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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]>
1 parent a3b7ffe commit 69700a5

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-739
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‎.github/workflows/build.yml‎

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@@ -18,24 +18,23 @@ jobs:
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build_libcyphal_demo:
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name: Build LibCyphal demo
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runs-on: ubuntu-latest
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strategy:
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matrix:
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build_type: [Release, Debug]
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steps:
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- uses: actions/checkout@v4
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with:
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submodules: recursive
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- name: get nunavut
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run: >
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pip install git+https://github.com/OpenCyphal/[email protected]
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- name: Install Ninja
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run: sudo apt-get install ninja-build
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- name: Configure CMake
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run: cmake -B ${{github.workspace}}/libcyphal_demo/build -DCMAKE_BUILD_TYPE=${{matrix.build_type}} ${{github.workspace}}/libcyphal_demo
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run: cd ${{github.workspace}}/libcyphal_demo && cmake --preset Demo-Linux
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- name: Build
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run: cmake --build ${{github.workspace}}/libcyphal_demo/build --config ${{matrix.build_type}}
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- name: Build Debug
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run: cd ${{github.workspace}}/libcyphal_demo && cmake --build --preset Demo-Linux-Debug
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- name: Build Release
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run: cd ${{github.workspace}}/libcyphal_demo && cmake --build --preset Demo-Linux-Release
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build_libudpard_demo:
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name: Build LibUDPard demo
@@ -46,10 +45,6 @@ jobs:
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with:
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submodules: recursive
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- name: get nunavut
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run: >
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pip install git+https://github.com/OpenCyphal/[email protected]
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- name: Configure CMake
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run: cmake -B ${{github.workspace}}/libudpard_demo/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{github.workspace}}/libudpard_demo
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@@ -65,10 +60,6 @@ jobs:
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with:
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submodules: recursive
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- name: get nunavut
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run: >
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pip install git+https://github.com/OpenCyphal/[email protected]
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- name: Configure CMake
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run: cmake -B ${{github.workspace}}/differential_pressure_sensor/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{github.workspace}}/differential_pressure_sensor
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@@ -85,10 +76,6 @@ jobs:
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with:
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submodules: recursive
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- name: get nunavut
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run: >
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pip install git+https://github.com/OpenCyphal/[email protected]
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- name: Configure CMake
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run: cmake -B ${{github.workspace}}/udral_servo/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{github.workspace}}/udral_servo
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‎.gitmodules‎

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Original file line numberDiff line numberDiff line change
@@ -2,9 +2,6 @@
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path = submodules/libcanard
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url = https://github.com/UAVCAN/libcanard
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branch = v4
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[submodule "submodules/public_regulated_data_types"]
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path = submodules/public_regulated_data_types
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url = https://github.com/UAVCAN/public_regulated_data_types
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[submodule "submodules/o1heap"]
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path = submodules/o1heap
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url = https://github.com/pavel-kirienko/o1heap
@@ -18,3 +15,7 @@
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[submodule "submodules/libcyphal"]
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path = submodules/libcyphal
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url = https://github.com/OpenCyphal-Garage/libcyphal.git
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[submodule "submodules/nunavut"]
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path = submodules/nunavut
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url = https://github.com/OpenCyphal/nunavut.git
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branch = 3.0.preview

‎differential_pressure_sensor/CMakeLists.txt‎

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@@ -3,10 +3,10 @@
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# Author: Pavel Kirienko <[email protected]>
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cmake_minimum_required(VERSION 3.17)
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project(differential_pressure_sensor C CXX)
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set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake/modules")
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project(differential_pressure_sensor C)
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set(submodules "${CMAKE_SOURCE_DIR}/../submodules")
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set(submodules "${CMAKE_CURRENT_SOURCE_DIR}/../submodules")
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set(CMAKE_PREFIX_PATH "${submodules}/nunavut")
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set(CMAKE_C_STANDARD 11)
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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
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# Forward the revision information to the compiler so that we could expose it at runtime. This is entirely optional.
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execute_process(
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COMMAND git rev-parse --short=16 HEAD
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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OUTPUT_VARIABLE vcs_revision_id
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OUTPUT_STRIP_TRAILING_WHITESPACE
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)
@@ -29,39 +29,32 @@ add_definitions(
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-DNODE_NAME="org.opencyphal.demos.differential_pressure"
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)
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# Transpile DSDL into C using Nunavut. Install Nunavut as follows: pip install nunavut.
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# Alternatively, you can invoke the transpiler manually or use https://nunaweb.opencyphal.org.
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find_package(nnvg REQUIRED)
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create_dsdl_target( # Generate the support library for generated C headers, which is "nunavut.h".
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"nunavut_support"
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c
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${CMAKE_BINARY_DIR}/transpiled
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""
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OFF
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little
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"only"
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## Transpile DSDL into C using Nunavut. This uses this repo's built-in submodules to setup Nunavut. See
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# CMAKE_PREFIX_PATH above for how this is resolved to the local submodules.
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find_package(Nunavut 3.0 REQUIRED)
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set(LOCAL_PUBLIC_TYPES
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uavcan/node/430.GetInfo.1.0.dsdl
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uavcan/node/435.ExecuteCommand.1.1.dsdl
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uavcan/node/7509.Heartbeat.1.0.dsdl
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uavcan/node/port/7510.List.0.1.dsdl
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uavcan/pnp/8165.NodeIDAllocationData.2.0.dsdl
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uavcan/register/384.Access.1.0.dsdl
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uavcan/register/385.List.1.0.dsdl
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uavcan/si/unit/pressure/Scalar.1.0.dsdl
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uavcan/si/unit/temperature/Scalar.1.0.dsdl
4346
)
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set(dsdl_root_namespace_dirs # List all DSDL root namespaces to transpile here.
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${submodules}/public_regulated_data_types/uavcan
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${submodules}/public_regulated_data_types/reg
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add_cyphal_library(
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NAME dsdl_uavcan
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EXACT_NAME
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LANGUAGE c
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LANGUAGE_STANDARD c${CMAKE_C_STANDARD}
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DSDL_FILES ${LOCAL_PUBLIC_TYPES}
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SERIALIZATION_ASSERT assert
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EXPORT_MANIFEST
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OUT_LIBRARY_TARGET LOCAL_TYPES_C_LIBRARY
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)
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foreach (ns_dir ${dsdl_root_namespace_dirs})
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get_filename_component(ns ${ns_dir} NAME)
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message(STATUS "DSDL namespace ${ns} at ${ns_dir}")
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create_dsdl_target(
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"dsdl_${ns}" # CMake target name
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c # Target language to transpile into
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${CMAKE_BINARY_DIR}/transpiled # Destination directory (add it to the includes)
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${ns_dir} # Source directory
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OFF # Disable variable array capacity override
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little # Endianness of the target platform (alternatives: "big", "any")
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"never" # Support files are generated once in the nunavut_support target (above)
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${dsdl_root_namespace_dirs} # Look-up DSDL namespaces
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)
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add_dependencies("dsdl_${ns}" nunavut_support)
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endforeach ()
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include_directories(SYSTEM ${CMAKE_BINARY_DIR}/transpiled) # Make the transpiled headers available for inclusion.
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add_definitions(-DNUNAVUT_ASSERT=assert)
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# Build libcanard.
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add_library(canard STATIC ${submodules}/libcanard/libcanard/canard.c)
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add_library(o1heap STATIC ${submodules}/o1heap/o1heap/o1heap.c)
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include_directories(SYSTEM ${submodules}/o1heap/o1heap/)
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include(${CMAKE_SOURCE_DIR}/../shared/register/register.cmake)
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include(${CMAKE_SOURCE_DIR}/../shared/socketcan/socketcan.cmake)
67+
include(${CMAKE_CURRENT_SOURCE_DIR}/../shared/register/register.cmake)
68+
target_link_libraries(shared_register
69+
PRIVATE ${LOCAL_TYPES_C_LIBRARY}
70+
)
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72+
include(${CMAKE_CURRENT_SOURCE_DIR}/../shared/socketcan/socketcan.cmake)
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# Build the application.
7875
add_executable(differential_pressure_sensor
7976
src/main.c
8077
)
81-
add_dependencies(differential_pressure_sensor dsdl_uavcan dsdl_reg)
82-
target_link_libraries(differential_pressure_sensor canard o1heap shared_register shared_socketcan)
78+
target_link_libraries(differential_pressure_sensor
79+
${LOCAL_TYPES_C_LIBRARY}
80+
canard
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o1heap
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shared_register
83+
shared_socketcan
84+
)

‎differential_pressure_sensor/cmake/modules/Findnnvg.cmake‎

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