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Talk: 12-Schneider

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Talk-12: Leveraging the Compiler: Static Analysis in Marine Robotic Systems

Toby Schneider, GobySoft, LLC

Given the complication and cost of fielding marine systems, we are all keen to find and fix bugs as early as possible. The earliest step is often compilation of our code (assuming C++ which is widely used for MOOS and Goby). The new C++ standards (C++11, C++14, C++17) put increasing emphasis on writing generic and statically checkable code. In addition, the modular Clang C++ compiler makes it easier than ever to write tools using parts of the compiler.

Rather than just use compilation to ensure our code is syntatically and grammatically compliant from a standpoint of the core C++ language, we can leverage this system to explore a much richer set of compile time checks. This talk will review a variety of such techniques that I have found useful in building marine robotics software using C++ and deployed in the MOOS, Goby, and ROS middlewares.

Some of these techniques presented are fully implemented and usable now; others are more conceptual and are partially intended to spur discussion and spark new ideas.

The ready to use category includes:

For the more conceptual category I will present:

Further NOTE:

The companion examples repo can be found here:

https://github.com/GobySoft/moos-dawg-static-analysis-examples

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