Merge pull request #201 from 107-systems/fix-176

Support compilation for x86 as a static library using CMake.

.github/workflows/smoke-test.yml

@@ -0,0 +1,28 @@
+name: Build
+
+# See: https://docs.github.com/en/actions/reference/events-that-trigger-workflows
+on:
+  push:
+  pull_request:
+  schedule:
+    # Run every Tuesday at 8 AM UTC
+    - cron: "0 8 * * TUE"
+  workflow_dispatch:
+  repository_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  smoke-test:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+
+      - name: Install CMake
+        run: sudo apt-get install cmake
+
+      - name: Create build directory, run CMake and Make
+        run: mkdir build && cd build && cmake -DBUILD_EXAMPLES=ON .. && make

.gitignore

@@ -1,2 +1,4 @@
 .vscode/
 .idea/
+build/
+cmake-build-debug/

CMakeLists.txt

@@ -0,0 +1,33 @@
+##########################################################################
+cmake_minimum_required(VERSION 3.15)
+##########################################################################
+project("cyphal++")
+##########################################################################
+set(CMAKE_VERBOSE_MAKEFILE OFF)
+##########################################################################
+option(BUILD_EXAMPLES "Build all examples provided with this library" OFF)
+##########################################################################
+add_subdirectory(src/libcanard)
+add_subdirectory(src/libo1heap)
+add_subdirectory(extras/cyphal++/libsocketcan)
+##########################################################################
+add_library(${PROJECT_NAME} STATIC
+  src/nodeinfo/NodeInfo.cpp
+  src/register/util/ListResponse.cpp
+  src/register/RegisterBase.cpp
+  src/register/RegisterList.cpp
+  src/Node.cpp
+)
+##########################################################################
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra -Wpedantic -Werror)
+endif()
+##########################################################################
+target_include_directories(${PROJECT_NAME} PUBLIC src extras/cyphal++/include)
+target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_11)
+target_link_libraries(${PROJECT_NAME} canard o1heap socketcan)
+##########################################################################
+if(BUILD_EXAMPLES)
+  add_subdirectory(extras/cyphal++/examples/example-01-opencyphal-basic-node)
+endif()
+##########################################################################

README.md

@@ -3,6 +3,7 @@
 ====================
 [![Arduino Library Badge](https://www.ardu-badge.com/badge/107-Arduino-Cyphal.svg?)](https://www.ardu-badge.com/107-Arduino-Cyphal)
 [![Compile Examples](https://github.com/107-systems/107-Arduino-Cyphal/workflows/Compile%20Examples/badge.svg)](https://github.com/107-systems/107-Arduino-Cyphal/actions?workflow=Compile+Examples)
+[![Smoke test status](https://github.com/107-systems/107-Arduino-Cyphal/actions/workflows/smoke-test.yml/badge.svg)](https://github.com/107-systems/107-Arduino-Cyphal/actions/workflows/smoke-test.yml)
 [![Arduino Lint](https://github.com/107-systems/107-Arduino-Cyphal/workflows/Arduino%20Lint/badge.svg)](https://github.com/107-systems/107-Arduino-Cyphal/actions?workflow=Arduino+Lint)
 [![keywords.txt Checks](https://github.com/107-systems/107-Arduino-Cyphal/workflows/Extra%20Library%20Checks/badge.svg)](https://github.com/107-systems/107-Arduino-Cyphal/actions?workflow=Extra+Library+Checks)
 [![General Formatting Checks](https://github.com/107-systems/107-Arduino-Cyphal/workflows/General%20Formatting%20Checks/badge.svg)](https://github.com/107-systems/107-Arduino-Cyphal/actions?workflow=General+Formatting+Checks)
@@ -20,6 +21,16 @@ This library works for
 * [arduino-esp32](https://github.com/espressif/arduino-esp32): `ESP32 Dev Module`, `ESP32 Wrover Module`, ... :heavy_check_mark:
 * [arduino-pico](https://github.com/earlephilhower/arduino-pico): [`Raspberry Pi Pico`](https://www.raspberrypi.org/products/raspberry-pi-pico), `Adafruit Feather RP2040`, ... :heavy_check_mark:
 * [adafruit/ArduinoCore-samd](https://github.com/adafruit/ArduinoCore-samd): [`Adafruit Feather M4 CAN Express`](https://www.adafruit.com/product/4759), ... :heavy_check_mark:
+* **Host** (x86/x64/...): Using the CMake build system this library can be cross-compiled to a static C++ library and linked against any C++ executable. This is possible because the code itself is pure C/C++ without and dependencies to the Arduino framework.
+```bash
+* git clone https://github.com/107-systems/libdynamixelplusplus && cd libdynamixelplusplus
+  mkdir build && cd build
+  cmake .. && make
+```
+or
+```bash
+cmake -DBUILD_EXAMPLES=ON .. && make
+```
 
 ### Reference-Implementation OpenCyphal on Arduino
 * [OpenCyphal-GNSS-Node](examples/OpenCyphal-GNSS-Node): A OpenCyphal node with a GNSS sensor providing location data.

examples/OpenCyphal-Blink/OpenCyphal-Blink.ino

@@ -64,7 +64,7 @@ ArduinoMCP2515 mcp2515([]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); },
                        nullptr);
 
 Node::Heap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
-Node node_hdl(node_heap.data(), node_heap.size(), micros);
+Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
 
 Publisher<Heartbeat_1_0<>> heartbeat_pub = node_hdl.create_publisher<Heartbeat_1_0<>>(
   Heartbeat_1_0<>::PORT_ID, 1*1000*1000UL /* = 1 sec in usecs. */);
@@ -124,7 +124,7 @@ void loop()
    */
   {
     CriticalSection crit_sec;
-    node_hdl.spinSome([] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
+    node_hdl.spinSome();
   }
 
   /* Update the heartbeat object */

examples/OpenCyphal-GNSS-Node/OpenCyphal-GNSS-Node.ino

@@ -101,7 +101,7 @@ ArduinoMCP2515 mcp2515([]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); },
                        nullptr);
 
 Node::Heap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
-Node node_hdl(node_heap.data(), node_heap.size(), micros);
+Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
 
 Publisher<uavcan::node::Heartbeat_1_0<>> heartbeat_pub = node_hdl.create_publisher<uavcan::node::Heartbeat_1_0<>>(uavcan::node::Heartbeat_1_0<>::PORT_ID, 1*1000*1000UL /* = 1 sec in usecs. */);
 
@@ -151,7 +151,7 @@ void loop()
    */
   {
     CriticalSection crit_sec;
-    node_hdl.spinSome([] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
+    node_hdl.spinSome();
   }
 
   /* Handle actions common to all states.

examples/OpenCyphal-Heartbeat-Publisher/OpenCyphal-Heartbeat-Publisher.ino

@@ -14,6 +14,7 @@
 
 #include <107-Arduino-Cyphal.h>
 #include <107-Arduino-MCP2515.h>
+#include <107-Arduino-CriticalSection.h>
 
 /**************************************************************************************
  * NAMESPACE
@@ -40,7 +41,7 @@ ArduinoMCP2515 mcp2515([]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); },
                        nullptr);
 
 Node::Heap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
-Node node_hdl(node_heap.data(), node_heap.size(), micros);
+Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
 
 Publisher<Heartbeat_1_0<>> heartbeat_pub = node_hdl.create_publisher<Heartbeat_1_0<>>(Heartbeat_1_0<>::PORT_ID, 1*1000*1000UL /* = 1 sec in usecs. */);
 
@@ -80,7 +81,10 @@ void loop()
 {
   /* Process all pending OpenCyphal actions.
    */
-  node_hdl.spinSome([] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
+  {
+    CriticalSection crit_sec;
+    node_hdl.spinSome();
+  }
 
   /* Update the heartbeat object */
   hb_msg.data.uptime = millis() / 1000;

examples/OpenCyphal-Heartbeat-Subscriber/OpenCyphal-Heartbeat-Subscriber.ino

@@ -48,7 +48,7 @@ ArduinoMCP2515 mcp2515([]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); },
                        nullptr);
 
 Node::Heap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
-Node node_hdl(node_heap.data(), node_heap.size(), micros);
+Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
 
 Subscription heartbeat_subscription =
   node_hdl.create_subscription<Heartbeat_1_0<>>(Heartbeat_1_0<>::PORT_ID, CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC, onHeartbeat_1_0_Received);
@@ -83,7 +83,7 @@ void loop()
    */
   {
     CriticalSection crit_sec;
-    node_hdl.spinSome([] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
+    node_hdl.spinSome();
   }
 }
 

examples/OpenCyphal-Service-Client/OpenCyphal-Service-Client.ino

@@ -49,7 +49,7 @@ ArduinoMCP2515 mcp2515([]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); },
                        nullptr);
 
 Node::Heap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
-Node node_hdl(node_heap.data(), node_heap.size(), micros);
+Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
 
 ServiceClient<ExecuteCommand_1_1::Request<>> srv_client = node_hdl.create_service_client<ExecuteCommand_1_1::Request<>, ExecuteCommand_1_1::Response<>>(
   ExecuteCommand_1_1::Request<>::PORT_ID,
@@ -98,7 +98,7 @@ void loop()
    */
   {
     CriticalSection crit_sec;
-    node_hdl.spinSome([] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
+    node_hdl.spinSome();
   }
 }
 

examples/OpenCyphal-Service-Server/OpenCyphal-Service-Server.ino

@@ -49,7 +49,7 @@ ArduinoMCP2515 mcp2515([]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); },
                        nullptr);
 
 Node::Heap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
-Node node_hdl(node_heap.data(), node_heap.size(), micros);
+Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
 
 ServiceServer execute_command_srv = node_hdl.create_service_server<ExecuteCommand_1_1::Request<>, ExecuteCommand_1_1::Response<>>(
   ExecuteCommand_1_1::Request<>::PORT_ID,
@@ -86,7 +86,7 @@ void loop()
    */
   {
     CriticalSection crit_sec;
-    node_hdl.spinSome([] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
+    node_hdl.spinSome();
   }
 }
 

examples/OpenCyphal-ToF-Distance-Sensor-Node/OpenCyphal-ToF-Distance-Sensor-Node.ino

@@ -123,7 +123,7 @@ ArduinoMCP2515 mcp2515([]()
                        nullptr);
 
 Node::Heap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
-Node node_hdl(node_heap.data(), node_heap.size(), micros, OPEN_CYPHAL_NODE_ID);
+Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); }, OPEN_CYPHAL_NODE_ID);
 
 Publisher<Heartbeat_1_0<>> heartbeat_pub = node_hdl.create_publisher<Heartbeat_1_0<>>(Heartbeat_1_0<>::PORT_ID, 1*1000*1000UL /* = 1 sec in usecs. */);
 Publisher<DistanceMessageType> tof_pub = node_hdl.create_publisher<DistanceMessageType>(OPEN_CYPHAL_ID_DISTANCE_DATA, 1*1000*1000UL /* = 1 sec in usecs. */);
@@ -161,10 +161,10 @@ DEBUG_INSTANCE(120, Serial);
 
 /* REGISTER ***************************************************************************/
 
-static RegisterNatural8  reg_rw_uavcan_node_id          ("uavcan.node.id",           Register::Access::ReadWrite, Register::Persistent::No, OPEN_CYPHAL_NODE_ID, [&node_hdl](uint8_t const & val) { node_hdl.setNodeId(val); });
-static RegisterString    reg_ro_uavcan_node_description ("uavcan.node.description",  Register::Access::ReadWrite, Register::Persistent::No, "OpenCyphal-ToF-Distance-Sensor-Node");
-static RegisterNatural16 reg_ro_uavcan_pub_distance_id  ("uavcan.pub.distance.id",   Register::Access::ReadOnly,  Register::Persistent::No, OPEN_CYPHAL_ID_DISTANCE_DATA);
-static RegisterString    reg_ro_uavcan_pub_distance_type("uavcan.pub.distance.type", Register::Access::ReadOnly,  Register::Persistent::No, "uavcan.primitive.scalar.Real32.1.0");
+static RegisterNatural8  reg_rw_cyphal_node_id          ("cyphal.node.id",           Register::Access::ReadWrite, Register::Persistent::No, OPEN_CYPHAL_NODE_ID, [&node_hdl](uint8_t const & val) { node_hdl.setNodeId(val); });
+static RegisterString    reg_ro_cyphal_node_description ("cyphal.node.description",  Register::Access::ReadWrite, Register::Persistent::No, "OpenCyphal-ToF-Distance-Sensor-Node");
+static RegisterNatural16 reg_ro_cyphal_pub_distance_id  ("cyphal.pub.distance.id",   Register::Access::ReadOnly,  Register::Persistent::No, OPEN_CYPHAL_ID_DISTANCE_DATA);
+static RegisterString    reg_ro_cyphal_pub_distance_type("cyphal.pub.distance.type", Register::Access::ReadOnly,  Register::Persistent::No, "cyphal.primitive.scalar.Real32.1.0");
 static RegisterList      reg_list(node_hdl);
 
 /* NODE INFO **************************************************************************/
@@ -234,10 +234,10 @@ void setup()
 
   /* Register callbacks for node info and register api.
    */
-  reg_list.add(reg_rw_uavcan_node_id);
-  reg_list.add(reg_ro_uavcan_node_description);
-  reg_list.add(reg_ro_uavcan_pub_distance_id);
-  reg_list.add(reg_ro_uavcan_pub_distance_type);
+  reg_list.add(reg_rw_cyphal_node_id);
+  reg_list.add(reg_ro_cyphal_node_description);
+  reg_list.add(reg_ro_cyphal_pub_distance_id);
+  reg_list.add(reg_ro_cyphal_pub_distance_type);
 }
 
 void loop()
@@ -246,7 +246,7 @@ void loop()
    */
   {
     CriticalSection crit_sec;
-    node_hdl.spinSome([] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
+    node_hdl.spinSome();
   }
 
   /* Handle actions common to all states.

extras/cyphal++/examples/example-01-opencyphal-basic-node/CMakeLists.txt

@@ -0,0 +1,8 @@
+##########################################################################
+cmake_minimum_required(VERSION 3.15)
+##########################################################################
+set(EXAMPLE_01_TARGET example-01-basic-cyphal-node)
+##########################################################################
+add_executable(${EXAMPLE_01_TARGET} example-01-opencyphal-basic-node.cpp)
+target_link_libraries(${EXAMPLE_01_TARGET} cyphal++ pthread)
+##########################################################################

extras/cyphal++/examples/example-01-opencyphal-basic-node/README.md

@@ -0,0 +1,34 @@
+<a href="https://opencyphal.org/"><img align="right" src="https://raw.githubusercontent.com/107-systems/.github/main/logo/opencyphal.svg" width="25%"></a>
+:floppy_disk: `example-01-opencyphal-basic-node`
+================================================
+* Setup a virtual CAN interface (`vcan0`)
+```bash
+sudo ./setup_vcan.sh
+```
+You can observe the frames on the virtual CAN bus using `candump`
+```bash
+candump vcan0
+```
+* Install `yakut`
+```bash
+python3 -m pip install yakut
+```
+* Compile OpenCyphal DSDL
+```bash
+yakut compile https://github.com/OpenCyphal/public_regulated_data_types/archive/refs/heads/master.zip
+```
+* Setup `yakut`
+```bash
+. setup_yakut.sh
+```
+* Start `yakut`
+```bash
+yakut monitor
+```
+* Use `yakut`
+
+Read the register list of the node.
+```bash
+yakut rl 42
+[cyphal.node.description, cyphal.node.id, cyphal.pub.temperature.id, cyphal.pub.temperature.type]
+```