Cppcheck report - [project name]: Framework/Platforms/Source/DCM/LolaAdaptor/LolaAdaptor.cpp

#include "LolaAdaptor.h"

using namespace naoth;

LolaAdaptor::LolaAdaptor()
{
    // open semaphore to synchronize with NaoController
    if((sem = sem_open("motion_trigger", O_CREAT | O_RDWR, S_IRUSR | S_IWUSR, 0)) == SEM_FAILED)
    {
        perror("[LolaAdaptor] sem_open");
        ::exit(-1);
    }

    openSharedMemory(naoSensorData, "/nao_sensor_data");
    openSharedMemory(naoCommandMotorJointData, "/nao_command.MotorJointData");
    openSharedMemory(naoCommandUltraSoundSendData, "/nao_command.UltraSoundSendData");
    openSharedMemory(naoCommandLEDData, "/nao_command.LEDData");
}

LolaAdaptor::~LolaAdaptor()
{
    // stop the thread before anything else
    stop();

    // close semaphore
    if(sem != SEM_FAILED)
    {
        sem_close(sem);
        sem = SEM_FAILED;
    }
}

template<typename T>
void LolaAdaptor::openSharedMemory(SharedMemory<T> &sm, const std::string &path)
<--- Technically the member function 'naoth::LolaAdaptor::openSharedMemory' can be static. [+]
The member function 'naoth::LolaAdaptor::openSharedMemory' can be made a static function. Making a function static can bring a performance benefit since no 'this' instance is passed to the function. This change should not cause compiler errors but it does not necessarily make sense conceptually. Think about your design and the task of the function first - is it a function that must not access members of class instances?
{
    std::cout<< "[LolaAdaptor] Opening Shared Memory: "<<path<<std::endl;
    sm.open(path);
}

void LolaAdaptor::writeNaoInfo(const std::string& theBodyID, const std::string& /*theHeadID*/) const
<--- Technically the member function 'naoth::LolaAdaptor::writeNaoInfo' can be static. [+]
The member function 'naoth::LolaAdaptor::writeNaoInfo' can be made a static function. Making a function static can bring a performance benefit since no 'this' instance is passed to the function. This change should not cause compiler errors but it does not necessarily make sense conceptually. Think about your design and the task of the function first - is it a function that must not access members of class instances?
{
    // save the body ID
    std::cout << "[LolaAdaptor] bodyID: " << theBodyID << std::endl;

    // save the nick name
    std::string theBodyNickName = "error";
    if(theBodyID.length() >= 4) {
      theBodyNickName = "Nao" + theBodyID.substr( theBodyID.length() - 4 ); //theDCMHandler.getBodyNickName();
    }
    std::cout << "[LolaAdaptor] nickName: "<< theBodyNickName << std::endl;

    // save the value to file
    // FIXME: fixed path "Config/nao.info"
    {
        std::string staticMemberPath("Config/nao.info");
        std::ofstream os(staticMemberPath.c_str());
        ASSERT(os.good());
        os << theBodyID << "\n" << theBodyNickName << std::endl;
        os.close();
    }
}//end writeNaoInfo()

void LolaAdaptor::start()
{
    exiting = false;
    lolaThread = std::thread(&LolaAdaptor::run, this);
    //ThreadUtil::setPriority(lolaThread, ThreadUtil::Priority::highest);
    ThreadUtil::setName(lolaThread, "LOLA");

    // NOTE: SCHED_FIFO is a real time sheduler
    //       max priority for a FIFO thread is 99
    sched_param param;
    param.sched_priority = 50;
    if(pthread_setschedparam(lolaThread.native_handle(), SCHED_FIFO, &param)) {
        std::cerr << "[LolaAdaptor] error setting thread priority" << std::endl;
        assert(false);
    }

    // int tryCount = 0;
    while(waitingForLola && ! exiting)
    {
        fprintf(stderr, "[LolaAdaptor] Waiting for LoLA socket.\n");
        std::this_thread::sleep_for(std::chrono::milliseconds(125));
        // if(tryCount > 40 )
        // {
        //   fprintf(stderr, "[LolaAdaptor] Waiting for LoLA socket failed after %d ms.\n", tryCount * 125);
        //   waitingForLola = false;
        //   assert(false);
        // }
        // tryCount++;
    }
    fprintf(stderr, "[LolaAdaptor] LoLA socket connection established.\n");
    //HACK: pulseaudio is not initialized correctly, but after playing a sound as no it works?!?
}//end start()

void LolaAdaptor::stop()
{
    std::cout << "[LolaAdaptor] stop wait" << std::endl;

    // request the thread to stop
    exiting = true;

    if(lolaThread.joinable()) {
        lolaThread.join();
    }
    std::cout << "[LolaAdaptor] stop done" << std::endl;
}

bool LolaAdaptor::isRunning() const
{
    return running;
}

void LolaAdaptor::run()
{
    waitForLolaSocket();

    Lola lola;
    lola.connectSocket();
    if(lola.hasError())
    {
        fprintf(stderr, "[LolaAdaptor] Error while attemting to connect to LoLa socket.\n");
        assert(false);
    }

    waitingForLola = false;
    running = true;
    SensorData sensors;
    ActuatorData actuators;

    bool firstRun = true;
    
    while(!exiting)
    {
        lola.readSensors(sensors);
        
        if(firstRun) {
          writeNaoInfo(sensors.RobotConfig.Body.BodyId, sensors.RobotConfig.Head.FullHeadId);
          firstRun = false;
        }

        // like old DCM motionCallbackPre
        if(!runEmergencyMotion(actuators))
        {
            setMotorJoints(actuators);
        }
        lola.writeActuators(actuators);


        // like old DCM motionCallbackPost
        DCMSensorData* sensorData = naoSensorData.writing();

        // current system time (System time, not nao time (!))
        sensorData->timeStamp = NaoTime::getSystemTimeInMilliSeconds();

        // copy sensor data to shared memory
        LolaDataConverter::readSensorData(sensors, *sensorData);

        // check if chest button was pressed as a request to shutdown
        // each cycle needs 12ms so if the button was pressed for 3 seconds
        // these are 250 frames
        sensorData->get(theButtonData);
        if(!shutdown_requested && theButtonData.numOfFramesPressed[ButtonData::Chest] > 250)
        {
            shutdown_requested = true;
            //exit(-1);
            // break;
            shutdownCallbackThread = std::thread(&LolaAdaptor::shutdownCallback, this);
        }

        // save the data for the emergency case
        if(state == DISCONNECTED) {
            std::cout << "get inertial sensor data" << std::endl;
            sensorData->get(theInertialSensorData);
            sensor_data_available = true;
        } else {
            sensor_data_available = false;
        }

        // push the data to shared memory
        naoSensorData.swapWriting();

        // notify cognition
        notify();
    }

    running = false;
}//end run()

void LolaAdaptor::waitForLolaSocket()
{
    int tryCount = 0;

    // end the thread if the lola (unix) socket doesn't exists (after 5s)!
    while(!fileExists("/tmp/robocup"))
    {
        std::this_thread::sleep_for(std::chrono::milliseconds(250));
        if(tryCount > 20 )
        {
            fprintf(stderr, "[LolaAdaptor] Waiting for LoLa %d ms.\n", tryCount * 250);
            assert(false);
        }
        tryCount++;
    }
    std::this_thread::sleep_for(std::chrono::milliseconds(900));
}//end waitForLolaSocket()

bool LolaAdaptor::fileExists(const std::string& filename)
{
    struct stat buffer;
    return (stat (filename.c_str(), &buffer) == 0);
}

void LolaAdaptor::setMotorJoints(ActuatorData &actuators)
{
    // get the MotorJointData from the shared memory and put them to the DCM
    if ( naoCommandMotorJointData.swapReading() )
    {
        const Accessor<MotorJointData>* motorData = naoCommandMotorJointData.reading();

        // write MotorJointData to LolaActuatorData
        LolaDataConverter::set(actuators, motorData->get());

        // TODO: why do we need this? It is never resetted ...
        //drop_count = 0;
        command_data_available = true;
    }

    if(naoCommandLEDData.swapReading())
    {
        const Accessor<LEDData>* commandData = naoCommandLEDData.reading();
        LolaDataConverter::set(actuators, commandData->get());
    }
}//end setMotorJoints()

void LolaAdaptor::setWarningLED(ActuatorData& actuators, bool red)
<--- Technically the member function 'naoth::LolaAdaptor::setWarningLED' can be static. [+]
The member function 'naoth::LolaAdaptor::setWarningLED' can be made a static function. Making a function static can bring a performance benefit since no 'this' instance is passed to the function. This change should not cause compiler errors but it does not necessarily make sense conceptually. Think about your design and the task of the function first - is it a function that must not access members of class instances?
{
    static naoth::LEDData theLEDData;
    static int count = 0;

    int begin = ((++count)/10)%10;
    theLEDData.theMonoLED[LEDData::EarRight0 + begin] = 0;
    theLEDData.theMonoLED[LEDData::EarLeft0 + begin] = 0;
    int end = (begin+2)%10;
    theLEDData.theMonoLED[LEDData::EarRight0 + end] = 1;
    theLEDData.theMonoLED[LEDData::EarLeft0 + end] = 1;

    for(int i=0; i<LEDData::numOfMultiLED; i++)
    {
        theLEDData.theMultiLED[i][LEDData::RED] = red ? 1 : 0;
        theLEDData.theMultiLED[i][LEDData::GREEN] = 0;
        theLEDData.theMultiLED[i][LEDData::BLUE] = red ? 0 : 1;
    }
    LolaDataConverter::set(actuators, theLEDData);
}//end setWarningLED

bool LolaAdaptor::runEmergencyMotion(ActuatorData& actuators)
{
    if(state == DISCONNECTED)
    {
        if(initialMotion == NULL && command_data_available && sensor_data_available)
        {
            std::cout << "emerg: start init motion" << std::endl;
            // take the last command data
            const Accessor<MotorJointData>* commandData = naoCommandMotorJointData.reading();
            initialMotion = new BasicMotion(theMotorJointData, commandData->get(), theInertialSensorData);
        }

        setWarningLED(actuators, state == DISCONNECTED);
    }//end if

    // after reconnect: wait until the init motion is finished
    if(initialMotion != NULL)
    {
        if(state == CONNECTED && initialMotion->isFinish())
        {
            std::cout << "emerg: stop init motion" << std::endl;
            delete initialMotion;
            initialMotion = NULL;
        }
        else
        {
            // execute the emergency motion
            // (the resulting joint commands are written to theMotorJointData)
            initialMotion->execute();

            // write MotorJointData to LolaActuatorData
            LolaDataConverter::set(actuators, theMotorJointData);
        }
    }//end if

    return initialMotion != NULL;
}//end runEmergencyMotion

void LolaAdaptor::notify()
{
    static int drop_count = 10;
<--- The scope of the variable 'drop_count' can be reduced. [+]
The scope of the variable 'drop_count' can be reduced. Warning: Be careful when fixing this message, especially when there are inner loops. Here is an example where cppcheck will write that the scope for 'i' can be reduced:
void f(int x)
{
    int i = 0;
    if (x) {
        // it's safe to move 'int i = 0;' here
        for (int n = 0; n < 10; ++n) {
            // it is possible but not safe to move 'int i = 0;' here
            do_something(&i);
        }
    }
}
When you see this message it is always safe to reduce the variable scope 1 level.

    // raise the semaphore: triggers core
    if(sem != SEM_FAILED)
    {
        int sval;
        if(sem_getvalue(sem, &sval) == 0)
        {
            if(sval < 1)
            {
                sem_post(sem);

                // until now we were disconnected, but now we're alive and connected ...
                if(state == DISCONNECTED) {
                    fprintf(stderr, "[LolaAdaptor] I think the core is alive.\n");
                }

                drop_count = 0;
                state = CONNECTED;
            }
            else
            {
                if(drop_count == 0) {
                    fprintf(stderr, "[LolaAdaptor] dropped sensor data.\n");
                } else if(drop_count == 10) {
                    fprintf(stderr, "[LolaAdaptor] I think the core is dead.\n");
                    state = DISCONNECTED;
                }

                // don't count more than 11
                drop_count += (drop_count < 11);
            }//end if
        }
        else
        {
            fprintf(stderr, "[LolaAdaptor] I couldn't get value by sem_getvalue.\n");
        }
    }//end if SEM_FAILED
}//end notify()

void LolaAdaptor::shutdownCallback()
<--- Technically the member function 'naoth::LolaAdaptor::shutdownCallback' can be static. [+]
The member function 'naoth::LolaAdaptor::shutdownCallback' can be made a static function. Making a function static can bring a performance benefit since no 'this' instance is passed to the function. This change should not cause compiler errors but it does not necessarily make sense conceptually. Think about your design and the task of the function first - is it a function that must not access members of class instances?
{
    // play a sound that the user knows we recognized his shutdown request
    system("paplay /opt/aldebaran/share/naoqi/wav/bip_power_off.wav");

    // stop the user program
    std::cout << "[LolaAdaptor] stopping naoth" << std::endl;
    // stop naoth to trigger emergency motion
    system("killall naoth");
    // in NaoSMAL it's like this
    //system("naoth stop");

    sleep(5);

    // we are the child process, do a blocking call to shutdown
    std::cout << "[LolaAdaptor] System shutdown requested" << std::endl;
    system("/sbin/shutdown -h now");

    // await termination
    while(true) {
        sleep(100);
    }
}//end shutdownCallback