v3.0 WIP: experimental implementation of Cyphal v1.1 transport layer (#71)

This is not ready for production use. Find stable v1.0 and v2.0 in GitHub releases.

Author: pavel-kirienko

.clang-format

@@ -1,96 +1,17 @@
----
-Language:        Cpp
-# BasedOnStyle:  LLVM
-AccessModifierOffset: -4
-AlignAfterOpenBracket: Align
+Language: Cpp
+BasedOnStyle: Mozilla
+IndentWidth: 4
+ColumnLimit: 120
+Standard: c++20
+IndentExternBlock: NoIndent
+AlwaysBreakAfterDefinitionReturnType: None
+BreakAfterReturnType: None
+AllowShortFunctionsOnASingleLine: All
 AlignConsecutiveAssignments: true
+AlignConsecutiveBitFields: true
 AlignConsecutiveDeclarations: true
-AlignEscapedNewlines: Left
-AlignOperands:   true
+AlignConsecutiveMacros: true
+AlignConsecutiveShortCaseStatements: { Enabled: true }
+AlignEscapedNewlines: LeftWithLastLine
 AlignTrailingComments: true
-AllowAllParametersOfDeclarationOnNextLine: false
-AllowShortBlocksOnASingleLine: false
-AllowShortCaseLabelsOnASingleLine: false
-AllowShortFunctionsOnASingleLine: Inline
-AllowShortIfStatementsOnASingleLine: Never
-AllowShortLoopsOnASingleLine: false
-AlwaysBreakAfterDefinitionReturnType: None
-AlwaysBreakAfterReturnType: None
-AlwaysBreakBeforeMultilineStrings: false
-AlwaysBreakTemplateDeclarations: Yes
-BinPackArguments: false
-BinPackParameters: false
-BraceWrapping:
-  AfterCaseLabel: true
-  AfterClass: true
-  AfterControlStatement: true
-  AfterEnum: true
-  AfterFunction: true
-  AfterNamespace: true
-  AfterStruct: true
-  AfterUnion: true
-  BeforeCatch: true
-  BeforeElse: true
-  IndentBraces: false
-  SplitEmptyFunction: false
-  SplitEmptyRecord: false
-  SplitEmptyNamespace: false
-  AfterExternBlock: false     # Keeps the contents un-indented.
-BreakBeforeBinaryOperators: None
-BreakBeforeBraces: Custom
-BreakBeforeTernaryOperators: true
-BreakConstructorInitializers: AfterColon
-# BreakInheritanceList: AfterColon
-BreakStringLiterals: true
-ColumnLimit:     120
-CommentPragmas:  '^ (coverity|pragma:)'
-CompactNamespaces: false
-ConstructorInitializerAllOnOneLineOrOnePerLine: true
-ConstructorInitializerIndentWidth: 4
-ContinuationIndentWidth: 4
-Cpp11BracedListStyle: true
-DerivePointerAlignment: false
-DisableFormat:   false
-ExperimentalAutoDetectBinPacking: false
-FixNamespaceComments: true
-ForEachMacros:   [ foreach, Q_FOREACH, BOOST_FOREACH ]
-IncludeBlocks: Preserve
-IndentCaseLabels: false
-IndentPPDirectives: AfterHash
-IndentWidth:     4
-IndentWrappedFunctionNames: false
-KeepEmptyLinesAtTheStartOfBlocks: false
-MacroBlockBegin: ''
-MacroBlockEnd:   ''
-MaxEmptyLinesToKeep: 1
-NamespaceIndentation: None
-PenaltyBreakAssignment: 2
-PenaltyBreakBeforeFirstCallParameter: 10000     # Raised intentionally; prefer breaking all
-PenaltyBreakComment: 300
-PenaltyBreakFirstLessLess: 120
-PenaltyBreakString: 1000
-PenaltyExcessCharacter: 1000000
-PenaltyReturnTypeOnItsOwnLine: 10000            # Raised intentionally because it hurts readability
-PointerAlignment: Left
-ReflowComments:  true
-SortIncludes:    false
-SortUsingDeclarations: false
-SpaceAfterCStyleCast: true
-SpaceAfterTemplateKeyword: true
-SpaceBeforeAssignmentOperators: true
-SpaceBeforeCpp11BracedList: false
-SpaceBeforeInheritanceColon: true
-SpaceBeforeParens: ControlStatements
-SpaceBeforeCtorInitializerColon: true
-SpaceBeforeRangeBasedForLoopColon: true
-SpaceInEmptyParentheses: false
-SpacesBeforeTrailingComments: 2
-SpacesInAngles:  false
-SpacesInCStyleCastParentheses: false
-SpacesInContainerLiterals: false
-SpacesInParentheses: false
-SpacesInSquareBrackets: false
-Standard:        Cpp11
-TabWidth:        8
-UseTab:          Never
-...
+SortIncludes: false

.clang-tidy

@@ -22,11 +22,18 @@ Checks: >-
   -boost-use-ranges,
   -hicpp-static-assert,
   -misc-static-assert,
-  -modernize-macro-to-enum,
-  -cppcoreguidelines-macro-to-enum,
-  -bugprone-casting-through-void,
+  -*-macro-to-enum,
+  -*-macro-usage,
+  -*-enum-size,
+  -*-use-using,
+  -*-casting-through-void,
   -misc-include-cleaner,
   -cppcoreguidelines-avoid-do-while,
+  -*-magic-numbers,
+  -*-use-enum-class,
+  -*-use-trailing-return-type,
+  -*-deprecated-headers,
+  -*-avoid-c-arrays,
 CheckOptions:
   - key:   readability-function-cognitive-complexity.Threshold
     value: '99'

.gdbinit

@@ -0,0 +1,3 @@
+skip make_frame_base
+skip make_frame
+skip cavl2_min

.github/workflows/main.yml

@@ -9,7 +9,7 @@ jobs:
     container: ghcr.io/opencyphal/toolshed:ts24.4.3
     strategy:
       matrix:
-        toolchain: [ 'clang', 'gcc' ]
+        toolchain: [ "clang", "gcc" ]
         include:
           - toolchain: gcc
             c-compiler: gcc
@@ -24,23 +24,28 @@ jobs:
       # language=bash
       - run: >
           cmake
-          -B ${{ github.workspace }}/build
+          -B $GITHUB_WORKSPACE/build
           -DCMAKE_BUILD_TYPE=Debug
           -DCMAKE_C_COMPILER=${{ matrix.c-compiler }}
           -DCMAKE_CXX_COMPILER=${{ matrix.cxx-compiler }}
           .
       # language=bash
       - run: |
-          cd ${{ github.workspace }}/build
+          cd $GITHUB_WORKSPACE/build
           make VERBOSE=1 -j$(nproc)
           make test ARGS="--verbose"
+      - name: Archive workspace
+        if: always()
+        run: |
+          cd $GITHUB_WORKSPACE
+          tar --use-compress-program="gzip -9" -cf $RUNNER_TEMP/workspace.tar.gz .
       - uses: actions/upload-artifact@v4
         if: always()
         with:
           # The matrix is shown for convenience but this is fragile because the values may not be string-convertible.
           # Shall it break one day, feel free to remove the matrix from here.
           name: ${{github.job}}-#${{strategy.job-index}}-${{job.status}}-${{join(matrix.*, ',')}}
-          path: ${{github.workspace}}/**/*
+          path: ${{runner.temp}}/workspace.tar.gz
           retention-days: 2
 
   optimizations:
@@ -49,13 +54,13 @@ jobs:
     container: ghcr.io/opencyphal/toolshed:ts24.4.3
     strategy:
       matrix:
-        toolchain: [ 'clang', 'gcc' ]
+        toolchain: [ "clang", "gcc" ]
         build_type: [ Release, MinSizeRel ]
         include:
           - toolchain: gcc
             c-compiler: gcc
             cxx-compiler: g++
-            cxx-flags: -fno-strict-aliasing # GCC in MinSizeRel C++20 mode misoptimizes the Cavl test.
+            cxx-flags: ""
           - toolchain: clang
             c-compiler: clang
             cxx-compiler: clang++
@@ -66,7 +71,7 @@ jobs:
       # language=bash
       - run: >
           cmake
-          -B ${{ github.workspace }}/build
+          -B $GITHUB_WORKSPACE/build
           -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}
           -DCMAKE_C_COMPILER=${{ matrix.c-compiler }}
           -DCMAKE_CXX_COMPILER=${{ matrix.cxx-compiler }}
@@ -75,35 +80,68 @@ jobs:
           .
       # language=bash
       - run: |
-          cd ${{ github.workspace }}/build
+          cd $GITHUB_WORKSPACE/build
           make VERBOSE=1 -j$(nproc)
           make test ARGS="--verbose"
+      - name: Archive workspace
+        if: always()
+        run: |
+          cd $GITHUB_WORKSPACE
+          tar --use-compress-program="gzip -9" -cf $RUNNER_TEMP/workspace.tar.gz .
       - uses: actions/upload-artifact@v4
         if: always()
         with:
           # The matrix is shown for convenience but this is fragile because the values may not be string-convertible.
           # Shall it break one day, feel free to remove the matrix from here.
           name: ${{github.job}}-#${{strategy.job-index}}-${{job.status}}-${{join(matrix.*, ',')}}
-          path: ${{github.workspace}}/**/*
+          path: ${{runner.temp}}/workspace.tar.gz
           retention-days: 2
 
-  avr:
+  coverage:
     if: github.event_name == 'push'
     runs-on: ubuntu-latest
-    env:
-      mcu: at90can64
-      flags: -Wall -Wextra -Werror -pedantic -Wconversion -Wtype-limits
-    strategy:
-      matrix:
-        std: [ 'c99', 'c11', 'gnu99', 'gnu11' ]
+    container: ghcr.io/opencyphal/toolshed:ts24.4.3
     steps:
       - uses: actions/checkout@v4
+        with:
+          submodules: true
+      # language=bash
+      - run: >
+          cmake -B $GITHUB_WORKSPACE/build -DCMAKE_BUILD_TYPE=Debug -DNO_STATIC_ANALYSIS=ON -DENABLE_COVERAGE=ON .
       # language=bash
       - run: |
-          sudo apt update -y && sudo apt upgrade -y
-          sudo apt install gcc-avr avr-libc
-          avr-gcc --version
-      - run: avr-gcc libudpard/*.c -c -std=${{matrix.std}} -mmcu=${{env.mcu}} ${{env.flags}}
+          cd $GITHUB_WORKSPACE/build
+          make -j$(nproc) && make test && make coverage
+      - name: Archive workspace
+        if: always()
+        run: |
+          cd $GITHUB_WORKSPACE
+          tar --use-compress-program="gzip -9" -cf $RUNNER_TEMP/workspace.tar.gz .
+      - uses: actions/upload-artifact@v4
+        if: always()
+        with:
+          name: ${{github.job}}-#${{strategy.job-index}}-${{job.status}}
+          path: ${{runner.temp}}/workspace.tar.gz
+          retention-days: 30
+
+  # TODO: re-enable this
+  #  avr:
+  #    if: github.event_name == 'push'
+  #    runs-on: ubuntu-latest
+  #    env:
+  #      mcu: at90can64
+  #      flags: -Wall -Wextra -Werror -pedantic -Wconversion -Wtype-limits
+  #    strategy:
+  #      matrix:
+  #        std: [ 'c99', 'c11', 'gnu99', 'gnu11' ]
+  #    steps:
+  #      - uses: actions/checkout@v4
+  #      # language=bash
+  #      - run: |
+  #          sudo apt update -y && sudo apt upgrade -y
+  #          sudo apt install gcc-avr avr-libc
+  #          avr-gcc --version
+  #      - run: avr-gcc -Ilib/cavl/ libudpard/*.c -c -std=${{matrix.std}} -mmcu=${{env.mcu}} ${{env.flags}}
 
   arm:
     if: github.event_name == 'push'
@@ -112,14 +150,14 @@ jobs:
       flags: -Wall -Wextra -Werror -pedantic -Wconversion -Wtype-limits -Wcast-align -Wfatal-errors
     strategy:
       matrix:
-        std: [ 'c99', 'c11', 'gnu99', 'gnu11' ]
+        std: [ "c99", "c11", "gnu99", "gnu11" ]
     steps:
       - uses: actions/checkout@v4
       # language=bash
       - run: |
           sudo apt update -y && sudo apt upgrade -y
           sudo apt-get install -y gcc-arm-none-eabi
-      - run: arm-none-eabi-gcc libudpard/*.c -c -std=${{matrix.std}} ${{ env.flags }}
+      - run: arm-none-eabi-gcc -Ilib/cavl/ libudpard/*.c -c -std=${{matrix.std}} ${{ env.flags }}
 
   sonar:
     runs-on: ubuntu-latest
@@ -138,12 +176,12 @@ jobs:
     steps:
       - uses: actions/checkout@v4
         with:
-          fetch-depth: 0  # Shallow clones should be disabled for a better relevancy of analysis
+          fetch-depth: 0 # Shallow clones should be disabled for a better relevancy of analysis
           submodules: true
       - uses: actions/setup-java@v4
         with:
           java-version: 17
-          distribution: 'zulu'
+          distribution: "zulu"
       # language=bash
       - run: |
           clang --version
@@ -178,6 +216,6 @@ jobs:
       - uses: actions/checkout@v4
       - uses: DoozyX/clang-format-lint-action@v0.20
         with:
-          source: './libudpard ./tests'
-          extensions: 'c,h,cpp,hpp'
+          source: "./libudpard ./tests"
+          extensions: "c,h,cpp,hpp"
           clangFormatVersion: ${{ env.LLVM_VERSION }}

.gitignore

@@ -20,16 +20,17 @@
 *.hex
 *.dSYM/
 *build/
+build*/
 cmake-build-*/
-build-avr/
+.cache/
 .metadata
 .settings
 .project
 .cproject
 .pydevproject
-.gdbinit
 .scannerwork/
 .vscode/
+.sisyphus/
 **/.idea/*
 !**/.idea/dictionaries
 !**/.idea/dictionaries/*