Added macos support for libcyphal_demo - UDP only transport. (#36)

- libcyphal_demo now based on CMakePresets. - added (from cherry-pick of commit 3431d35) kqueue executor, and little bit fixed incorrect implementation: a) can't combine filters (like `| EVFILT_VNODE`) b) wrong `EV_CLEAR` usage c) wrong `NOTE_xxx` usage Also cherry-pick of commit 54cee7d by Scott Dixon, plus some build fixes. > Simplifying Nunavut integration > Using Nunavut as a submodule now provides all dependencies including pydsdl, public_regulated_data_types, and cmake integration. --------- Co-authored-by: Scott Dixon <[email protected]>
OpenCyphal-Garage · Mar 4, 2025 · 69700a5 · 69700a5
1 parent a3b7ffe
commit 69700a5
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Showing 28 changed files with 891 additions and 739 deletions.
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -18,24 +18,23 @@ jobs:
   build_libcyphal_demo:
     name: Build LibCyphal demo
     runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        build_type: [Release, Debug]
 
     steps:
       - uses: actions/checkout@v4
         with:
           submodules: recursive
 
-      - name: get nunavut
-        run: >
-          pip install git+https://github.com/OpenCyphal/[email protected]
+      - name: Install Ninja
+        run: sudo apt-get install ninja-build
 
       - name: Configure CMake
-        run: cmake -B ${{github.workspace}}/libcyphal_demo/build -DCMAKE_BUILD_TYPE=${{matrix.build_type}} ${{github.workspace}}/libcyphal_demo
+        run: cd ${{github.workspace}}/libcyphal_demo && cmake --preset Demo-Linux
 
-      - name: Build
-        run: cmake --build ${{github.workspace}}/libcyphal_demo/build --config ${{matrix.build_type}}
+      - name: Build Debug
+        run: cd ${{github.workspace}}/libcyphal_demo && cmake --build --preset Demo-Linux-Debug
+
+      - name: Build Release
+        run: cd ${{github.workspace}}/libcyphal_demo && cmake --build --preset Demo-Linux-Release
 
   build_libudpard_demo:
     name: Build LibUDPard demo
@@ -46,10 +45,6 @@ jobs:
         with:
           submodules: recursive
 
-      - name: get nunavut
-        run: >
-          pip install git+https://github.com/OpenCyphal/[email protected]
-
       - name: Configure CMake
         run: cmake -B ${{github.workspace}}/libudpard_demo/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{github.workspace}}/libudpard_demo
 
@@ -65,10 +60,6 @@ jobs:
         with:
           submodules: recursive
 
-      - name: get nunavut
-        run: >
-          pip install git+https://github.com/OpenCyphal/[email protected]
-
       - name: Configure CMake
         run: cmake -B ${{github.workspace}}/differential_pressure_sensor/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{github.workspace}}/differential_pressure_sensor
 
@@ -85,10 +76,6 @@ jobs:
         with:
           submodules: recursive
 
-      - name: get nunavut
-        run: >
-          pip install git+https://github.com/OpenCyphal/[email protected]
-
       - name: Configure CMake
         run: cmake -B ${{github.workspace}}/udral_servo/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{github.workspace}}/udral_servo
 

diff --git a/.gitmodules b/.gitmodules
@@ -2,9 +2,6 @@
 	path = submodules/libcanard
 	url = https://github.com/UAVCAN/libcanard
 	branch = v4
-[submodule "submodules/public_regulated_data_types"]
-	path = submodules/public_regulated_data_types
-	url = https://github.com/UAVCAN/public_regulated_data_types
 [submodule "submodules/o1heap"]
 	path = submodules/o1heap
 	url = https://github.com/pavel-kirienko/o1heap
@@ -18,3 +15,7 @@
 [submodule "submodules/libcyphal"]
 	path = submodules/libcyphal
 	url = https://github.com/OpenCyphal-Garage/libcyphal.git
+[submodule "submodules/nunavut"]
+	path = submodules/nunavut
+	url = https://github.com/OpenCyphal/nunavut.git
+	branch = 3.0.preview
diff --git a/differential_pressure_sensor/CMakeLists.txt b/differential_pressure_sensor/CMakeLists.txt
@@ -3,10 +3,10 @@
 # Author: Pavel Kirienko <[email protected]>
 
 cmake_minimum_required(VERSION 3.17)
-project(differential_pressure_sensor C CXX)
-set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake/modules")
+project(differential_pressure_sensor C)
 
-set(submodules "${CMAKE_SOURCE_DIR}/../submodules")
+set(submodules "${CMAKE_CURRENT_SOURCE_DIR}/../submodules")
+set(CMAKE_PREFIX_PATH "${submodules}/nunavut")
 
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -Werror -pedantic -fstrict-aliasing")
@@ -17,7 +17,7 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wsign-conversion -Wcast-align -Wmissing-dec
 # Forward the revision information to the compiler so that we could expose it at runtime. This is entirely optional.
 execute_process(
         COMMAND git rev-parse --short=16 HEAD
-        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+        WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
         OUTPUT_VARIABLE vcs_revision_id
         OUTPUT_STRIP_TRAILING_WHITESPACE
 )
@@ -29,39 +29,32 @@ add_definitions(
         -DNODE_NAME="org.opencyphal.demos.differential_pressure"
 )
 
-# Transpile DSDL into C using Nunavut. Install Nunavut as follows: pip install nunavut.
-# Alternatively, you can invoke the transpiler manually or use https://nunaweb.opencyphal.org.
-find_package(nnvg REQUIRED)
-create_dsdl_target(             # Generate the support library for generated C headers, which is "nunavut.h".
-        "nunavut_support"
-        c
-        ${CMAKE_BINARY_DIR}/transpiled
-        ""
-        OFF
-        little
-        "only"
+## Transpile DSDL into C using Nunavut. This uses this repo's built-in submodules to setup Nunavut. See
+# CMAKE_PREFIX_PATH above for how this is resolved to the local submodules.
+find_package(Nunavut 3.0 REQUIRED)
+
+set(LOCAL_PUBLIC_TYPES
+        uavcan/node/430.GetInfo.1.0.dsdl
+        uavcan/node/435.ExecuteCommand.1.1.dsdl
+        uavcan/node/7509.Heartbeat.1.0.dsdl
+        uavcan/node/port/7510.List.0.1.dsdl
+        uavcan/pnp/8165.NodeIDAllocationData.2.0.dsdl
+        uavcan/register/384.Access.1.0.dsdl
+        uavcan/register/385.List.1.0.dsdl
+        uavcan/si/unit/pressure/Scalar.1.0.dsdl
+        uavcan/si/unit/temperature/Scalar.1.0.dsdl
 )
-set(dsdl_root_namespace_dirs                # List all DSDL root namespaces to transpile here.
-        ${submodules}/public_regulated_data_types/uavcan
-        ${submodules}/public_regulated_data_types/reg
+
+add_cyphal_library(
+        NAME dsdl_uavcan
+        EXACT_NAME
+        LANGUAGE c
+        LANGUAGE_STANDARD c${CMAKE_C_STANDARD}
+        DSDL_FILES ${LOCAL_PUBLIC_TYPES}
+        SERIALIZATION_ASSERT assert
+        EXPORT_MANIFEST
+        OUT_LIBRARY_TARGET LOCAL_TYPES_C_LIBRARY
 )
-foreach (ns_dir ${dsdl_root_namespace_dirs})
-    get_filename_component(ns ${ns_dir} NAME)
-    message(STATUS "DSDL namespace ${ns} at ${ns_dir}")
-    create_dsdl_target(
-            "dsdl_${ns}"                    # CMake target name
-            c                               # Target language to transpile into
-            ${CMAKE_BINARY_DIR}/transpiled  # Destination directory (add it to the includes)
-            ${ns_dir}                       # Source directory
-            OFF                             # Disable variable array capacity override
-            little                          # Endianness of the target platform (alternatives: "big", "any")
-            "never"                         # Support files are generated once in the nunavut_support target (above)
-            ${dsdl_root_namespace_dirs}     # Look-up DSDL namespaces
-    )
-    add_dependencies("dsdl_${ns}" nunavut_support)
-endforeach ()
-include_directories(SYSTEM ${CMAKE_BINARY_DIR}/transpiled)  # Make the transpiled headers available for inclusion.
-add_definitions(-DNUNAVUT_ASSERT=assert)
 
 # Build libcanard.
 add_library(canard STATIC ${submodules}/libcanard/libcanard/canard.c)
@@ -71,12 +64,21 @@ include_directories(SYSTEM ${submodules}/libcanard/libcanard)
 add_library(o1heap STATIC ${submodules}/o1heap/o1heap/o1heap.c)
 include_directories(SYSTEM ${submodules}/o1heap/o1heap/)
 
-include(${CMAKE_SOURCE_DIR}/../shared/register/register.cmake)
-include(${CMAKE_SOURCE_DIR}/../shared/socketcan/socketcan.cmake)
+include(${CMAKE_CURRENT_SOURCE_DIR}/../shared/register/register.cmake)
+target_link_libraries(shared_register
+        PRIVATE ${LOCAL_TYPES_C_LIBRARY}
+)
+
+include(${CMAKE_CURRENT_SOURCE_DIR}/../shared/socketcan/socketcan.cmake)
 
 # Build the application.
 add_executable(differential_pressure_sensor
         src/main.c
 )
-add_dependencies(differential_pressure_sensor dsdl_uavcan dsdl_reg)
-target_link_libraries(differential_pressure_sensor canard o1heap shared_register shared_socketcan)
+target_link_libraries(differential_pressure_sensor
+        ${LOCAL_TYPES_C_LIBRARY}
+        canard
+        o1heap
+        shared_register
+        shared_socketcan
+)
diff --git a/differential_pressure_sensor/cmake/modules/Findnnvg.cmake b/differential_pressure_sensor/cmake/modules/Findnnvg.cmake