added support for 'COMMAND_BEGIN_SOFTWARE_UPDATE'

Author: serges147

.gitmodules

@@ -18,3 +18,4 @@
 [submodule "submodules/libcyphal"]
 	path = submodules/libcyphal
 	url = https://github.com/OpenCyphal-Garage/libcyphal.git
+    branch = sshirokov/416_tid

libcyphal_demo/src/exec_cmd_provider.hpp

@@ -7,6 +7,7 @@
 #ifndef COMMAND_PROVIDER_HPP_INCLUDED
 #define COMMAND_PROVIDER_HPP_INCLUDED
 
+#include "libcyphal/application/node.hpp"
 #include "libcyphal/presentation/presentation.hpp"
 #include "libcyphal/presentation/server.hpp"
 #include "libcyphal/types.hpp"
@@ -28,9 +29,10 @@
 template <typename Derived>
 class ExecCmdProvider  // NOSONAR cpp:S4963
 {
+public:
     using Service = uavcan::node::ExecuteCommand_1_3;
+    using Server  = libcyphal::presentation::ServiceServer<Service>;
 
-public:
     /// Defines the response type for the ExecuteCommand provider.
     ///
     using Response = Service::Response;
@@ -48,10 +50,11 @@ class ExecCmdProvider  // NOSONAR cpp:S4963
 
     /// Factory method to create a ExecuteCommand instance.
     ///
+    /// @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.
     /// @return The ExecuteCommand provider instance or a failure.
     ///
-    static auto make(libcyphal::presentation::Presentation& presentation)
+    static auto make(libcyphal::application::Node& node, libcyphal::presentation::Presentation& presentation)
         -> libcyphal::Expected<Derived, libcyphal::presentation::Presentation::MakeFailure>
     {
         auto maybe_srv = presentation.makeServer<Service>();
@@ -60,7 +63,7 @@ class ExecCmdProvider  // NOSONAR cpp:S4963
             return std::move(*failure);
         }
 
-        return Derived{presentation, cetl::get<Server>(std::move(maybe_srv))};
+        return Derived{node, presentation, cetl::get<Server>(std::move(maybe_srv))};
     }
 
     ExecCmdProvider(ExecCmdProvider&& other) noexcept
@@ -108,9 +111,7 @@ class ExecCmdProvider  // NOSONAR cpp:S4963
         return false;
     }
 
-private:
-    using Server = libcyphal::presentation::ServiceServer<Service>;
-
+protected:
     ExecCmdProvider(const libcyphal::presentation::Presentation& presentation, Server&& server)
         : alloc_{&presentation.memory()}
         , server_{std::move(server)}
@@ -119,6 +120,7 @@ class ExecCmdProvider  // NOSONAR cpp:S4963
         setupOnRequestCallback();
     }
 
+private:
     void setupOnRequestCallback()
     {
         server_.setOnRequestCallback([this](const auto& arg, auto continuation) {

libcyphal_demo/src/main.cpp

@@ -15,13 +15,15 @@
 #include <libcyphal/transport/transport.hpp>
 #include <libcyphal/types.hpp>
 
+#include <uavcan/node/Health_1_0.hpp>
+#include <uavcan/node/Mode_1_0.hpp>
+
 #include <algorithm>
 #include <array>
-#include <chrono>
 #include <cstdint>
 #include <cstring>
-#include <ios>
 #include <iomanip>
+#include <ios>
 #include <iostream>
 #include <unistd.h>  // execve
 #include <utility>
@@ -36,7 +38,13 @@ namespace
 class AppExecCmdProvider final : public ExecCmdProvider<AppExecCmdProvider>
 {
 public:
-    using ExecCmdProvider::ExecCmdProvider;
+    AppExecCmdProvider(libcyphal::application::Node&                node,
+                       const libcyphal::presentation::Presentation& presentation,
+                       Server&&                                     server)
+        : ExecCmdProvider{presentation, std::move(server)}
+        , node_{node}
+    {
+    }
 
     bool should_break() const noexcept
     {
@@ -80,14 +88,21 @@ class AppExecCmdProvider final : public ExecCmdProvider<AppExecCmdProvider>
             restart_required_ = true;
             break;
 
+        case Request::COMMAND_BEGIN_SOFTWARE_UPDATE:
+            //
+            std::cout << "🚧 COMMAND_BEGIN_SOFTWARE_UPDATE (file='" << parameter << "')\n";
+            node_.heartbeatProducer().message().mode.value = uavcan::node::Mode_1_0::SOFTWARE_UPDATE;
+            break;
+
         default:
             return ExecCmdProvider::onCommand(command, parameter, response);
         }
         return true;
     }
 
-    bool should_power_off_{false};
-    bool restart_required_{false};
+    libcyphal::application::Node& node_;
+    bool                          should_power_off_{false};
+    bool                          restart_required_{false};
 
 };  // AppExecCmdProvider
 
@@ -196,8 +211,8 @@ libcyphal::Expected<bool, ExitCode> run_application(const char* const root_path)
 
     // 6. Bring up the command execution provider.
     //
-    auto maybe_exec_cmd_provider = AppExecCmdProvider::make(presentation);
-    if (const auto* failure = cetl::get_if<libcyphal::application::Node::MakeFailure>(&maybe_node))
+    auto maybe_exec_cmd_provider = AppExecCmdProvider::make(node, presentation);
+    if (const auto* failure = cetl::get_if<libcyphal::application::Node::MakeFailure>(&maybe_exec_cmd_provider))
     {
         std::cerr << "❌ Failed to create exec cmd provider.\n";
         return ExitCode::ExecCmdProviderCreationFailure;