more CETL_NODISCARD

Author: serges147

include/ocvsmd/sdk/daemon.hpp

@@ -6,6 +6,7 @@
 #ifndef OCVSMD_SDK_DAEMON_HPP_INCLUDED
 #define OCVSMD_SDK_DAEMON_HPP_INCLUDED
 
+#include <cetl/cetl.hpp>
 #include <cetl/pf17/cetlpf.hpp>
 #include <libcyphal/executor.hpp>
 
@@ -21,7 +22,9 @@ namespace sdk
 class Daemon
 {
 public:
-    static std::unique_ptr<Daemon> make(cetl::pmr::memory_resource& memory, libcyphal::IExecutor& executor);
+    CETL_NODISCARD static std::unique_ptr<Daemon> make(  //
+        cetl::pmr::memory_resource& memory,
+        libcyphal::IExecutor&       executor);
 
     Daemon(Daemon&&)                 = delete;
     Daemon(const Daemon&)            = delete;

src/common/dsdl/ocvsmd/common/ipc/Route.1.0.dsdl

@@ -3,5 +3,6 @@
 uavcan.primitive.Empty.1.0 empty
 RouteConnect.1.0 connect
 RouteChannelMsg.1.0 channel_msg
+RouteChannelEnd.1.0 channel_end
 
 @sealed

src/common/dsdl/ocvsmd/common/ipc/RouteChannelEnd.1.0.dsdl

@@ -0,0 +1,5 @@
+uint64 tag
+int32 error_code
+
+# reserve twice as much as we need.
+@extent _offset_.max * 2

src/common/dsdl_helpers.hpp

@@ -6,6 +6,7 @@
 #ifndef OCVSMD_COMMON_DSDL_HELPERS_HPP_INCLUDED
 #define OCVSMD_COMMON_DSDL_HELPERS_HPP_INCLUDED
 
+#include <cetl/cetl.hpp>
 #include <cetl/pf20/cetlpf.hpp>
 
 #include <array>
@@ -21,13 +22,13 @@ namespace common
 {
 
 template <typename Message>
-static auto tryDeserializePayload(const cetl::span<const std::uint8_t> payload, Message& out_message)
+CETL_NODISCARD static auto tryDeserializePayload(const cetl::span<const std::uint8_t> payload, Message& out_message)
 {
     return deserialize(out_message, {payload.data(), payload.size()});
 }
 
 template <typename Message, typename Action>
-static int tryPerformOnSerialized(const Message& message, Action&& action)
+CETL_NODISCARD static int tryPerformOnSerialized(const Message& message, Action&& action)
 {
     // Try to serialize the message to raw payload buffer.
     //
@@ -45,8 +46,9 @@ static int tryPerformOnSerialized(const Message& message, Action&& action)
     return std::forward<Action>(action)(bytes);
 }
 
-template <typename Message, typename Result, std::size_t BufferSize, bool IsOnStack, typename Action>
-static auto tryPerformOnSerialized(const Message& message, Action&& action) -> std::enable_if_t<IsOnStack, Result>
+template <typename Message, std::size_t BufferSize, bool IsOnStack, typename Action>
+CETL_NODISCARD static auto tryPerformOnSerialized(const Message& message,
+                                                  Action&&       action) -> std::enable_if_t<IsOnStack, int>
 {
     // Try to serialize the message to raw payload buffer.
     //
@@ -57,15 +59,16 @@ static auto tryPerformOnSerialized(const Message& message, Action&& action) -> s
     const auto result_size = serialize(message, {buffer.data(), buffer.size()});
     if (!result_size)
     {
-        return Result{result_size.error()};
+        return EINVAL;
     }
 
     const cetl::span<const std::uint8_t> bytes{buffer.data(), result_size.value()};
     return std::forward<Action>(action)(bytes);
 }
 
-template <typename Message, typename Result, std::size_t BufferSize, bool IsOnStack, typename Action>
-static auto tryPerformOnSerialized(const Message& message, Action&& action) -> std::enable_if_t<!IsOnStack, Result>
+template <typename Message, std::size_t BufferSize, bool IsOnStack, typename Action>
+CETL_NODISCARD static auto tryPerformOnSerialized(const Message& message,
+                                                  Action&&       action) -> std::enable_if_t<!IsOnStack, int>
 {
     // Try to serialize the message to raw payload buffer.
     //
@@ -75,7 +78,7 @@ static auto tryPerformOnSerialized(const Message& message, Action&& action) -> s
     const auto result_size = serialize(message, {buffer->data(), buffer->size()});
     if (!result_size)
     {
-        return Result{result_size.error()};
+        return EINVAL;
     }
 
     const cetl::span<const std::uint8_t> bytes{buffer->data(), result_size.value()};

src/common/ipc/channel.hpp

@@ -11,6 +11,7 @@
 
 #include <nunavut/support/serialization.hpp>
 
+#include <cetl/cetl.hpp>
 #include <cetl/pf17/cetlpf.hpp>
 #include <libcyphal/common/crc.hpp>
 
@@ -37,7 +38,7 @@ class AnyChannel
     /// Builds a service ID from either the service name (if not empty), or message type name.
     ///
     template <typename Message>
-    static detail::ServiceId getServiceId(const cetl::string_view service_name) noexcept
+    CETL_NODISCARD static detail::ServiceId getServiceId(const cetl::string_view service_name) noexcept
     {
         const cetl::string_view srv_or_msg_name = !service_name.empty()  //
                                                       ? service_name
@@ -69,32 +70,28 @@ class Channel final : public AnyChannel
     Channel(const Channel&)            = delete;
     Channel& operator=(const Channel&) = delete;
 
-    using SendFailure = nunavut::support::Error;
-    using SendResult  = cetl::optional<SendFailure>;
-
-    SendResult send(const Output& output)
+    CETL_NODISCARD int send(const Output& output)
     {
         constexpr std::size_t BufferSize = Output::_traits_::SerializationBufferSizeBytes;
         constexpr bool        IsOnStack  = BufferSize <= MsgSmallPayloadSize;
 
-        return tryPerformOnSerialized<Output, SendResult, BufferSize, IsOnStack>(  //
+        return tryPerformOnSerialized<Output, BufferSize, IsOnStack>(  //
             output,
             [this](const auto payload) {
                 //
-                gateway_->send(service_id_, payload);
-                return cetl::nullopt;
+                return gateway_->send(service_id_, payload);
             });
     }
 
     void subscribe(EventHandler event_handler)
     {
         if (event_handler)
         {
-            gateway_->subscribe(
-                [adapter = Adapter{memory_, std::move(event_handler)}](const GatewayEvent::Var& ge_var) {
-                    //
-                    cetl::visit(adapter, ge_var);
-                });
+            auto adapter = Adapter{memory_, std::move(event_handler)};
+            gateway_->subscribe([adapter = std::move(adapter)](const GatewayEvent::Var& ge_var) {
+                //
+                cetl::visit(adapter, ge_var);
+            });
         }
         else
         {