Merge of Issue #346 "CAN sessions" (#360)

Co-authored-by: Sergei Shirokov <sergei@Sergeis-Mac-mini.local>
Co-authored-by: Sergei Shirokov <sshirokov@malwarebytes.com>
Co-authored-by: Pavel Kirienko <pavel.kirienko@gmail.com>

.clang-format

@@ -1,61 +1,61 @@
 ---
-Language:        Cpp
-BasedOnStyle:  LLVM
+Language: Cpp
+BasedOnStyle: LLVM
 AccessModifierOffset: -4
 AlignAfterOpenBracket: Align
 AlignConsecutiveAssignments: true
 AlignConsecutiveDeclarations: true
 AlignEscapedNewlines: Left
-AlignOperands:   true
+AlignOperands: true
 AlignTrailingComments: true
 AllowAllParametersOfDeclarationOnNextLine: false
-AllowShortBlocksOnASingleLine: false
+AllowShortBlocksOnASingleLine: Never
 AllowShortCaseLabelsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: Empty
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
 AlwaysBreakAfterDefinitionReturnType: None
 AlwaysBreakAfterReturnType: None
 AlwaysBreakBeforeMultilineStrings: false
-AlwaysBreakTemplateDeclarations: true
+AlwaysBreakTemplateDeclarations: Yes
 BinPackArguments: false
 BinPackParameters: false
 BreakBeforeBinaryOperators: None
 BreakBeforeBraces: Custom
 BraceWrapping:
-    SplitEmptyRecord: false
-    AfterEnum: true
-    AfterStruct: true
-    AfterClass: true
-    AfterControlStatement: true
-    AfterFunction: true
-    AfterUnion: true
-    AfterNamespace: true
-    AfterExternBlock: true
-    BeforeElse: true
+  SplitEmptyRecord: false
+  AfterEnum: true
+  AfterStruct: true
+  AfterClass: true
+  AfterControlStatement: true
+  AfterFunction: true
+  AfterUnion: true
+  AfterNamespace: true
+  AfterExternBlock: true
+  BeforeElse: true
 
 BreakBeforeTernaryOperators: true
 BreakConstructorInitializers: BeforeComma
 BreakStringLiterals: true
-ColumnLimit:     120
-CommentPragmas:  '^ (coverity|pragma:)'
+ColumnLimit: 120
+CommentPragmas: '^ (coverity|NOSONAR|pragma:)'
 CompactNamespaces: false
 ConstructorInitializerAllOnOneLineOrOnePerLine: false
 ConstructorInitializerIndentWidth: 4
 ContinuationIndentWidth: 4
 Cpp11BracedListStyle: true
 DerivePointerAlignment: false
-DisableFormat:   false
+DisableFormat: false
 FixNamespaceComments: true
-ForEachMacros:   [ foreach, Q_FOREACH, BOOST_FOREACH ]
+ForEachMacros: [ foreach, Q_FOREACH, BOOST_FOREACH ]
 IncludeBlocks: Preserve
 IndentCaseLabels: false
 IndentPPDirectives: AfterHash
-IndentWidth:     4
+IndentWidth: 4
 IndentWrappedFunctionNames: false
 KeepEmptyLinesAtTheStartOfBlocks: false
 MacroBlockBegin: ''
-MacroBlockEnd:   ''
+MacroBlockEnd: ''
 MaxEmptyLinesToKeep: 1
 NamespaceIndentation: None
 PenaltyBreakAssignment: 2
@@ -66,21 +66,21 @@ PenaltyBreakString: 1000
 PenaltyExcessCharacter: 1000000
 PenaltyReturnTypeOnItsOwnLine: 10000            # Raised intentionally because it hurts readability
 PointerAlignment: Left
-ReflowComments:  true
-SortIncludes:    false
+ReflowComments: true
+SortIncludes: Never
 SortUsingDeclarations: false
 SpaceAfterCStyleCast: true
 SpaceAfterTemplateKeyword: true
 SpaceBeforeAssignmentOperators: true
 SpaceBeforeParens: ControlStatements
 SpaceInEmptyParentheses: false
 SpacesBeforeTrailingComments: 2
-SpacesInAngles:  false
+SpacesInAngles: false
 SpacesInCStyleCastParentheses: false
 SpacesInContainerLiterals: false
 SpacesInParentheses: false
 SpacesInSquareBrackets: false
-Standard:        Cpp11
-TabWidth:        8
-UseTab:          Never
+Standard: c++14
+TabWidth: 8
+UseTab: Never
 ...

.clang-tidy

@@ -0,0 +1,37 @@
+Checks: >-
+  boost-*,
+  bugprone-*,
+  cert-*,
+  clang-analyzer-*,
+  cppcoreguidelines-*,
+  google-*,
+  hicpp-*,
+  llvm-*,
+  misc-*,
+  modernize-*,
+  performance-*,
+  portability-*,
+  readability-*,
+  -clang-analyzer-core.uninitialized.Assign,
+  -cppcoreguidelines-avoid-const-or-ref-data-members,
+  -cppcoreguidelines-use-default-member-init,
+  -google-readability-avoid-underscore-in-googletest-name,
+  -google-readability-todo,
+  -llvm-header-guard,
+  -modernize-concat-nested-namespaces,
+  -modernize-type-traits,
+  -modernize-use-constraints,
+  -modernize-use-default-member-init,
+  -modernize-use-nodiscard,
+  -readability-avoid-const-params-in-decls,
+  -readability-identifier-length,
+  -*-use-trailing-return-type,
+  -*-named-parameter,
+CheckOptions:
+  - key:   readability-function-cognitive-complexity.Threshold
+    value: '90'
+  - key:   readability-magic-numbers.IgnoredIntegerValues
+    value: '1;2;3;4;5;8;10;16;20;32;60;64;100;128;256;500;512;1000'
+WarningsAsErrors: '*'
+HeaderFilterRegex: 'include/libcyphal/.*\.hpp'
+FormatStyle: file

.devcontainer/devcontainer.json

@@ -1,6 +1,6 @@
 {
     "name": "linux development environment for libcyphal",
-    "image": "ghcr.io/opencyphal/toolshed:ts22.4.3",
+    "image": "ghcr.io/opencyphal/toolshed:ts22.4.7",
     "customizations": {
         "vscode": {
             "extensions": [

.github/workflows/sonar.yml

@@ -0,0 +1,79 @@
+name: "libcyphal_sonar"
+
+on:
+  push:  # Further filtering is done in the jobs.
+  pull_request:
+    branches:
+      - main
+      - 'issue/*'
+
+jobs:
+  sonarcloud:
+    if: >
+      contains(github.event.head_commit.message, '#sonar') ||
+      contains(github.ref, '/main') ||
+      contains(github.ref, '/issue/') ||
+      (github.event_name == 'pull_request')
+    runs-on: ubuntu-latest
+    container: ghcr.io/opencyphal/toolshed:ts22.4.7
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0 # Shallow clones should be disabled for a better relevancy of analysis
+      - name: get nunavut
+        run: >
+          pip install nunavut
+      - name: Install sonar-scanner and build-wrapper
+        uses: SonarSource/sonarcloud-github-c-cpp@v2
+      - name: Run tests
+        env:
+          GTEST_COLOR: yes
+        run: >
+          ./build-tools/bin/verify.py
+          --verbose
+          --online
+          --no-exceptions
+          --cpp-standard 14
+          --build-flavor Coverage
+          --toolchain gcc
+          test
+      - name: Generate XML coverage report
+        run: |
+          cd build
+          cmake --build . --target test/unittest/coverage.xml
+          cmake --build . --target docs/examples/coverage.xml
+      - name: upload-artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: Coverage-14-gcc
+          path: |
+            build/compile_commands.json
+            build/*/**/coverage.xml
+            build/*/**/*-sonarqube.xml
+            build/*/**/gcovr_html/*.*
+          if-no-files-found: error
+      - name: Run sonar-scanner
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
+        run: >
+          sonar-scanner
+          -X
+          --define sonar.organization=opencyphal-garage
+          --define sonar.projectKey=OpenCyphal-Garage_libcyphal
+          --define sonar.projectName=libcyphal
+          --define sonar.projectVersion=1.0
+          --define sonar.sources=include,test/unittest/sonar.cpp
+          --define sonar.tests=test/unittest,docs/examples
+          --define sonar.test.inclusions=test_*.cpp,example_*.cpp
+          --define sonar.sourceEncoding=UTF-8
+          --define sonar.host.url=https://sonarcloud.io
+          --define sonar.cfamily.ignoreHeaderComments=false
+          --define sonar.coverage.exclusions="test/unittest/**/*,docs/examples/**/*,**/sonar.cpp"
+          --define sonar.cpd.exclusions="test/unittest/**/*,docs/examples/**/*,**/sonar.cpp"
+          --define sonar.cfamily.compile-commands="build/compile_commands.json"
+          --define sonar.cfamily.reportingCppStandardOverride=c++14
+          --define sonar.coverageReportPaths="build/test/unittest/coverage.xml,build/docs/examples/coverage.xml"
+          --define sonar.issue.ignore.multicriteria=r1
+          --define sonar.issue.ignore.multicriteria.r1.ruleKey=cpp:S3230
+          --define sonar.issue.ignore.multicriteria.r1.resourceKey=**

.github/workflows/tests.yml

@@ -1,4 +1,4 @@
-name: "libcyphal_test"
+name: "libcyphal_tests"
 
 on:
   push:  # Further filtering is done in the jobs.
@@ -16,7 +16,7 @@ jobs:
       contains(github.ref, '/issue/') ||
       (github.event_name == 'pull_request')
     runs-on: ubuntu-latest
-    container: ghcr.io/opencyphal/toolshed:ts22.4.3
+    container: ghcr.io/opencyphal/toolshed:ts22.4.7
     steps:
       - uses: actions/checkout@v4
       - name: Cache ext modules
@@ -47,7 +47,7 @@ jobs:
       contains(github.ref, '/issue/') ||
       (github.event_name == 'pull_request')
     runs-on: ubuntu-latest
-    container: ghcr.io/opencyphal/toolshed:ts22.4.3
+    container: ghcr.io/opencyphal/toolshed:ts22.4.7
     needs: [warmup]
     strategy:
       matrix:
@@ -77,7 +77,7 @@ jobs:
       run: >
         ./build-tools/bin/verify.py
         --verbose
-        --asserts
+        ${{ matrix.build_flavor != 'Coverage' && '--asserts' || '--no-exceptions' }}
         --cpp-standard ${{ matrix.std }}
         --build-flavor ${{ matrix.build_flavor }}
         --toolchain ${{ matrix.toolchain }}
@@ -91,8 +91,6 @@ jobs:
         name: ${{ matrix.build_flavor }}-${{ matrix.std }}-${{ matrix.toolchain }}
         path: |
           build/compile_commands.json
-          build/*/**/coverage.xml
-          build/*/**/*-sonarqube.xml
           build/*/**/gcovr_html/*.*
         if-no-files-found: error
 
@@ -103,7 +101,7 @@ jobs:
       contains(github.ref, '/issue/') ||
       (github.event_name == 'pull_request')
     runs-on: ubuntu-latest
-    container: ghcr.io/opencyphal/toolshed:ts22.4.3
+    container: ghcr.io/opencyphal/toolshed:ts22.4.7
     needs: [warmup]
     steps:
     - uses: actions/checkout@v4

CMakeLists.txt

@@ -13,6 +13,17 @@ project(libcyphal
         HOMEPAGE_URL https://github.com/OpenCyphal-Garage/libcyphal
 )
 
+# Use -DNO_STATIC_ANALYSIS=1 to suppress static analysis.
+# If not suppressed, the tools used here shall be available, otherwise the build will fail.
+if (NOT NO_STATIC_ANALYSIS)
+    # clang-tidy (separate config files per directory)
+    find_program(clang_tidy NAMES clang-tidy)
+    if (NOT clang_tidy)
+        message(FATAL_ERROR "Could not locate clang-tidy")
+    endif ()
+    message(STATUS "Using clang-tidy: ${clang_tidy}")
+endif ()
+
 add_subdirectory(test/unittest)
 add_subdirectory(docs)
 
@@ -62,7 +73,7 @@ if (${CMAKE_CXX_PLATFORM_ID} STREQUAL "Linux")
 endif()
 
 # Don't normalize deviance: if CMAKE_TOOLCHAIN_FILE is not set then provide
-# an initalized default to display in the status thus avoiding a warning about
+# an initialized default to display in the status thus avoiding a warning about
 # using an uninitialized variable.
 if (NOT CMAKE_TOOLCHAIN_FILE)
     set(LOCAL_CMAKE_TOOLCHAIN_FILE "(not set)")

CONTRIBUTING.md

@@ -147,10 +147,10 @@ and manually run it.
 
 ### TLDR
 ```
-docker pull ghcr.io/opencyphal/toolshed:ts22.4.3
+docker pull ghcr.io/opencyphal/toolshed:ts22.4.7
 git clone {this repo}
 cd {this repo}
-docker run --rm -it -v ${PWD}:/repo ghcr.io/opencyphal/toolshed:ts22.4.3
+docker run --rm -it -v ${PWD}:/repo ghcr.io/opencyphal/toolshed:ts22.4.7
 mkdir build
 cd build
 cmake ..
@@ -200,7 +200,7 @@ To ensure that the formatting matches the expectations of the CI suite,
 invoke Clang-Format of the correct version from the container (be sure to use the correct image tag):
 
 ```
-docker run --rm -v ${PWD}:/repo ghcr.io/opencyphal/toolshed:ts22.4.3 ./build-tools/bin/verify.py build-danger-danger-repo-clang-format-in-place
+docker run --rm -v ${PWD}:/repo ghcr.io/opencyphal/toolshed:ts22.4.7 ./build-tools/bin/verify.py build-danger-danger-repo-clang-format-in-place
 ```
 
 ### `issue/*` and hashtag-based CI triggering

README.md

@@ -1,15 +1,14 @@
 ![Cyphal](docs/images/html/opencyphal_logo.svg) Cyphal stack in C++
 ===================
 
-[![Build Status](https://badge.buildkite.com/af844974c06af6406e3b2192d98298b02b30f6ebebb5f8b16c.svg)](https://buildkite.com/uavcan/libcyphal-v1)
+[![Build Status](https://github.com/OpenCyphal-Garage/libcyphal/actions/workflows/tests.yml/badge.svg)](https://github.com/OpenCyphal-Garage/libcyphal)
 [![Forum](https://img.shields.io/discourse/https/forum.opencyphal.org/users.svg)](https://forum.opencyphal.org)
-[![Sonarqube Badge](https://sonarcloud.io/api/project_badges/measure?project=UAVCAN_libuavcan&metric=alert_status)](https://sonarcloud.io/dashboard?id=UAVCAN_libuavcan)
-[![Sonarqube Coverage](https://sonarcloud.io/api/project_badges/measure?project=UAVCAN_libuavcan&metric=coverage)](https://sonarcloud.io/dashboard?id=UAVCAN_libuavcan)
+[![Sonarqube Badge](https://sonarcloud.io/api/project_badges/measure?project=OpenCyphal-Garage_libcyphal&metric=alert_status)](https://sonarcloud.io/project/overview?id=OpenCyphal-Garage_libcyphal)
+[![Sonarqube Coverage](https://sonarcloud.io/api/project_badges/measure?project=OpenCyphal-Garage_libcyphal&metric=coverage)](https://sonarcloud.io/project/overview?id=OpenCyphal-Garage_libcyphal)
 [![Documentation](https://img.shields.io/badge/docs-passing-green.svg)](https://opencyphal.org/libcyphal/)
 
 > **WARNING** libcyphal v1 is not yet complete. This is a work-in-progress.
 
 Portable reference implementation of the [Cyphal protocol stack](https://opencyphal.org) in C++ for embedded systems, Linux, and POSIX-compliant RTOSs.
 
 Cyphal is a lightweight protocol designed for reliable communication in aerospace and robotic applications over robust vehicular networks.
-

build-tools/bin/verify.py

@@ -669,6 +669,8 @@ def _cmake_configure(args: argparse.Namespace, cmake_args: typing.List[str]) ->
 
     # --[BUILD FLAVOR]-------------------------------------
     cmake_configure_args.append("-DCMAKE_BUILD_TYPE={}".format(args.build_flavor))
+    if args.build_flavor == "Coverage":
+        cmake_configure_args.append("-DNO_STATIC_ANALYSIS:BOOL=ON")
 
     # --[COMPILER FLAGS]-----------------------------------
     flag_set_dir = _test_suite_dir(args) / pathlib.Path("cmake") / pathlib.Path("compiler_flag_sets")

cmake/compiler_flag_sets/default.cmake

@@ -53,6 +53,7 @@ if (CMAKE_BUILD_TYPE STREQUAL "Release")
     message(DEBUG "Release build. Setting optimization flags.")
     list(APPEND C_FLAG_SET
                 "-O1"
+                "-fno-delete-null-pointer-checks"  # https://github.com/OpenCyphal-Garage/libcyphal/pull/347#discussion_r1572254288
     )
 else()
 

cmake/modules/Findcetl.cmake

@@ -6,7 +6,7 @@
 
 include(FetchContent)
 set(cetl_GIT_REPOSITORY "https://github.com/OpenCyphal/cetl.git")
-set(cetl_GIT_TAG "884f3b38e7857daa790ed6ba7031f7037fb81a2e")
+set(cetl_GIT_TAG "63a118441a80078ebfeabf509c342bc0480a50b2")
 
 FetchContent_Declare(
     cetl

cmake/modules/Findlibcanard.cmake

@@ -9,7 +9,7 @@
 include(FetchContent)
 
 set(libcanard_GIT_REPOSITORY "https://github.com/OpenCyphal/libcanard.git")
-set(libcanard_GIT_TAG "69ed329db4ae31d9c85dbe052434f60e552cecbe")
+set(libcanard_GIT_TAG "3.2.0")
 
 FetchContent_Declare(
     libcanard

cmake/modules/Findlibudpard.cmake

@@ -9,7 +9,7 @@ include(FindPackageHandleStandardArgs)
 include(ProjectLibrary)
 
 set(libudpard_GIT_REPOSITORY "https://github.com/OpenCyphal-garage/libudpard.git")
-set(libudpard_GIT_TAG "89f87abf000cbe358b8e4974a52793c6dea12bd4")
+set(libudpard_GIT_TAG "6c7c12ef1db0338684c536167dc4ba6dc7fa8b5a")
 
 FetchContent_Declare(
     libudpard