systems 4About Me Other interests: Game engines Meta-programming 5Robot path planning 6Robot path planning Path planning 7Path planning How an (autonomous) agent figures out how to get from one location 28High level goals of this talk Implement cache-friendly path planning code in C++ 29High level goals of this talk Implement cache-friendly path planning code in C++ Do so using the STL 30High level talk Implement cache-friendly path planning code in C++ Do so using the STL Try to keep our choices simple 31High level goals of this talk Implement cache-friendly path planning code in C++ Do so using

Finding Bugs using Path-Sensitive Static Analysis Gábor Horváth Gabor.Horvath@microsoft.com @XazaxHunWelcome to CppCon 2021! Join #visual_studio channel on CppCon Discord https://aka.ms/cppcon/discord the latest announcements Take our survey https://aka.ms/cppconAgenda • Intro to path-sensitive static analysis • Path-sensitive checks in MSVC • A look under the hood • Upcoming features • Lessons taking branch 3 • All warnings on infeasible paths are noise • Need info on the whole state! void path_sensitive(int *p, bool cond) { int var = 0; // branch 1 if (p != nullptr) { var =

occupancy map at all times ● Solution: The robot will send a request to a ROS 2 service that generates a path from the robot’s current location and goal location, given an occupancy map Clip from https://www PathGenerator( rclcpp::NodeOptions const& options = rclcpp::NodeOptions{}) : Node("path_generator", options); private: void set_map_service( const std::shared_ptr equest> request, std::shared_ptr response); void generate_path_service( const std::shared_ptr request, std::shared_ptr

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Per-field atomics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306 24.7 Side effects and mutable function arguments . . . . . . . . . . . . . . . . . . . . . 307CONTENTS v 24.8 @threadcall undefined. It is strongly recommended not to use expressions with side effects (such as printing) in chained comparisons. If side effects are required, the short-circuit && operator should be used explicitly Returning nothing For functions that do not need to return a value (functions used only for some side effects), the Julia convention is to return the value nothing: function printx(x) println("x = $x") return

Per-field atomics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306 24.7 Side effects and mutable function arguments . . . . . . . . . . . . . . . . . . . . . 307CONTENTS v 24.8 @threadcall undefined. It is strongly recommended not to use expressions with side effects (such as printing) in chained comparisons. If side effects are required, the short-circuit && operator should be used explicitly Returning nothing For functions that do not need to return a value (functions used only for some side effects), the Julia convention is to return the value nothing: function printx(x) println("x = $x") return

Communication and data-races between threads . . . . . . . . . . . . . . . . . . . 323 25.5 Side effects and mutable function arguments . . . . . . . . . . . . . . . . . . . . . 326 25.6 @threadcall . you uninstall all previous Julia versions, ensure that you remove anything Julia related from your PATH variable and then install Julia with one of the methods described below. 3.1 Windows On Windows install the lts channel and configure it as the default. • --add-to-path=: Configure whether Julia should be added to the PATH environment vari- able. Valid values are yes (default) and no. •

Communication and data-races between threads . . . . . . . . . . . . . . . . . . . 323 25.5 Side effects and mutable function arguments . . . . . . . . . . . . . . . . . . . . . 326 25.6 @threadcall . you uninstall all previous Julia versions, ensure that you remove anything Julia related from your PATH variable and then install Julia with one of the methods described below. 3.1 Windows On Windows install the lts channel and configure it as the default. • --add-to-path=: Configure whether Julia should be added to the PATH environment vari- able. Valid values are yes (default) and no. •

Communication and data-races between threads . . . . . . . . . . . . . . . . . . . 323 25.5 Side effects and mutable function arguments . . . . . . . . . . . . . . . . . . . . . 326 25.6 @threadcall . you uninstall all previous Julia versions, ensure that you remove anything Julia related from your PATH variable and then install Julia with one of the methods described below. 3.1 Windows On Windows install the lts channel and configure it as the default. • --add-to-path=: Configure whether Julia should be added to the PATH environment vari- able. Valid values are yes (default) and no. •

Communication and data-races between threads . . . . . . . . . . . . . . . . . . . 326 25.5 Side effects and mutable function arguments . . . . . . . . . . . . . . . . . . . . . 329 25.6 @threadcall . you uninstall all previous Julia versions, ensure that you remove anything Julia related from your PATH variable and then install Julia with one of the methods described below. 3.1 Windows On Windows install the lts channel and configure it as the default. • --add-to-path=: Configure whether Julia should be added to the PATH environment vari- able. Valid values are yes (default) and no. •

Communication and data-races between threads . . . . . . . . . . . . . . . . . . . 326 25.5 Side effects and mutable function arguments . . . . . . . . . . . . . . . . . . . . . 329 25.6 @threadcall . you uninstall all previous Julia versions, ensure that you remove anything Julia related from your PATH variable and then install Julia with one of the methods described below. 3.1 Windows On Windows install the lts channel and configure it as the default. • --add-to-path=: Configure whether Julia should be added to the PATH environment vari- able. Valid values are yes (default) and no. •