the gyro/imu zeroing code to run.
RunFor(std::chrono::seconds(15));
CHECK(drivetrain_status_fetcher_.Fetch());
- EXPECT_TRUE(CHECK_NOTNULL(drivetrain_status_fetcher_->zeroing())->zeroed());
+ CHECK(drivetrain_status_fetcher_->zeroing() != nullptr);
+ EXPECT_TRUE(drivetrain_status_fetcher_->zeroing()->zeroed());
}
virtual ~DrivetrainTest() {}
@@ -97,10 +98,11 @@
void VerifyNearSplineGoal() {
drivetrain_status_fetcher_.Fetch();
+ CHECK(drivetrain_status_fetcher_->trajectory_logging() != nullptr);
const double expected_x =
- CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())->x();
+ drivetrain_status_fetcher_->trajectory_logging()->x();
const double expected_y =
- CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())->y();
+ drivetrain_status_fetcher_->trajectory_logging()->y();
const double estimated_x = drivetrain_status_fetcher_->x();
const double estimated_y = drivetrain_status_fetcher_->y();
const ::Eigen::Vector2d actual = drivetrain_plant_.GetPosition();
@@ -114,15 +116,16 @@
do {
RunFor(dt());
EXPECT_TRUE(drivetrain_status_fetcher_.Fetch());
- } while (!CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())
- ->is_executed());
+ CHECK(drivetrain_status_fetcher_->trajectory_logging() != nullptr);
+ } while (!drivetrain_status_fetcher_->trajectory_logging()->is_executed());
}
void VerifyDownEstimator() {
EXPECT_TRUE(drivetrain_status_fetcher_.Fetch());
// TODO(james): Handle Euler angle singularities...
+ CHECK(drivetrain_status_fetcher_->down_estimator() != nullptr);
const double down_estimator_yaw =
- CHECK_NOTNULL(drivetrain_status_fetcher_->down_estimator())->yaw();
+ drivetrain_status_fetcher_->down_estimator()->yaw();
const double localizer_yaw = drivetrain_status_fetcher_->theta();
EXPECT_LT(std::abs(aos::math::DiffAngle(down_estimator_yaw, localizer_yaw)),
1e-2);
@@ -636,8 +639,9 @@
// Check that we are pointed the right direction:
drivetrain_status_fetcher_.Fetch();
auto actual = drivetrain_plant_.state();
+ CHECK(drivetrain_status_fetcher_->trajectory_logging() != nullptr);
const double expected_theta =
- CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())->theta();
+ drivetrain_status_fetcher_->trajectory_logging()->theta();
// As a sanity check, compare both against absolute angle and the spline's
// goal angle.
EXPECT_NEAR(0.0, ::aos::math::DiffAngle(actual(2), 0.0), 5e-2);
@@ -739,10 +743,9 @@
EXPECT_EQ(0.0, drivetrain_output_fetcher_->right_voltage());
// The goal should be null after stopping.
ASSERT_TRUE(drivetrain_status_fetcher_.Fetch());
- EXPECT_FALSE(CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())
- ->has_x());
- EXPECT_FALSE(CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())
- ->has_y());
+ CHECK(drivetrain_status_fetcher_->trajectory_logging() != nullptr);
+ EXPECT_FALSE(drivetrain_status_fetcher_->trajectory_logging()->has_x());
+ EXPECT_FALSE(drivetrain_status_fetcher_->trajectory_logging()->has_y());
}
}
@@ -808,10 +811,9 @@
// The goal should be empty.
drivetrain_status_fetcher_.Fetch();
- EXPECT_FALSE(
- CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())->has_x());
- EXPECT_FALSE(
- CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())->has_y());
+ CHECK(drivetrain_status_fetcher_->trajectory_logging() != nullptr);
+ EXPECT_FALSE(drivetrain_status_fetcher_->trajectory_logging()->has_x());
+ EXPECT_FALSE(drivetrain_status_fetcher_->trajectory_logging()->has_y());
}
class DrivetrainBackwardsParamTest
@@ -970,10 +972,11 @@
// Since the voltage error compensation is disabled, expect that we will have
// *failed* to reach our goal.
drivetrain_status_fetcher_.Fetch();
+ CHECK(drivetrain_status_fetcher_->trajectory_logging() != nullptr);
const double expected_x =
- CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())->x();
+ drivetrain_status_fetcher_->trajectory_logging()->x();
const double expected_y =
- CHECK_NOTNULL(drivetrain_status_fetcher_->trajectory_logging())->y();
+ drivetrain_status_fetcher_->trajectory_logging()->y();
const double estimated_x = drivetrain_status_fetcher_->x();
const double estimated_y = drivetrain_status_fetcher_->y();
const ::Eigen::Vector2d actual = drivetrain_plant_.GetPosition();
@@ -1497,17 +1500,18 @@
// We should always just have the past kNumStoredSplines available.
drivetrain_status_fetcher_.Fetch();
- ASSERT_EQ(expected_splines.size(),
- CHECK_NOTNULL(drivetrain_status_fetcher_.get()
- ->trajectory_logging()
- ->available_splines())
- ->size());
+ CHECK(drivetrain_status_fetcher_.get()
+ ->trajectory_logging()
+ ->available_splines() != nullptr);
+ ASSERT_EQ(expected_splines.size(), drivetrain_status_fetcher_.get()
+ ->trajectory_logging()
+ ->available_splines()
+ ->size());
for (size_t ii = 0; ii < expected_splines.size(); ++ii) {
- EXPECT_EQ(expected_splines[ii],
- CHECK_NOTNULL(drivetrain_status_fetcher_.get()
- ->trajectory_logging()
- ->available_splines())
- ->Get(ii));
+ EXPECT_EQ(expected_splines[ii], drivetrain_status_fetcher_.get()
+ ->trajectory_logging()
+ ->available_splines()
+ ->Get(ii));
}
}
}
@@ -1529,19 +1533,13 @@
RunFor(chrono::seconds(5));
drivetrain_status_fetcher_.Fetch();
- EXPECT_TRUE(CHECK_NOTNULL(drivetrain_status_fetcher_->line_follow_logging())
- ->frozen());
- EXPECT_TRUE(CHECK_NOTNULL(drivetrain_status_fetcher_->line_follow_logging())
- ->have_target());
- EXPECT_EQ(
- 1.0,
- CHECK_NOTNULL(drivetrain_status_fetcher_->line_follow_logging())->x());
- EXPECT_EQ(
- 1.0,
- CHECK_NOTNULL(drivetrain_status_fetcher_->line_follow_logging())->y());
- EXPECT_FLOAT_EQ(
- M_PI_4, CHECK_NOTNULL(drivetrain_status_fetcher_->line_follow_logging())
- ->theta());
+ ASSERT_TRUE(drivetrain_status_fetcher_->line_follow_logging() != nullptr);
+ EXPECT_TRUE(drivetrain_status_fetcher_->line_follow_logging()->frozen());
+ EXPECT_TRUE(drivetrain_status_fetcher_->line_follow_logging()->have_target());
+ EXPECT_EQ(1.0, drivetrain_status_fetcher_->line_follow_logging()->x());
+ EXPECT_EQ(1.0, drivetrain_status_fetcher_->line_follow_logging()->y());
+ EXPECT_FLOAT_EQ(M_PI_4,
+ drivetrain_status_fetcher_->line_follow_logging()->theta());
// Should have run off the end of the target, running along the y=x line.
EXPECT_LT(1.0, drivetrain_plant_.GetPosition().x());
diff --git a/frc971/control_loops/drivetrain/hybrid_ekf.h b/frc971/control_loops/drivetrain/hybrid_ekf.h
index 737c179..d3de332 100644
--- a/frc971/control_loops/drivetrain/hybrid_ekf.h
+++ b/frc971/control_loops/drivetrain/hybrid_ekf.h
@@ -741,7 +741,8 @@
}
if (obs->h == nullptr) {
CHECK(obs->make_h != nullptr);
- obs->h = CHECK_NOTNULL(obs->make_h->MakeExpectedObservations(*state, *P));
+ obs->h = obs->make_h->MakeExpectedObservations(*state, *P);
+ CHECK(obs->h != nullptr);
}
CorrectImpl(obs, state, P);
}
diff --git a/frc971/control_loops/drivetrain/localization/utils.cc b/frc971/control_loops/drivetrain/localization/utils.cc
index c1adb9a..ff6f6c5 100644
--- a/frc971/control_loops/drivetrain/localization/utils.cc
+++ b/frc971/control_loops/drivetrain/localization/utils.cc
@@ -109,7 +109,8 @@
// verbosity here seems appropriate.
Eigen::Matrix<double, 4, 4> FlatbufferToTransformationMatrix(
const frc971::vision::calibration::TransformationMatrix &flatbuffer) {
- CHECK_EQ(16u, CHECK_NOTNULL(flatbuffer.data())->size());
+ CHECK(flatbuffer.data() != nullptr);
+ CHECK_EQ(16u, flatbuffer.data()->size());
Eigen::Matrix<double, 4, 4> result;
result.setIdentity();
for (int row = 0; row < 4; ++row) {
diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.cc b/frc971/control_loops/drivetrain/splinedrivetrain.cc
index f052a9e..ebe0f64 100644
--- a/frc971/control_loops/drivetrain/splinedrivetrain.cc
+++ b/frc971/control_loops/drivetrain/splinedrivetrain.cc
@@ -79,7 +79,9 @@
}
void SplineDrivetrain::DeleteCurrentSpline() {
- DeleteTrajectory(&CHECK_NOTNULL(current_trajectory())->trajectory());
+ const FinishedTrajectory *const trajectory = current_trajectory();
+ CHECK(trajectory != nullptr);
+ DeleteTrajectory(&trajectory->trajectory());
executing_spline_ = false;
commanded_spline_.reset();
current_xva_.setZero();
@@ -95,12 +97,15 @@
DeleteCurrentSpline();
return;
} else {
- if (executing_spline_ &&
- CHECK_NOTNULL(current_trajectory())->spline_handle() !=
- *commanded_spline) {
- // If we are executing a spline, and the handle has changed, garbage
- // collect the old spline.
- DeleteCurrentSpline();
+ if (executing_spline_) {
+ const FinishedTrajectory *const trajectory = current_trajectory();
+ CHECK(trajectory != nullptr);
+
+ if (trajectory->spline_handle() != *commanded_spline) {
+ // If we are executing a spline, and the handle has changed, garbage
+ // collect the old spline.
+ DeleteCurrentSpline();
+ }
}
}
}
@@ -144,8 +149,8 @@
enable_ = enable;
if (enable && executing_spline_) {
::Eigen::Matrix<double, 2, 1> U_ff = ::Eigen::Matrix<double, 2, 1>::Zero();
- const FinishedTrajectory *const trajectory =
- CHECK_NOTNULL(current_trajectory());
+ const FinishedTrajectory *const trajectory = current_trajectory();
+ CHECK(trajectory != nullptr);
if (!IsAtEnd() && executing_spline_) {
// TODO(alex): It takes about a cycle for the outputs to propagate to the
// motors. Consider delaying the output by a cycle.
@@ -258,7 +263,9 @@
::Eigen::Matrix<double, 5, 1> goal_state = CurrentGoalState();
trajectory_logging_builder.add_x(goal_state(0));
trajectory_logging_builder.add_y(goal_state(1));
- if (CHECK_NOTNULL(current_trajectory())->drive_spline_backwards()) {
+ const FinishedTrajectory *const trajectory = current_trajectory();
+ CHECK(trajectory != nullptr);
+ if (trajectory->drive_spline_backwards()) {
trajectory_logging_builder.add_left_velocity(-goal_state(4));
trajectory_logging_builder.add_right_velocity(-goal_state(3));
trajectory_logging_builder.add_theta(
@@ -285,10 +292,14 @@
trajectory_logging_builder.add_current_spline_idx(*commanded_spline_);
}
}
- trajectory_logging_builder.add_distance_remaining(
- executing_spline_
- ? CHECK_NOTNULL(current_trajectory())->length() - current_xva_.x()
- : 0.0);
+ if (executing_spline_) {
+ const FinishedTrajectory *const trajectory = current_trajectory();
+ CHECK(trajectory != nullptr);
+ trajectory_logging_builder.add_distance_remaining(trajectory->length() -
+ current_xva_.x());
+ } else {
+ trajectory_logging_builder.add_distance_remaining(0.0);
+ }
trajectory_logging_builder.add_available_splines(handles_vector);
trajectory_logging_builder.add_distance_traveled(
executing_spline_ ? current_xva_.x() : 0.0);
diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.h b/frc971/control_loops/drivetrain/splinedrivetrain.h
index 24fb66c..09bdc71 100644
--- a/frc971/control_loops/drivetrain/splinedrivetrain.h
+++ b/frc971/control_loops/drivetrain/splinedrivetrain.h
@@ -48,15 +48,23 @@
// Accessor for the current goal state, pretty much only present for debugging
// purposes.
::Eigen::Matrix<double, 5, 1> CurrentGoalState() const {
- return executing_spline_ ? CHECK_NOTNULL(current_trajectory())
- ->GoalState(current_xva_(0), current_xva_(1))
- : ::Eigen::Matrix<double, 5, 1>::Zero();
+ if (executing_spline_) {
+ const FinishedTrajectory *finished = current_trajectory();
+ CHECK(finished != nullptr);
+ return finished->GoalState(current_xva_(0), current_xva_(1));
+ } else {
+ return ::Eigen::Matrix<double, 5, 1>::Zero();
+ }
}
bool IsAtEnd() const {
- return executing_spline_ ? CHECK_NOTNULL(current_trajectory())
- ->is_at_end(current_xva_.block<2, 1>(0, 0))
- : true;
+ if (!executing_spline_) {
+ return true;
+ }
+
+ const FinishedTrajectory *finished = current_trajectory();
+ CHECK(finished != nullptr);
+ return finished->is_at_end(current_xva_.block<2, 1>(0, 0));
}
size_t trajectory_count() const { return trajectories_.size(); }
diff --git a/frc971/control_loops/drivetrain/trajectory.cc b/frc971/control_loops/drivetrain/trajectory.cc
index cf9929f..4db41ee 100644
--- a/frc971/control_loops/drivetrain/trajectory.cc
+++ b/frc971/control_loops/drivetrain/trajectory.cc
@@ -38,9 +38,13 @@
StateFeedbackLoop<2, 2, 2, double, StateFeedbackHybridPlant<2, 2, 2>,
HybridKalman<2, 2, 2>>>
velocity_drivetrain)
- : BaseTrajectory(CHECK_NOTNULL(CHECK_NOTNULL(buffer->spline())->spline())
- ->constraints(),
- config, std::move(velocity_drivetrain)),
+ : BaseTrajectory(
+ [&]() {
+ CHECK(buffer->spline() != nullptr);
+ CHECK(buffer->spline()->spline() != nullptr);
+ return buffer->spline()->spline()->constraints();
+ }(),
+ config, std::move(velocity_drivetrain)),
buffer_(buffer),
spline_(*buffer_->spline()) {}
@@ -819,8 +823,9 @@
Eigen::Matrix<double, 2, 5> FinishedTrajectory::GainForDistance(
double distance) const {
+ CHECK(trajectory().gains() != nullptr);
const flatbuffers::Vector<flatbuffers::Offset<fb::GainPoint>> &gains =
- *CHECK_NOTNULL(trajectory().gains());
+ *trajectory().gains();
CHECK_LT(0u, gains.size());
size_t index = 0;
for (index = 0; index < gains.size() - 1; ++index) {
diff --git a/frc971/control_loops/hybrid_state_feedback_loop_converters.h b/frc971/control_loops/hybrid_state_feedback_loop_converters.h
index 588a4d5..ffd579c 100644
--- a/frc971/control_loops/hybrid_state_feedback_loop_converters.h
+++ b/frc971/control_loops/hybrid_state_feedback_loop_converters.h
@@ -15,22 +15,28 @@
number_of_states, number_of_inputs, number_of_outputs>>
MakeStateFeedbackHybridPlantCoefficients(
const fbs::StateFeedbackHybridPlantCoefficients &coefficients) {
+ CHECK(coefficients.a_continuous() != nullptr);
+ CHECK(coefficients.b_continuous() != nullptr);
+ CHECK(coefficients.c() != nullptr);
+ CHECK(coefficients.d() != nullptr);
+ CHECK(coefficients.u_max() != nullptr);
+ CHECK(coefficients.u_min() != nullptr);
+ CHECK(coefficients.u_limit_coefficient() != nullptr);
+ CHECK(coefficients.u_limit_constant() != nullptr);
+
return std::make_unique<StateFeedbackHybridPlantCoefficients<
number_of_states, number_of_inputs, number_of_outputs>>(
ToEigenOrDie<number_of_states, number_of_states>(
- *CHECK_NOTNULL(coefficients.a_continuous())),
+ *coefficients.a_continuous()),
ToEigenOrDie<number_of_states, number_of_inputs>(
- *CHECK_NOTNULL(coefficients.b_continuous())),
- ToEigenOrDie<number_of_outputs, number_of_states>(
- *CHECK_NOTNULL(coefficients.c())),
- ToEigenOrDie<number_of_outputs, number_of_inputs>(
- *CHECK_NOTNULL(coefficients.d())),
- ToEigenOrDie<number_of_inputs, 1>(*CHECK_NOTNULL(coefficients.u_max())),
- ToEigenOrDie<number_of_inputs, 1>(*CHECK_NOTNULL(coefficients.u_min())),
+ *coefficients.b_continuous()),
+ ToEigenOrDie<number_of_outputs, number_of_states>(*coefficients.c()),
+ ToEigenOrDie<number_of_outputs, number_of_inputs>(*coefficients.d()),
+ ToEigenOrDie<number_of_inputs, 1>(*coefficients.u_max()),
+ ToEigenOrDie<number_of_inputs, 1>(*coefficients.u_min()),
ToEigenOrDie<number_of_inputs, number_of_states>(
- *CHECK_NOTNULL(coefficients.u_limit_coefficient())),
- ToEigenOrDie<number_of_inputs, 1>(
- *CHECK_NOTNULL(coefficients.u_limit_constant())),
+ *coefficients.u_limit_coefficient()),
+ ToEigenOrDie<number_of_inputs, 1>(*coefficients.u_limit_constant()),
coefficients.delayed_u());
}
@@ -39,14 +45,17 @@
number_of_outputs>>
MakeHybridKalmanCoefficients(
const fbs::HybridKalmanCoefficients &coefficients) {
+ CHECK(coefficients.q_continuous() != nullptr);
+ CHECK(coefficients.r_continuous() != nullptr);
+ CHECK(coefficients.p_steady_state() != nullptr);
return std::make_unique<HybridKalmanCoefficients<
number_of_states, number_of_inputs, number_of_outputs>>(
ToEigenOrDie<number_of_states, number_of_states>(
- *CHECK_NOTNULL(coefficients.q_continuous())),
+ *coefficients.q_continuous()),
ToEigenOrDie<number_of_outputs, number_of_outputs>(
- *CHECK_NOTNULL(coefficients.r_continuous())),
+ *coefficients.r_continuous()),
ToEigenOrDie<number_of_states, number_of_states>(
- *CHECK_NOTNULL(coefficients.p_steady_state())),
+ *coefficients.p_steady_state()),
coefficients.delayed_u());
}
template <int number_of_states, int number_of_inputs, int number_of_outputs>
diff --git a/frc971/control_loops/python/test_drivetrain/drivetrain_json_test.cc b/frc971/control_loops/python/test_drivetrain/drivetrain_json_test.cc
index 8c4d95f..c4a4ebe 100644
--- a/frc971/control_loops/python/test_drivetrain/drivetrain_json_test.cc
+++ b/frc971/control_loops/python/test_drivetrain/drivetrain_json_test.cc
@@ -33,8 +33,9 @@
"frc971/control_loops/python/test_drivetrain/"
"drivetrain_dog_motor_plant.json");
- StateFeedbackLoop<4, 2, 2> json_loop = MakeStateFeedbackLoop<4, 2, 2>(
- *CHECK_NOTNULL(coeffs.message().drivetrain_loop()));
+ CHECK(coeffs.message().drivetrain_loop() != nullptr);
+ StateFeedbackLoop<4, 2, 2> json_loop =
+ MakeStateFeedbackLoop<4, 2, 2>(*coeffs.message().drivetrain_loop());
for (size_t index = 0; index < 4; ++index) {
ASSERT_TRUE(coeffs.span().size() > 0u);
made_loop.set_index(index);
@@ -80,8 +81,9 @@
"frc971/control_loops/python/test_drivetrain/"
"hybrid_velocity_drivetrain.json");
+ CHECK(coeffs.message().hybrid_velocity_drivetrain_loop() != nullptr);
HybridLoop json_loop = MakeHybridStateFeedbackLoop<2, 2, 2>(
- *CHECK_NOTNULL(coeffs.message().hybrid_velocity_drivetrain_loop()));
+ *coeffs.message().hybrid_velocity_drivetrain_loop());
for (size_t index = 0; index < 4; ++index) {
ASSERT_TRUE(coeffs.span().size() > 0u);
made_loop.set_index(index);
diff --git a/frc971/control_loops/state_feedback_loop_converters.h b/frc971/control_loops/state_feedback_loop_converters.h
index 062257d..5e0117a 100644
--- a/frc971/control_loops/state_feedback_loop_converters.h
+++ b/frc971/control_loops/state_feedback_loop_converters.h
@@ -17,22 +17,26 @@
number_of_states, number_of_inputs, number_of_outputs>>
MakeStateFeedbackPlantCoefficients(
const fbs::StateFeedbackPlantCoefficients &coefficients) {
+ CHECK(coefficients.a() != nullptr);
+ CHECK(coefficients.b() != nullptr);
+ CHECK(coefficients.c() != nullptr);
+ CHECK(coefficients.d() != nullptr);
+ CHECK(coefficients.u_max() != nullptr);
+ CHECK(coefficients.u_min() != nullptr);
+ CHECK(coefficients.u_limit_coefficient() != nullptr);
+ CHECK(coefficients.u_limit_constant() != nullptr);
+
return std::make_unique<StateFeedbackPlantCoefficients<
number_of_states, number_of_inputs, number_of_outputs>>(
- ToEigenOrDie<number_of_states, number_of_states>(
- *CHECK_NOTNULL(coefficients.a())),
- ToEigenOrDie<number_of_states, number_of_inputs>(
- *CHECK_NOTNULL(coefficients.b())),
- ToEigenOrDie<number_of_outputs, number_of_states>(
- *CHECK_NOTNULL(coefficients.c())),
- ToEigenOrDie<number_of_outputs, number_of_inputs>(
- *CHECK_NOTNULL(coefficients.d())),
- ToEigenOrDie<number_of_inputs, 1>(*CHECK_NOTNULL(coefficients.u_max())),
- ToEigenOrDie<number_of_inputs, 1>(*CHECK_NOTNULL(coefficients.u_min())),
+ ToEigenOrDie<number_of_states, number_of_states>(*coefficients.a()),
+ ToEigenOrDie<number_of_states, number_of_inputs>(*coefficients.b()),
+ ToEigenOrDie<number_of_outputs, number_of_states>(*coefficients.c()),
+ ToEigenOrDie<number_of_outputs, number_of_inputs>(*coefficients.d()),
+ ToEigenOrDie<number_of_inputs, 1>(*coefficients.u_max()),
+ ToEigenOrDie<number_of_inputs, 1>(*coefficients.u_min()),
ToEigenOrDie<number_of_inputs, number_of_states>(
- *CHECK_NOTNULL(coefficients.u_limit_coefficient())),
- ToEigenOrDie<number_of_inputs, 1>(
- *CHECK_NOTNULL(coefficients.u_limit_constant())),
+ *coefficients.u_limit_coefficient()),
+ ToEigenOrDie<number_of_inputs, 1>(*coefficients.u_limit_constant()),
std::chrono::nanoseconds(coefficients.dt()), coefficients.delayed_u());
}
@@ -41,12 +45,12 @@
number_of_states, number_of_inputs, number_of_outputs>>
MakeStateFeedbackControllerCoefficients(
const fbs::StateFeedbackControllerCoefficients &coefficients) {
+ CHECK(coefficients.k() != nullptr);
+ CHECK(coefficients.kff() != nullptr);
return std::make_unique<StateFeedbackControllerCoefficients<
number_of_states, number_of_inputs, number_of_outputs>>(
- ToEigenOrDie<number_of_inputs, number_of_states>(
- *CHECK_NOTNULL(coefficients.k())),
- ToEigenOrDie<number_of_inputs, number_of_states>(
- *CHECK_NOTNULL(coefficients.kff())));
+ ToEigenOrDie<number_of_inputs, number_of_states>(*coefficients.k()),
+ ToEigenOrDie<number_of_inputs, number_of_states>(*coefficients.kff()));
}
template <int number_of_states, int number_of_inputs, int number_of_outputs>
@@ -54,14 +58,15 @@
number_of_states, number_of_inputs, number_of_outputs>>
MakeStateFeedbackObserverCoefficients(
const fbs::StateFeedbackObserverCoefficients &coefficients) {
+ CHECK(coefficients.kalman_gain() != nullptr);
+ CHECK(coefficients.q() != nullptr);
+ CHECK(coefficients.r() != nullptr);
return std::make_unique<StateFeedbackObserverCoefficients<
number_of_states, number_of_inputs, number_of_outputs>>(
ToEigenOrDie<number_of_states, number_of_outputs>(
- *CHECK_NOTNULL(coefficients.kalman_gain())),
- ToEigenOrDie<number_of_states, number_of_states>(
- *CHECK_NOTNULL(coefficients.q())),
- ToEigenOrDie<number_of_outputs, number_of_outputs>(
- *CHECK_NOTNULL(coefficients.r())),
+ *coefficients.kalman_gain()),
+ ToEigenOrDie<number_of_states, number_of_states>(*coefficients.q()),
+ ToEigenOrDie<number_of_outputs, number_of_outputs>(*coefficients.r()),
coefficients.delayed_u());
}
diff --git a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h
index c084047..811e8e5 100644
--- a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h
+++ b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h
@@ -80,8 +80,8 @@
range(frc971::constants::Range::FromFlatbuffer(common->range())),
zeroing_constants(aos::UnpackFlatbuffer(zeroing)),
make_integral_loop([this]() {
- return MakeStateFeedbackLoop<3, 1, 1>(
- *CHECK_NOTNULL(loop_params->message().loop()));
+ CHECK(loop_params->message().loop() != nullptr);
+ return MakeStateFeedbackLoop<3, 1, 1>(*loop_params->message().loop());
}),
loop_params(std::make_shared<aos::FlatbufferDetachedBuffer<
StaticZeroingSingleDOFProfiledSubsystemCommonParams>>(
@@ -280,7 +280,7 @@
Profile>::Correct(const StaticZeroingSingleDOFProfiledSubsystemGoal *goal,
const typename ZeroingEstimator::Position *position,
bool disabled) {
- CHECK_NOTNULL(position);
+ CHECK(position != nullptr);
profiled_subsystem_.Correct(*position);
if (profiled_subsystem_.error()) {
@@ -444,7 +444,7 @@
StaticZeroingSingleDOFProfiledSubsystem<
ZeroingEstimator, ProfiledJointStatus, SubsystemParams,
Profile>::MakeStatus(flatbuffers::FlatBufferBuilder *status_fbb) {
- CHECK_NOTNULL(status_fbb);
+ CHECK(status_fbb != nullptr);
typename ProfiledJointStatus::Builder status_builder =
profiled_subsystem_
diff --git a/frc971/image_streamer/image_streamer.cc b/frc971/image_streamer/image_streamer.cc
index 6c9a732..b89adc0 100644
--- a/frc971/image_streamer/image_streamer.cc
+++ b/frc971/image_streamer/image_streamer.cc
@@ -175,9 +175,10 @@
GST_BUFFER_PTS(buffer) = image.monotonic_timestamp_ns();
- GstCaps *caps = CHECK_NOTNULL(gst_caps_new_simple(
+ GstCaps *caps = gst_caps_new_simple(
"video/x-raw", "width", G_TYPE_INT, image.cols(), "height", G_TYPE_INT,
- image.rows(), "format", G_TYPE_STRING, "YUY2", nullptr));
+ image.rows(), "format", G_TYPE_STRING, "YUY2", nullptr);
+ CHECK(caps != nullptr);
GstSample *sample = gst_sample_new(buffer, caps, nullptr, nullptr);
@@ -314,7 +315,8 @@
}
if (sender_.valid()) {
- const GstCaps *caps = CHECK_NOTNULL(gst_sample_get_caps(sample));
+ const GstCaps *caps = gst_sample_get_caps(sample);
+ CHECK(caps != nullptr);
CHECK_GT(gst_caps_get_size(caps), 0U);
const GstStructure *str = gst_caps_get_structure(caps, 0);
@@ -324,7 +326,8 @@
CHECK(gst_structure_get_int(str, "width", &width));
CHECK(gst_structure_get_int(str, "height", &height));
- GstBuffer *buffer = CHECK_NOTNULL(gst_sample_get_buffer(sample));
+ GstBuffer *buffer = gst_sample_get_buffer(sample);
+ CHECK(buffer != nullptr);
const gsize size = gst_buffer_get_size(buffer);
@@ -410,7 +413,7 @@
{
GstObject *ice = nullptr;
g_object_get(G_OBJECT(webrtcbin_), "ice-agent", &ice, nullptr);
- CHECK_NOTNULL(ice);
+ CHECK(ice != nullptr);
g_object_set(ice, "min-rtp-port", FLAGS_min_port, "max-rtp-port",
FLAGS_max_port, nullptr);
@@ -419,7 +422,7 @@
{
GstObject *nice = nullptr;
g_object_get(ice, "agent", &nice, nullptr);
- CHECK_NOTNULL(nice);
+ CHECK(nice != nullptr);
g_object_set(nice, "upnp", false, nullptr);
g_object_unref(nice);
diff --git a/frc971/imu_fdcan/dual_imu_blender_lib.cc b/frc971/imu_fdcan/dual_imu_blender_lib.cc
index 6099844..d390102 100644
--- a/frc971/imu_fdcan/dual_imu_blender_lib.cc
+++ b/frc971/imu_fdcan/dual_imu_blender_lib.cc
@@ -41,7 +41,8 @@
dual_imu_blender_status_sender_.MakeStaticBuilder();
frc971::IMUValuesStatic *imu_values =
- CHECK_NOTNULL(imu_values_batch_builder_->add_readings()->emplace_back());
+ imu_values_batch_builder_->add_readings()->emplace_back();
+ CHECK(imu_values != nullptr);
imu_values->set_pico_timestamp_us(dual_imu->board_timestamp_us());
imu_values->set_monotonic_timestamp_ns(dual_imu->kernel_timestamp());
diff --git a/frc971/vision/charuco_lib.cc b/frc971/vision/charuco_lib.cc
index d006e2d..71c2ff6 100644
--- a/frc971/vision/charuco_lib.cc
+++ b/frc971/vision/charuco_lib.cc
@@ -45,6 +45,7 @@
CameraCalibration::CameraCalibration(
const calibration::CameraCalibration *calibration)
: intrinsics_([calibration]() {
+ CHECK(calibration != nullptr);
const cv::Mat result(3, 3, CV_32F,
const_cast<void *>(static_cast<const void *>(
calibration->intrinsics()->data())));
@@ -291,7 +292,7 @@
const TargetType target_type)
: event_loop_(nullptr),
target_type_(target_type),
- calibration_(CHECK_NOTNULL(calibration)) {
+ calibration_(calibration) {
VLOG(2) << "Configuring CharucoExtractor without event_loop";
SetupTargetData();
VLOG(2) << "Camera matrix:\n" << calibration_.CameraIntrinsics();
@@ -310,7 +311,7 @@
: event_loop_(event_loop),
target_type_(target_type),
image_channel_(image_channel),
- calibration_(CHECK_NOTNULL(calibration)),
+ calibration_(calibration),
handle_charuco_(std::move(handle_charuco_fn)) {
SetupTargetData();
diff --git a/frc971/vision/target_mapper.cc b/frc971/vision/target_mapper.cc
index 57ab6e4..f245f37 100644
--- a/frc971/vision/target_mapper.cc
+++ b/frc971/vision/target_mapper.cc
@@ -467,7 +467,7 @@
// Taken from ceres/examples/slam/pose_graph_3d/pose_graph_3d.cc
bool TargetMapper::SolveOptimizationProblem(ceres::Problem *problem) {
- CHECK_NOTNULL(problem);
+ CHECK(problem != nullptr);
ceres::Solver::Options options;
options.max_num_iterations = FLAGS_max_num_iterations;
diff --git a/frc971/vision/v4l2_reader.h b/frc971/vision/v4l2_reader.h
index a3d6252..4906d8e 100644
--- a/frc971/vision/v4l2_reader.h
+++ b/frc971/vision/v4l2_reader.h
@@ -107,8 +107,9 @@
}
absl::Span<const char> DataSpan(size_t image_size) {
- return absl::Span<const char>(
- reinterpret_cast<char *>(CHECK_NOTNULL(data_pointer)), image_size);
+ CHECK(data_pointer != nullptr);
+ return absl::Span<const char>(reinterpret_cast<char *>(data_pointer),
+ image_size);
}
aos::Sender<CameraImage> sender;
diff --git a/frc971/wpilib/swerve/swerve_module.h b/frc971/wpilib/swerve/swerve_module.h
index c01df24..1a16dce 100644
--- a/frc971/wpilib/swerve/swerve_module.h
+++ b/frc971/wpilib/swerve/swerve_module.h
@@ -76,7 +76,8 @@
// Represents all the modules in a swerve drivetrain.
struct SwerveModules {
void PopulateFalconsVector(std::vector<std::shared_ptr<TalonFX>> *falcons) {
- CHECK_NOTNULL(falcons)->push_back(front_left->rotation);
+ CHECK(falcons != nullptr);
+ falcons->push_back(front_left->rotation);
falcons->push_back(front_left->translation);
falcons->push_back(front_right->rotation);
diff --git a/frc971/wpilib/talonfx.cc b/frc971/wpilib/talonfx.cc
index 152339e..4338cfd 100644
--- a/frc971/wpilib/talonfx.cc
+++ b/frc971/wpilib/talonfx.cc
@@ -21,7 +21,7 @@
// device temp is not timesynced so don't add it to the list of signals
device_temp_.SetUpdateFrequency(kCANUpdateFreqHz);
- CHECK_NOTNULL(signals);
+ CHECK(signals != nullptr);
supply_voltage_.SetUpdateFrequency(kCANUpdateFreqHz);
signals->push_back(&supply_voltage_);
diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index b44d084..40e8708 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -244,9 +244,10 @@
superstructure_goal_offset = superstructure_goal_builder.Finish();
}
- superstructure::Goal *mutable_superstructure_goal = CHECK_NOTNULL(
+ superstructure::Goal *mutable_superstructure_goal =
GetMutableTemporaryPointer(*main_superstructure_goal_builder.fbb(),
- superstructure_goal_offset));
+ superstructure_goal_offset);
+ CHECK(mutable_superstructure_goal != nullptr);
{
auto builder = target_selector_hint_sender_.MakeBuilder();
@@ -585,18 +586,17 @@
AOS_LOG(INFO, "Releasing due to button\n");
}
+ auto mutable_suction = mutable_superstructure_goal->mutable_suction();
+ CHECK(mutable_suction != nullptr);
if (switch_ball_) {
- CHECK_NOTNULL(mutable_superstructure_goal->mutable_suction())
- ->mutate_gamepiece_mode(0);
+ mutable_suction->mutate_gamepiece_mode(0);
} else {
- CHECK_NOTNULL(mutable_superstructure_goal->mutable_suction())
- ->mutate_gamepiece_mode(1);
+ mutable_suction->mutate_gamepiece_mode(1);
}
vision_control_.set_flip_image(elevator_wrist_pos_.wrist < 0);
- CHECK_NOTNULL(mutable_superstructure_goal->mutable_suction())
- ->mutate_grab_piece(grab_piece_);
+ mutable_suction->mutate_grab_piece(grab_piece_);
mutable_superstructure_goal->mutable_elevator()->mutate_unsafe_goal(
elevator_wrist_pos_.elevator);
diff --git a/y2020/control_loops/drivetrain/localizer.cc b/y2020/control_loops/drivetrain/localizer.cc
index fabbb8e..0943b28 100644
--- a/y2020/control_loops/drivetrain/localizer.cc
+++ b/y2020/control_loops/drivetrain/localizer.cc
@@ -14,7 +14,8 @@
// appropriate.
Eigen::Matrix<float, 4, 4> FlatbufferToTransformationMatrix(
const frc971::vision::sift::TransformationMatrix &flatbuffer) {
- CHECK_EQ(16u, CHECK_NOTNULL(flatbuffer.data())->size());
+ CHECK(flatbuffer.data() != nullptr);
+ CHECK_EQ(16u, flatbuffer.data()->size());
Eigen::Matrix<float, 4, 4> result;
result.setIdentity();
for (int row = 0; row < 4; ++row) {
diff --git a/y2020/control_loops/drivetrain/localizer_test.cc b/y2020/control_loops/drivetrain/localizer_test.cc
index ca25137..e509241 100644
--- a/y2020/control_loops/drivetrain/localizer_test.cc
+++ b/y2020/control_loops/drivetrain/localizer_test.cc
@@ -215,7 +215,8 @@
// Run for enough time to allow the gyro/imu zeroing code to run.
RunFor(std::chrono::seconds(15));
CHECK(drivetrain_status_fetcher_.Fetch());
- EXPECT_TRUE(CHECK_NOTNULL(drivetrain_status_fetcher_->zeroing())->zeroed());
+ CHECK(drivetrain_status_fetcher_->zeroing() != nullptr);
+ EXPECT_TRUE(drivetrain_status_fetcher_->zeroing()->zeroed());
}
virtual ~LocalizedDrivetrainTest() override {}
diff --git a/y2022/localizer/localizer.cc b/y2022/localizer/localizer.cc
index ab91db3..c4ccf85 100644
--- a/y2022/localizer/localizer.cc
+++ b/y2022/localizer/localizer.cc
@@ -489,8 +489,8 @@
const OldPosition &state,
const frc971::vision::calibration::CameraCalibration *calibration,
std::optional<RejectionReason> *rejection_reason) const {
- CHECK_NOTNULL(rejection_reason);
- CHECK_NOTNULL(calibration);
+ CHECK(rejection_reason != nullptr);
+ CHECK(calibration != nullptr);
// Per the CameraCalibration specification, we can actually determine whether
// the camera is the turret camera just from the presence of the
// turret_extrinsics member.
diff --git a/y2023/control_loops/drivetrain/target_selector.cc b/y2023/control_loops/drivetrain/target_selector.cc
index bc1fb90..22a5140 100644
--- a/y2023/control_loops/drivetrain/target_selector.cc
+++ b/y2023/control_loops/drivetrain/target_selector.cc
@@ -78,7 +78,7 @@
[possible_grids, hint]() {
aos::SizedArray<const localizer::ScoringRow *, 3> rows;
for (const localizer::ScoringGrid *grid : possible_grids) {
- CHECK_NOTNULL(grid);
+ CHECK(grid != nullptr);
switch (hint->row()) {
case RowSelectionHint::BOTTOM:
rows.push_back(grid->bottom());
@@ -95,7 +95,7 @@
}();
aos::SizedArray<const frc971::vision::Position *, 3> positions;
for (const localizer::ScoringRow *row : possible_rows) {
- CHECK_NOTNULL(row);
+ CHECK(row != nullptr);
switch (hint->spot()) {
case SpotSelectionHint::LEFT:
positions.push_back(row->left_cone());
diff --git a/y2023/control_loops/superstructure/superstructure.cc b/y2023/control_loops/superstructure/superstructure.cc
index 0ee1061..bfb7a9d 100644
--- a/y2023/control_loops/superstructure/superstructure.cc
+++ b/y2023/control_loops/superstructure/superstructure.cc
@@ -134,10 +134,14 @@
if (reading > kInvalidReading || !std::isfinite(reading)) {
return std::nullopt;
}
- const TimeOfFlight *calibration = CHECK_NOTNULL(
- CHECK_NOTNULL(constants_fetcher_.constants().robot())->tof());
+ auto robot = constants_fetcher_.constants().robot();
+ CHECK(robot != nullptr);
+ const TimeOfFlight *calibration =
+ constants_fetcher_.constants().robot()->tof();
+ CHECK(calibration != nullptr);
// TODO(james): Use a generic interpolation table class.
- auto table = CHECK_NOTNULL(calibration->interpolation_table());
+ auto table = calibration->interpolation_table();
+ CHECK(table != nullptr);
CHECK_EQ(2u, table->size());
double x1 = table->Get(0)->tof_reading();
double x2 = table->Get(1)->tof_reading();
diff --git a/y2023/joystick_reader.cc b/y2023/joystick_reader.cc
index 45418bc..6e62c5b 100644
--- a/y2023/joystick_reader.cc
+++ b/y2023/joystick_reader.cc
@@ -533,7 +533,8 @@
auto builder = target_selector_hint_sender_.MakeBuilder();
auto hint_builder = builder.MakeBuilder<TargetSelectorHint>();
hint_builder.add_substation_pickup(true);
- hint_builder.add_robot_side(CHECK_NOTNULL(current_setpoint_)->side);
+ CHECK(current_setpoint_ != nullptr);
+ hint_builder.add_robot_side(current_setpoint_->side);
if (builder.Send(hint_builder.Finish()) != aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Sending target selector hint failed.\n");
}
@@ -542,7 +543,8 @@
auto hint_builder = builder.MakeBuilder<TargetSelectorHint>();
hint_builder.add_row(placing_row.value());
hint_builder.add_spot(placing_spot.value());
- hint_builder.add_robot_side(CHECK_NOTNULL(current_setpoint_)->side);
+ CHECK(current_setpoint_ != nullptr);
+ hint_builder.add_robot_side(current_setpoint_->side);
if (builder.Send(hint_builder.Finish()) != aos::RawSender::Error::kOk) {
AOS_LOG(ERROR, "Sending target selector hint failed.\n");
}
diff --git a/y2023/localizer/localizer.cc b/y2023/localizer/localizer.cc
index 6f9a16b..a00ebe6 100644
--- a/y2023/localizer/localizer.cc
+++ b/y2023/localizer/localizer.cc
@@ -264,12 +264,12 @@
switch (utils_.Alliance()) {
case aos::Alliance::kRed:
- ignore_tags =
- CHECK_NOTNULL(constants_fetcher_.constants().ignore_targets()->red());
+ ignore_tags = constants_fetcher_.constants().ignore_targets()->red();
+ CHECK(ignore_tags != nullptr);
break;
case aos::Alliance::kBlue:
- ignore_tags = CHECK_NOTNULL(
- constants_fetcher_.constants().ignore_targets()->blue());
+ ignore_tags = constants_fetcher_.constants().ignore_targets()->blue();
+ CHECK(ignore_tags != nullptr);
break;
case aos::Alliance::kInvalid:
return true;
diff --git a/y2023/wpilib_interface.cc b/y2023/wpilib_interface.cc
index 492d44b..d0d952c 100644
--- a/y2023/wpilib_interface.cc
+++ b/y2023/wpilib_interface.cc
@@ -133,7 +133,7 @@
// device temp is not timesynced so don't add it to the list of signals
device_temp_.SetUpdateFrequency(kCANUpdateFreqHz);
- CHECK_NOTNULL(signals);
+ CHECK(signals != nullptr);
supply_voltage_.SetUpdateFrequency(kCANUpdateFreqHz);
signals->push_back(&supply_voltage_);
diff --git a/y2023_bot3/wpilib_interface.cc b/y2023_bot3/wpilib_interface.cc
index 1dd8efd..1f0c003 100644
--- a/y2023_bot3/wpilib_interface.cc
+++ b/y2023_bot3/wpilib_interface.cc
@@ -113,7 +113,7 @@
// device temp is not timesynced so don't add it to the list of signals
device_temp_.SetUpdateFrequency(kCANUpdateFreqHz);
- CHECK_NOTNULL(signals);
+ CHECK(signals != nullptr);
supply_voltage_.SetUpdateFrequency(kCANUpdateFreqHz);
signals->push_back(&supply_voltage_);
diff --git a/y2024/autonomous/autonomous_actor.cc b/y2024/autonomous/autonomous_actor.cc
index 0f70292..83cf5b1 100644
--- a/y2024/autonomous/autonomous_actor.cc
+++ b/y2024/autonomous/autonomous_actor.cc
@@ -51,8 +51,10 @@
event_loop
->MakeFetcher<::y2024::control_loops::superstructure::Status>(
"/superstructure")),
- robot_constants_(CHECK_NOTNULL(robot_constants)),
- auto_splines_() {}
+ robot_constants_(robot_constants),
+ auto_splines_() {
+ CHECK(robot_constants_ != nullptr);
+}
void AutonomousActor::Replan() {
AutonomousMode mode = robot_constants_->common()->autonomous_mode();
diff --git a/y2024/control_loops/drivetrain/drivetrain_base.cc b/y2024/control_loops/drivetrain/drivetrain_base.cc
index 79d35e1..dd4f33c 100644
--- a/y2024/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2024/control_loops/drivetrain/drivetrain_base.cc
@@ -11,9 +11,10 @@
const frc971::control_loops::drivetrain::DrivetrainConfig<double>
GetDrivetrainConfig(aos::EventLoop *event_loop) {
frc971::constants::ConstantsFetcher<Constants> constants_fetcher(event_loop);
+ CHECK(constants_fetcher.constants().common() != nullptr);
+ CHECK(constants_fetcher.constants().common()->drivetrain() != nullptr);
return frc971::control_loops::drivetrain::DrivetrainConfig<double>::
- FromFlatbuffer(
- *CHECK_NOTNULL(constants_fetcher.constants().common()->drivetrain()));
+ FromFlatbuffer(*constants_fetcher.constants().common()->drivetrain());
};
} // namespace y2024::control_loops::drivetrain
diff --git a/y2024/control_loops/superstructure/aiming.cc b/y2024/control_loops/superstructure/aiming.cc
index d8d336f..b53dbb5 100644
--- a/y2024/control_loops/superstructure/aiming.cc
+++ b/y2024/control_loops/superstructure/aiming.cc
@@ -11,7 +11,10 @@
Aimer::Aimer(aos::EventLoop *event_loop,
const y2024::Constants *robot_constants)
: event_loop_(event_loop),
- robot_constants_(CHECK_NOTNULL(robot_constants)),
+ robot_constants_([&]() {
+ CHECK(robot_constants != nullptr);
+ return robot_constants;
+ }()),
drivetrain_config_(
frc971::control_loops::drivetrain::DrivetrainConfig<double>::
FromFlatbuffer(*robot_constants_->common()->drivetrain())),
@@ -58,7 +61,7 @@
} else {
received_joystick_state_ = true;
- CHECK_NOTNULL(joystick_state_fetcher_.get());
+ CHECK(joystick_state_fetcher_.get() != nullptr);
alliance = joystick_state_fetcher_->alliance();
}
diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index a485943..7f7da4f 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -36,7 +36,7 @@
: frc971::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
name),
constants_fetcher_(event_loop),
- robot_constants_(CHECK_NOTNULL(&constants_fetcher_.constants())),
+ robot_constants_(&constants_fetcher_.constants()),
drivetrain_status_fetcher_(
event_loop->MakeFetcher<frc971::control_loops::drivetrain::Status>(
"/drivetrain")),
diff --git a/y2024/control_loops/superstructure/superstructure_lib_test.cc b/y2024/control_loops/superstructure/superstructure_lib_test.cc
index 59398ab..719a29b 100644
--- a/y2024/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2024/control_loops/superstructure/superstructure_lib_test.cc
@@ -312,8 +312,7 @@
superstructure_(superstructure_event_loop.get()),
test_event_loop_(MakeEventLoop("test", roborio_)),
constants_fetcher_(test_event_loop_.get()),
- simulated_robot_constants_(
- CHECK_NOTNULL(&constants_fetcher_.constants())),
+ simulated_robot_constants_(&constants_fetcher_.constants()),
superstructure_goal_fetcher_(
test_event_loop_->MakeFetcher<Goal>("/superstructure")),
superstructure_goal_sender_(
diff --git a/y2024/joystick_reader.cc b/y2024/joystick_reader.cc
index 711f9d2..88bf441 100644
--- a/y2024/joystick_reader.cc
+++ b/y2024/joystick_reader.cc
@@ -82,7 +82,9 @@
superstructure_status_fetcher_(
event_loop->MakeFetcher<control_loops::superstructure::Status>(
"/superstructure")),
- robot_constants_(CHECK_NOTNULL(robot_constants)) {}
+ robot_constants_(robot_constants) {
+ CHECK(robot_constants_ != nullptr);
+ }
void AutoEnded() override { AOS_LOG(INFO, "Auto ended.\n"); }
diff --git a/y2024/localizer/localizer.cc b/y2024/localizer/localizer.cc
index d73d171..90423ca 100644
--- a/y2024/localizer/localizer.cc
+++ b/y2024/localizer/localizer.cc
@@ -174,10 +174,12 @@
Localizer::Localizer(aos::EventLoop *event_loop)
: event_loop_(event_loop),
constants_fetcher_(event_loop),
- dt_config_(
- frc971::control_loops::drivetrain::DrivetrainConfig<double>::
- FromFlatbuffer(*CHECK_NOTNULL(
- constants_fetcher_.constants().common()->drivetrain()))),
+ dt_config_(frc971::control_loops::drivetrain::DrivetrainConfig<
+ double>::FromFlatbuffer(*[&]() {
+ CHECK(constants_fetcher_.constants().common() != nullptr);
+ CHECK(constants_fetcher_.constants().common()->drivetrain() != nullptr);
+ return constants_fetcher_.constants().common()->drivetrain();
+ }())),
cameras_(MakeCameras(constants_fetcher_.constants(), event_loop)),
target_poses_(GetTargetLocations(constants_fetcher_.constants())),
down_estimator_(dt_config_),
@@ -214,8 +216,9 @@
for (size_t camera_index = 0; camera_index < kNumCameras; ++camera_index) {
const std::string_view channel_name = kDetectionChannels.at(camera_index);
- const aos::Channel *const channel = CHECK_NOTNULL(
- event_loop->GetChannel<frc971::vision::TargetMap>(channel_name));
+ const aos::Channel *const channel =
+ event_loop->GetChannel<frc971::vision::TargetMap>(channel_name);
+ CHECK(channel != nullptr);
event_loop->MakeWatcher(
channel_name, [this, channel,
camera_index](const frc971::vision::TargetMap &targets) {
@@ -360,12 +363,14 @@
switch (utils_.Alliance()) {
case aos::Alliance::kRed:
- ignore_tags = CHECK_NOTNULL(
- constants_fetcher_.constants().common()->ignore_targets()->red());
+ ignore_tags =
+ constants_fetcher_.constants().common()->ignore_targets()->red();
+ CHECK(ignore_tags != nullptr);
break;
case aos::Alliance::kBlue:
- ignore_tags = CHECK_NOTNULL(
- constants_fetcher_.constants().common()->ignore_targets()->blue());
+ ignore_tags =
+ constants_fetcher_.constants().common()->ignore_targets()->blue();
+ CHECK(ignore_tags != nullptr);
break;
case aos::Alliance::kInvalid:
return false;
diff --git a/y2024/wpilib_interface.cc b/y2024/wpilib_interface.cc
index 30d1549..c8328da 100644
--- a/y2024/wpilib_interface.cc
+++ b/y2024/wpilib_interface.cc
@@ -123,7 +123,7 @@
SensorReader(::aos::ShmEventLoop *event_loop,
const Constants *robot_constants)
: ::frc971::wpilib::SensorReader(event_loop),
- robot_constants_(CHECK_NOTNULL(robot_constants)),
+ robot_constants_(robot_constants),
auto_mode_sender_(
event_loop->MakeSender<::frc971::autonomous::AutonomousMode>(
"/autonomous")),
@@ -505,7 +505,8 @@
drivetrain_can_position_sender.MakeStaticBuilder();
auto drivetrain_falcon_vector =
- CHECK_NOTNULL(drivetrain_can_builder->add_talonfxs());
+ drivetrain_can_builder->add_talonfxs();
+ CHECK(drivetrain_falcon_vector != nullptr);
for (auto talonfx : drivetrain_krakens) {
talonfx->SerializePosition(
@@ -678,7 +679,8 @@
drivetrain_can_position_sender.MakeStaticBuilder();
auto drivetrain_falcon_vector =
- CHECK_NOTNULL(drivetrain_can_builder->add_talonfxs());
+ drivetrain_can_builder->add_talonfxs();
+ CHECK(drivetrain_falcon_vector != nullptr);
for (auto talonfx : drivetrain_talonfxs) {
talonfx->SerializePosition(