Merge pull request #48 from 107-systems/uavcan-v1.0

Updating to libcanard v1.0

Author: aentinger

README.md

@@ -7,7 +7,7 @@
 [![General Formatting Checks](https://github.com/107-systems/107-Arduino-UAVCAN/workflows/General%20Formatting%20Checks/badge.svg)](https://github.com/107-systems/107-Arduino-UAVCAN/actions?workflow=General+Formatting+Checks)
 [![Spell Check](https://github.com/107-systems/107-Arduino-UAVCAN/workflows/Spell%20Check/badge.svg)](https://github.com/107-systems/107-Arduino-UAVCAN/actions?workflow=Spell+Check)
 
-Arduino library for providing a convenient C++ interface for accessing [UAVCAN](https://uavcan.org/) ([v1.0-alpha](https://uavcan.org/specification/UAVCAN_Specification_v1.0-alpha.pdf)) utilizing [libcanard](https://github.com/UAVCAN/libcanard).
+Arduino library for providing a convenient C++ interface for accessing [UAVCAN](https://uavcan.org/) ([v1.0-beta](https://uavcan.org/specification/UAVCAN_Specification_v1.0-beta.pdf)) utilizing [libcanard](https://github.com/UAVCAN/libcanard).
 
 <p align="center">
   <a href="https://github.com/107-systems/107-Arduino-Viper"><img src="extras/logo/viper-logo.jpg" width="40%"></a>
@@ -17,30 +17,7 @@ This library works for
 * [ArduinoCore-samd](https://github.com/arduino/ArduinoCore-samd): [`Arduino Zero`](https://store.arduino.cc/arduino-zero), [`MKR 1000`](https://store.arduino.cc/arduino-mkr1000-wifi), [`MKR WiFi 1010`](https://store.arduino.cc/arduino-mkr-wifi-1010), [`Nano 33 IoT`](https://store.arduino.cc/arduino-nano-33-iot), [`MKR GSM 1400`](https://store.arduino.cc/arduino-mkr-gsm-1400-1415), [`MKR NB 1500`](https://store.arduino.cc/arduino-mkr-nb-1500-1413), [`MKR WAN 1300/1310`](https://store.arduino.cc/mkr-wan-1310) :heavy_check_mark:
 * [ArduinoCore-mbed](https://github.com/arduino/ArduinoCore-mbed): [`Portenta H7`](https://store.arduino.cc/portenta-h7), [`Nano 33 BLE`](https://store.arduino.cc/arduino-nano-33-ble) :heavy_check_mark:
 
-## Example
-### Subscribe
-```C++
-#include <ArduinoUAVCAN.h>
-/* ... */
-ArduinoUAVCAN uavcan(13, nullptr);
-/* ... */
-void setup() {
-  /* ... */
-  uavcan.subscribe<Heartbeat_1_0>(onHeatbeat_1_0_Received);
-}
-/* ... */
-void onHeatbeat_1_0_Received(CanardTransfer const & transfer, ArduinoUAVCAN & /* uavcan */)
-{
-  Heartbeat_1_0 const hb = Heartbeat_1_0::create(transfer);
-
-  char msg[64];
-  snprintf(msg, 64, "ID %02X, Uptime = %d, Health = %d, Mode = %d, VSSC = %d", transfer.remote_node_id, hb.data.uptime, hb.data.health, hb.data.mode, hb.data.vendor_specific_status_code);
-
-  Serial.println(msg);
-}
-```
-
-### Publish
+### Example
 ```C++
 #include <ArduinoUAVCAN.h>
 /* ... */
@@ -69,86 +46,5 @@ bool transmitCanFrame(CanardFrame const & frame) {
 }
 ```
 
-### Service Client
-```C++
-#include <ArduinoUAVCAN.h>
-/* ... */
-ArduinoUAVCAN uavcan(13, transmitCanFrame);
-/* ... */
-void setup() {
-  /* ... */
-  /* Request some coffee. */
-  char const cmd_param[] = "I want a double espresso with cream";
-  ExecuteCommand_1_0::Request req:
-  req.data.command = 0xCAFE;
-  req.data.parameter_length = std::min(cmd_param.length(), uavcan_node_ExecuteCommand_1_0_Request_parameter_array_capacity());
-  std::copy(cmd_param.c_str(), cmd_param.c_str() + req.data.parameter_length, req.data.parameter);
-
-  uavcan.request<ExecuteCommand_1_0::Request, ExecuteCommand_1_0::Response>(req, 27 /* remote node id */, onExecuteCommand_1_0_Response_Received);
-}
-
-void loop() {
-  /* Transmit all enqeued CAN frames */
-  while(uavcan.transmitCanFrame()) { }
-}
-/* ... */
-void onExecuteCommand_1_0_Response_Received(CanardTransfer const & transfer, ArduinoUAVCAN & /* uavcan */) {
-  ExecuteCommand_1_0::Response const rsp = ExecuteCommand_1_0::Response::create(transfer);
-
-  if (rsp.data.status == ExecuteCommand_1_0::Response::Status::SUCCESS)
-    Serial.println("Coffee successful retrieved");
-  else
-    Serial.println("Error when retrieving coffee");
-}
-/* ... */
-bool transmitCanFrame(CanardFrame const & frame) {
-  /* ... */
-}
-```
-
-
-### Service Server
-```C++
-#include <ArduinoUAVCAN.h>
-/* ... */
-ArduinoUAVCAN uavcan(13, transmitCanFrame);
-/* ... */
-void setup() {
-  /* ... */
-  /* Subscribe to incoming service requests */
-  uavcan.subscribe<ExecuteCommand_1_0::Request>(onExecuteCommand_1_0_Request_Received);
-}
-
-void loop() {
-  /* Transmit all enqeued CAN frames */
-  while(uavcan.transmitCanFrame()) { }
-}
-/* ... */
-void onExecuteCommand_1_0_Request_Received(CanardTransfer const & transfer, ArduinoUAVCAN & uavcan) {
-  ExecuteCommand_1_0::Request req = ExecuteCommand_1_0::Request::create(transfer);
-  ExecuteCommand_1_0::Response rsp;
-
-  if (req.command() == 0xCAFE) {
-    rsp = ExecuteCommand_1_0::Response::Status::SUCCESS;
-    uavcan.respond(rsp, transfer.remote_node_id, transfer.transfer_id);
-  } else {
-    rsp = ExecuteCommand_1_0::Response::Status::NOT_AUTHORIZED;
-    uavcan.respond(rsp, transfer.remote_node_id, transfer.transfer_id);
-  }
-}
-/* ... */
-bool transmitCanFrame(CanardFrame const & frame) {
-  /* ... */
-}
-```
-
-### How to generate C header files from DSDL via nunavut/nnvg
-```bash
-cd ~
-https://github.com/UAVCAN/nunavut && cd nunavut
-python3.8 -m pip install .
-
-cd ~
-git clone https://github.com/UAVCAN/public_regulated_data_types && cd public_regulated_data_types
-nnvg --outdir include --templates c_jinja --pp-trim-trailing-whitespace -e .h uavcan
-```
+### Contribution
+Please take a look at the [wiki](https://github.com/107-systems/107-Arduino-UAVCAN/wiki) for notes pertaining development of `107-Arduino-UAVCAN`.

examples/UAVCAN-Heartbeat-Subscribe/UAVCAN-Heartbeat-Subscribe.ino

@@ -109,7 +109,7 @@ void onReceiveBufferFull(CanardFrame const & frame)
 
 void onHeatbeat_1_0_Received(CanardTransfer const & transfer, ArduinoUAVCAN & /* uavcan */)
 {
-  Heartbeat_1_0 const hb = Heartbeat_1_0::create(transfer);
+  Heartbeat_1_0 const hb = Heartbeat_1_0::deserialize(transfer);
 
   char msg[64];
   snprintf(msg, 64,

examples/UAVCAN-Service-Client/UAVCAN-Service-Client.ino

@@ -75,8 +75,10 @@ void setup()
   char const cmd_param[] = "I want a double espresso with cream";
   ExecuteCommand_1_0::Request req;
   req.data.command = 0xCAFE;
-  req.data.parameter_length = std::min(sizeof(cmd_param), uavcan_node_ExecuteCommand_1_0_Request_parameter_array_capacity());
-  std::copy(cmd_param, cmd_param + req.data.parameter_length, req.data.parameter);
+  req.data.parameter.count = std::min(strlen(cmd_param), (size_t)uavcan_node_ExecuteCommand_Request_1_0_parameter_ARRAY_CAPACITY_);
+  std::copy(cmd_param,
+            cmd_param + req.data.parameter.count,
+            req.data.parameter.elements);
 
   uavcan.request<ExecuteCommand_1_0::Request, ExecuteCommand_1_0::Response>(req, 27 /* remote node id */, onExecuteCommand_1_0_Response_Received);
 }
@@ -123,7 +125,7 @@ bool transmitCanFrame(CanardFrame const & frame)
 
 void onExecuteCommand_1_0_Response_Received(CanardTransfer const & transfer, ArduinoUAVCAN & /* uavcan */)
 {
-  ExecuteCommand_1_0::Response const rsp = ExecuteCommand_1_0::Response::create(transfer);
+  ExecuteCommand_1_0::Response const rsp = ExecuteCommand_1_0::Response::deserialize(transfer);
 
   if (rsp.data.status == arduino::_107_::uavcan::to_integer(ExecuteCommand_1_0::Response::Status::SUCCESS))
     Serial.println("Coffee successful retrieved");

examples/UAVCAN-Service-Server/UAVCAN-Service-Server.ino

@@ -117,7 +117,7 @@ bool transmitCanFrame(CanardFrame const & frame)
 
 void onExecuteCommand_1_0_Request_Received(CanardTransfer const & transfer, ArduinoUAVCAN & uavcan)
 {
-  ExecuteCommand_1_0::Request req = ExecuteCommand_1_0::Request::create(transfer);
+  ExecuteCommand_1_0::Request req = ExecuteCommand_1_0::Request::deserialize(transfer);
 
   if (req.data.command == 0xCAFE)
   {

extras/test/src/test_ExecuteCommand_ServiceClient.cpp

@@ -27,7 +27,7 @@ static CanardNodeID const REMOTE_NODE_ID = 27;
  **************************************************************************************/
 
 static util::CanFrameVect can_frame_vect;
-static uavcan_node_ExecuteCommand_1_0_Response response;
+static uavcan_node_ExecuteCommand_Response_1_0 response;
 
 /**************************************************************************************
  * PRIVATE FUNCTION DEFINITION
@@ -43,7 +43,7 @@ static bool transmitCanFrame(CanardFrame const & f)
 
 static void onExecuteCommand_1_0_Response_Received(CanardTransfer const & transfer, ArduinoUAVCAN & /* uavcan */)
 {
-  ExecuteCommand_1_0::Response const received_response = ExecuteCommand_1_0::Response::create(transfer);
+  ExecuteCommand_1_0::Response const received_response = ExecuteCommand_1_0::Response::deserialize(transfer);
   response.status = received_response.data.status;
 }
 
@@ -53,14 +53,16 @@ static void onExecuteCommand_1_0_Response_Received(CanardTransfer const & transf
 
 TEST_CASE("A '435.ExecuteCommand.1.0' request is sent to a server", "[execute-command-client-01]")
 {
-  uavcan_node_ExecuteCommand_1_0_Response_init(&response);
+  uavcan_node_ExecuteCommand_Response_1_0_initialize_(&response);
   ArduinoUAVCAN uavcan(util::LOCAL_NODE_ID, transmitCanFrame);
 
   std::string const cmd_1_param = "I want a double espresso with cream";
   ExecuteCommand_1_0::Request req_1;
   req_1.data.command = 0xCAFE;
-  req_1.data.parameter_length = std::min(cmd_1_param.length(), uavcan_node_ExecuteCommand_1_0_Request_parameter_array_capacity());
-  std::copy(cmd_1_param.c_str(), cmd_1_param.c_str() + req_1.data.parameter_length, req_1.data.parameter);
+  req_1.data.parameter.count = std::min(cmd_1_param.length(), (size_t)uavcan_node_ExecuteCommand_Request_1_0_parameter_ARRAY_CAPACITY_);
+  std::copy(cmd_1_param.c_str(),
+            cmd_1_param.c_str() + req_1.data.parameter.count,
+            req_1.data.parameter.elements);
 
 
   REQUIRE(uavcan.request<ExecuteCommand_1_0::Request, ExecuteCommand_1_0::Response>(req_1, REMOTE_NODE_ID, onExecuteCommand_1_0_Response_Received) == true);
@@ -105,8 +107,10 @@ TEST_CASE("A '435.ExecuteCommand.1.0' request is sent to a server", "[execute-co
   std::string const cmd_2_param = "I do not need coffee anymore";
   ExecuteCommand_1_0::Request req_2;
   req_2.data.command = 0xDEAD;
-  req_2.data.parameter_length = std::min(cmd_2_param.length(), uavcan_node_ExecuteCommand_1_0_Request_parameter_array_capacity());
-  std::copy(cmd_2_param.c_str(), cmd_2_param.c_str() + req_2.data.parameter_length, req_2.data.parameter);
+  req_2.data.parameter.count = std::min(cmd_2_param.length(), (size_t)uavcan_node_ExecuteCommand_Request_1_0_parameter_ARRAY_CAPACITY_);
+  std::copy(cmd_2_param.c_str(),
+            cmd_2_param.c_str() + req_2.data.parameter.count,
+            req_2.data.parameter.elements);
 
   REQUIRE(uavcan.request<ExecuteCommand_1_0::Request, ExecuteCommand_1_0::Response>(req_2, REMOTE_NODE_ID, onExecuteCommand_1_0_Response_Received) == true);
   /* Transmit all the CAN frames. */

extras/test/src/test_ExecuteCommand_ServiceServer.cpp

@@ -27,7 +27,7 @@ static CanardNodeID const REMOTE_NODE_ID = 27;
  **************************************************************************************/
 
 static util::CanFrame response_can_frame;
-static uavcan_node_ExecuteCommand_1_0_Request request;
+static uavcan_node_ExecuteCommand_Request_1_0 request;
 
 /**************************************************************************************
  * PRIVATE FUNCTION DEFINITION
@@ -43,14 +43,16 @@ static bool transmitCanFrame(CanardFrame const & f)
 
 static void onExecuteCommand_1_0_Request_Received(CanardTransfer const & transfer, ArduinoUAVCAN & uavcan)
 {
-  ExecuteCommand_1_0::Request received_request = ExecuteCommand_1_0::Request::create(transfer);
+  ExecuteCommand_1_0::Request received_request = ExecuteCommand_1_0::Request::deserialize(transfer);
 
   /* The next 2 lines are just for test purposes, you won't
    * have them in your real application.
    */
   request.command = received_request.data.command;
-  request.parameter_length = received_request.data.parameter_length;
-  std::copy(received_request.data.parameter, received_request.data.parameter + received_request.data.parameter_length, request.parameter);
+  request.parameter.count = received_request.data.parameter.count;
+  std::copy(received_request.data.parameter.elements,
+            received_request.data.parameter.elements + received_request.data.parameter.count,
+            request.parameter.elements);
 
   /* Deal with the command ... */
 
@@ -67,7 +69,7 @@ static void onExecuteCommand_1_0_Request_Received(CanardTransfer const & transfe
 
 TEST_CASE("A '435.ExecuteCommand.1.0' request is received from a client", "[execute-command-server-01]")
 {
-  uavcan_node_ExecuteCommand_1_0_Request_init(&request);
+  uavcan_node_ExecuteCommand_Request_1_0_initialize_(&request);
   ArduinoUAVCAN uavcan(util::LOCAL_NODE_ID, transmitCanFrame);
 
   /* Subscribe to incoming server requests. */
@@ -98,13 +100,13 @@ TEST_CASE("A '435.ExecuteCommand.1.0' request is received from a client", "[exec
   REQUIRE(request.command == 0xCAFE);
   std::string const EXP_CMD_PARAM_STR = "I want a double espresso with cream";
   std::vector<uint8_t> const EXP_CMD_PARAM_VECT(EXP_CMD_PARAM_STR.begin(), EXP_CMD_PARAM_STR.end());
-  REQUIRE(request.parameter_length == EXP_CMD_PARAM_VECT.size());
-  REQUIRE(std::equal(EXP_CMD_PARAM_VECT.begin(), EXP_CMD_PARAM_VECT.end(), request.parameter) == true);
+  REQUIRE(request.parameter.count == EXP_CMD_PARAM_VECT.size());
+  REQUIRE(std::equal(EXP_CMD_PARAM_VECT.begin(), EXP_CMD_PARAM_VECT.end(), request.parameter.elements) == true);
 
   /* We should now have one CAN frame in the transmit pipeline */
   REQUIRE(uavcan.transmitCanFrame() == true);
 
   /* Check if the sent response is identical with what we expect. */
   REQUIRE(response_can_frame.id   == 0x126CCD8D);
-  REQUIRE(response_can_frame.data == std::vector<uint8_t>{0x02, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0xE0});
+  REQUIRE(response_can_frame.data == std::vector<uint8_t>{0x02, 0xE0});
 }

extras/test/src/test_Heartbeat.cpp

@@ -40,7 +40,7 @@ static bool transmitCanFrame(CanardFrame const & f)
 
 static void onHeatbeat_1_0_Received(CanardTransfer const & transfer, ArduinoUAVCAN & /* uavcan */)
 {
-  Heartbeat_1_0 const received_hb = Heartbeat_1_0::create(transfer);
+  Heartbeat_1_0 const received_hb = Heartbeat_1_0::deserialize(transfer);
 
   hb_node_id                          = transfer.remote_node_id;
   hb_data.uptime                      = received_hb.data.uptime;
@@ -65,10 +65,10 @@ TEST_CASE("A '32085.Heartbeat.1.0.uavcan' message is sent", "[heartbeat-01]")
   uavcan.publish(hb);
   while(uavcan.transmitCanFrame()) { }
   /*
-   * pyuavcan publish 32085.uavcan.node.Heartbeat.1.0 '{uptime: 9876, health: 0, mode: 3, vendor_specific_status_code: 5}' --tr='CAN(can.media.socketcan.SocketCANMedia("vcan0",8),13)'
+   * pyuavcan publish 7509.uavcan.node.Heartbeat.1.0 '{uptime: 9876, health: {value: 0}, mode: {value: 3}, vendor_specific_status_code: 5}' --tr='CAN(can.media.socketcan.SocketCANMedia("vcan0",8),13)'
    */
   REQUIRE(can_frame.id   == 0x107D550D);
-  REQUIRE(can_frame.data == std::vector<uint8_t>{0x94, 0x26, 0x00, 0x00, 0xAC, 0x00, 0x00, 0xE0});
+  REQUIRE(can_frame.data == std::vector<uint8_t>{0x94, 0x26, 0x00, 0x00, 0x00, 0x03, 0x05, 0xE0});
 
   hb.data.uptime = 9881;
   hb = Heartbeat_1_0::Health::ADVISORY;
@@ -77,34 +77,34 @@ TEST_CASE("A '32085.Heartbeat.1.0.uavcan' message is sent", "[heartbeat-01]")
   uavcan.publish(hb);
   while(uavcan.transmitCanFrame()) { }
   /*
-   * pyuavcan publish 32085.uavcan.node.Heartbeat.1.0 '{uptime: 9881, health: 1, mode: 2, vendor_specific_status_code: 123}' --tr='CAN(can.media.socketcan.SocketCANMedia("vcan0",8),13)'
+   * pyuavcan publish 7509.uavcan.node.Heartbeat.1.0 '{uptime: 9881, health: {value: 1}, mode: {value: 2}, vendor_specific_status_code: 123}' --tr='CAN(can.media.socketcan.SocketCANMedia("vcan0",8),13)'
    */
   REQUIRE(can_frame.id   == 0x107D550D);
-  REQUIRE(can_frame.data == std::vector<uint8_t>{0x99, 0x26, 0x00, 0x00, 0x69, 0x0F, 0x00, 0xE1});
+  REQUIRE(can_frame.data == std::vector<uint8_t>{0x99, 0x26, 0x00, 0x00, 0x01, 0x02, 0x7B, 0xE1});
 }
 
 TEST_CASE("A '32085.Heartbeat.1.0.uavcan' message is received", "[heartbeat-02]")
 {
-  uavcan_node_Heartbeat_1_0_init(&hb_data);
+  uavcan_node_Heartbeat_1_0_initialize_(&hb_data);
   ArduinoUAVCAN uavcan(util::LOCAL_NODE_ID, nullptr);
 
   REQUIRE(uavcan.subscribe<Heartbeat_1_0>(onHeatbeat_1_0_Received));
 
   /* Create:
-   *   pyuavcan publish 32085.uavcan.node.Heartbeat.1.0 '{uptime: 1337, health: 2, mode: 7, vendor_specific_status_code: 42}' --tr='CAN(can.media.socketcan.SocketCANMedia("vcan0",8),59)'
+   *   pyuavcan publish 7509.uavcan.node.Heartbeat.1.0 '{uptime: 1337, health: {value: 2}, mode: {value: 2}, vendor_specific_status_code: 42}' --tr='CAN(can.media.socketcan.SocketCANMedia("vcan0",8),59)'
    *
    * Capture:
    *   sudo modprobe vcan
    *   sudo ip link add dev vcan0 type vcan
    *   sudo ip link set up vcan0
    *   candump -decaxta vcan0
    */
-  std::vector<uint8_t> const data{0x39, 0x05, 0x00, 0x00, 0x5E, 0x05, 0x00, 0xE1};
+  std::vector<uint8_t> const data{0x39, 0x05, 0x00, 0x00, 0x02, 0x02, 0x2A, 0xE1};
   uavcan.onCanFrameReceived(util::toCanardFrame(0x107D553B, data));
 
   REQUIRE(hb_node_id                          == 59);
   REQUIRE(hb_data.uptime                      == 1337);
-  REQUIRE(hb_data.health                      == arduino::_107_::uavcan::to_integer(Heartbeat_1_0::Health::CAUTION));
-  REQUIRE(hb_data.mode                        == arduino::_107_::uavcan::to_integer(Heartbeat_1_0::Mode::OFFLINE));
+  REQUIRE(hb_data.health.value                == arduino::_107_::uavcan::to_integer(Heartbeat_1_0::Health::CAUTION));
+  REQUIRE(hb_data.mode.value                  == arduino::_107_::uavcan::to_integer(Heartbeat_1_0::Mode::MAINTENANCE));
   REQUIRE(hb_data.vendor_specific_status_code == 42);
 }

extras/test/src/test_ID.cpp

@@ -44,7 +44,7 @@ static bool transmitCanFrame(CanardFrame const & f)
 
 static void onID_1_0_Received(CanardTransfer const & transfer, ArduinoUAVCAN & /* uavcan */)
 {
-  ID_1_0<ID_PORT_ID> const received_id = ID_1_0<ID_PORT_ID>::create(transfer);
+  ID_1_0<ID_PORT_ID> const received_id = ID_1_0<ID_PORT_ID>::deserialize(transfer);
 
   id_node_id = transfer.remote_node_id;
   id.value = received_id.data.value;
@@ -65,13 +65,13 @@ TEST_CASE("A 'ID.1.0.uavcan' message is sent", "[id-01]")
   /*
    * pyuavcan publish 1337.uavcan.node.ID.1.0 '{value: 65}' --tr='CAN(can.media.socketcan.SocketCANMedia("vcan0",8),13)'
    */
-  REQUIRE(can_frame.id   == 0x1005390D);
+  REQUIRE(can_frame.id   == 0x1065390D);
   REQUIRE(can_frame.data == std::vector<uint8_t>{0x41, 0x00, 0xE0});
 }
 
 TEST_CASE("A 'ID.1.0.uavcan' message is received", "[id-02]")
 {
-  uavcan_node_ID_1_0_init(&id);
+  uavcan_node_ID_1_0_initialize_(&id);
   ArduinoUAVCAN uavcan(util::LOCAL_NODE_ID, transmitCanFrame);
 
   REQUIRE(uavcan.subscribe<ID_1_0<ID_PORT_ID>>(onID_1_0_Received));