refactor(holocat): Fix build issues and improve code quality

- Fix CMake and Dockerfile build configuration errors
- Address buffer overflow vulnerability in LogWrapper
- Extract HolocatConfig to separate header file
- Add relative path resolution for ENI configuration files
- Remove dead code and unused member variables
- Update documentation
- Removed specific example paths from the verify_ecmaster.sh script to enhance portability.

Author: hawkeyeking

applications/holocat/CMakeLists.txt

@@ -24,7 +24,4 @@ if(EcMaster_FOUND)
     add_subdirectory(cpp)
 else()
     message(FATAL_ERROR "EC-Master SDK not found")
-
-    # Exit with failure
-    exit(1)
 endif()

applications/holocat/Dockerfile

@@ -1,6 +1,6 @@
 # HoloCat EtherCAT Application Dockerfile
 
-ARG BASE_SDK_VERSION
+ARG BASE_IMAGE
 FROM ${BASE_IMAGE}
 
 # Install system dependencies for EtherCAT and real-time operation

applications/holocat/README.md

@@ -1,8 +1,7 @@
 # HoloCat - EtherCAT Real-time Integration
 
-![HoloCat Logo](docs/holocat_logo.png)
-
-HoloCat is an EtherCAT master application that integrates the acontis EC-Master SDK with NVIDIA's Holoscan platform.
+HoloCat is an EtherCAT master application that integrates the acontis EC-Master SDK with NVIDIA's Holoscan platform.  
+As of this version it is a proof-of concept using user-space Acontis drivers, which is not performance optimized.
 
 ## Overview
 
@@ -23,7 +22,7 @@ HoloCat provides deterministic EtherCAT communication capabilities within the Ho
 ### Prerequisites
 ```bash
 # Set EC-Master SDK path
-export ECMASTER_ROOT=/home/hking/devel/ethercat/ecm
+export ECMASTER_ROOT=/path/to/ecmaster/root
 
 # Verify installation (optional)
 ./applications/holocat/scripts/verify_ecmaster.sh
@@ -38,7 +37,7 @@ export ECMASTER_ROOT=/home/hking/devel/ethercat/ecm
 ### Run
 ```bash
 # Run with configuration file
-./build/holocat/applications/holocat/cpp/holocat --config ./applications/holocat/configs/holocat_config.yaml
+./build/holocat/applications/holocat/holocat --config ./applications/holocat/configs/holocat_config.yaml
 ```
 
 ## Configuration
@@ -86,7 +85,7 @@ Use EtherCAT configuration tools to generate your ENI file.
    sudo setcap 'cap_net_raw=ep' ./build/holocat/applications/holocat/holocat
    ```
 
-3. **EC-Master SDK Not Found**
+2. **EC-Master SDK Not Found**
    ```bash
    # Verify ECMASTER_ROOT environment variable
    echo $ECMASTER_ROOT

applications/holocat/configs/holocat_config.yaml

@@ -2,12 +2,12 @@
 
 holocat:
   # EtherCAT network adapter name
-  adapter_name: "enxc84bd6d2788c"
+  adapter_name: "enx6c6e071e9c45"
 
   # EtherCAT Network Information (ENI) file path
   # Use environment variable HOLOCAT_ENI_FILE to override, or falls back to config dir
-  eni_file: "/home/hking/devel/holo/holohub/applications/holocat/configs/eni2.xml"
-  
+  #eni_file: "/path/to/ethercat/config/ethercat_config.xml"
+  eni_file: "./eni2.xml"
   # EtherCAT bus cycle time in microseconds
   # Common values: 1000 (1ms), 500 (0.5ms), 250 (0.25ms)
   cycle_time_us: 10000

applications/holocat/cpp/holocat_app.cpp

@@ -74,6 +74,7 @@ HolocatConfig HolocatApp::extract_config() {
       target = from_config(key).as<std::decay_t<decltype(target)>>();
     } catch (...) {
       // Key not found or conversion failed - target remains uninitialized
+      HOLOSCAN_LOG_WARN("Missing configuration key {}", key);
     }
   };
 
@@ -121,6 +122,18 @@ bool HolocatApp::validate_config(HolocatConfig& config) {
     return false;
   }
 
+  // Resolve ENI file path relative to config file directory if it's a relative path
+  std::filesystem::path eni_path(config.eni_file);
+  if (eni_path.is_relative()) {
+    // Get the directory containing the config file
+    std::filesystem::path config_dir = std::filesystem::path(this->config().config_file()).parent_path();
+    // Resolve the ENI file path relative to the config directory
+    eni_path = config_dir / eni_path;
+    // Update config with the resolved absolute path
+    config.eni_file = eni_path.string();
+    HOLOSCAN_LOG_INFO("Resolved relative ENI path to: {}", config.eni_file);
+  }
+  
   // Validate ENI file exists
   if (!std::filesystem::exists(config.eni_file)) {
     config.error_message = "ENI configuration file not found: " + config.eni_file;

applications/holocat/cpp/holocat_app.hpp

@@ -7,6 +7,7 @@
 
 #include <holoscan/holoscan.hpp>
 #include "holocat_op.hpp"
+#include "holocat_config.hpp"
 
 namespace holocat {
 

applications/holocat/cpp/holocat_config.hpp

@@ -0,0 +1,35 @@
+/**
+ * holocat_config.hpp
+ * HoloCat application and EtherCAT configuration struct
+ * 
+ * Defines the HolocatConfig structure used for configuring EtherCAT
+ * and HoloCat integration within the NVIDIA Holoscan framework.
+ */
+
+#ifndef INC_HOLOCAT_CONFIG_H
+#define INC_HOLOCAT_CONFIG_H 1
+
+#include <string>
+
+namespace holocat {
+
+  // Configuration structure for Holoscan integration
+struct HolocatConfig {
+    std::string adapter_name;
+    std::string eni_file;
+    uint32_t rt_priority;
+    uint32_t job_thread_priority;
+    bool enable_rt;
+    uint32_t dio_out_offset;
+    uint32_t dio_in_offset;
+    uint32_t max_acyc_frames;
+    uint32_t job_thread_stack_size;
+    std::string log_level;
+    uint64_t cycle_time_us;
+    // For validation error reporting
+    std::string error_message;
+};
+
+}
+#endif /* INC_HOLOCAT_CONFIG_H */
+

applications/holocat/cpp/holocat_op.cpp

@@ -1,8 +1,8 @@
-//-----------------------------------------------------------------------------
+/**
 // holocat_op.cpp
-// HoloCat EtherCAT Operator Implementation
-// Based on EC-Master demo application from acontis technologies GmbH
-//-----------------------------------------------------------------------------
+ * HoloCat EtherCAT Operator Implementation
+ * Based on EC-Master demo application from acontis technologies GmbH
+ */
 
 // System includes
 #include <chrono>
@@ -37,8 +37,10 @@ EC_T_DWORD HolocatOp::LogWrapper(struct _EC_T_LOG_CONTEXT* pContext,
 
     char buffer[1024];
     const char* prefix = "[EC-Master] ";
-    strcpy(buffer, prefix);
-    vsnprintf(buffer + strlen(prefix), sizeof(buffer) - strlen(prefix), szFormat, vaArgs);
+    size_t prefix_len = strlen(prefix);
+    strncpy(buffer, prefix, sizeof(buffer) - 1);
+    vsnprintf(buffer + prefix_len, sizeof(buffer) - prefix_len - 1, szFormat, vaArgs);
+    buffer[sizeof(buffer) - 1] = '\0'; // Ensure null termination
     EC_VAEND(vaArgs);
 
     if (dwLogMsgSeverity == EC_LOG_LEVEL_SILENT) {
@@ -162,7 +164,6 @@ void HolocatOp::start()
         HOLOSCAN_LOG_ERROR("Cannot initialize EtherCAT-Master: {} (0x{:x})", 
                 ecatGetText(dwRes), dwRes);
         throw std::runtime_error("Cannot initialize EtherCAT-Master: " + std::string(ecatGetText(dwRes)));
-        return;
     }
     HOLOSCAN_LOG_INFO("Master initialized");
 
@@ -176,7 +177,9 @@ void HolocatOp::stop()
         return ecatSetMasterState(kEthercatStateChangeTimeout_, eEcatState_INIT);
     });
 
+    // Don't wait for state transition to complete, since that may never happen.
     sleep(1);
+
     // deinitialize master
     ecatDeinitMaster();
 }

applications/holocat/cpp/holocat_op.hpp

@@ -17,26 +17,10 @@
 #include <cstdint>
 #include <future>
 #include <holoscan/holoscan.hpp>
+#include "holocat_config.hpp"
 
 namespace holocat {
 
-// Configuration structure for Holoscan integration
-struct HolocatConfig {
-    std::string adapter_name;
-    std::string eni_file;
-    uint64_t cycle_time_us;
-    uint32_t rt_priority;
-    uint32_t job_thread_priority;
-    bool enable_rt;
-    uint32_t dio_out_offset;
-    uint32_t dio_in_offset;
-    uint32_t max_acyc_frames;
-    uint32_t job_thread_stack_size;
-    std::string log_level;
-    // For validation error reporting
-    std::string error_message;
-};
-
 /**
  * @brief HoloCat EtherCAT Operator
  * 
@@ -99,7 +83,6 @@ class HolocatOp : public holoscan::Operator {
 
   // EtherCAT state variables
   EC_T_BOOL bHasConfig_ = EC_FALSE;
-  EC_T_VOID* pvCycFrameReceivedEvent_ = EC_NULL;
 
   // Startup state machine variables
   enum class StartupState {

applications/holocat/scripts/verify_ecmaster.sh

@@ -35,7 +35,6 @@ if [ -z "$ECMASTER_ROOT" ]; then
     print_status "ERROR" "ECMASTER_ROOT environment variable not set"
     echo "   Set it to your EC-Master installation path:"
     echo "   export ECMASTER_ROOT=/path/to/ecm"
-    echo "   Example: export ECMASTER_ROOT=/home/hking/devel/ethercat/ecm"
     exit 1
 else
     print_status "OK" "ECMASTER_ROOT set to: $ECMASTER_ROOT"