File Downloader demo at libcyphal_demo (#34)

- Added File downloader (cyphal `file::GetInfo` and `file::Read` RPC client) - does a file downloading upon receiving the `COMMAND_BEGIN_SOFTWARE_UPDATE` command. - Increased memory and # of buffers to accommodate bigger messages, redundant interfaces, as well as expected memory spike in case of a redundant interface failures.
OpenCyphal-Garage · Feb 13, 2025 · 287cbdf · 287cbdf
1 parent 3fca5a1
commit 287cbdf
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Showing 12 changed files with 447 additions and 42 deletions.
diff --git a/.gitmodules b/.gitmodules
@@ -18,4 +18,3 @@
 [submodule "submodules/libcyphal"]
 	path = submodules/libcyphal
 	url = https://github.com/OpenCyphal-Garage/libcyphal.git
-    branch = sshirokov/416_tid
diff --git a/libcyphal_demo/src/application.cpp b/libcyphal_demo/src/application.cpp
@@ -23,16 +23,20 @@
 namespace
 {
 
-constexpr std::size_t HeapSize = 16ULL * 1024ULL;
-alignas(O1HEAP_ALIGNMENT) std::array<cetl::byte, HeapSize> s_heap_arena{};
+constexpr std::size_t HeapSize = 128ULL * 1024ULL;
+alignas(O1HEAP_ALIGNMENT) std::array<cetl::byte, HeapSize> s_heap_arena{};  // NOLINT
+
+constexpr std::size_t BlockHeapSize = 128ULL * 1024ULL;
+alignas(O1HEAP_ALIGNMENT) std::array<cetl::byte, BlockHeapSize> s_block_heap_arena{};  // NOLINT
 
 }  // namespace
 
 Application::Application(const char* const root_path)
     : o1_heap_mr_{s_heap_arena}
+    , o1_block_heap_mr_{s_block_heap_arena}
+    , media_block_mr_{o1_block_heap_mr_}
     , storage_{root_path}
     , registry_{o1_heap_mr_}
-    , media_block_mr_{*cetl::pmr::new_delete_resource()}
     , regs_{o1_heap_mr_, registry_, media_block_mr_}
 {
     cetl::pmr::set_default_resource(&o1_heap_mr_);

diff --git a/libcyphal_demo/src/application.hpp b/libcyphal_demo/src/application.hpp
@@ -16,7 +16,6 @@
 #include <cetl/pf17/cetlpf.hpp>
 #include <libcyphal/application/registry/register.hpp>
 #include <libcyphal/application/registry/registry_impl.hpp>
-#include <libcyphal/platform/storage.hpp>
 
 #include <algorithm>
 #include <array>
@@ -247,6 +246,7 @@ class Application final
 
     platform::Linux::EpollSingleThreadedExecutor executor_;
     platform::O1HeapMemoryResource               o1_heap_mr_;
+    platform::O1HeapMemoryResource               o1_block_heap_mr_;
     platform::BlockMemoryResource                media_block_mr_;
     platform::storage::KeyValue                  storage_;
     libcyphal::application::registry::Registry   registry_;

diff --git a/libcyphal_demo/src/exec_cmd_provider.hpp b/libcyphal_demo/src/exec_cmd_provider.hpp
@@ -10,6 +10,8 @@
 #include "libcyphal/application/node.hpp"
 #include "libcyphal/presentation/presentation.hpp"
 #include "libcyphal/presentation/server.hpp"
+#include "libcyphal/time_provider.hpp"
+#include "libcyphal/transport/types.hpp"
 #include "libcyphal/types.hpp"
 
 #include <cetl/pf17/cetlpf.hpp>
@@ -52,9 +54,12 @@ class ExecCmdProvider  // NOSONAR cpp:S4963
     ///
     /// @param node The application layer node instance. In use to access heartbeat producer.
     /// @param presentation The presentation layer instance. In use to create 'ExecuteCommand' service server.
+    /// @param time_provider The time provider - in use to calculate RPC call deadlines.
     /// @return The ExecuteCommand provider instance or a failure.
     ///
-    static auto make(libcyphal::application::Node& node, libcyphal::presentation::Presentation& presentation)
+    static auto make(libcyphal::application::Node&          node,
+                     libcyphal::presentation::Presentation& presentation,
+                     libcyphal::ITimeProvider&              time_provider)
         -> libcyphal::Expected<Derived, libcyphal::presentation::Presentation::MakeFailure>
     {
         auto maybe_srv = presentation.makeServer<Service>();
@@ -63,7 +68,7 @@ class ExecCmdProvider  // NOSONAR cpp:S4963
             return std::move(*failure);
         }
 
-        return Derived{node, presentation, cetl::get<Server>(std::move(maybe_srv))};
+        return Derived{node, presentation, time_provider, cetl::get<Server>(std::move(maybe_srv))};
     }
 
     ExecCmdProvider(ExecCmdProvider&& other) noexcept
@@ -96,16 +101,19 @@ class ExecCmdProvider  // NOSONAR cpp:S4963
     /// The user should override the method to handle custom commands.
     /// If the method returns `false`, the server will respond with a `STATUS_BAD_COMMAND` status.
     ///
-    /// @param command    The command to be executed.
-    /// @param parameter  The command parameter.
-    /// @param response   The response to be sent back to the requester.
+    /// @param command   The command to be executed.
+    /// @param parameter The command parameter.
+    /// @param metadata  The transport RX metadata.
+    /// @param response  The response to be sent back to the requester.
     ///
-    virtual bool onCommand(const Request::_traits_::TypeOf::command command,
-                           const cetl::string_view                  parameter,
-                           Response&                                response) noexcept
+    virtual bool onCommand(const Request::_traits_::TypeOf::command       command,
+                           const cetl::string_view                        parameter,
+                           const libcyphal::transport::ServiceRxMetadata& metadata,
+                           Response&                                      response) noexcept
     {
         (void) command;
         (void) parameter;
+        (void) metadata;
         (void) response;
 
         return false;
@@ -126,7 +134,7 @@ class ExecCmdProvider  // NOSONAR cpp:S4963
         server_.setOnRequestCallback([this](const auto& arg, auto continuation) {
             //
             Response response{alloc_};
-            if (!onCommand(arg.request.command, makeStringView(arg.request.parameter), response))
+            if (!onCommand(arg.request.command, makeStringView(arg.request.parameter), arg.metadata, response))
             {
                 response.status = Response::STATUS_BAD_COMMAND;
             }