Presentation publisher and subscriber

.devcontainer/devcontainer.json

@@ -1,6 +1,6 @@
 {
  "name": "linux development environment for libcyphal",
- "image": "ghcr.io/opencyphal/toolshed:ts22.4.8",
+ "image": "ghcr.io/opencyphal/toolshed:ts22.4.10",
  "customizations": {
  "vscode": {
  "extensions": [

.github/workflows/sonar.yml

@@ -15,7 +15,7 @@ jobs:
  contains(github.ref, '/issue/') ||
  (github.event_name == 'pull_request')
  runs-on: ubuntu-latest
- container: ghcr.io/opencyphal/toolshed:ts22.4.7
+ container: ghcr.io/opencyphal/toolshed:ts22.4.10
  steps:
  - uses: actions/checkout@v4
  with:

.github/workflows/tests.yml

@@ -16,7 +16,7 @@ jobs:
  contains(github.ref, '/issue/') ||
  (github.event_name == 'pull_request')
  runs-on: ubuntu-latest
- container: ghcr.io/opencyphal/toolshed:ts22.4.7
+ container: ghcr.io/opencyphal/toolshed:ts22.4.10
  steps:
  - uses: actions/checkout@v4
  - name: Cache ext modules
@@ -47,7 +47,7 @@ jobs:
  contains(github.ref, '/issue/') ||
  (github.event_name == 'pull_request')
  runs-on: ubuntu-latest
- container: ghcr.io/opencyphal/toolshed:ts22.4.7
+ container: ghcr.io/opencyphal/toolshed:ts22.4.10
  needs: [warmup]
  strategy:
  matrix:
@@ -101,7 +101,7 @@ jobs:
  contains(github.ref, '/issue/') ||
  (github.event_name == 'pull_request')
  runs-on: ubuntu-latest
- container: ghcr.io/opencyphal/toolshed:ts22.4.7
+ container: ghcr.io/opencyphal/toolshed:ts22.4.10
  needs: [warmup]
  steps:
  - uses: actions/checkout@v4

CMakeLists.txt

@@ -24,6 +24,38 @@ if (NOT NO_STATIC_ANALYSIS)
  message(STATUS "Using clang-tidy: ${clang_tidy}")
 endif ()
 
+# +---------------------------------------------------------------------------+
+# | BUILD DSDL TYPES
+# +---------------------------------------------------------------------------+
+
+find_package(public_regulated_data_types REQUIRED)
+find_package(nnvg REQUIRED)
+
+if (CETL_ENABLE_DEBUG_ASSERT)
+ set(NNVG_ASSERT_ARGS "ENABLE_SER_ASSERT")
+else()
+ set(NNVG_ASSERT_ARGS )
+endif()
+
+if (${CMAKE_MESSAGE_LOG_LEVEL} MATCHES "VERBOSE|TRACE|DEBUG")
+ set(NNVG_VERBOSE_ARGS "VERBOSE")
+else()
+ set(NNVG_VERBOSE_ARGS )
+endif()
+define_nunavut_support_target(
+ TARGET dsdl_support
+ ${NNVG_ASSERT_ARGS}
+ ${NNVG_VERBOSE_ARGS}
+)
+add_dsdl_cpp_codegen(
+ TARGET dsdl_public_types
+ DSDL_ROOT_DIR ${public_regulated_data_types_SOURCE_DIR}/uavcan
+ ${NNVG_ASSERT_ARGS}
+ ${NNVG_VERBOSE_ARGS}
+ DSDL_DEPENDENCIES
+ dsdl_support
+)
+
 add_subdirectory(test/unittest)
 add_subdirectory(docs)
 

CONTRIBUTING.md

@@ -147,10 +147,10 @@ and manually run it.
 
 ### TLDR
 ```
-docker pull ghcr.io/opencyphal/toolshed:ts22.4.7
+docker pull ghcr.io/opencyphal/toolshed:ts22.4.10
 git clone {this repo}
 cd {this repo}
-docker run --rm -it -v ${PWD}:/repo ghcr.io/opencyphal/toolshed:ts22.4.7
+docker run --rm -it -v ${PWD}:/repo ghcr.io/opencyphal/toolshed:ts22.4.10
 mkdir build
 cd build
 cmake ..
@@ -200,7 +200,7 @@ To ensure that the formatting matches the expectations of the CI suite,
 invoke Clang-Format of the correct version from the container (be sure to use the correct image tag):
 
 ```
-docker run --rm -v ${PWD}:/repo ghcr.io/opencyphal/toolshed:ts22.4.7 ./build-tools/bin/verify.py build-danger-danger-repo-clang-format-in-place
+docker run --rm -v ${PWD}:/repo ghcr.io/opencyphal/toolshed:ts22.4.10 ./build-tools/bin/verify.py build-danger-danger-repo-clang-format-in-place
 ```
 
 ### `issue/*` and hashtag-based CI triggering

cmake/modules/Findcetl.cmake

@@ -6,7 +6,7 @@
 
 include(FetchContent)
 set(cetl_GIT_REPOSITORY "https://github.com/OpenCyphal/cetl.git")
-set(cetl_GIT_TAG "e9bf9ba46d618dda4a39110dbc118549a905f9a7")
+set(cetl_GIT_TAG "37d19afb6254ed06f0847f9839eb2c0b340ea6eb")
 
 FetchContent_Declare(
  cetl

cmake/modules/Findlibudpard.cmake

@@ -9,7 +9,7 @@ include(FindPackageHandleStandardArgs)
 include(ProjectLibrary)
 
 set(libudpard_GIT_REPOSITORY "https://github.com/OpenCyphal-garage/libudpard.git")
-set(libudpard_GIT_TAG "6c7c12ef1db0338684c536167dc4ba6dc7fa8b5a")
+set(libudpard_GIT_TAG "1.0.1")
 
 FetchContent_Declare(
  libudpard

cmake/modules/Findnnvg.cmake

@@ -147,7 +147,7 @@ endfunction()
 # :option ENABLE_OVR_VAR_ARRAY: Generates code with variable array capacity override enabled
 # :option ENABLE_SER_ASSERT: Generates code with serialization asserts enabled
 # :option VERBOSE Enable verbose output from nnvg.
-function (define_nuanvut_support_target)
+function (define_nunavut_support_target)
  #+-[input]----------------------------------------------------------------+
  set(options VERBOSE ENABLE_SER_ASSERT ENABLE_OVR_VAR_ARRAY)
  set(singleValueArgs TARGET OUTPUT_FOLDER)

docs/examples/CMakeLists.txt

@@ -15,8 +15,6 @@ project(libcyphal_docs_examples C CXX)
 include("../../cmake/CMakeCommon.cmake" REQUIRED)
 
 find_package(cyphal REQUIRED)
-find_package(public_regulated_data_types REQUIRED)
-find_package(nnvg REQUIRED)
 find_package(googletest REQUIRED)
 if (CMAKE_BUILD_TYPE STREQUAL "Coverage")
 find_package(gcovr REQUIRED)
@@ -25,32 +23,6 @@ endif()
 # +---------------------------------------------------------------------------+
 # | BUILD EXAMPLE TYPES
 # +---------------------------------------------------------------------------+
-if (CETL_ENABLE_DEBUG_ASSERT)
- set(NNVG_ASSERT_ARGS "ENABLE_SER_ASSERT")
-else()
- set(NNVG_ASSERT_ARGS )
-endif()
-
-if (${CMAKE_MESSAGE_LOG_LEVEL} MATCHES "VERBOSE|TRACE|DEBUG")
- set(NNVG_VERBOSE_ARGS "VERBOSE")
-else()
- set(NNVG_VERBOSE_ARGS )
-endif()
-
-define_nuanvut_support_target(
- TARGET dsdl_support
- ${NNVG_ASSERT_ARGS}
- ${NNVG_VERBOSE_ARGS}
-)
-
-add_dsdl_cpp_codegen(
- TARGET dsdl_public_types
- DSDL_ROOT_DIR ${public_regulated_data_types_SOURCE_DIR}/uavcan
- ${NNVG_ASSERT_ARGS}
- ${NNVG_VERBOSE_ARGS}
- DSDL_DEPENDENCIES
- dsdl_support
-)
 
 add_dsdl_cpp_codegen(
  TARGET dsdl_example_types
@@ -120,18 +92,25 @@ foreach(NATIVE_EXAMPLE ${NATIVE_EXAMPLES})
 
  define_native_gtest_unittest_targets(
  TEST_SOURCE ${NATIVE_EXAMPLE}
- EXTRA_TEST_LIBS cyphal cetl dsdl_example_types ${EXAMPLES_PLATFORM_LIBS}
+ EXTRA_TEST_LIBS cyphal cetl dsdl_support dsdl_example_types ${EXAMPLES_PLATFORM_LIBS}
  LINK_TO_MAIN
  OUT_TEST_LIB_VARIABLE LOCAL_TEST_LIB
  OUT_TEST_EXE_VARIABLE LOCAL_TEST_TARGET
  OUT_TEST_REPORT_VARIABLE LOCAL_TEST_REPORT
  )
+
+ # We need to exclude the "external", "nunavut" & "uavcan" directories from coverage reports.
+ cmake_path(APPEND LIBCYPHAL_ROOT "external" OUTPUT_VARIABLE LIBCYPHAL_EXTERNAL_PATH)
+ cmake_path(APPEND LIBCYPHAL_ROOT "${CMAKE_INSTALL_PREFIX}/nunavut" OUTPUT_VARIABLE LIBCYPHAL_NUNAVUT_PATH)
+ cmake_path(APPEND LIBCYPHAL_ROOT "${CMAKE_INSTALL_PREFIX}/uavcan" OUTPUT_VARIABLE LIBCYPHAL_UAVCAN_PATH)
+
  if (CMAKE_BUILD_TYPE STREQUAL "Coverage")
  define_gcovr_tracefile_target(
  TARGET ${LOCAL_TEST_TARGET}
  ROOT_DIRECTORY ${LIBCYPHAL_ROOT}
  TARGET_EXECUTION_DEPENDS ${LOCAL_TEST_REPORT}
  OBJECT_LIBRARY ${LOCAL_TEST_LIB}
+ EXCLUDE_PATHS ${LIBCYPHAL_EXTERNAL_PATH} ${LIBCYPHAL_NUNAVUT_PATH} ${LIBCYPHAL_UAVCAN_PATH}
  EXCLUDE_TEST_FRAMEWORKS
  EXCLUDE_TARGET
  ENABLE_INSTRUMENTATION

docs/examples/example_01_hello_world.cpp

@@ -48,52 +48,51 @@ template <typename T>
 using polymorphic_allocator = cetl::pf17::pmr::polymorphic_allocator<T>;
 
 constexpr std::size_t foo_count_ = 24u;
-using FooStorageType = std::aligned_storage<dsdl_traits<example::foo_1_0>::extent(), dsdl_traits<example::foo_1_0>::align()>;
-FooStorageType foo_storage_[foo_count_];
-FooStorageType input_buffer_[1];
+using FooStorageType = std::aligned_storage<dsdl_traits<example::foo_1_0>::extent(),
+dsdl_traits<example::foo_1_0>::align()>; FooStorageType foo_storage_[foo_count_]; FooStorageType input_buffer_[1];
 
 */
 
 TEST(example_01_serialize_foo, snippit_0)
 {
-// TODO: Uncomment this when we have a real example to test.
-/*
+ // TODO: Uncomment this when we have a real example to test.
+ /*
 
- //! [snippit_0]
- // to include in doxygen just do:
- // @snippet{trimleft} example_01_hello_world.cpp snippit_0
+  //! [snippit_0]
+  // to include in doxygen just do:
+  // @snippet{trimleft} example_01_hello_world.cpp snippit_0
 
- // Here we're using CETL's VLA to store a bunch of our foo instances.Foo is a type we defined in
- // dsd/example/foo.1.0.dsdl
+  // Here we're using CETL's VLA to store a bunch of our foo instances.Foo is a type we defined in
+  // dsd/example/foo.1.0.dsdl
 
- monotonic_buffer_resource mr{&foo_storage_[0], sizeof(FooStorageType::type) * foo_count_};
- polymorphic_allocator<example::foo_1_0> alloc(&mr);
- cetl::VariableLengthArray<example::foo_1_0, decltype(alloc)> vla{alloc};
+  monotonic_buffer_resource mr{&foo_storage_[0], sizeof(FooStorageType::type) * foo_count_};
+  polymorphic_allocator<example::foo_1_0> alloc(&mr);
+  cetl::VariableLengthArray<example::foo_1_0, decltype(alloc)> vla{alloc};
 
- // You'll note that CETL's PMR extends the C++ standard to support max_size so this next line would
- // not work if you were using C++17's standard library:
- std::cout << "We have storage for " << vla.max_size() << " example::foo_1_0 objects." << std::endl;
+  // You'll note that CETL's PMR extends the C++ standard to support max_size so this next line would
+  // not work if you were using C++17's standard library:
+  std::cout << "We have storage for " << vla.max_size() << " example::foo_1_0 objects." << std::endl;
 
- vla.reserve(1);
+  vla.reserve(1);
 
- std::cout << "We have capacity for " << vla.capacity() << " objects." << std::endl;
+  std::cout << "We have capacity for " << vla.capacity() << " objects." << std::endl;
 
- vla.emplace_back(example::foo_1_0{});
+  vla.emplace_back(example::foo_1_0{});
 
- // This is all kinds of badness. We need to support byte instead of uint8 (e.g. some DSP's have 16 bit bytes)
- // and we need to support CETL span, and we need to allow uninitialized memory regions to get passed in without
- // needing reinterpret_cast by the caller, etc.
- nunavut::support::bitspan fake_input_buffer{reinterpret_cast<std::uint8_t*>(input_buffer_), dsdl_traits<example::foo_1_0>::extent(), 0U};
- if (example::serialize(vla[0], fake_input_buffer))
- {
- std::cout << "Cool. You know have an in-memory representation of your foo object!" << std::endl;
- }
- else
- {
- std::cout << "Hmmmmm." << std::endl;
- }
+  // This is all kinds of badness. We need to support byte instead of uint8 (e.g. some DSP's have 16 bit bytes)
+  // and we need to support CETL span, and we need to allow uninitialized memory regions to get passed in without
+  // needing reinterpret_cast by the caller, etc.
+  nunavut::support::bitspan fake_input_buffer{reinterpret_cast<std::uint8_t*>(input_buffer_),
+  dsdl_traits<example::foo_1_0>::extent(), 0U}; if (example::serialize(vla[0], fake_input_buffer))
+  {
+  std::cout << "Cool. You know have an in-memory representation of your foo object!" << std::endl;
+  }
+  else
+  {
+  std::cout << "Hmmmmm." << std::endl;
+  }
 
- //! [snippit_0]
+  //! [snippit_0]
 
-*/
+ */
 }