Application layer libcyphal::application::Node and its `HeartbeatPr…

…oducer` & `GetInfoProvider` sub-components. (#386)

- Implemented application layer `Node` class.
- Temporary switch to the specific Nunavut commit, where I've made
necessary fixes (see OpenCyphal/nunavut#346)
  - switch to "pmr" flavor of Nunavut c++ code generation
- modify libcyphal to pass now required pmr allocator to ctor-s of
Nunavut generated messages/requests/responses
- Added new application layer example:
"example_2_application_0_node_hb_getinfo_udp" - demonstrates how to make
a simple libcyphal node using application layer `Node` class.
- Addressed some todos
- A bit more docs

.github/workflows/sonar.yml

@@ -22,7 +22,7 @@ jobs:
  fetch-depth: 0 # Shallow clones should be disabled for a better relevancy of analysis
  - name: get nunavut
  run: >
- pip install nunavut
+ pip install git+https://github.com/OpenCyphal/nunavut.git@9b001f92122cf5ad838532eef520791fa387eb6d
  - name: Install sonar-scanner and build-wrapper
  uses: SonarSource/sonarcloud-github-c-cpp@v2
  - name: Run tests

.github/workflows/tests.yml

@@ -30,7 +30,7 @@ jobs:
  - name: get nunavut
  # TODO: setup a venv, cache, and distribute to the other jobs.
  run: >
- pip install nunavut
+ pip install git+https://github.com/OpenCyphal/nunavut.git@9b001f92122cf5ad838532eef520791fa387eb6d
  - name: configure
  run: >
  ./build-tools/bin/verify.py
@@ -70,7 +70,7 @@ jobs:
  key: ${{ runner.os }}-${{ hashFiles('cmake/modules/*.cmake') }}
  - name: get nunavut
  run: >
- pip install nunavut
+ pip install git+https://github.com/OpenCyphal/nunavut.git@9b001f92122cf5ad838532eef520791fa387eb6d
  - name: run tests
  env:
  GTEST_COLOR: yes
@@ -115,7 +115,7 @@ jobs:
  key: ${{ runner.os }}-${{ hashFiles('cmake/modules/*.cmake') }}
  - name: get nunavut
  run: >
- pip install nunavut
+ pip install git+https://github.com/OpenCyphal/nunavut.git@9b001f92122cf5ad838532eef520791fa387eb6d
  - name: doc-gen
  run: >
  ./build-tools/bin/verify.py

.gitignore

@@ -13,3 +13,6 @@ external/**/*
 # JetBrains
 .idea/*
 cmake-build-*/
+
+# Python
+.venv

cmake/modules/Findnnvg.cmake

@@ -48,7 +48,12 @@ function (_init_nnvg_command_args)
  # Set up common args used for all invocations of nnvg
  list(APPEND LOCAL_NNVG_CMD_ARGS "--experimental-languages" "--target-language=cpp")
  list(APPEND LOCAL_NNVG_CMD_ARGS "-O" ${ARG_OUTPUT_FOLDER})
- list(APPEND LOCAL_NNVG_CMD_ARGS "--language-standard=c++${CMAKE_CXX_STANDARD}")
+
+ if (CMAKE_CXX_STANDARD STREQUAL "14")
+ list(APPEND LOCAL_NNVG_CMD_ARGS "--language-standard=cetl++14-17")
+ else ()
+ list(APPEND LOCAL_NNVG_CMD_ARGS "--language-standard=c++${CMAKE_CXX_STANDARD}-pmr")
+ endif ()
  # support files must be generated in a discrete rule to avoid multiple rules
  # trying to generate the same file.
 

docs/examples/0_transport/example_0_transport_1_heartbeat_getinfo_udp.cpp

@@ -93,10 +93,11 @@ class Example_0_Transport_1_Heartbeat_GetInfo_Udp : public testing::Test
 
  struct State
  {
- posix::UdpMedia::Collection media_collection_;
- UdpTransportPtr transport_;
- NodeHelpers::Heartbeat heartbeat_;
- NodeHelpers::GetInfo get_info_;
+ cetl::pmr::memory_resource& mr_;
+ posix::UdpMedia::Collection media_collection_{};
+ UdpTransportPtr transport_{nullptr};
+ NodeHelpers::Heartbeat heartbeat_{mr_};
+ NodeHelpers::GetInfo get_info_{mr_};
 
  }; // State
 
@@ -114,7 +115,7 @@ class Example_0_Transport_1_Heartbeat_GetInfo_Udp : public testing::Test
 
 TEST_F(Example_0_Transport_1_Heartbeat_GetInfo_Udp, main)
 {
- State state;
+ State state{mr_};
 
  // Make UDP transport with collection of media.
  //

docs/examples/0_transport/example_0_transport_2_heartbeat_getinfo_linux_can.cpp

@@ -95,10 +95,11 @@ class Example_0_Transport_2_Heartbeat_GetInfo_Can : public testing::Test
 
  struct State
  {
- Linux::CanMedia::Collection media_collection_;
- CanTransportPtr transport_;
- NodeHelpers::Heartbeat heartbeat_;
- NodeHelpers::GetInfo get_info_;
+ cetl::pmr::memory_resource& mr_;
+ Linux::CanMedia::Collection media_collection_{};
+ CanTransportPtr transport_{nullptr};
+ NodeHelpers::Heartbeat heartbeat_{mr_};
+ NodeHelpers::GetInfo get_info_{mr_};
 
  }; // State
 
@@ -116,7 +117,7 @@ class Example_0_Transport_2_Heartbeat_GetInfo_Can : public testing::Test
 
 TEST_F(Example_0_Transport_2_Heartbeat_GetInfo_Can, main)
 {
- State state;
+ State state{mr_};
 
  // Make CAN transport with collection of media.
  //

docs/examples/1_presentation/example_1_presentation_1_ping_user_service_udp.cpp

@@ -81,6 +81,8 @@ namespace UserService
 template <bool IsRequest>
 struct Ping final
 {
+ using allocator_type = cetl::pmr::polymorphic_allocator<void>;
+
  static constexpr PortId ServiceId = 147;
 
  struct _traits_
@@ -89,6 +91,19 @@ struct Ping final
  static constexpr std::size_t SerializationBufferSizeBytes = sizeof(std::uint64_t);
  };
 
+ Ping() = default;
+
+ explicit Ping(const std::uint64_t _id)
+ : id{_id}
+ {
+ }
+
+ // Allocator constructor
+ explicit Ping(const allocator_type& allocator)
+ {
+ (void) allocator;
+ }
+
  std::uint64_t id{}; // NOLINT
 
  nunavut::support::SerializeResult serialize(nunavut::support::bitspan out_buffer) const
@@ -187,10 +202,11 @@ class Example_1_Presentation_1_PingUserService_Udp : public testing::Test
 
  struct PingPongState
  {
+ cetl::pmr::memory_resource& mr;
  const std::string name;
  CommonHelpers::RunningStats& stats;
  TimePoint req_start;
- UserService::PingRequest request{};
+ UserService::PingRequest request{UserService::PingRequest::allocator_type{&mr}};
  cetl::optional<PongPromise> promise;
  };
  void processPingPongResult(PingPongState& state, const PongPromise::Callback::Arg& arg)
@@ -245,6 +261,7 @@ class Example_1_Presentation_1_PingUserService_Udp : public testing::Test
 
 TEST_F(Example_1_Presentation_1_PingUserService_Udp, main)
 {
+ using PingRequest = UserService::PingRequest;
  using PingClient = Client<UserService::PingRequest, UserService::PongResponse>;
  using PingServer = Server<UserService::PingRequest, UserService::PongResponse>;
  using PongContinuation = PingServer::OnRequestCallback::Continuation;
@@ -297,8 +314,12 @@ TEST_F(Example_1_Presentation_1_PingUserService_Udp, main)
  auto delay_cb = executor_.registerCallback([&ping_contexts, id = unique_request_id](const auto& cb_arg) {
  //
  auto& ping_context = ping_contexts[id];
+
+ UserService::PongResponse response{};
+ response.id = std::get<2>(ping_context).id;
+
  auto& continuation = std::get<0>(ping_context);
- continuation(cb_arg.approx_now + 1s, UserService::PongResponse{std::get<2>(ping_context).id});
+ continuation(cb_arg.approx_now + 1s, response);
  ping_contexts.erase(id);
  });
  delay_cb.schedule(Callback::Schedule::Once{arg.approx_now + 10ms + (10ms * (arg.request.id % 3))});
@@ -322,9 +343,9 @@ TEST_F(Example_1_Presentation_1_PingUserService_Udp, main)
  // (the `id` field), which will implicitly affect the order of responses (see server setup).
  //
  CommonHelpers::RunningStats ping_pong_stats;
- std::array<PingPongState, 3> ping_pong_states{PingPongState{"A", ping_pong_stats, {}, {1000}, {}},
- PingPongState{"B", ping_pong_stats, {}, {2000}, {}},
- PingPongState{"C", ping_pong_stats, {}, {3000}, {}}};
+ std::array<PingPongState, 3> ping_pong_states{PingPongState{mr_, "A", ping_pong_stats, {}, PingRequest{1000}, {}},
+ PingPongState{mr_, "B", ping_pong_stats, {}, PingRequest{2000}, {}},
+ PingPongState{mr_, "C", ping_pong_stats, {}, PingRequest{3000}, {}}};
  //
  const auto make_ping_request = [this, &ping_client](PingPongState& state) {
  //

docs/examples/1_presentation/example_1_presentation_2_heartbeat_getinfo_udp.cpp

@@ -96,32 +96,42 @@ class Example_1_Presentation_2_Heartbeat_GetInfo_Udp : public testing::Test
  EXPECT_THAT(mr_.total_allocated_bytes, mr_.total_deallocated_bytes);
  }
 
- NodeHelpers::Heartbeat::Message makeHeartbeatMsg(const libcyphal::TimePoint now, const bool is_warn = false) const
+ NodeHelpers::Heartbeat::Message makeHeartbeatMsg(const libcyphal::TimePoint now, const bool is_warn = false)
  {
+ using Message = NodeHelpers::Heartbeat::Message;
+
+ Message message{mr_alloc_};
+
  const auto uptime_in_secs = std::chrono::duration_cast<std::chrono::seconds>(now - startup_time_);
- return {static_cast<std::uint32_t>(uptime_in_secs.count()),
- {is_warn ? uavcan::node::Health_1_0::WARNING : uavcan::node::Health_1_0::NOMINAL},
- {is_warn ? uavcan::node::Mode_1_0::MAINTENANCE : uavcan::node::Mode_1_0::OPERATIONAL}};
+
+ message.uptime = static_cast<std::uint32_t>(uptime_in_secs.count());
+ message.health.value = is_warn ? uavcan::node::Health_1_0::WARNING : uavcan::node::Health_1_0::NOMINAL;
+ message.mode.value = is_warn ? uavcan::node::Mode_1_0::MAINTENANCE : uavcan::node::Mode_1_0::OPERATIONAL;
+
+ return message;
  }
 
  // MARK: Data members:
  // NOLINTBEGIN
 
  struct State
  {
- posix::UdpMedia::Collection media_collection_;
- UdpTransportPtr transport_;
- NodeHelpers::Heartbeat heartbeat_;
- uavcan::node::GetInfo_1_0::Response get_info_response{{1, 0}};
+ cetl::pmr::memory_resource& mr_;
+ posix::UdpMedia::Collection media_collection_{};
+ UdpTransportPtr transport_{nullptr};
+ NodeHelpers::Heartbeat heartbeat_{mr_};
+ cetl::pmr::polymorphic_allocator<void> mr_alloc_{&mr_};
+ uavcan::node::GetInfo_1_0::Response get_info_response{mr_alloc_};
 
  }; // State
 
- TrackingMemoryResource mr_;
- posix::PollSingleThreadedExecutor executor_{mr_};
- TimePoint startup_time_{};
- NodeId local_node_id_{42};
- Duration run_duration_{10s};
- std::vector<std::string> iface_addresses_{"127.0.0.1"};
+ TrackingMemoryResource mr_;
+ posix::PollSingleThreadedExecutor executor_{mr_};
+ TimePoint startup_time_{};
+ NodeId local_node_id_{42};
+ Duration run_duration_{10s};
+ std::vector<std::string> iface_addresses_{"127.0.0.1"};
+ cetl::pmr::polymorphic_allocator<void> mr_alloc_{&mr_};
  // NOLINTEND
 
 }; // Example_1_Presentation_2_Heartbeat_GetInfo_Udp
@@ -130,7 +140,8 @@ class Example_1_Presentation_2_Heartbeat_GetInfo_Udp : public testing::Test
 
 TEST_F(Example_1_Presentation_2_Heartbeat_GetInfo_Udp, main)
 {
- State state;
+ State state{mr_};
+ state.get_info_response.protocol_version.major = 1;
 
  // Make UDP transport with collection of media.
  //

docs/examples/1_presentation/example_1_presentation_3_hb_getinfo_ping_linux_can.cpp

@@ -89,6 +89,8 @@ namespace UserService
 template <bool IsRequest>
 struct Ping final
 {
+ using allocator_type = cetl::pmr::polymorphic_allocator<void>;
+
  static constexpr PortId ServiceId = 147;
 
  struct _traits_
@@ -97,6 +99,19 @@ struct Ping final
  static constexpr std::size_t SerializationBufferSizeBytes = sizeof(std::uint64_t);
  };
 
+ Ping() = default;
+
+ explicit Ping(const std::uint64_t _id)
+ : id{_id}
+ {
+ }
+
+ // Allocator constructor
+ explicit Ping(const allocator_type& allocator)
+ {
+ (void) allocator;
+ }
+
  std::uint64_t id{}; // NOLINT
 
  nunavut::support::SerializeResult serialize(nunavut::support::bitspan out_buffer) const
@@ -149,7 +164,8 @@ class Example_1_Presentation_3_HB_GetInfo_Ping_Can : public testing::Test
  {
  run_duration_ = std::chrono::duration<std::int64_t>{std::strtoll(run_duration_str, nullptr, 10)};
  }
- // Duration in seconds for which the test will run. Default is 10 seconds.
+ // Boolean (0 is `false`, otherwise `true`) which turns on/off printing of intermediate activities.
+ // Default is `true`.
  if (const auto* const print_str = std::getenv("CYPHAL__PRINT"))
  {
  print_activities_ = 0 != std::strtoll(print_str, nullptr, 10);
@@ -181,12 +197,16 @@ class Example_1_Presentation_3_HB_GetInfo_Ping_Can : public testing::Test
  EXPECT_THAT(mr_.total_allocated_bytes, mr_.total_deallocated_bytes);
  }
 
- uavcan::node::Heartbeat_1_0 makeHeartbeatMsg(const libcyphal::TimePoint now) const
+ uavcan::node::Heartbeat_1_0 makeHeartbeatMsg(const libcyphal::TimePoint now)
  {
+ using Message = uavcan::node::Heartbeat_1_0;
+
+ Message message{{&mr_}};
+
  const auto uptime_in_secs = std::chrono::duration_cast<std::chrono::seconds>(now - startup_time_);
- return {static_cast<std::uint32_t>(uptime_in_secs.count()),
- {uavcan::node::Health_1_0::NOMINAL},
-  {uavcan::node::Mode_1_0::OPERATIONAL}};
+ message.uptime = static_cast<std::uint32_t>(uptime_in_secs.count());
+
+ return message;
  }
 
  TimePoint now() const
@@ -201,9 +221,10 @@ class Example_1_Presentation_3_HB_GetInfo_Ping_Can : public testing::Test
 
  struct PingPongState
  {
+ cetl::pmr::memory_resource& mr;
  const std::string name;
  CommonHelpers::RunningStats& stats;
- UserService::PingRequest request;
+ UserService::PingRequest request{UserService::PingRequest::allocator_type{&mr}};
  Priority priority;
  TimePoint req_start;
  cetl::optional<PongPromise> promise;
@@ -261,6 +282,7 @@ class Example_1_Presentation_3_HB_GetInfo_Ping_Can : public testing::Test
 
 TEST_F(Example_1_Presentation_3_HB_GetInfo_Ping_Can, main)
 {
+ using PingRequest = UserService::PingRequest;
  using PingClient = Client<UserService::PingRequest, UserService::PongResponse>;
  using PingServer = Server<UserService::PingRequest, UserService::PongResponse>;
  using PongContinuation = PingServer::OnRequestCallback::Continuation;
@@ -318,8 +340,12 @@ TEST_F(Example_1_Presentation_3_HB_GetInfo_Ping_Can, main)
  auto delay_cb = executor_.registerCallback([&ping_contexts, id = unique_request_id](const auto& cb_arg) {
  //
  auto& ping_context = ping_contexts[id];
+
+ UserService::PongResponse response{};
+ response.id = std::get<2>(ping_context).id;
+
  auto& continuation = std::get<0>(ping_context);
- continuation(cb_arg.approx_now + 1s, UserService::PongResponse{std::get<2>(ping_context).id});
+ continuation(cb_arg.approx_now + 1s, response);
  ping_contexts.erase(id);
  });
  delay_cb.schedule(Callback::Schedule::Once{arg.approx_now + 1us + (10us * (arg.request.id % 7))});
@@ -345,11 +371,11 @@ TEST_F(Example_1_Presentation_3_HB_GetInfo_Ping_Can, main)
  constexpr std::size_t concurrent_requests = 5;
  CommonHelpers::RunningStats ping_pong_stats;
  std::array<PingPongState, concurrent_requests>
- ping_pong_states{PingPongState{"A", ping_pong_stats, {1000}, Priority::Nominal, {}, {}},
- PingPongState{"B", ping_pong_stats, {2000}, Priority::Nominal, {}, {}},
- PingPongState{"C", ping_pong_stats, {3000}, Priority::Nominal, {}, {}},
- PingPongState{"D", ping_pong_stats, {4000}, Priority::Nominal, {}, {}},
- PingPongState{"E", ping_pong_stats, {5000}, Priority::Nominal, {}, {}}};
+ ping_pong_states{PingPongState{mr_, "A", ping_pong_stats, PingRequest{1000}, Priority::Nominal, {}, {}},
+ PingPongState{mr_, "B", ping_pong_stats, PingRequest{2000}, Priority::Nominal, {}, {}},
+ PingPongState{mr_, "C", ping_pong_stats, PingRequest{3000}, Priority::Nominal, {}, {}},
+ PingPongState{mr_, "D", ping_pong_stats, PingRequest{4000}, Priority::Nominal, {}, {}},
+ PingPongState{mr_, "E", ping_pong_stats, PingRequest{5000}, Priority::Nominal, {}, {}}};
  //
  const auto make_ping_request = [this, &ping_client](PingPongState& state) {
  //
@@ -399,8 +425,9 @@ TEST_F(Example_1_Presentation_3_HB_GetInfo_Ping_Can, main)
  // 7. Bring up 'GetInfo' server.
  //
  using GetInfo_1_0 = uavcan::node::GetInfo_1_0;
- uavcan::node::GetInfo_1_0::Response get_info_response{{1, 0}};
- const std::string node_name{"org.opencyphal.Ex_1_Pres_3_HB_GetInfo_Ping_CAN"};
+ uavcan::node::GetInfo_1_0::Response get_info_response{{&mr_}};
+ get_info_response.protocol_version.major = 1;
+ const std::string node_name{"org.opencyphal.Ex_1_Pres_3_HB_GetInfo_Ping_CAN"};
  std::copy_n(node_name.begin(), std::min(node_name.size(), 50UL), std::back_inserter(get_info_response.name));
  //
  auto maybe_get_info_srv = presentation.makeServer<GetInfo_1_0>([&](const auto& arg, auto continuation) {