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Merged
pavel-kirienko merged 12 commits into from
Jul 24, 2026
Merged

Replace assert() calls with CY_ASSERT() macro and add CY_CONFIG_HEADER #72

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e24c025
Remove asserts from udp_wrapper
bjsowa Jul 23, 2026
30687ba
Add CY_CONFIG_HEADER and CY_ASSERT macros to cy_platform.h
bjsowa Jul 23, 2026
bc9a820
Configure WKV_ASSERT and CAVL2_ASSERT macros to use CY_ASSERT instead…
bjsowa Jul 23, 2026
8403553
Replace assert() calls with CY_ASSERT()
bjsowa Jul 23, 2026
bb6d70a
Skip checking CY_CONFIG_HEADER path in cppcheck
bjsowa Jul 23, 2026
de79725
Move macro definitions to cy.h
bjsowa Jul 24, 2026
4f97807
Remove redundant wkv import
bjsowa Jul 24, 2026
16169f4
Remove redundant assert imports
bjsowa Jul 24, 2026
ba63710
Remove unused stdlib.h include from cy_platform.h
bjsowa Jul 24, 2026
f8ad6bd
Add conditional compilation for CAVL2_ASSERT macro
bjsowa Jul 24, 2026
ed75559
format code
bjsowa Jul 24, 2026
d9ab7b7
Merge branch 'main' into feat/cy-assert-macro
pavel-kirienko Jul 24, 2026
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1 change: 1 addition & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@ if (NOT NO_STATIC_ANALYSIS)
set(cppcheck_options
--enable=warning,style,performance,portability
--error-exitcode=2
-UCY_CONFIG_HEADER
--suppress=missingIncludeSystem
--suppress=badBitmaskCheck
--suppress=constParameterCallback
Expand Down
455 changes: 229 additions & 226 deletions cy/cy.c
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15 changes: 15 additions & 0 deletions cy/cy.h
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,22 @@

#pragma once

// Define this macro to include build configuration header.
// Usage example with CMake: "-DCY_CONFIG_HEADER=\"${CMAKE_CURRENT_SOURCE_DIR}/my_cy_config.h\""
#ifdef CY_CONFIG_HEADER
#include CY_CONFIG_HEADER
#endif

// By default, this macro resolves to the standard assert().
// To disable assertion checks completely, make it expand into `(void)(0)`.
#ifndef CY_ASSERT
#include <assert.h>
#define CY_ASSERT(x) assert(x)
#endif

#define WKV_ASSERT(x) CY_ASSERT(x)

@pavel-kirienko pavel-kirienko Jul 24, 2026

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Suggested change
#define WKV_ASSERT(x) CY_ASSERT(x)
#ifndef WKV_ASSERT
#define WKV_ASSERT(x) CY_ASSERT(x)
#endif

#include <wild_key_value.h>

#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
Expand Down
50 changes: 25 additions & 25 deletions cy_can/cy_can.c
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Original file line number Diff line number Diff line change
Expand Up @@ -313,7 +313,7 @@ static bool v_canard_tx(canard_t* const self,
cy_can_t* const owner = (cy_can_t*)self->user_context;
const uint_least8_t len = (uint_least8_t)can_data.size;
(void)user_context;
assert(iface_index < owner->iface_count);
CY_ASSERT(iface_index < owner->iface_count);
if (fd && (owner->vtable->tx_fd != NULL)) {
return owner->vtable->tx_fd(owner->user, deadline, iface_index, extended_can_id, can_data.data, len);
}
Expand All @@ -323,7 +323,7 @@ static bool v_canard_tx(canard_t* const self,
static bool v_canard_filter(canard_t* const self, const size_t filter_count, const canard_filter_t* const filters)
{
cy_can_t* const owner = (cy_can_t*)self->user_context;
assert((owner != NULL) && (owner->vtable != NULL) && (owner->vtable->filter != NULL));
CY_ASSERT((owner != NULL) && (owner->vtable != NULL) && (owner->vtable->filter != NULL));
return owner->vtable->filter(owner->user, filter_count, filters);
}

Expand Down Expand Up @@ -353,11 +353,11 @@ static void v_on_msg_16b(canard_subscription_t* const self,
{
(void)transfer_id;
subject_reader_t* const reader = (subject_reader_t*)self->user_context;
assert(reader != NULL);
CY_ASSERT(reader != NULL);
cy_can_t* const owner = reader->owner;
assert(owner != NULL);
CY_ASSERT(owner != NULL);
pending_v1_t* const pending = owner->pending_v1;
assert((pending != NULL) && (pending->message.content == NULL));
CY_ASSERT((pending != NULL) && (pending->message.content == NULL));
const bool multiframe = (payload.origin.data != NULL);

can_message_t* const msg = make_message(owner, multiframe ? 0 : payload.view.size);
Expand Down Expand Up @@ -397,12 +397,12 @@ static void v_on_msg_13b(canard_subscription_t* const self,
{
(void)transfer_id;
subject_reader_t* const reader = (subject_reader_t*)self->user_context;
assert(reader != NULL);
CY_ASSERT(reader != NULL);
cy_can_t* const owner = reader->owner;
assert(owner != NULL);
CY_ASSERT(owner != NULL);
pending_v1_t* const pending = owner->pending_v1;
subject_reader_pinned_t* const pinned = as_pinned(reader);
assert((pinned != NULL) && (pending != NULL) && (pending->message.content == NULL));
CY_ASSERT((pinned != NULL) && (pending != NULL) && (pending->message.content == NULL));
const bool multiframe = (payload.origin.data != NULL);

const size_t inline_size = HEADER_BYTES + (multiframe ? 0 : payload.view.size);
Expand Down Expand Up @@ -451,9 +451,9 @@ static void v_on_msg_unicast(canard_subscription_t* const self,
{
(void)transfer_id;
cy_can_t* const owner = (cy_can_t*)self->user_context;
assert(owner != NULL);
CY_ASSERT(owner != NULL);
pending_v1_t* const pending = owner->pending_v1;
assert((pending != NULL) && (pending->message.content == NULL));
CY_ASSERT((pending != NULL) && (pending->message.content == NULL));
const bool multiframe = (payload.origin.data != NULL);

can_message_t* const msg = make_message(owner, multiframe ? 0 : payload.view.size);
Expand Down Expand Up @@ -530,7 +530,7 @@ static cy_err_t v_subject_writer_send(cy_platform_t* const platform,
const uint32_t sid = base->subject_id;
const uint_least8_t ibm = (uint_least8_t)((1U << owner->iface_count) - 1U);

assert((message.data != NULL) && (message.size >= HEADER_BYTES));
CY_ASSERT((message.data != NULL) && (message.size >= HEADER_BYTES));
const bool pinned = (sid <= CY_SUBJECT_ID_PINNED_MAX);
const bool best_effort = (((const uint_least8_t*)message.data)[0] == 0); // header_msg_be
const bool use_13b = pinned && best_effort && topic_is_compat_named(sid, message.data);
Expand Down Expand Up @@ -599,7 +599,7 @@ static void reader_set_extent(subject_reader_t* const self, const size_t extent)

static void tombstone_remove(cy_can_t* const owner, subject_reader_t* const self)
{
assert((owner != NULL) && (self != NULL));
CY_ASSERT((owner != NULL) && (self != NULL));
if (self->prev_tombstone != NULL) {
self->prev_tombstone->next_tombstone = self->next_tombstone;
} else {
Expand All @@ -616,7 +616,7 @@ static void tombstone_remove(cy_can_t* const owner, subject_reader_t* const self

static void tombstone_enqueue(cy_can_t* const owner, subject_reader_t* const self)
{
assert((owner != NULL) && (self != NULL));
CY_ASSERT((owner != NULL) && (self != NULL));
self->prev_tombstone = owner->tombstone_tail;
self->next_tombstone = NULL;
if (owner->tombstone_tail != NULL) {
Expand Down Expand Up @@ -644,11 +644,11 @@ static subject_reader_t* reader_try_revive(cy_can_t* const owner, const uint32_t
return NULL;
}
subject_reader_t* const self = (subject_reader_t*)incumbent->user_context;
assert((self != NULL) && (self->owner == owner) && (self->base.subject_id == subject_id));
CY_ASSERT((self != NULL) && (self->owner == owner) && (self->base.subject_id == subject_id));
if (as_pinned(self) != NULL) {
canard_subscription_t* const incumbent_13b =
canard_find_subscription(&owner->canard, canard_kind_message_13b, (uint16_t)subject_id);
assert((incumbent_13b != NULL) && (((subject_reader_t*)incumbent_13b->user_context) == self));
CY_ASSERT((incumbent_13b != NULL) && (((subject_reader_t*)incumbent_13b->user_context) == self));
if ((incumbent_13b == NULL) || (((subject_reader_t*)incumbent_13b->user_context) != self)) {
return NULL;
}
Expand All @@ -663,7 +663,7 @@ static subject_reader_t* reader_try_revive(cy_can_t* const owner, const uint32_t
/// Finalize a reader: unsubscribe from canard and free memory. Does NOT unlink from any list.
static void reader_finalize(cy_can_t* const owner, subject_reader_t* const self)
{
assert((owner != NULL) && (self != NULL));
CY_ASSERT((owner != NULL) && (self != NULL));
if (owner->base.cy != NULL) {
CY_TRACE(owner->base.cy, "S%08jx ptr=%p", (uintmax_t)self->base.subject_id, (void*)self);
}
Expand Down Expand Up @@ -704,7 +704,7 @@ static cy_subject_reader_t* v_subject_reader_new(cy_platform_t* const base,
extent,
CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_us,
&sub_vtable_16b);
assert(sub_16b == &self->sub_16b);
CY_ASSERT(sub_16b == &self->sub_16b);
if (sub_16b != &self->sub_16b) {
owner->vtable->realloc(owner->user, self, 0);
return NULL;
Expand All @@ -715,14 +715,14 @@ static cy_subject_reader_t* v_subject_reader_new(cy_platform_t* const base,
subject_reader_pinned_t* const p = (subject_reader_pinned_t*)self;
// 13-bit payload does not include the Cy header; we prepend it ourselves.
const size_t extent_13b = (extent > HEADER_BYTES) ? (extent - HEADER_BYTES) : 0;
assert(canard_find_subscription(&owner->canard, canard_kind_message_13b, (uint16_t)subject_id) == NULL);
CY_ASSERT(canard_find_subscription(&owner->canard, canard_kind_message_13b, (uint16_t)subject_id) == NULL);
canard_subscription_t* const sub_13b = canard_subscribe_13b(&owner->canard,
&p->sub_13b,
(uint16_t)subject_id,
extent_13b,
CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_us,
&sub_vtable_13b);
assert(sub_13b == &p->sub_13b);
CY_ASSERT(sub_13b == &p->sub_13b);
if (sub_13b != &p->sub_13b) {
canard_unsubscribe(&owner->canard, &self->sub_16b);
owner->vtable->realloc(owner->user, self, 0);
Expand Down Expand Up @@ -818,7 +818,7 @@ static void ingest_frame(cy_can_t* const owner, const cy_can_rx_t* const frame)
const canard_bytes_t can_data = { .size = frame->len, .data = frame->data };
pending_v1_t pending_v1 = { 0 };
pending_v0_t pending_v0 = { 0 };
assert((owner->pending_v1 == NULL) && (owner->pending_v0 == NULL));
CY_ASSERT((owner->pending_v1 == NULL) && (owner->pending_v0 == NULL));
owner->pending_v1 = &pending_v1;
owner->pending_v0 = &pending_v0;
(void)canard_ingest_frame(&owner->canard, frame->timestamp, frame->iface_index, frame->can_id, can_data);
Expand Down Expand Up @@ -1002,10 +1002,10 @@ void cy_can_destroy(cy_platform_t* const base)
if (owner == NULL) {
return;
}
assert((owner->pending_v1 == NULL) && (owner->pending_v0 == NULL));
CY_ASSERT((owner->pending_v1 == NULL) && (owner->pending_v0 == NULL));
while (owner->tombstone_head != NULL) {
subject_reader_t* const rd = tombstone_pop(owner);
assert(rd != NULL);
CY_ASSERT(rd != NULL);
reader_finalize(owner, rd);
}
canard_unsubscribe(&owner->canard, &owner->unicast_sub);
Expand Down Expand Up @@ -1033,18 +1033,18 @@ static void v_on_msg_v0(canard_subscription_t* const self,
const canard_payload_t payload)
{
cy_can_v0_subscription_t* const sub = (cy_can_v0_subscription_t*)self->user_context;
assert((sub != NULL) && (sub->owner != NULL));
CY_ASSERT((sub != NULL) && (sub->owner != NULL));
cy_can_t* const owner = sub->owner;
pending_v0_t* const pending = owner->pending_v0;
assert((pending != NULL) && (pending->payload.view.data == NULL));
CY_ASSERT((pending != NULL) && (pending->payload.view.data == NULL));
pending->subscription = sub;
pending->timestamp = timestamp;
pending->priority = priority;
pending->source_node_id = source_node_id;
pending->transfer_id = transfer_id;
pending->payload = payload;
if (payload.origin.data == NULL) {
assert(payload.view.size <= sizeof(pending->single_frame_data));
CY_ASSERT(payload.view.size <= sizeof(pending->single_frame_data));
(void)memcpy(pending->single_frame_data, payload.view.data, payload.view.size);
pending->payload.view.data = pending->single_frame_data;
}
Expand Down
11 changes: 5 additions & 6 deletions cy_can/cy_can_socketcan.c
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Expand Up @@ -21,7 +21,6 @@
#define RAPIDHASH_COMPACT
#include <rapidhash.h>

#include <assert.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
Expand Down Expand Up @@ -63,7 +62,7 @@ static bool v_tx_classic(void* const user,
{
const socketcan_t* const self = (const socketcan_t*)user;
(void)deadline;
assert(iface_index < self->iface_count);
CY_ASSERT(iface_index < self->iface_count);
struct can_frame frame = { .can_id = can_id | CAN_EFF_FLAG, .can_dlc = len };
if ((data != NULL) && (len > 0)) {
(void)memcpy(frame.data, data, (len <= 8) ? len : 8);
Expand All @@ -81,7 +80,7 @@ static bool v_tx_fd(void* const user,
{
const socketcan_t* const self = (const socketcan_t*)user;
(void)deadline;
assert(iface_index < self->iface_count);
CY_ASSERT(iface_index < self->iface_count);
struct canfd_frame frame = { .can_id = can_id | CAN_EFF_FLAG, .len = len, .flags = CANFD_FDF };
if ((data != NULL) && (len > 0)) {
(void)memcpy(frame.data, data, (len <= 64) ? len : 64);
Expand Down Expand Up @@ -214,8 +213,8 @@ static const cy_can_vtable_t socketcan_vtable_classic = { .tx_classic = v_tx_cla

static bool socketcan_iface_is_fd_capable(const int sock, const char* const iface_name)
{
assert(sock >= 0);
assert(iface_name != NULL);
CY_ASSERT(sock >= 0);
CY_ASSERT(iface_name != NULL);
struct ifreq ifr;
(void)memset(&ifr, 0, sizeof(ifr));
(void)strncpy(ifr.ifr_name, iface_name, sizeof(ifr.ifr_name) - 1);
Expand All @@ -227,7 +226,7 @@ static bool socketcan_iface_is_fd_capable(const int sock, const char* const ifac

static bool socketcan_set_fd_frames(const socketcan_t* const self, const bool enable)
{
assert(self != NULL);
CY_ASSERT(self != NULL);
const int value = enable ? 1 : 0;
for (uint_least8_t i = 0; i < self->iface_count; i++) {
if (setsockopt(self->sock_fd[i], SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &value, sizeof(value)) < 0) {
Expand Down
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