Enable CI for "differential" & "servo" demos (#30)

OpenCyphal-Garage · Nov 13, 2024 · 2a70a93 · 2a70a93
1 parent 365dbc7
commit 2a70a93
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Showing 7 changed files with 37 additions and 39 deletions.
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -48,7 +48,7 @@ jobs:
 
       - name: get nunavut
         run: >
-          pip install nunavut
+          pip install git+https://github.com/OpenCyphal/nunavut[email protected]
 
       - name: Configure CMake
         run: cmake -B ${{github.workspace}}/libudpard_demo/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{github.workspace}}/libudpard_demo
@@ -57,7 +57,6 @@ jobs:
         run: cmake --build ${{github.workspace}}/libudpard_demo/build --config ${{env.BUILD_TYPE}}
 
   build_differential_pressure_sensor:
-    if: false
     name: Build Differential Pressure Sensor demo
     runs-on: ubuntu-latest
 
@@ -68,7 +67,7 @@ jobs:
 
       - name: get nunavut
         run: >
-          pip install nunavut
+          pip install git+https://github.com/OpenCyphal/nunavut[email protected]
 
       - name: Configure CMake
         run: cmake -B ${{github.workspace}}/differential_pressure_sensor/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{github.workspace}}/differential_pressure_sensor
@@ -78,7 +77,6 @@ jobs:
 
 
   build_udral_servo:
-    if: false
     name: Build UDRAL Servo demo
     runs-on: ubuntu-latest
 
@@ -89,7 +87,7 @@ jobs:
 
       - name: get nunavut
         run: >
-          pip install nunavut
+          pip install git+https://github.com/OpenCyphal/nunavut[email protected]
 
       - name: Configure CMake
         run: cmake -B ${{github.workspace}}/udral_servo/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{github.workspace}}/udral_servo

diff --git a/.gitmodules b/.gitmodules
@@ -16,4 +16,4 @@
 [submodule "submodules/libcyphal"]
 	path = submodules/libcyphal
 	url = https://github.com/OpenCyphal-Garage/libcyphal.git
-	branch = sshirokov/type_name
+	branch = sshirokov/async_destroy
diff --git a/differential_pressure_sensor/src/main.c b/differential_pressure_sensor/src/main.c
@@ -188,7 +188,7 @@ static void handleFastLoop(State* const state, const CanardMicrosecond monotonic
         uavcan_si_unit_pressure_Scalar_1_0 msg = {0};
         msg._pascal                            = (float) rand() * 0.1F;  // TODO: sample data from the real sensor.
         // Serialize and publish the message:
-        uint8_t      serialized[uavcan_si_unit_pressure_Scalar_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_] = {0};
+        uint8_t      serialized[uavcan_si_unit_pressure_Scalar_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
         size_t       serialized_size = sizeof(serialized);
         const int8_t err = uavcan_si_unit_pressure_Scalar_1_0_serialize_(&msg, &serialized[0], &serialized_size);
         assert(err >= 0);
@@ -226,8 +226,8 @@ static void handle1HzLoop(State* const state, const CanardMicrosecond monotonic_
             heartbeat.health.value = uavcan_node_Health_1_0_NOMINAL;
         }
 
-        uint8_t      serialized[uavcan_node_Heartbeat_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_] = {0};
-        size_t       serialized_size                                                        = sizeof(serialized);
+        uint8_t      serialized[uavcan_node_Heartbeat_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
+        size_t       serialized_size = sizeof(serialized);
         const int8_t err = uavcan_node_Heartbeat_1_0_serialize_(&heartbeat, &serialized[0], &serialized_size);
         assert(err >= 0);
         if (err >= 0)
@@ -259,7 +259,7 @@ static void handle1HzLoop(State* const state, const CanardMicrosecond monotonic_
             uavcan_pnp_NodeIDAllocationData_2_0 msg = {0};
             msg.node_id.value                       = UINT16_MAX;
             getUniqueID(msg.unique_id);
-            uint8_t      serialized[uavcan_pnp_NodeIDAllocationData_2_0_SERIALIZATION_BUFFER_SIZE_BYTES_] = {0};
+            uint8_t      serialized[uavcan_pnp_NodeIDAllocationData_2_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
             size_t       serialized_size = sizeof(serialized);
             const int8_t err = uavcan_pnp_NodeIDAllocationData_2_0_serialize_(&msg, &serialized[0], &serialized_size);
             assert(err >= 0);
@@ -287,7 +287,7 @@ static void handle1HzLoop(State* const state, const CanardMicrosecond monotonic_
         uavcan_si_unit_temperature_Scalar_1_0 msg = {0};
         msg.kelvin                                = (float) rand() * 0.01F;  // TODO: sample data from the real sensor.
         // Serialize and publish the message:
-        uint8_t      serialized[uavcan_si_unit_temperature_Scalar_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_] = {0};
+        uint8_t      serialized[uavcan_si_unit_temperature_Scalar_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
         size_t       serialized_size = sizeof(serialized);
         const int8_t err = uavcan_si_unit_temperature_Scalar_1_0_serialize_(&msg, &serialized[0], &serialized_size);
         assert(err >= 0);
@@ -365,8 +365,8 @@ static void handle01HzLoop(State* const state, const CanardMicrosecond monotonic
         fillServers(state->canard.rx_subscriptions[CanardTransferKindRequest], &m.servers);
         fillServers(state->canard.rx_subscriptions[CanardTransferKindResponse], &m.clients);  // For regularity.
 
-        // Serialize and publish the message. Use a small buffer because we know that our message is always small.
-        uint8_t serialized[512] = {0};  // https://github.com/OpenCyphal/nunavut/issues/191
+        // Serialize and publish the message. Use a smaller buffer if you know that message is always small.
+        uint8_t serialized[uavcan_node_port_List_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
         size_t  serialized_size = uavcan_node_port_List_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_;
         if (uavcan_node_port_List_0_1_serialize_(&m, &serialized[0], &serialized_size) >= 0)
         {
@@ -544,7 +544,7 @@ static void processReceivedTransfer(State* const state, const CanardRxTransfer*
         {
             // The request object is empty so we don't bother deserializing it. Just send the response.
             const uavcan_node_GetInfo_Response_1_0 resp = processRequestNodeGetInfo();
-            uint8_t      serialized[uavcan_node_GetInfo_Response_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_] = {0};
+            uint8_t      serialized[uavcan_node_GetInfo_Response_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
             size_t       serialized_size = sizeof(serialized);
             const int8_t res = uavcan_node_GetInfo_Response_1_0_serialize_(&resp, &serialized[0], &serialized_size);
             if (res >= 0)
@@ -567,7 +567,7 @@ static void processReceivedTransfer(State* const state, const CanardRxTransfer*
             if (uavcan_register_Access_Request_1_0_deserialize_(&req, transfer->payload, &size) >= 0)
             {
                 const uavcan_register_Access_Response_1_0 resp = processRequestRegisterAccess(&req);
-                uint8_t serialized[uavcan_register_Access_Response_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_] = {0};
+                uint8_t serialized[uavcan_register_Access_Response_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
                 size_t  serialized_size = sizeof(serialized);
                 if (uavcan_register_Access_Response_1_0_serialize_(&resp, &serialized[0], &serialized_size) >= 0)
                 {
@@ -586,7 +586,7 @@ static void processReceivedTransfer(State* const state, const CanardRxTransfer*
             if (uavcan_register_List_Request_1_0_deserialize_(&req, transfer->payload, &size) >= 0)
             {
                 const uavcan_register_List_Response_1_0 resp = {.name = registerGetNameByIndex(req.index)};
-                uint8_t serialized[uavcan_register_List_Response_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_] = {0};
+                uint8_t serialized[uavcan_register_List_Response_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
                 size_t  serialized_size = sizeof(serialized);
                 if (uavcan_register_List_Response_1_0_serialize_(&resp, &serialized[0], &serialized_size) >= 0)
                 {
@@ -605,7 +605,7 @@ static void processReceivedTransfer(State* const state, const CanardRxTransfer*
             if (uavcan_node_ExecuteCommand_Request_1_1_deserialize_(&req, transfer->payload, &size) >= 0)
             {
                 const uavcan_node_ExecuteCommand_Response_1_1 resp = processRequestExecuteCommand(&req);
-                uint8_t serialized[uavcan_node_ExecuteCommand_Response_1_1_SERIALIZATION_BUFFER_SIZE_BYTES_] = {0};
+                uint8_t serialized[uavcan_node_ExecuteCommand_Response_1_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
                 size_t  serialized_size = sizeof(serialized);
                 if (uavcan_node_ExecuteCommand_Response_1_1_serialize_(&resp, &serialized[0], &serialized_size) >= 0)
                 {

diff --git a/libudpard_demo/src/main.c b/libudpard_demo/src/main.c
@@ -456,8 +456,8 @@ static void cbOnNodeIDAllocationData(struct Subscriber* const self, struct Udpar
                     (void) fprintf(stderr, "RPC dispatcher start failed: %i\n", rpc_start_res);
                 }
             }  // Otherwise, it's a response destined to another node, or it's a malformed message.
-        }      // Otherwise, the message is malformed.
-    }          // Otherwise, it's a request from another allocation client node, or we already have a node-ID.
+        }  // Otherwise, the message is malformed.
+    }  // Otherwise, it's a request from another allocation client node, or we already have a node-ID.
 }
 
 static void cbOnMyData(struct Subscriber* const self, struct UdpardRxTransfer* const transfer)

diff --git a/shared/register/register.c b/shared/register/register.c
@@ -35,7 +35,7 @@ void registerRead(const char* const register_name, uavcan_register_Value_1_0* co
     FILE* const fp            = registerOpen(&register_name[0], false);
     if (fp != NULL)
     {
-        uint8_t serialized[uavcan_register_Value_1_0_EXTENT_BYTES_] = {0};
+        uint8_t serialized[uavcan_register_Value_1_0_EXTENT_BYTES_];
         size_t  sr_size = fread(&serialized[0], 1U, uavcan_register_Value_1_0_EXTENT_BYTES_, fp);
         (void) fclose(fp);
         uavcan_register_Value_1_0 out = {0};
@@ -54,9 +54,9 @@ void registerRead(const char* const register_name, uavcan_register_Value_1_0* co
 
 void registerWrite(const char* const register_name, const uavcan_register_Value_1_0* const value)
 {
-    uint8_t      serialized[uavcan_register_Value_1_0_EXTENT_BYTES_] = {0};
-    size_t       sr_size                                             = uavcan_register_Value_1_0_EXTENT_BYTES_;
-    const int8_t err = uavcan_register_Value_1_0_serialize_(value, serialized, &sr_size);
+    uint8_t      serialized[uavcan_register_Value_1_0_EXTENT_BYTES_];
+    size_t       sr_size = uavcan_register_Value_1_0_EXTENT_BYTES_;
+    const int8_t err     = uavcan_register_Value_1_0_serialize_(value, serialized, &sr_size);
     if (err >= 0)
     {
         FILE* const fp = registerOpen(&register_name[0], true);

diff --git a/submodules/libcyphal b/submodules/libcyphal
diff --git a/udral_servo/src/main.c b/udral_servo/src/main.c
@@ -244,7 +244,7 @@ static void handleFastLoop(State* const state, const CanardMicrosecond monotonic
         // If there are any hardware or configuration issues, report them here:
         msg.heartbeat.health.value = uavcan_node_Health_1_0_NOMINAL;
         // Serialize and publish the message:
-        uint8_t      serialized[reg_udral_service_actuator_common_Feedback_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_] = {0};
+        uint8_t      serialized[reg_udral_service_actuator_common_Feedback_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
         size_t       serialized_size = sizeof(serialized);
         const int8_t err =
             reg_udral_service_actuator_common_Feedback_0_1_serialize_(&msg, &serialized[0], &serialized_size);
@@ -275,8 +275,8 @@ static void handleFastLoop(State* const state, const CanardMicrosecond monotonic
         msg.value.kinematics.acceleration.meter_per_second_per_second = state->servo.acceleration;
         msg.value.force.newton                                        = state->servo.force;
         // Serialize and publish the message:
-        uint8_t serialized[reg_udral_physics_dynamics_translation_LinearTs_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_] = {0};
-        size_t  serialized_size = sizeof(serialized);
+        uint8_t      serialized[reg_udral_physics_dynamics_translation_LinearTs_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
+        size_t       serialized_size = sizeof(serialized);
         const int8_t err =
             reg_udral_physics_dynamics_translation_LinearTs_0_1_serialize_(&msg, &serialized[0], &serialized_size);
         assert(err >= 0);
@@ -303,8 +303,8 @@ static void handleFastLoop(State* const state, const CanardMicrosecond monotonic
         msg.value.current.ampere = 20.315F;
         msg.value.voltage.volt   = 51.3F;
         // Serialize and publish the message:
-        uint8_t serialized[reg_udral_physics_dynamics_translation_LinearTs_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_] = {0};
-        size_t  serialized_size = sizeof(serialized);
+        uint8_t      serialized[reg_udral_physics_dynamics_translation_LinearTs_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
+        size_t       serialized_size = sizeof(serialized);
         const int8_t err = reg_udral_physics_electricity_PowerTs_0_1_serialize_(&msg, &serialized[0], &serialized_size);
         assert(err >= 0);
         if (err >= 0)
@@ -341,8 +341,8 @@ static void handle1HzLoop(State* const state, const CanardMicrosecond monotonic_
             heartbeat.health.value = uavcan_node_Health_1_0_NOMINAL;
         }
 
-        uint8_t      serialized[uavcan_node_Heartbeat_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_] = {0};
-        size_t       serialized_size                                                        = sizeof(serialized);
+        uint8_t      serialized[uavcan_node_Heartbeat_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
+        size_t       serialized_size = sizeof(serialized);
         const int8_t err = uavcan_node_Heartbeat_1_0_serialize_(&heartbeat, &serialized[0], &serialized_size);
         assert(err >= 0);
         if (err >= 0)
@@ -374,7 +374,7 @@ static void handle1HzLoop(State* const state, const CanardMicrosecond monotonic_
             uavcan_pnp_NodeIDAllocationData_2_0 msg = {0};
             msg.node_id.value                       = UINT16_MAX;
             getUniqueID(msg.unique_id);
-            uint8_t      serialized[uavcan_pnp_NodeIDAllocationData_2_0_SERIALIZATION_BUFFER_SIZE_BYTES_] = {0};
+            uint8_t      serialized[uavcan_pnp_NodeIDAllocationData_2_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
             size_t       serialized_size = sizeof(serialized);
             const int8_t err = uavcan_pnp_NodeIDAllocationData_2_0_serialize_(&msg, &serialized[0], &serialized_size);
             assert(err >= 0);
@@ -403,7 +403,7 @@ static void handle1HzLoop(State* const state, const CanardMicrosecond monotonic_
         // Publish the servo status -- this is a low-rate message with low-severity diagnostics.
         reg_udral_service_actuator_common_Status_0_1 msg = {0};
         // TODO: POPULATE THE MESSAGE: temperature, errors, etc.
-        uint8_t      serialized[reg_udral_service_actuator_common_Status_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_] = {0};
+        uint8_t      serialized[reg_udral_service_actuator_common_Status_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
         size_t       serialized_size = sizeof(serialized);
         const int8_t err =
             reg_udral_service_actuator_common_Status_0_1_serialize_(&msg, &serialized[0], &serialized_size);
@@ -500,8 +500,8 @@ static void handle01HzLoop(State* const state, const CanardMicrosecond monotonic
         fillServers(state->canard.rx_subscriptions[CanardTransferKindRequest], &m.servers);
         fillServers(state->canard.rx_subscriptions[CanardTransferKindResponse], &m.clients);  // For regularity.
 
-        // Serialize and publish the message. Use a small buffer because we know that our message is always small.
-        uint8_t serialized[512] = {0};  // https://github.com/OpenCyphal/nunavut/issues/191
+        // Serialize and publish the message. Use a smaller buffer if you know that message is always small.
+        uint8_t serialized[uavcan_node_port_List_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
         size_t  serialized_size = uavcan_node_port_List_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_;
         if (uavcan_node_port_List_0_1_serialize_(&m, &serialized[0], &serialized_size) >= 0)
         {
@@ -721,7 +721,7 @@ static void processReceivedTransfer(State* const state, const CanardRxTransfer*
         {
             // The request object is empty so we don't bother deserializing it. Just send the response.
             const uavcan_node_GetInfo_Response_1_0 resp = processRequestNodeGetInfo();
-            uint8_t      serialized[uavcan_node_GetInfo_Response_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_] = {0};
+            uint8_t      serialized[uavcan_node_GetInfo_Response_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
             size_t       serialized_size = sizeof(serialized);
             const int8_t res = uavcan_node_GetInfo_Response_1_0_serialize_(&resp, &serialized[0], &serialized_size);
             if (res >= 0)
@@ -740,7 +740,7 @@ static void processReceivedTransfer(State* const state, const CanardRxTransfer*
             if (uavcan_register_Access_Request_1_0_deserialize_(&req, transfer->payload, &size) >= 0)
             {
                 const uavcan_register_Access_Response_1_0 resp = processRequestRegisterAccess(&req);
-                uint8_t serialized[uavcan_register_Access_Response_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_] = {0};
+                uint8_t serialized[uavcan_register_Access_Response_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
                 size_t  serialized_size = sizeof(serialized);
                 if (uavcan_register_Access_Response_1_0_serialize_(&resp, &serialized[0], &serialized_size) >= 0)
                 {
@@ -755,7 +755,7 @@ static void processReceivedTransfer(State* const state, const CanardRxTransfer*
             if (uavcan_register_List_Request_1_0_deserialize_(&req, transfer->payload, &size) >= 0)
             {
                 const uavcan_register_List_Response_1_0 resp = {.name = registerGetNameByIndex(req.index)};
-                uint8_t serialized[uavcan_register_List_Response_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_] = {0};
+                uint8_t serialized[uavcan_register_List_Response_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
                 size_t  serialized_size = sizeof(serialized);
                 if (uavcan_register_List_Response_1_0_serialize_(&resp, &serialized[0], &serialized_size) >= 0)
                 {
@@ -770,7 +770,7 @@ static void processReceivedTransfer(State* const state, const CanardRxTransfer*
             if (uavcan_node_ExecuteCommand_Request_1_1_deserialize_(&req, transfer->payload, &size) >= 0)
             {
                 const uavcan_node_ExecuteCommand_Response_1_1 resp = processRequestExecuteCommand(&req);
-                uint8_t serialized[uavcan_node_ExecuteCommand_Response_1_1_SERIALIZATION_BUFFER_SIZE_BYTES_] = {0};
+                uint8_t serialized[uavcan_node_ExecuteCommand_Response_1_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
                 size_t  serialized_size = sizeof(serialized);
                 if (uavcan_node_ExecuteCommand_Response_1_1_serialize_(&resp, &serialized[0], &serialized_size) >= 0)
                 {
+20 −4		include/libcyphal/presentation/client_impl.hpp
+86 −12		include/libcyphal/presentation/presentation.hpp
+6 −3		include/libcyphal/presentation/presentation_delegate.hpp
+8 −2		include/libcyphal/presentation/publisher_impl.hpp
+48 −1		include/libcyphal/presentation/shared_object.hpp
+12 −6		include/libcyphal/presentation/subscriber_impl.hpp
+4 −4		test/unittest/application/node/test_heartbeat_producer.cpp
+26 −14		test/unittest/application/test_node.cpp
+71 −47		test/unittest/presentation/test_client.cpp
+138 −97		test/unittest/presentation/test_presentation.cpp
+9 −9		test/unittest/presentation/test_publisher.cpp
+55 −38		test/unittest/presentation/test_subscriber.cpp