Add missing wrappers for uavcan/si

[joelsa]

This PR is intended as a draft PR related to #98. I started with uavcan/si/sample/acceleration. I plan on creating wrappers like this for all uavcan/si data types, but I would be very grateful if you @aentinger are able to check if this is the correct approach and how you intended it to be done before I move on to the rest.

[aentinger]

Hi @joelsa ☕ 👋

Thank you very much for your contribution. I love it, it's mostly perfect. If you fix the namespace thing then you can copy this scheme for all missing types. Also I'll fix up the CI error for you sometime today.

[aentinger]

See above comment, sorry I had mis-clicked.

[aentinger]

I've fixed the broken CI build in #134. Please rebase your PR on 107-Arduino-UAVCAN:master.

[joelsa]

I've fixed the broken CI build in #134. Please rebase your PR on 107-Arduino-UAVCAN:master.

Thanks! I hope rebasing and then force-pushing my forked branch is the correct way? I did not see any other way since it could not be fast-forwarded.

[aentinger]

Yes, in case of such a rebase you'll need a force-push (nothing wrong with --force in this scenario). Small improvement tip for your next PR: Create a branch within your fork instead of directly committing to your forked master branch, having a separate branch makes everything a bit easier.

[aentinger]

Good morning @joelsa 👋 ☕

How do you do? Any chance you can finish the implementation of the wrappers?

Cheers, Alex

[codecov-commenter]

Codecov Report

Merging #133 (02a6793) into master (4116902) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##           master     #133   +/-   ##
=======================================
  Coverage   85.64%   85.64%           
=======================================
  Files          17       17           
  Lines         641      641           
=======================================
  Hits          549      549           
  Misses         92       92           

---

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update afc9596...02a6793. Read the comment docs.

[joelsa]

Good morning @joelsa

How do you do? Any chance you can finish the implementation of the wrappers?

Cheers, Alex

Hi 👋
It should be finished now, all the files under wrappers/uavcan/si now have a wrapper, and I added them all to the ArduinoUAVCANTypes.h
Thanks for the heads-up and sorry it took this long, the last week was exceptionally busy.

Now it looks to me like the wrappers are almost complete, but the following five are still missing:

• uavcan/primitive/Empty_1_0.h
• uavcan/primitive/String_1_0.h
• uavcan/primitive/Unstructured_1_0.h
• reg/drone/service/Error_0_1.h
• reg/drone/service/Technology_0_1.h

Shall I implement those too?

[aentinger]

Terrific, thank you! 👍 Looks like there's an issue with all the function names for _torque which contain one _ too many from what I can see. Could you please fix that?

With regards to the still-missing-types - that would be very neat for completeness, even if those types will never be used without composition into another type. I'd suggest another PR for those though.

[joelsa]

There is https://github.com/107-systems/107-Arduino-UAVCAN/tree/master/src/types/uavcan/si/sample/_torque as well as https://github.com/107-systems/107-Arduino-UAVCAN/tree/master/src/types/uavcan/si/sample/torque
even though in the upstream public data types there is only https://github.com/UAVCAN/public_regulated_data_types/tree/master/uavcan/si/sample/torque

They are identical, do you want me to remove the redundant one, or is there a particular reason for the duplication?

[joelsa]

I think it might have been a generation issue with Nunavut or something similar? In any case, the data types was only used in types/reg/drone/physics/dynamics/rotation/Planar_0_1.h and even though it was generated, I modified it, because I think the generation was erroneous in the first place. Please let me know if you want me to revert the commits and only remove the wrappers for this data type.

[pavel-kirienko]

I think it might have been a generation issue with Nunavut or something similar?

Yes, already fixed: OpenCyphal/nunavut#188

[github-actions]

Memory usage change @ 67dceff

Board	flash	%	RAM for global variables	%
arduino:mbed_edge:edge_control	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
arduino:mbed_nano:nano33ble	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
arduino:mbed_nano:nanorp2040connect	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
arduino:mbed_portenta:envie_m4	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
arduino:mbed_portenta:envie_m7	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
arduino:samd:mkr1000	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
arduino:samd:mkrfox1200	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
arduino:samd:mkrgsm1400	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
arduino:samd:mkrnb1500	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
arduino:samd:mkrvidor4000	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
arduino:samd:mkrwan1300	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
arduino:samd:mkrwan1310	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
arduino:samd:mkrwifi1010	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
arduino:samd:mkrzero	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
esp32:esp32:esp32	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
rp2040:rp2040:rpipico	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0

Click for full report table

Board	examples/UAVCAN-BMS-Subscribe flash	%	examples/UAVCAN-BMS-Subscribe RAM for global variables	%	examples/UAVCAN-Blink flash	%	examples/UAVCAN-Blink RAM for global variables	%	examples/UAVCAN-GNSS-Node flash	%	examples/UAVCAN-GNSS-Node RAM for global variables	%	examples/UAVCAN-Heartbeat-Publish flash	%	examples/UAVCAN-Heartbeat-Publish RAM for global variables	%	examples/UAVCAN-Heartbeat-Subscribe flash	%	examples/UAVCAN-Heartbeat-Subscribe RAM for global variables	%	examples/UAVCAN-Service-Client flash	%	examples/UAVCAN-Service-Client RAM for global variables	%	examples/UAVCAN-Service-Server flash	%	examples/UAVCAN-Service-Server RAM for global variables	%	examples/UAVCAN-ToF-Distance-Sensor-Node flash	%	examples/UAVCAN-ToF-Distance-Sensor-Node RAM for global variables	%
arduino:mbed_edge:edge_control	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0
arduino:mbed_nano:nano33ble	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0
arduino:mbed_nano:nanorp2040connect	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0
arduino:mbed_portenta:envie_m4	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0
arduino:mbed_portenta:envie_m7	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0
arduino:samd:mkr1000	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0
arduino:samd:mkrfox1200	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0
arduino:samd:mkrgsm1400	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0
arduino:samd:mkrnb1500	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0
arduino:samd:mkrvidor4000	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0
arduino:samd:mkrwan1300	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0
arduino:samd:mkrwan1310	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0
arduino:samd:mkrwifi1010	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0
arduino:samd:mkrzero	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0
esp32:esp32:esp32	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0
rp2040:rp2040:rpipico	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0	0	0.0

Click for full report CSV

Board,examples/UAVCAN-BMS-Subscribe<br>flash,%,examples/UAVCAN-BMS-Subscribe<br>RAM for global variables,%,examples/UAVCAN-Blink<br>flash,%,examples/UAVCAN-Blink<br>RAM for global variables,%,examples/UAVCAN-GNSS-Node<br>flash,%,examples/UAVCAN-GNSS-Node<br>RAM for global variables,%,examples/UAVCAN-Heartbeat-Publish<br>flash,%,examples/UAVCAN-Heartbeat-Publish<br>RAM for global variables,%,examples/UAVCAN-Heartbeat-Subscribe<br>flash,%,examples/UAVCAN-Heartbeat-Subscribe<br>RAM for global variables,%,examples/UAVCAN-Service-Client<br>flash,%,examples/UAVCAN-Service-Client<br>RAM for global variables,%,examples/UAVCAN-Service-Server<br>flash,%,examples/UAVCAN-Service-Server<br>RAM for global variables,%,examples/UAVCAN-ToF-Distance-Sensor-Node<br>flash,%,examples/UAVCAN-ToF-Distance-Sensor-Node<br>RAM for global variables,%
arduino:mbed_edge:edge_control,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0
arduino:mbed_nano:nano33ble,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0
arduino:mbed_nano:nanorp2040connect,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0
arduino:mbed_portenta:envie_m4,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0
arduino:mbed_portenta:envie_m7,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0
arduino:samd:mkr1000,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0
arduino:samd:mkrfox1200,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0
arduino:samd:mkrgsm1400,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0
arduino:samd:mkrnb1500,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0
arduino:samd:mkrvidor4000,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0
arduino:samd:mkrwan1300,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0
arduino:samd:mkrwan1310,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0
arduino:samd:mkrwifi1010,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0
arduino:samd:mkrzero,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0
esp32:esp32:esp32,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0
rp2040:rp2040:rpipico,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0,0,0.0

[aentinger]

LGTM 👍 Thank you very much! ❤️

[aentinger]

Please let me know if you want me to revert the commits and only remove the wrappers for this data type.

You allready resolved everything in a perfect way! Thank you! In the (possibly nearer) future there shall be automatic header generation, re-running the C headers was / is on my todo-list.