107-systems · aentinger · Dec 16, 2022 · Dec 15, 2022 · Dec 15, 2022 · Dec 16, 2022
diff --git a/README.md b/README.md
@@ -57,6 +57,24 @@ void loop() {
 
 ### Contribution
 #### How to add missing wrappers
+##### Docker automatization
+The generation of C header files from OpenCyphal's [public_regulated_data_types](https://github.com/OpenCyphal/public_regulated_data_types) (step 1-3 in the instructions below) can also be executed by invoking a Docker container. It can be built and executed with the following commands:
+
+Install Docker via `snap` or follow the official [instructions](https://docs.docker.com/engine/install/ubuntu/):
+```bash
+sudo snap install docker
+```
+**Note**: You may need to add your user to the `docker` group:
+```bash
+sudo usermod -a -G docker $USER
+```
+Generating the C header files using a Docker container:
+```bash
+cd extras/script
+./build_docker.sh
+./docker_codegen.sh
+```
+
 ##### Step 1) Generate C header files from DSDL
 **Option A) Use [nunavut/nnvg](https://github.com/OpenCyphal/nunavut)**
 * Install **nunavut**: `pip install nunavut` (you will need a functional [Python installation](https://docs.python.org/3/using/index.html))

diff --git a/extras/script/Dockerfile b/extras/script/Dockerfile
@@ -0,0 +1,29 @@
+FROM ubuntu:latest
+
+# set a directory for the app
+WORKDIR /usr/src/app
+
+# install dependencies
+RUN apt-get update -y
+RUN apt-get install -y apt-utils
+RUN apt-get install -y locales
+RUN apt-get install -yq tzdata
+RUN echo "Europe/Berlin" > /etc/timezone && \
+    touch /etc/locale.gen && \
+    dpkg-reconfigure -f noninteractive tzdata && \
+    sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && \
+    sed -i -e 's/# de_DE.UTF-8 UTF-8/de_DE.UTF-8 UTF-8/' /etc/locale.gen && \
+    echo 'LANG="de_DE.UTF-8"'>/etc/default/locale && \
+    dpkg-reconfigure --frontend=noninteractive locales && \
+    update-locale LANG=de_DE.UTF-8
+
+ENV LANG de_DE.UTF-8
+ENV LANGUAGE de_DE.UTF-8
+ENV LC_ALL de_DE.UTF-8
+
+RUN apt-get install -y bash
+RUN apt-get install -y git
+RUN apt-get install -y python3-pip
+RUN pip3 install nunavut
+
+CMD ["/bin/bash", "-c", "cd /107-Arduino-Cyphal; ./extras/script/update_c_header.sh; exit"]
diff --git a/extras/script/build_docker.sh b/extras/script/build_docker.sh
@@ -0,0 +1,3 @@
+#!/bin/sh
+
+docker build -t 107_arduino_cyphal_headergen .
diff --git a/extras/script/docker_codegen.sh b/extras/script/docker_codegen.sh
@@ -0,0 +1,3 @@
+#!/bin/sh
+
+docker run -it -v ${PWD}/../../:/107-Arduino-Cyphal 107_arduino_cyphal_headergen
diff --git a/extras/script/update-c-header.sh → extras/script/update_c_header.sh b/extras/script/update-c-header.sh → extras/script/update_c_header.sh
@@ -5,9 +5,10 @@ HEADER_DIR="$SCRIPT_DIR/../../src/types"
 NUNAVUT_DIR="$SCRIPT_DIR/../../src/nunavut"
 
 cd /tmp
-pip install -U nunavut
 rm -rf public_regulated_data_types
 git clone https://github.com/OpenCyphal/public_regulated_data_types
+
+echo "Generating code..."
 nnvg --target-language c \
      --pp-max-emptylines=1  \
      --pp-trim-trailing-whitespace \
@@ -24,6 +25,16 @@ nnvg --target-language c \
      --outdir public_regulated_data_types/reg-header \
      public_regulated_data_types/reg
 
+echo "Copying code to destination"
 cp -R public_regulated_data_types/uavcan-header/nunavut/* "$NUNAVUT_DIR"
 cp -R public_regulated_data_types/uavcan-header/uavcan "$HEADER_DIR"
 cp -R public_regulated_data_types/reg-header/reg "$HEADER_DIR"
+
+echo "Fixing include paths"
+cd $HEADER_DIR
+find . -type f -exec sed -i 's/<reg/<types\/reg/g' {} +
+find . -type f -exec sed -i 's/<uavcan/<types\/uavcan/g' {} +
+
+echo "Fixing definition of NUNAVUT_ASSERT"
+cd $NUNAVUT_DIR/support
+sed -i -- 's/#define NUNAVUT_SUPPORT_SERIALIZATION_H_INCLUDED/#define NUNAVUT_SUPPORT_SERIALIZATION_H_INCLUDED\n\n#define NUNAVUT_ASSERT(expr) assert(expr)\n/g' serialization.h
diff --git a/src/nunavut/support/serialization.h b/src/nunavut/support/serialization.h
@@ -14,6 +14,9 @@
 #ifndef NUNAVUT_SUPPORT_SERIALIZATION_H_INCLUDED
 #define NUNAVUT_SUPPORT_SERIALIZATION_H_INCLUDED
 
+#define NUNAVUT_ASSERT(expr) assert(expr)
+
+
 #ifdef __cplusplus
 #   if (__cplusplus < 201100L)
 #       error "Unsupported language: ISO C11, C++11, or a newer version of either is required."
@@ -70,7 +73,11 @@ static_assert(sizeof(size_t) >= sizeof(size_t),
     ((FLT_RADIX == 2) && (DBL_MANT_DIG == 53) && (DBL_MIN_EXP == -1021) && (DBL_MAX_EXP == 1024))
 
 #ifndef NUNAVUT_ASSERT
-# define NUNAVUT_ASSERT(expr) assert(expr)
+// By default Nunavut does not generate assert statements since the logic to halt a program is platform
+// dependent and because this header requires an absolute minimum from a platform and from the C standard library.
+// Most platforms can simply define "NUNAVUT_ASSERT(x)=assert(x)" (<assert.h> is always included by Nunavut).
+#   error "You must either define NUNAVUT_ASSERT or you need to disable assertions" \
+          " when generating serialization support code using Nunavut language options"
 #endif
 
 // This code is endianness-invariant. Use target_endianness='little' to generate little-endian-optimized code.

diff --git a/src/types/reg/udral/physics/acoustics/Note_0_1.h b/src/types/reg/udral/physics/acoustics/Note_0_1.h
@@ -7,23 +7,23 @@
 // To avoid conflicts with definitions given in the source DSDL file, all entities created by the code generator
 // are named with an underscore at the end, like foo_bar_().
 //
-// Generator:     nunavut-1.8.2 (serialization was enabled)
+// Generator:     nunavut-1.9.0 (serialization was enabled)
 // Source file:   /tmp/public_regulated_data_types/reg/udral/physics/acoustics/Note.0.1.dsdl
-// Generated at:  2022-06-14 07:08:31.028882 UTC
+// Generated at:  2022-12-15 23:20:53.209923 UTC
 // Is deprecated: no
 // Fixed port-ID: None
 // Full name:     reg.udral.physics.acoustics.Note
 // Version:       0.1
 //
 // Platform
 //     python_implementation:  CPython
-//     python_version:  3.8.10
+//     python_version:  3.10.6
 //     python_release_level:  final
-//     python_build:  ('default', 'Mar 15 2022 12:22:08')
-//     python_compiler:  GCC 9.4.0
+//     python_build:  ('main', 'Nov 14 2022 16:10:14')
+//     python_compiler:  GCC 11.3.0
 //     python_revision:
 //     python_xoptions:  {}
-//     runtime_platform:  Linux-5.4.0-117-generic-x86_64-with-glibc2.29
+//     runtime_platform:  Linux-5.15.0-56-generic-x86_64-with-glibc2.35
 //
 // Language Options
 //     target_endianness:  any
@@ -36,10 +36,10 @@
 #define REG_UDRAL_PHYSICS_ACOUSTICS_NOTE_0_1_INCLUDED_
 
 #include <nunavut/support/serialization.h>
+#include <stdlib.h>
 #include <types/uavcan/si/unit/duration/Scalar_1_0.h>
 #include <types/uavcan/si/unit/frequency/Scalar_1_0.h>
 #include <types/uavcan/si/unit/power/Scalar_1_0.h>
-#include <stdlib.h>
 
 static_assert( NUNAVUT_SUPPORT_LANGUAGE_OPTION_TARGET_ENDIANNESS == 1693710260,
               "/tmp/public_regulated_data_types/reg/udral/physics/acoustics/Note.0.1.dsdl is trying to use a serialization library that was compiled with "

diff --git a/src/types/reg/udral/physics/dynamics/rotation/PlanarTs_0_1.h b/src/types/reg/udral/physics/dynamics/rotation/PlanarTs_0_1.h
@@ -7,23 +7,23 @@
 // To avoid conflicts with definitions given in the source DSDL file, all entities created by the code generator
 // are named with an underscore at the end, like foo_bar_().
 //
-// Generator:     nunavut-1.8.2 (serialization was enabled)
+// Generator:     nunavut-1.9.0 (serialization was enabled)
 // Source file:   /tmp/public_regulated_data_types/reg/udral/physics/dynamics/rotation/PlanarTs.0.1.dsdl
-// Generated at:  2022-06-14 07:08:31.020181 UTC
+// Generated at:  2022-12-15 23:20:53.216892 UTC
 // Is deprecated: no
 // Fixed port-ID: None
 // Full name:     reg.udral.physics.dynamics.rotation.PlanarTs
 // Version:       0.1
 //
 // Platform
 //     python_implementation:  CPython
-//     python_version:  3.8.10
+//     python_version:  3.10.6
 //     python_release_level:  final
-//     python_build:  ('default', 'Mar 15 2022 12:22:08')
-//     python_compiler:  GCC 9.4.0
+//     python_build:  ('main', 'Nov 14 2022 16:10:14')
+//     python_compiler:  GCC 11.3.0
 //     python_revision:
 //     python_xoptions:  {}
-//     runtime_platform:  Linux-5.4.0-117-generic-x86_64-with-glibc2.29
+//     runtime_platform:  Linux-5.15.0-56-generic-x86_64-with-glibc2.35
 //
 // Language Options
 //     target_endianness:  any
@@ -37,8 +37,8 @@
 
 #include <nunavut/support/serialization.h>
 #include <types/reg/udral/physics/dynamics/rotation/Planar_0_1.h>
-#include <types/uavcan/time/SynchronizedTimestamp_1_0.h>
 #include <stdlib.h>
+#include <types/uavcan/time/SynchronizedTimestamp_1_0.h>
 
 static_assert( NUNAVUT_SUPPORT_LANGUAGE_OPTION_TARGET_ENDIANNESS == 1693710260,
               "/tmp/public_regulated_data_types/reg/udral/physics/dynamics/rotation/PlanarTs.0.1.dsdl is trying to use a serialization library that was compiled with "

diff --git a/src/types/reg/udral/physics/dynamics/rotation/Planar_0_1.h b/src/types/reg/udral/physics/dynamics/rotation/Planar_0_1.h
@@ -7,23 +7,23 @@
 // To avoid conflicts with definitions given in the source DSDL file, all entities created by the code generator
 // are named with an underscore at the end, like foo_bar_().
 //
-// Generator:     nunavut-1.8.2 (serialization was enabled)
+// Generator:     nunavut-1.9.0 (serialization was enabled)
 // Source file:   /tmp/public_regulated_data_types/reg/udral/physics/dynamics/rotation/Planar.0.1.dsdl
-// Generated at:  2022-06-14 07:08:31.017121 UTC
+// Generated at:  2022-12-15 23:20:53.213656 UTC
 // Is deprecated: no
 // Fixed port-ID: None
 // Full name:     reg.udral.physics.dynamics.rotation.Planar
 // Version:       0.1
 //
 // Platform
 //     python_implementation:  CPython
-//     python_version:  3.8.10
+//     python_version:  3.10.6
 //     python_release_level:  final
-//     python_build:  ('default', 'Mar 15 2022 12:22:08')
-//     python_compiler:  GCC 9.4.0
+//     python_build:  ('main', 'Nov 14 2022 16:10:14')
+//     python_compiler:  GCC 11.3.0
 //     python_revision:
 //     python_xoptions:  {}
-//     runtime_platform:  Linux-5.4.0-117-generic-x86_64-with-glibc2.29
+//     runtime_platform:  Linux-5.15.0-56-generic-x86_64-with-glibc2.35
 //
 // Language Options
 //     target_endianness:  any
@@ -37,8 +37,8 @@
 
 #include <nunavut/support/serialization.h>
 #include <types/reg/udral/physics/kinematics/rotation/Planar_0_1.h>
-#include <types/uavcan/si/unit/torque/Scalar_1_0.h>
 #include <stdlib.h>
+#include <types/uavcan/si/unit/torque/Scalar_1_0.h>
 
 static_assert( NUNAVUT_SUPPORT_LANGUAGE_OPTION_TARGET_ENDIANNESS == 1693710260,
               "/tmp/public_regulated_data_types/reg/udral/physics/dynamics/rotation/Planar.0.1.dsdl is trying to use a serialization library that was compiled with "

diff --git a/src/types/reg/udral/physics/dynamics/translation/LinearTs_0_1.h b/src/types/reg/udral/physics/dynamics/translation/LinearTs_0_1.h
@@ -7,23 +7,23 @@
 // To avoid conflicts with definitions given in the source DSDL file, all entities created by the code generator
 // are named with an underscore at the end, like foo_bar_().
 //
-// Generator:     nunavut-1.8.2 (serialization was enabled)
+// Generator:     nunavut-1.9.0 (serialization was enabled)
 // Source file:   /tmp/public_regulated_data_types/reg/udral/physics/dynamics/translation/LinearTs.0.1.dsdl
-// Generated at:  2022-06-14 07:08:31.026066 UTC
+// Generated at:  2022-12-15 23:20:53.222985 UTC
 // Is deprecated: no
 // Fixed port-ID: None
 // Full name:     reg.udral.physics.dynamics.translation.LinearTs
 // Version:       0.1
 //
 // Platform
 //     python_implementation:  CPython
-//     python_version:  3.8.10
+//     python_version:  3.10.6
 //     python_release_level:  final
-//     python_build:  ('default', 'Mar 15 2022 12:22:08')
-//     python_compiler:  GCC 9.4.0
+//     python_build:  ('main', 'Nov 14 2022 16:10:14')
+//     python_compiler:  GCC 11.3.0
 //     python_revision:
 //     python_xoptions:  {}
-//     runtime_platform:  Linux-5.4.0-117-generic-x86_64-with-glibc2.29
+//     runtime_platform:  Linux-5.15.0-56-generic-x86_64-with-glibc2.35
 //
 // Language Options
 //     target_endianness:  any
@@ -37,8 +37,8 @@
 
 #include <nunavut/support/serialization.h>
 #include <types/reg/udral/physics/dynamics/translation/Linear_0_1.h>
-#include <types/uavcan/time/SynchronizedTimestamp_1_0.h>
 #include <stdlib.h>
+#include <types/uavcan/time/SynchronizedTimestamp_1_0.h>
 
 static_assert( NUNAVUT_SUPPORT_LANGUAGE_OPTION_TARGET_ENDIANNESS == 1693710260,
               "/tmp/public_regulated_data_types/reg/udral/physics/dynamics/translation/LinearTs.0.1.dsdl is trying to use a serialization library that was compiled with "

diff --git a/src/types/reg/udral/physics/dynamics/translation/Linear_0_1.h b/src/types/reg/udral/physics/dynamics/translation/Linear_0_1.h
@@ -7,23 +7,23 @@
 // To avoid conflicts with definitions given in the source DSDL file, all entities created by the code generator
 // are named with an underscore at the end, like foo_bar_().
 //
-// Generator:     nunavut-1.8.2 (serialization was enabled)
+// Generator:     nunavut-1.9.0 (serialization was enabled)
 // Source file:   /tmp/public_regulated_data_types/reg/udral/physics/dynamics/translation/Linear.0.1.dsdl
-// Generated at:  2022-06-14 07:08:31.023097 UTC
+// Generated at:  2022-12-15 23:20:53.219857 UTC
 // Is deprecated: no
 // Fixed port-ID: None
 // Full name:     reg.udral.physics.dynamics.translation.Linear
 // Version:       0.1
 //
 // Platform
 //     python_implementation:  CPython
-//     python_version:  3.8.10
+//     python_version:  3.10.6
 //     python_release_level:  final
-//     python_build:  ('default', 'Mar 15 2022 12:22:08')
-//     python_compiler:  GCC 9.4.0
+//     python_build:  ('main', 'Nov 14 2022 16:10:14')
+//     python_compiler:  GCC 11.3.0
 //     python_revision:
 //     python_xoptions:  {}
-//     runtime_platform:  Linux-5.4.0-117-generic-x86_64-with-glibc2.29
+//     runtime_platform:  Linux-5.15.0-56-generic-x86_64-with-glibc2.35
 //
 // Language Options
 //     target_endianness:  any
@@ -37,8 +37,8 @@
 
 #include <nunavut/support/serialization.h>
 #include <types/reg/udral/physics/kinematics/translation/Linear_0_1.h>
-#include <types/uavcan/si/unit/force/Scalar_1_0.h>
 #include <stdlib.h>
+#include <types/uavcan/si/unit/force/Scalar_1_0.h>
 
 static_assert( NUNAVUT_SUPPORT_LANGUAGE_OPTION_TARGET_ENDIANNESS == 1693710260,
               "/tmp/public_regulated_data_types/reg/udral/physics/dynamics/translation/Linear.0.1.dsdl is trying to use a serialization library that was compiled with "

diff --git a/src/types/reg/udral/physics/electricity/PowerTs_0_1.h b/src/types/reg/udral/physics/electricity/PowerTs_0_1.h
@@ -7,23 +7,23 @@
 // To avoid conflicts with definitions given in the source DSDL file, all entities created by the code generator
 // are named with an underscore at the end, like foo_bar_().
 //
-// Generator:     nunavut-1.8.2 (serialization was enabled)
+// Generator:     nunavut-1.9.0 (serialization was enabled)
 // Source file:   /tmp/public_regulated_data_types/reg/udral/physics/electricity/PowerTs.0.1.dsdl
-// Generated at:  2022-06-14 07:08:31.039098 UTC
+// Generated at:  2022-12-15 23:20:53.228789 UTC
 // Is deprecated: no
 // Fixed port-ID: None
 // Full name:     reg.udral.physics.electricity.PowerTs
 // Version:       0.1
 //
 // Platform
 //     python_implementation:  CPython
-//     python_version:  3.8.10
+//     python_version:  3.10.6
 //     python_release_level:  final
-//     python_build:  ('default', 'Mar 15 2022 12:22:08')
-//     python_compiler:  GCC 9.4.0
+//     python_build:  ('main', 'Nov 14 2022 16:10:14')
+//     python_compiler:  GCC 11.3.0
 //     python_revision:
 //     python_xoptions:  {}
-//     runtime_platform:  Linux-5.4.0-117-generic-x86_64-with-glibc2.29
+//     runtime_platform:  Linux-5.15.0-56-generic-x86_64-with-glibc2.35
 //
 // Language Options
 //     target_endianness:  any
@@ -37,8 +37,8 @@
 
 #include <nunavut/support/serialization.h>
 #include <types/reg/udral/physics/electricity/Power_0_1.h>
-#include <types/uavcan/time/SynchronizedTimestamp_1_0.h>
 #include <stdlib.h>
+#include <types/uavcan/time/SynchronizedTimestamp_1_0.h>
 
 static_assert( NUNAVUT_SUPPORT_LANGUAGE_OPTION_TARGET_ENDIANNESS == 1693710260,
               "/tmp/public_regulated_data_types/reg/udral/physics/electricity/PowerTs.0.1.dsdl is trying to use a serialization library that was compiled with "

diff --git a/src/types/reg/udral/physics/electricity/Power_0_1.h b/src/types/reg/udral/physics/electricity/Power_0_1.h
@@ -7,23 +7,23 @@
 // To avoid conflicts with definitions given in the source DSDL file, all entities created by the code generator
 // are named with an underscore at the end, like foo_bar_().
 //
-// Generator:     nunavut-1.8.2 (serialization was enabled)
+// Generator:     nunavut-1.9.0 (serialization was enabled)
 // Source file:   /tmp/public_regulated_data_types/reg/udral/physics/electricity/Power.0.1.dsdl
-// Generated at:  2022-06-14 07:08:31.036347 UTC
+// Generated at:  2022-12-15 23:20:53.225882 UTC
 // Is deprecated: no
 // Fixed port-ID: None
 // Full name:     reg.udral.physics.electricity.Power
 // Version:       0.1
 //
 // Platform
 //     python_implementation:  CPython
-//     python_version:  3.8.10
+//     python_version:  3.10.6
 //     python_release_level:  final
-//     python_build:  ('default', 'Mar 15 2022 12:22:08')
-//     python_compiler:  GCC 9.4.0
+//     python_build:  ('main', 'Nov 14 2022 16:10:14')
+//     python_compiler:  GCC 11.3.0
 //     python_revision:
 //     python_xoptions:  {}
-//     runtime_platform:  Linux-5.4.0-117-generic-x86_64-with-glibc2.29
+//     runtime_platform:  Linux-5.15.0-56-generic-x86_64-with-glibc2.35
 //
 // Language Options
 //     target_endianness:  any
@@ -36,9 +36,9 @@
 #define REG_UDRAL_PHYSICS_ELECTRICITY_POWER_0_1_INCLUDED_
 
 #include <nunavut/support/serialization.h>
+#include <stdlib.h>
 #include <types/uavcan/si/unit/electric_current/Scalar_1_0.h>
 #include <types/uavcan/si/unit/voltage/Scalar_1_0.h>
-#include <stdlib.h>
 
 static_assert( NUNAVUT_SUPPORT_LANGUAGE_OPTION_TARGET_ENDIANNESS == 1693710260,
               "/tmp/public_regulated_data_types/reg/udral/physics/electricity/Power.0.1.dsdl is trying to use a serialization library that was compiled with "