reworking architecture, want a simplet handshake between devices

Author: Eliot-Abramo

.clang-format

@@ -0,0 +1,20 @@
+BasedOnStyle: LLVM
+IndentWidth: 2
+TabWidth: 2
+UseTab: Never
+ColumnLimit: 100
+AllowShortFunctionsOnASingleLine: Inline
+BreakBeforeBraces: Allman
+SpacesInParentheses: false
+SpaceAfterCStyleCast: true
+SpaceBeforeParens: ControlStatements
+PointerAlignment: Left
+AlignConsecutiveAssignments: true
+AlignConsecutiveDeclarations: true
+AlignTrailingComments: true
+SortIncludes: true
+IncludeBlocks: Preserve
+NamespaceIndentation: All
+ReflowComments: true
+Cpp11BracedListStyle: true
+Standard: Latest

.vscode/settings.json

@@ -1,6 +1,16 @@
 {
     "files.associations": {
-        "functional": "cpp"
+        "functional": "cpp",
+        "vector": "cpp",
+        "deque": "cpp",
+        "list": "cpp",
+        "string": "cpp",
+        "unordered_map": "cpp",
+        "unordered_set": "cpp",
+        "forward_list": "cpp",
+        "system_error": "cpp",
+        "array": "cpp",
+        "regex": "cpp"
     },
     "codium.codeCompletion.enable": false
 }

CMakeLists.txt

@@ -7,8 +7,16 @@ project(spaceether LANGUAGES C CXX VERSION 1.0.0)
 option(SPACEE_BUILD_TOOLS "Build SpaceEther example tools" ON)
 option(SPACEE_BUILD_TESTS "Build SpaceEther test suite" ON)
 option(SPACEE_SANITIZE     "Enable ASan/UBSan" OFF)
-option(SPACEE_ENABLE_AUTH  "Enable HMAC footer verification" OFF)
-option(SPACEE_WITH_ROS2    "Build ROS 2 bridge and ROS 2 tests" OFF)
+
+# Always compile with authentication enabled.  If SPACEE_AUTH_KEY is
+# unset at runtime the HMAC will be omitted, but the code remains
+# available.  This avoids surprise compile‑time omissions.
+set(SPACEE_ENABLE_AUTH ON CACHE BOOL "Enable HMAC footer verification" FORCE)
+
+# Enable ROS 2 integration by default.  The bridge and tests will be
+# built when a ROS 2 installation is present.  On systems without
+# ROS 2 the CMake script will gracefully skip these targets.
+set(SPACEE_WITH_ROS2 ON CACHE BOOL "Build ROS 2 bridge and ROS 2 tests" FORCE)
 
 # -------------------------
 # Toolchain / warnings
@@ -45,13 +53,12 @@ set(SPACEE_CORE_SOURCES
   src/raw_udp.cpp
 )
 
-if(SPACEE_ENABLE_AUTH)
-  list(APPEND SPACEE_CORE_SOURCES
-    src/hmac_sha256.c
-    src/sha256.c
-  )
-  add_compile_definitions(SPACEE_ENABLE_AUTH)
-endif()
+# Always include HMAC support.  The code itself will skip HMAC
+# generation when SPACEE_AUTH_KEY is unset at runtime.
+list(APPEND SPACEE_CORE_SOURCES
+  src/hmac_sha256.c
+  src/sha256.c
+)
 
 # -------------------------
 # Library
@@ -75,29 +82,32 @@ if(SPACEE_BUILD_TOOLS)
   target_link_libraries(se_terminal PRIVATE space_ether Threads::Threads)
 endif()
 
-# # -------------------------
-# # Optional ROS 2 bridge (no ament_target_dependencies; keyword linking only)
-# # -------------------------
-# if(SPACEE_WITH_ROS2)
-#   find_package(rclcpp QUIET)
-#   find_package(std_msgs QUIET)
-#   if(rclcpp_FOUND AND std_msgs_FOUND)
-#     if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/src/ros2_shim.cpp")
-#       target_sources(space_ether PRIVATE src/ros2_shim.cpp)
-#     endif()
-
-#     add_executable(spaceether_ros2_bridge bridges/spaceether_ros2_bridge.cpp)
-#     target_link_libraries(spaceether_ros2_bridge
-#       PRIVATE
-#         space_ether
-#         Threads::Threads
-#         rclcpp::rclcpp
-#         std_msgs::std_msgs
-#     )
-#   else()
-#     message(STATUS "ROS 2 (rclcpp/std_msgs) not found — skipping spaceether_ros2_bridge.")
-#   endif()
-# endif()
+# -------------------------
+# Optional ROS 2 bridge (no ament_target_dependencies; keyword linking only)
+# -------------------------
+if(SPACEE_WITH_ROS2)
+  find_package(rclcpp QUIET)
+  find_package(std_msgs QUIET)
+  if(rclcpp_FOUND AND std_msgs_FOUND)
+    # Build the RTPS shim into the core library if available
+    if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/src/ros2_shim.cpp")
+      target_sources(space_ether PRIVATE src/ros2_shim.cpp)
+    endif()
+    # Build the example ROS 2 bridge.  This executable bridges
+    # SpaceEther frames to ROS 2 std_msgs/String messages for
+    # demonstration purposes.
+    add_executable(spaceether_ros2_bridge bridges/spaceether_ros2_bridge.cpp)
+    target_link_libraries(spaceether_ros2_bridge
+      PRIVATE
+        space_ether
+        Threads::Threads
+        rclcpp::rclcpp
+        std_msgs::std_msgs
+    )
+  else()
+    message(STATUS "ROS 2 (rclcpp/std_msgs) not found — skipping spaceether_ros2_bridge.")
+  endif()
+endif()
 
 # tests/CMakeLists.txt