Merge of Issue #346 "CAN sessions" #360
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Added: - `transport::ISession` - `transport::IMessage[Rx|Ts]Session` - `transport::I[Request|Response][Rx|Ts]Session` Also: - add "std: [14, 17, 20]" to the build matrix - add hash tag triggering by #verification #docs tags - strip repo absolute path prefix from doxygen file paths #docs --------- Co-authored-by: Sergei Shirokov <sergei@Sergeis-Mac-mini.local>
- Added `ITransport::makeMessage[Rx|Tx]Session` methods - Added `ITransport::make[Request|Response][Rx|Tx]Session` methods - Added `Priority`, `[Service]TransferMetadata`, `PayloadFragments`, `MessageRxTransfre` and `ServiceRxTransfer` types. - Added`transport::AnyError` - Added implementation of `DynamicBuffer`. Also: - fixed "Coverage" build flavor, and artifacts upload - added `libcyphal::UniquePtr` & `libcyphal::Expected` - fixed "rule of five" deficiency
- Added `ITransport`, `ICanTransport` & `IUpdTransport` - `PayloadFragment` now immutable; `FragmentBuffer` is mutable span.
- `canardInit` is in use. - CAN transport memory resource is connected to the canard allocate/free. - Implemented `getLocalNodeId` Also: - Get rid of extra `Factory` entities.
- `cetl::VariableLengthArray` is now in use to store CAN transport media interfaces. - min MTU from all media is reported by the `ICanTransport::getProtocolParams`. - added corresponding unit tests (to cover `getProtocolParams`). Also: - a bit reworked (simplified) canard memory alloc/free
1. Less `auto` according AUTOSAR A7-1-5 2. Less `struct` according AUTOSAR A11-0-2 3. C.35: A base class destructor should be either public and virtual, or protected and non-virtual. 4. `IMedia::setFilters` now fallible.
- Implemented `MessageRxSession` - Added intermediate `can::TransportDelegate` entity: - needed for all sessions to be able reference their parent transport - contains canard related (kinda) mixin logic (like "canard" memory management or errors translation) Also: - switch to toolshed 22.4.7 - disable asserts from "Coverage" build flavor - to not pollute branch coverage --------- Co-authored-by: Sergei Shirokov <sshirokov@malwarebytes.com>
- Implemented TX behavior: - building contiguous payload from TX fragments (see internal `ContiguousPayload`) - pushing the payload to each media canard TX queue - `can::TransportImpl::run` now peeks, pushes to media, and finally pops TX queue items (see `runMediaTransmit`) - implemented dropping of expired transfers - implemented flushing of TX queues on transport destruction - no memory leaks now in case there were not transmitted queue items - extended `ITransport` with new `setLocalNodeId` method - A bit simplified creation of RX session (b/c it turns out that there is no failure path; but assert is there just in case) - Addressed issue #349 - More documentation - Previous PR fixes: - `memcpy` → `memmove` - removed not needed `inline`-s - `std::` prefixes before std integrals Also: - better coverage stats for branches - no doxygen warnings - fixed some places where `noexcept` were lost - `override` → `final` where applicable (for Scott ;) ) Coverage: <img width="1680" alt="image" src="https://github.com/OpenCyphal-Garage/libcyphal/assets/2915466/ebc795a9-72a4-4da8-a049-adb899d09480"> --------- Co-authored-by: Sergei Shirokov <sshirokov@malwarebytes.com>
- Added Svc RX & TX sessions (both for Request & Response). - Now that we have more sessions, `ContiguousPayload` building moved to transport impl: - less code duplication - less to verify by unit tests - sessions now more like facade for RX/TX - they do necessary params validation/conversion, but ultimately delegate to the transport - switch to `cetl::unbounded_variant` (instead of former `cetl::any`) Also: - minor changes for previous PR requests - more docs for stable api; excluding `*::detail::*` from generated docs Codo coverage: <img width="1723" alt="Screenshot 2024-05-02 at 09 53 11" src="https://github.com/OpenCyphal-Garage/libcyphal/assets/2915466/56c4ab26-177c-4cd8-806e-173cf38eb84c"> --------- Co-authored-by: Sergei Shirokov <sshirokov@malwarebytes.com>
- Implemented CAN media filters reconfiguration on subscribe/unsubscribe - Reference official `libcanard` v3.2.0 #verification --------- Co-authored-by: Sergei Shirokov <sshirokov@malwarebytes.com>
GitHub's "Hide whitespace" is recommended during review. <img width="1311" alt="image" src="https://github.com/OpenCyphal-Garage/libcyphal/assets/2915466/0fb7a41c-06be-4e8d-b528-d3ac168629c1"> <img width="1708" alt="image" src="https://github.com/OpenCyphal-Garage/libcyphal/assets/2915466/6bd03515-5607-44b8-ab11-5bf8b2695ef8"> --------- Co-authored-by: Sergei Shirokov <sshirokov@malwarebytes.com>
No `CETL_NODISCARD` for the most of public api (issue #350), but private (aka `detail`) stuff stays under strict `[[nodiscard]]` policy for all non-`void` returning functions. Also: - Less `NOSONAR`-s by switching some internal `void*`-s → `cetl::byte*`-s. - Eliminated `IMultiplexer` at CAN - no use of it; but will be at UDP. - More docs for public api. - Fixed Build Status and Sonar Cloud badges at `README.md`. --------- Co-authored-by: Sergei Shirokov <sshirokov@malwarebytes.com> Co-authored-by: Pavel Kirienko <pavel.kirienko@gmail.com>
pavel-kirienko
previously approved these changes
May 14, 2024
Co-authored-by: Pavel Kirienko <pavel.kirienko@gmail.com>
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pavel-kirienko
approved these changes
May 15, 2024
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