SysV daemon

.clang-format

@@ -0,0 +1,86 @@
+---
+Language: Cpp
+BasedOnStyle: LLVM
+AccessModifierOffset: -4
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: true
+AlignConsecutiveDeclarations: true
+AlignEscapedNewlines: Left
+AlignOperands: true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortBlocksOnASingleLine: Never
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: Empty
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: Yes
+BinPackArguments: false
+BinPackParameters: false
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Custom
+BraceWrapping:
+  SplitEmptyRecord: false
+  AfterEnum: true
+  AfterStruct: true
+  AfterClass: true
+  AfterControlStatement: true
+  AfterFunction: true
+  AfterUnion: true
+  AfterNamespace: true
+  AfterExternBlock: true
+  BeforeElse: true
+
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializers: BeforeComma
+BreakStringLiterals: true
+ColumnLimit: 120
+CommentPragmas: '^ (coverity|NOSONAR|pragma:)'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+DisableFormat: false
+FixNamespaceComments: true
+ForEachMacros: [ foreach, Q_FOREACH, BOOST_FOREACH ]
+IncludeBlocks: Preserve
+IndentCaseLabels: false
+IndentPPDirectives: AfterHash
+IndentWidth: 4
+IndentWrappedFunctionNames: false
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd: ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 10000     # Raised intentionally; prefer breaking all
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 10000            # Raised intentionally because it hurts readability
+PointerAlignment: Left
+ReflowComments: true
+SortIncludes: Never
+SortUsingDeclarations: false
+SpaceAfterCStyleCast: true
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles: false
+SpacesInCStyleCastParentheses: false
+SpacesInContainerLiterals: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard: c++14
+TabWidth: 8
+UseTab: Never
+...

.clang-tidy

@@ -0,0 +1,37 @@
+Checks: >-
+  boost-*,
+  bugprone-*,
+  cert-*,
+  clang-analyzer-*,
+  cppcoreguidelines-*,
+  google-*,
+  hicpp-*,
+  llvm-*,
+  misc-*,
+  modernize-*,
+  performance-*,
+  portability-*,
+  readability-*,
+  -clang-analyzer-core.uninitialized.Assign,
+  -cppcoreguidelines-avoid-const-or-ref-data-members,
+  -cppcoreguidelines-use-default-member-init,
+  -google-readability-avoid-underscore-in-googletest-name,
+  -google-readability-todo,
+  -llvm-header-guard,
+  -modernize-concat-nested-namespaces,
+  -modernize-type-traits,
+  -modernize-use-constraints,
+  -modernize-use-default-member-init,
+  -modernize-use-nodiscard,
+  -readability-avoid-const-params-in-decls,
+  -readability-identifier-length,
+  -*-use-trailing-return-type,
+  -*-named-parameter,
+CheckOptions:
+  - key:   readability-function-cognitive-complexity.Threshold
+    value: '90'
+  - key:   readability-magic-numbers.IgnoredIntegerValues
+    value: '1;2;3;4;5;8;10;16;20;32;60;64;100;128;256;500;512;1000'
+WarningsAsErrors: '*'
+HeaderFilterRegex: 'include/libcyphal/.*\.hpp'
+FormatStyle: file

.cspell/custom-dictionary-workspace.txt

@@ -0,0 +1,2 @@
+# Custom Dictionary Words
+ocvsmd

.github/workflows/tests.yml

@@ -0,0 +1,90 @@
+name: Test Workflow
+on: [push, pull_request]
+env:
+  LLVM_VERSION: 15
+jobs:
+  debug:
+    if: github.event_name == 'push'
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        toolchain: ['clang', 'gcc']
+        include:
+          - toolchain: gcc
+            c-compiler: gcc
+            cxx-compiler: g++
+          - toolchain: clang
+            c-compiler: clang
+            cxx-compiler: clang++
+    steps:
+      - uses: actions/checkout@v4
+      - run: |
+          wget https://apt.llvm.org/llvm.sh
+          chmod +x llvm.sh
+          sudo ./llvm.sh $LLVM_VERSION
+          sudo apt update -y && sudo apt upgrade -y
+          sudo apt-get -y install gcc-multilib g++-multilib clang-tidy-$LLVM_VERSION
+          sudo update-alternatives --install /usr/bin/clang-tidy clang-tidy /usr/bin/clang-tidy-$LLVM_VERSION 50
+          clang-tidy --version
+      - run: >
+          cmake
+          -B ${{ github.workspace }}/build
+          -DCMAKE_BUILD_TYPE=Debug
+          -DCMAKE_CXX_COMPILER=${{ matrix.cxx-compiler }}
+      - working-directory: ${{github.workspace}}/build
+        run: |
+          make VERBOSE=1
+          make test
+      - uses: actions/upload-artifact@v4
+        if: always()
+        with:
+          name: ${{github.job}}_${{matrix.toolchain}}
+          path: ${{github.workspace}}/**/*
+          retention-days: 2
+
+  optimizations:
+    if: github.event_name == 'push'
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        toolchain: ['clang', 'gcc']
+        build_type: [Release, MinSizeRel]
+        include:
+          - toolchain: gcc
+            c-compiler: gcc
+            cxx-compiler: g++
+          - toolchain: clang
+            c-compiler: clang
+            cxx-compiler: clang++
+    steps:
+      - uses: actions/checkout@v4
+      - run: |
+          sudo apt update -y && sudo apt upgrade -y
+          sudo apt install gcc-multilib g++-multilib
+      - run: >
+          cmake
+          -B ${{ github.workspace }}/build
+          -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}
+          -DCMAKE_CXX_COMPILER=${{ matrix.cxx-compiler }}
+          -DNO_STATIC_ANALYSIS=1
+      - working-directory: ${{github.workspace}}/build
+        run: |
+          make VERBOSE=1
+          make test
+      - uses: actions/upload-artifact@v4
+        if: always()
+        with:
+          name: ${{github.job}}_${{matrix.toolchain}}_${{matrix.build_type}}
+          path: ${{github.workspace}}/**/*
+          retention-days: 2
+
+  style_check:
+    if: github.event_name == 'push'
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: DoozyX/[email protected]
+        with:
+          source: './test ./src'
+          extensions: 'c,h,cpp,hpp'
+          clangFormatVersion: ${{ env.LLVM_VERSION }}

.gitignore

@@ -1,32 +1,14 @@
-# Prerequisites
-*.d
+# Build folders
+**/build/
+**/build_*
 
-# Compiled Object files
-*.slo
-*.lo
-*.o
-*.obj
+# JetBrains
+.idea/*
+cmake-build-*/
 
-# Precompiled Headers
-*.gch
-*.pch
+# Python
+.venv
 
-# Compiled Dynamic libraries
-*.so
-*.dylib
-*.dll
-
-# Fortran module files
-*.mod
-*.smod
-
-# Compiled Static libraries
-*.lai
-*.la
-*.a
-*.lib
-
-# Executables
-*.exe
-*.out
-*.app
+# Dumb OS crap
+.DS_Store
+*.bak

.vscode/settings.json

@@ -0,0 +1,10 @@
+{
+    "cSpell.customDictionaries": {
+        "custom-dictionary-workspace": {
+            "name": "custom-dictionary-workspace",
+            "path": "${workspaceFolder:opencyphal-vehicle-system-management-daemon}/.cspell/custom-dictionary-workspace.txt",
+            "addWords": true,
+            "scope": "workspace"
+        }
+    }
+}

CMakeLists.txt

@@ -0,0 +1,50 @@
+#
+# Copyright Amazon.com, Inc. or its affiliates. All Rights Reserved.
+# SPDX-License-Identifier: MIT
+#
+
+cmake_minimum_required(VERSION 3.22.0)
+
+project(ocvsmd
+        LANGUAGES CXX
+        HOMEPAGE_URL https://github.com/OpenCyphal-Garage/opencyphal-vehicle-system-management-daemon
+)
+
+enable_testing()
+
+set(NO_STATIC_ANALYSIS OFF CACHE BOOL "disable static analysis")
+
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# Set the output binary directory
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
+
+set(src_dir "${CMAKE_SOURCE_DIR}/src")
+set(test_dir "${CMAKE_SOURCE_DIR}/test")
+set(include_dir "${CMAKE_SOURCE_DIR}/include")
+
+# clang-format
+find_program(clang_format NAMES clang-format)
+if (NOT clang_format)
+    message(STATUS "Could not locate clang-format")
+else ()
+    file(GLOB format_files ${include_dir}/**/*.[ch]pp ${src_dir}/**/*.[ch]pp ${test_dir}/**/*.[ch]pp)
+    message(STATUS "Using clang-format: ${clang_format}; files: ${format_files}")
+    add_custom_target(format COMMAND ${clang_format} -i -fallback-style=none -style=file --verbose ${format_files})
+endif ()
+
+# Use -DNO_STATIC_ANALYSIS=1 to suppress static analysis.
+# If not suppressed, the tools used here shall be available, otherwise the build will fail.
+if (NOT NO_STATIC_ANALYSIS)
+    # clang-tidy (separate config files per directory)
+    find_program(clang_tidy NAMES clang-tidy)
+    if (NOT clang_tidy)
+        message(FATAL_ERROR "Could not locate clang-tidy")
+    endif ()
+    message(STATUS "Using clang-tidy: ${clang_tidy}")
+    set(CMAKE_CXX_CLANG_TIDY ${clang_tidy})
+endif()
+
+add_subdirectory(src)
+add_subdirectory(test)

README.md

@@ -1,3 +1,36 @@
 # OpenCyphal Vehicle System Management Daemon
 
-👻
+### Build
+
+```
+cd ocvsmd
+mkdir build && cd build
+cmake ..
+make ocvsmd
+```
+
+### Installing
+
+#### Installing the Daemon Binary:
+```
+sudo cp bin/ocvsmd /usr/local/bin/ocvsmd
+```
+
+#### Installing the Init Script:
+```
+sudo cp ../init.d/ocvsmd /etc/init.d/ocvsmd
+sudo chmod +x /etc/init.d/ocvsmd
+```
+
+#### Enabling at Startup (on SysV-based systems):
+```
+sudo update-rc.d ocvsmd defaults
+```
+
+### Usage
+```
+sudo /etc/init.d/ocvsmd start
+sudo /etc/init.d/ocvsmd status
+sudo /etc/init.d/ocvsmd restart
+sudo /etc/init.d/ocvsmd stop
+```