A formal coding standard is not enforced, but the following guidelines are recommended to ensure code quality and maintainability. A more comprehensive coding standard with properly configured static analysis tools would be a great contribution to the library.

The Fancy Safe Bot (FSB) library coding standard follows MISRA C++ 2023 and CPP Core Guidelines with some deviations. If you don't have access to a MISRA standard document, you may reference many of the guidelines from µOS++ coding style, Mathworks Polyspace and SonarLint performs static analysis for MISRA C++ 2023 rules listed here. ClangTidy static analysis is also applied with rules specified in .clang-tidy configuration file.

The formatting tool ClangFormat is used to enforce a coding style based on "WebKit" defaults and overridden rules in the .clang-format configuration file.

Note: The FSB library is not intended to be used in safety-critical applications without proper validation and verification. The coding standard is a guideline to help developers write safe and maintainable code, but it does not guarantee safety or correctness in all situations.

The Portable Operating System Interface (POSIX)

POSIX is a family of standard Application Programming Interfaces that allow code to be portable across operating systems. In an attempt to provide portability across Real-Time Operating Systems (RTOS), the FSB library targets POSIX-certified operating systems such as Linux and QNX. FSB system calls and POSIX-related routines are optional and kept separate from the core library.

MISRA Conformance

The FSB library is designed to be compliant with the MISRA C++ 2023 coding standard. The following sections outline the notable deviations from the MISRA C++ 2023 standard and the rationale behind them.

URDF Parsing

The FSB library includes a URDF parser that is not MISRA compliant. The URDF parser is intended to only be used when initializing the robot model tree and should not be used in the safety-critical portion of the application typically during real-time operation of a robot.