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fix: clang-tidy compliance + fix renoir shared pool config for camera buffers #2

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Merged
Nil69420 merged 1 commit into from
Mar 27, 2026
Merged

fix: clang-tidy compliance + fix renoir shared pool config for camera buffers #2

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2 changes: 1 addition & 1 deletion .clang-tidy
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Expand Up @@ -27,7 +27,7 @@ Checks: >

WarningsAsErrors: '*'

HeaderFilterRegex: 'include/.*\.h$'
HeaderFilterRegex: 'mujoco_drones/include/.*\.h$'

Copilot AI Mar 27, 2026

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HeaderFilterRegex is now hard-coded to mujoco_drones/include/..., which will stop clang-tidy from analyzing project headers when the repo is checked out into a differently named directory (common in local builds and some CI setups). Prefer a path-agnostic regex (e.g., matching /include/ anywhere) and exclude external headers via a negative match instead of baking in the repo directory name.

Suggested change
HeaderFilterRegex: 'mujoco_drones/include/.*\.h$'
HeaderFilterRegex: '^(?!.*(/third_party/|/external/|/build/)).*/include/.*\.h$'

Copilot uses AI. Check for mistakes.

CheckOptions:
- key: readability-braces-around-statements.ShortStatementLines
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4 changes: 3 additions & 1 deletion include/controller.h
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Expand Up @@ -10,7 +10,9 @@ void ctrl_update(sim_t *sim);
void quat_to_euler(const double q[4], double *roll, double *pitch, double *yaw);

static inline double clampd(double v, double lo, double hi) {
return v < lo ? lo : (v > hi ? hi : v);
if (v < lo) return lo;
if (v > hi) return hi;
return v;
}

#endif
8 changes: 5 additions & 3 deletions include/foxglove/foxglove.h
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Expand Up @@ -5,9 +5,11 @@
#include <stdbool.h>
#include <stdint.h>

#define FG_DEFAULT_PORT 8765
#define FG_MAX_CLIENTS 4
#define FG_MAX_CHANNELS 16
enum {
FG_DEFAULT_PORT = 8765,
FG_MAX_CLIENTS = 4,
FG_MAX_CHANNELS = 16,
};

typedef struct foxglove_bridge foxglove_bridge_t;

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2 changes: 1 addition & 1 deletion include/foxglove/proto.h
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Expand Up @@ -17,7 +17,7 @@ typedef struct {
uint32_t channel_id;
} fg_subscription_t;

#define FG_MAX_SUBS 32
enum { FG_MAX_SUBS = 32 };

typedef struct {
int fd;
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12 changes: 7 additions & 5 deletions include/foxglove/ws.h
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Expand Up @@ -5,11 +5,13 @@
#include <stdint.h>
#include <sys/types.h>

#define WS_OP_TEXT 0x1
#define WS_OP_BIN 0x2
#define WS_OP_CLOSE 0x8
#define WS_OP_PING 0x9
#define WS_OP_PONG 0xA
enum {
WS_OP_TEXT = 0x1,
WS_OP_BIN = 0x2,
WS_OP_CLOSE = 0x8,
WS_OP_PING = 0x9,
WS_OP_PONG = 0xA,
};

int ws_send_frame(int fd, uint8_t opcode, const void *data, size_t len);
ssize_t ws_recv_frame(int fd, uint8_t *buf, size_t buf_sz, uint8_t *opcode);
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28 changes: 20 additions & 8 deletions include/sensors/noise.h
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Expand Up @@ -2,22 +2,34 @@
#define MUJOCO_DRONES_NOISE_H

#include <math.h>
#include <stdlib.h>
#include <stdint.h>

static inline void noise_seed(uint64_t seed) {
srand48((long)seed);
typedef struct {
uint64_t state;
} noise_rng_t;

static inline void noise_seed(noise_rng_t *rng, uint64_t seed) {
rng->state = seed;
}

static inline double noise_uniform(noise_rng_t *rng) {
uint64_t z = (rng->state += 0x9e3779b97f4a7c15ULL);
z = (z ^ (z >> 30)) * 0xbf58476d1ce4e5b9ULL;
z = (z ^ (z >> 27)) * 0x94d049bb133111ebULL;
z ^= z >> 31;
return (double)(z >> 11) * 0x1.0p-53;
}

static inline double noise_gaussian(double stddev) {
double u1 = drand48();
double u2 = drand48();
static inline double noise_gaussian(noise_rng_t *rng, double stddev) {
double u1 = noise_uniform(rng);
double u2 = noise_uniform(rng);
if (u1 < 1e-15) u1 = 1e-15;
return stddev * sqrt(-2.0 * log(u1)) * cos(2.0 * M_PI * u2);
}

static inline double noise_random_walk(double *state, double stddev, double dt) {
*state += noise_gaussian(stddev * sqrt(dt));
static inline double noise_random_walk(noise_rng_t *rng, double *state,
double stddev, double dt) {
*state += noise_gaussian(rng, stddev * sqrt(dt));
return *state;
}

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2 changes: 1 addition & 1 deletion include/sensors/sensor_types.h
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Expand Up @@ -45,7 +45,7 @@ typedef struct {
double altitude_m;
} sensor_baro_t;

#define LIDAR_MAX_RAYS 360
enum { LIDAR_MAX_RAYS = 360 };

typedef struct {
sensor_header_t header;
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3 changes: 3 additions & 0 deletions include/sensors/sensors.h
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Expand Up @@ -6,6 +6,7 @@
#include <stdint.h>

#include "sensors/sensor_types.h"
#include "sensors/noise.h"
#include "transport/transport.h"
#include "setpoint.h"

Expand Down Expand Up @@ -98,6 +99,8 @@ typedef struct {

double gyro_bias[3];
double accel_bias[3];

noise_rng_t rng;
} sensor_mgr_t;

sensor_config_t sensor_default_config(void);
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2 changes: 1 addition & 1 deletion include/types.h
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Expand Up @@ -13,7 +13,7 @@
#define MOTOR_KF 8.54858e-6
#define MAX_OMEGA 838.0
#define MAX_THRUST (MOTOR_KF * MAX_OMEGA * MAX_OMEGA)
#define NUM_ROTORS 4
enum { NUM_ROTORS = 4 };

typedef struct {
double kp_z, kd_z, ki_z;
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Empty file modified run.sh
100644 → 100755
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Empty file.
20 changes: 10 additions & 10 deletions src/foxglove/base64.c
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Expand Up @@ -4,17 +4,17 @@ static const char b64_table[] =
"ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/";

size_t fg_base64_encode(const uint8_t *in, size_t len, char *out) {
size_t o = 0;
size_t pos = 0;
for (size_t i = 0; i < len; i += 3) {
uint32_t v = (uint32_t)in[i] << 16;
if (i + 1 < len) v |= (uint32_t)in[i+1] << 8;
if (i + 2 < len) v |= (uint32_t)in[i+2];
uint32_t val = (uint32_t)in[i] << 16;
if (i + 1 < len) val |= (uint32_t)in[i+1] << 8;
if (i + 2 < len) val |= (uint32_t)in[i+2];

out[o++] = b64_table[(v >> 18) & 0x3FU];
out[o++] = b64_table[(v >> 12) & 0x3FU];
out[o++] = (char)((i + 1 < len) ? b64_table[(v >> 6) & 0x3FU] : '=');
out[o++] = (char)((i + 2 < len) ? b64_table[v & 0x3FU] : '=');
out[pos++] = b64_table[(val >> 18) & 0x3FU];
out[pos++] = b64_table[(val >> 12) & 0x3FU];
out[pos++] = (char)((i + 1 < len) ? b64_table[(val >> 6) & 0x3FU] : '=');
out[pos++] = (char)((i + 2 < len) ? b64_table[val & 0x3FU] : '=');
}
out[o] = '\0';
return o;
out[pos] = '\0';
return pos;
}
144 changes: 78 additions & 66 deletions src/foxglove/bridge.c
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Expand Up @@ -46,6 +46,80 @@ static const struct {
};
#define NUM_DRONE_TOPICS (int)(sizeof(DRONE_TOPICS) / sizeof(DRONE_TOPICS[0]))

static void bridge_accept_connection(foxglove_bridge_t *br) {
int cfd = accept(br->listen_fd, NULL, NULL);
if (cfd < 0) return;

int slot = -1;
for (int i = 0; i < FG_MAX_CLIENTS; i++) {
if (!br->clients[i].alive) { slot = i; break; }
}

if (slot < 0 || ws_accept_handshake(cfd) != 0) {
close(cfd);
return;
}

br->clients[slot].fd = cfd;
br->clients[slot].alive = true;
br->clients[slot].num_subs = 0;

fg_send_server_info(cfd);
fg_send_advertise(cfd, br->channels, br->num_channels);
fprintf(stderr, "[foxglove] client connected (slot %d)\n", slot);
}

static void bridge_handle_client_data(foxglove_bridge_t *br, int ci,
uint8_t *recv_buf, size_t buf_sz) {
uint8_t opcode = 0;
ssize_t plen = ws_recv_frame(br->clients[ci].fd,
recv_buf, buf_sz, &opcode);

if (plen < 0 || opcode == WS_OP_CLOSE) {
fprintf(stderr, "[foxglove] client disconnected (slot %d)\n", ci);
fg_close_client(&br->clients[ci]);
} else if (opcode == WS_OP_TEXT && plen > 0) {
fg_handle_client_message(&br->clients[ci],
(const char *)recv_buf, (size_t)plen);
} else if (opcode == WS_OP_PING) {
ws_send_frame(br->clients[ci].fd, WS_OP_PONG,
recv_buf, (size_t)plen);
}
}

static void bridge_broadcast_channel(foxglove_bridge_t *br, int ch,
uint8_t *msg_buf, size_t msg_buf_sz,
char *json_buf, size_t json_buf_sz) {
size_t out_len = 0;
int rc = transport_read_next(&br->subs[ch],
msg_buf, msg_buf_sz, &out_len);
if (rc != 0 || out_len == 0) return;

int jlen = fg_serializers[ch](msg_buf, json_buf, json_buf_sz);
if (jlen <= 0 || jlen >= (int)json_buf_sz) return;

uint64_t ts = 0;
if (out_len >= sizeof(sensor_header_t)) {
const sensor_header_t *hdr = (const sensor_header_t *)msg_buf;
ts = hdr->timestamp_ns;
}

uint32_t ch_id = br->channels[ch].id;
for (int ci = 0; ci < FG_MAX_CLIENTS; ci++) {
if (!br->clients[ci].alive) continue;

const fg_subscription_t *sub = fg_find_sub(&br->clients[ci], ch_id);
if (!sub) continue;

if (fg_send_message(br->clients[ci].fd, sub->sub_id,
ts, json_buf, (size_t)jlen) != 0) {
fprintf(stderr, "[foxglove] send failed, dropping client %d\n",
ci);
fg_close_client(&br->clients[ci]);
}
}
}

static void *bridge_thread(void *arg) {
foxglove_bridge_t *br = arg;

Expand All @@ -72,83 +146,21 @@ static void *bridge_thread(void *arg) {
int ready = poll(pfds, (nfds_t)nfds, 10);

if (ready > 0 && (pfds[0].revents & POLLIN)) {
int cfd = accept(br->listen_fd, NULL, NULL);
if (cfd >= 0) {
int slot = -1;
for (int i = 0; i < FG_MAX_CLIENTS; i++) {
if (!br->clients[i].alive) { slot = i; break; }
}

if (slot < 0 || ws_accept_handshake(cfd) != 0) {
close(cfd);
} else {
br->clients[slot].fd = cfd;
br->clients[slot].alive = true;
br->clients[slot].num_subs = 0;

fg_send_server_info(cfd);
fg_send_advertise(cfd, br->channels, br->num_channels);

fprintf(stderr, "[foxglove] client connected (slot %d)\n",
slot);
}
}
bridge_accept_connection(br);
}

int pfd_idx = 1;
for (int i = 0; i < FG_MAX_CLIENTS; i++) {
if (!br->clients[i].alive) continue;

if (pfd_idx < nfds && (pfds[pfd_idx].revents & POLLIN)) {
uint8_t opcode = 0;
ssize_t plen = ws_recv_frame(br->clients[i].fd,
recv_buf, sizeof(recv_buf),
&opcode);
if (plen < 0 || opcode == WS_OP_CLOSE) {
fprintf(stderr, "[foxglove] client disconnected (slot %d)\n",
i);
fg_close_client(&br->clients[i]);
} else if (opcode == WS_OP_TEXT && plen > 0) {
fg_handle_client_message(&br->clients[i],
(const char *)recv_buf, (size_t)plen);
} else if (opcode == WS_OP_PING) {
ws_send_frame(br->clients[i].fd, WS_OP_PONG,
recv_buf, (size_t)plen);
}
bridge_handle_client_data(br, i, recv_buf, sizeof(recv_buf));
}
pfd_idx++;
}

for (int ch = 0; ch < br->num_channels; ch++) {
size_t out_len = 0;
int rc = transport_read_next(&br->subs[ch],
msg_buf, sizeof(msg_buf),
&out_len);
if (rc != 0 || out_len == 0) continue;

int jlen = fg_serializers[ch](msg_buf, json_buf, sizeof(json_buf));
if (jlen <= 0 || jlen >= (int)sizeof(json_buf)) continue;

uint64_t ts = 0;
if (out_len >= sizeof(sensor_header_t)) {
const sensor_header_t *hdr = (const sensor_header_t *)msg_buf;
ts = hdr->timestamp_ns;
}

uint32_t ch_id = br->channels[ch].id;
for (int ci = 0; ci < FG_MAX_CLIENTS; ci++) {
if (!br->clients[ci].alive) continue;

const fg_subscription_t *sub = fg_find_sub(&br->clients[ci], ch_id);
if (!sub) continue;

if (fg_send_message(br->clients[ci].fd, sub->sub_id,
ts, json_buf, (size_t)jlen) != 0) {
fprintf(stderr, "[foxglove] send failed, dropping "
"client %d\n", ci);
fg_close_client(&br->clients[ci]);
}
}
bridge_broadcast_channel(br, ch, msg_buf, sizeof(msg_buf),
json_buf, sizeof(json_buf));
}
}

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30 changes: 15 additions & 15 deletions src/foxglove/proto.c
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Expand Up @@ -75,11 +75,11 @@ int fg_send_message(int fd, uint32_t sub_id, uint64_t timestamp_ns,
}

uint32_t fg_parse_uint(const char *s, const char *key) {
const char *p = strstr(s, key);
if (!p) return 0;
p += strlen(key);
while (*p && (*p == ':' || *p == ' ' || *p == '"')) p++;
return (uint32_t)strtoul(p, NULL, 10);
const char *pos = strstr(s, key);
if (!pos) return 0;
pos += strlen(key);
while (*pos && (*pos == ':' || *pos == ' ' || *pos == '"')) pos++;
return (uint32_t)strtoul(pos, NULL, 10);
}

void fg_handle_client_message(fg_client_t *client, const char *msg,
Expand All @@ -98,23 +98,23 @@ void fg_handle_client_message(fg_client_t *client, const char *msg,
client->num_subs++;
}
} else if (strstr(buf, "\"unsubscribe\"")) {
const char *p = strstr(buf, "\"subscriptionIds\"");
if (p) {
p = strchr(p, '[');
if (p) {
p++;
while (*p && *p != ']') {
const char *pos = strstr(buf, "\"subscriptionIds\"");
if (pos) {
pos = strchr(pos, '[');
if (pos) {
pos++;
while (*pos && *pos != ']') {
char *end = NULL;
uint32_t sub_id = (uint32_t)strtoul(p, &end, 10);
if (end == p) break;
uint32_t sub_id = (uint32_t)strtoul(pos, &end, 10);
if (end == pos) break;
for (int i = 0; i < client->num_subs; i++) {
if (client->subs[i].sub_id == sub_id) {
client->subs[i] = client->subs[--client->num_subs];
break;
}
}
p = end;
while (*p == ',' || *p == ' ') p++;
pos = end;
while (*pos == ',' || *pos == ' ') pos++;
}
}
}
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