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Check the generated C code of analytic IK against MISRA C

Abierto
  • ¿Algo no está bien?
#839 0 comentarios 0 reacciones 0 asignados Ver en GitHub

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Evaluación

Dificultad
4/5
Tiempo estimado
3-5 días
Aptitud para principiantes
48/100
Tipo de issue
Refactorización
Claridad
Bastante claro
Estado de actividad
Activo
Stack tecnológico
c, cpp, python
Área
embedded-iot, robotics

Línea de trabajo

On the feat/symbolic-ik branch, read src/roboticstoolbox/robot/symbolic_ik.py and symbolic_ik_rr.py; use docs/notebooks/ik-symbolic.ipynb to generate the Puma and Jaco C files. Run a MISRA C checker, record violations by rule, and identify inexpensive generator fixes. Done when cheap fixes are made and remaining deviations are documented.

Escrito por el modelo de indexación a partir del texto del issue.

Descripción

help wanted

Analytic inverse kinematics can write its solution as C code that needs no library: robot.analytic_ik().generate("c", "my_ik"). This is on the branch feat/symbolic-ik and is not yet merged. We would like to know how close that C code is to MISRA C, since it is meant for embedded use, and to fix the generator where that is cheap.

What we know. I checked the generated C for the Puma 560, Stanford, UR5 and Jaco:

  • no malloc, calloc, realloc or free
  • no input or output, and no goto, setjmp or longjmp
  • no library other than math.h, and string.h for the general 6R code
  • fixed-size working arrays, and the caller provides the array for the solutions
  • no recursion and no variable-length arrays
  • no warnings with cc -std=c99 -pedantic -Wall -Wextra -Wvla

What we don't know. The code has not been checked against MISRA C:2012 or any other coding standard, so we say only that it avoids dynamic memory, not that it is compliant. The C++ output returns a std::vector, which allocates, and is out of scope here.

Help wanted:

  • run a MISRA checker on the generated Puma and Jaco files (for example cppcheck with its MISRA addon, or a commercial tool)
  • list the violations by rule, and say which look cheap to fix in the generator, for example floating-point equality, NAN, multiple returns, or implicit conversions
  • fix those, and document the deviations that we keep

The generator is symbolic_ik.py and symbolic_ik_rr.py in src/roboticstoolbox/robot/ on that branch. The notebook docs/notebooks/ik-symbolic.ipynb shows how to generate the code.

🤖 Generated with Claude Code

Lenguaje dominante
C++
Estrellas
3.6k
Forks
645
Merge medio
1 d 8 h
PR fusionados (30 d)
144

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