Update all dep

.github/workflows/compile.yml

@@ -28,6 +28,13 @@ jobs:
       matrix:
         presets: [ gcc-debug, gcc-release, clang-debug, clang-release, gcc-debug-dynamic, clang-debug-dynamic ]
 
+    # permissions to publish test results
+    permissions:
+      contents: read
+      issues: read
+      checks: write
+      pull-requests: write
+
     steps:
       - uses: actions/checkout@v4
         with:
@@ -58,3 +65,10 @@ jobs:
           configurePreset: '${{ matrix.presets }}'
           buildPreset: '${{ matrix.presets }}'
           testPreset: '${{ matrix.presets }}'
+
+      - name: Publish Test Results
+        uses: EnricoMi/publish-unit-test-result-action@v2
+        if: always()
+        with:
+          files: |
+            */**/test-results.xml

exes/CMakeLists.txt

@@ -6,4 +6,4 @@ add_subdirectory(tfcctl)
 add_subdirectory(ipc-ruler)
 add_subdirectory(signal_source)
 add_subdirectory(mqtt-bridge)
-add_subdirectory(themis)
+add_subdirectory(themis)

exes/ethercat/CMakeLists.txt

@@ -25,7 +25,7 @@ target_link_libraries(ec
     tfc::soem_interface
     tfc::stx
     tfc::motor
-    mp-units::si
+    mp-units::systems
     fmt::fmt
 )
 

exes/ethercat/inc/public/tfc/ec/devices/base.hpp

@@ -9,7 +9,7 @@
 #include <utility>
 
 #include <fmt/format.h>
-#include <mp-units/bits/quantity_concepts.h>
+#include <mp-units/framework/quantity_concepts.h>
 
 #include <tfc/ec/soem_interface.hpp>
 #include <tfc/logger.hpp>

exes/ethercat/inc/public/tfc/ec/devices/beckhoff/EL3xxx.hpp

@@ -3,7 +3,7 @@
 #include <cstdint>
 #include <string>
 
-#include <mp-units/systems/si/si.h>
+#include <mp-units/systems/si.h>
 #include <mp-units/systems/si/units.h>
 #include <glaze/util/string_literal.hpp>
 

exes/ethercat/inc/public/tfc/ec/devices/eilersen/4x60a.hpp

@@ -10,7 +10,7 @@
 #include <span>
 #include <variant>
 
-#include <mp-units/systems/si/si.h>
+#include <mp-units/systems/si.h>
 #include <boost/asio/io_context.hpp>
 
 #include <tfc/confman/observable.hpp>

exes/ethercat/inc/public/tfc/ec/devices/schneider/atv320.hpp

@@ -1,7 +1,7 @@
 #pragma once
 
 #include <mp-units/math.h>
-#include <mp-units/systems/si/si.h>
+#include <mp-units/systems/si.h>
 #include <algorithm>
 #include <memory>
 #include <optional>

exes/ethercat/inc/public/tfc/ec/devices/schneider/atv320/dbus-iface.hpp

@@ -7,9 +7,9 @@
 
 #include <string>
 
-#include <mp-units/chrono.h>
 #include <mp-units/format.h>
-#include <mp-units/quantity.h>
+#include <mp-units/framework/quantity.h>
+#include <mp-units/systems/si/chrono.h>
 #include <boost/asio.hpp>
 #include <boost/asio/experimental/parallel_group.hpp>
 

exes/ethercat/inc/public/tfc/ec/devices/schneider/atv320/settings.hpp

@@ -1,6 +1,6 @@
 #pragma once
 
-#include <mp-units/systems/si/si.h>
+#include <mp-units/systems/si.h>
 
 #include <tfc/ec/devices/schneider/atv320/enums.hpp>
 #include <tfc/ec/devices/util.hpp>

exes/ethercat/inc/public/tfc/ec/devices/schneider/atv320/speedratio.hpp

@@ -1,6 +1,6 @@
 #pragma once
 #include <mp-units/math.h>
-#include <mp-units/systems/si/si.h>
+#include <mp-units/systems/si.h>
 
 namespace tfc::ec::devices::schneider::atv320::detail {
 

exes/ethercat/inc/public/tfc/ec/devices/util.hpp

@@ -4,8 +4,8 @@
 
 #include <glaze/glaze.hpp>
 
-#include <mp-units/bits/quantity_concepts.h>
-#include <mp-units/bits/value_cast.h>
+#include <mp-units/framework/quantity_concepts.h>
+#include <mp-units/framework/value_cast.h>
 #include <tfc/ec/soem_interface.hpp>
 #include <tfc/stx/basic_fixed_string.hpp>
 #include <tfc/stx/string_view_join.hpp>

exes/ethercat/tests/test_ec_util.cpp

@@ -2,7 +2,7 @@
 #include <cstdint>
 #include <type_traits>
 
-#include <mp-units/systems/si/si.h>
+#include <mp-units/systems/si.h>
 #include <boost/ut.hpp>
 #include <tfc/ec/devices/schneider/atv320.hpp>
 #include <tfc/ec/devices/util.hpp>
@@ -49,8 +49,8 @@ auto main(int, char**) -> int {
   "setting to json"_test = []() {
     [[maybe_unused]] example::trivial_type_setting const test{};
     auto const json = glz::write_json(test);
-    expect(json == "13") << "got: " << json;
-    auto const exp = glz::read_json<example::trivial_type_setting>(json);
+    expect(json == "13") << "got: " << json.value_or("");
+    auto const exp = glz::read_json<example::trivial_type_setting>(json.value_or(""));
     expect(exp.has_value() >> fatal);
     expect(exp.value() == test);
   };

exes/gpio/src/gpio.cpp

@@ -16,8 +16,8 @@ void gpio::pin_direction_change(pin_index_t idx,
                                 gpiod::line::direction new_value,
                                 [[maybe_unused]] gpiod::line::direction old_value) noexcept {
   try {
-    logger_.trace(R"(Got new direction change with new value: "{}", old value: "{}")", glz::write_json(new_value),
-                  glz::write_json(old_value));
+    logger_.trace(R"(Got new direction change with new value: "{}", old value: "{}")",
+                  glz::write_json(new_value).value_or(""), glz::write_json(old_value).value_or(""));
     if (new_value == gpiod::line::direction::OUTPUT) {
       pins_.at(idx).emplace<ipc_input_t>(ctx_, manager_client_, fmt::format("in.{}", idx),
                                          std::bind_front(&gpio::ipc_event, this, idx));
@@ -46,8 +46,8 @@ void gpio::pin_direction_change(pin_index_t idx,
 void gpio::pin_edge_change(pin_index_t idx,
                            gpiod::line::edge new_value,
                            [[maybe_unused]] gpiod::line::edge old_value) noexcept {
-  logger_.trace(R"(Got new edge change with new value: "{}", old value: "{}")", glz::write_json(new_value),
-                glz::write_json(old_value));
+  logger_.trace(R"(Got new edge change with new value: "{}", old value: "{}")", glz::write_json(new_value).value_or(""),
+                glz::write_json(old_value).value_or(""));
   auto settings{ chip_.prepare_request().get_line_config().get_line_settings().at(idx) };
   settings.set_edge_detection(new_value);
   chip_.prepare_request().add_line_settings(idx, settings);
@@ -60,17 +60,17 @@ void gpio::pin_edge_change(pin_index_t idx,
 void gpio::pin_bias_change(pin_index_t idx,
                            gpiod::line::bias new_value,
                            [[maybe_unused]] gpiod::line::bias old_value) noexcept {
-  logger_.trace(R"(Got new bias change with new value: "{}", old value: "{}")", glz::write_json(new_value),
-                glz::write_json(old_value));
+  logger_.trace(R"(Got new bias change with new value: "{}", old value: "{}")", glz::write_json(new_value).value_or(""),
+                glz::write_json(old_value).value_or(""));
   auto settings{ chip_.prepare_request().get_line_config().get_line_settings().at(idx) };
   settings.set_bias(new_value);
   chip_.prepare_request().add_line_settings(idx, settings).do_request();
 }
 void gpio::pin_force_change(pin_index_t idx,
                             pin::out::force_e new_value,
                             [[maybe_unused]] pin::out::force_e old_value) noexcept {
-  logger_.trace(R"(Got new force change with new value: "{}", old value: "{}")", glz::write_json(new_value),
-                glz::write_json(old_value));
+  logger_.trace(R"(Got new force change with new value: "{}", old value: "{}")", glz::write_json(new_value).value_or(""),
+                glz::write_json(old_value).value_or(""));
   auto settings{ chip_.prepare_request().get_line_config().get_line_settings().at(idx) };
   switch (new_value) {
     using enum pin::out::force_e;
@@ -104,8 +104,8 @@ void gpio::pin_force_change(pin_index_t idx,
 void gpio::pin_drive_change(pin_index_t idx,
                             gpiod::line::drive new_value,
                             [[maybe_unused]] gpiod::line::drive old_value) noexcept {
-  logger_.trace(R"(Got new drive change with new value: "{}", old value: "{}")", glz::write_json(new_value),
-                glz::write_json(old_value));
+  logger_.trace(R"(Got new drive change with new value: "{}", old value: "{}")", glz::write_json(new_value).value_or(""),
+                glz::write_json(old_value).value_or(""));
   auto settings{ chip_.prepare_request().get_line_config().get_line_settings().at(idx) };
   settings.set_drive(new_value);
   chip_.prepare_request().add_line_settings(idx, settings).do_request();

exes/mqtt-bridge/inc/client.hpp

@@ -8,7 +8,7 @@
 #include <tuple>
 
 #include <async_mqtt/all.hpp>
-#include <async_mqtt/buffer.hpp>
+#include <async_mqtt/error.hpp>
 #include <boost/asio.hpp>
 
 #include <tfc/logger.hpp>
@@ -67,7 +67,7 @@ class client {
 
     logger_.trace("Sending MQTT connection packet...");
 
-    auto send_error = co_await endpoint_client_->send(connect_packet(), asio::use_awaitable);
+    auto [send_error] = co_await endpoint_client_->send(connect_packet(), as_tuple(asio::use_awaitable));
 
     if (send_error) {
       co_return false;
@@ -102,10 +102,10 @@ class client {
       p_id = 0;
     }
 
-    auto pub_packet = async_mqtt::v5::publish_packet{ p_id.value(), async_mqtt::allocate_buffer(topic),
-                                                      async_mqtt::allocate_buffer(payload), qos };
+    auto pub_packet = async_mqtt::v5::publish_packet{ p_id.value(), topic, payload, qos };
 
-    co_return !(co_await endpoint_client_->send(pub_packet, asio::use_awaitable));
+    auto [error] = co_await endpoint_client_->send(pub_packet, as_tuple(asio::use_awaitable));
+    co_return !error;
   }
 
   auto subscribe_to_topic(std::string topic) -> asio::awaitable<bool> {
@@ -116,13 +116,11 @@ class client {
 
     p_id = endpoint_client_->acquire_unique_packet_id();
 
-    std::string_view topic_view{ topic };
+    auto sub_packet =
+        async_mqtt::v5::subscribe_packet{ p_id.value(),
+                                          { { topic, async_mqtt::qos::at_most_once | async_mqtt::sub::nl::yes } } };
 
-    auto sub_packet = async_mqtt::v5::subscribe_packet{
-      p_id.value(), { { async_mqtt::buffer(topic_view), async_mqtt::qos::at_most_once | async_mqtt::sub::nl::yes } }
-    };
-
-    auto send_error = co_await endpoint_client_->send(sub_packet, asio::use_awaitable);
+    auto [send_error] = co_await endpoint_client_->send(sub_packet, as_tuple(asio::use_awaitable));
 
     if (send_error) {
       co_return !send_error;
@@ -145,7 +143,7 @@ class client {
     for (auto const& entry : suback_packet.entries()) {
       if (entry != async_mqtt::suback_reason_code::granted_qos_0) {
         logger_.error("Error subscribing to topic: {}, reason code: {}", topic.data(),
-                      async_mqtt::suback_reason_code_to_str(entry));
+                      async_mqtt::suback_reason_code_to_string(entry));
         co_return false;
       }
     }
@@ -173,13 +171,13 @@ class client {
 
       logger_.trace("Received PUBLISH packet. Parsing payload...");
 
-      for (uint64_t i = 0; i < publish_packet->payload().size(); i++) {
-        process_payload(publish_packet->payload()[i], *publish_packet);
+      for (auto const& itm : publish_packet->payload_as_buffer()) {
+        process_payload(itm, *publish_packet);
       }
     }
   }
 
-  auto strand() -> asio::strand<asio::any_io_executor> { return endpoint_client_->strand(); }
+  auto get_executor() const -> asio::any_io_executor { return endpoint_client_->get_executor(); }
 
   auto set_initial_message(std::string const& topic, std::string const& payload, async_mqtt::qos const& qos) -> void {
     initial_message_ = std::tuple<std::string, std::string, async_mqtt::qos>{ topic, payload, qos };
@@ -195,26 +193,25 @@ class client {
 
   auto connect_packet() -> async_mqtt::v5::connect_packet {
     if (config_.value().username.empty() || config_.value().password.empty()) {
-      return async_mqtt::v5::connect_packet{ true,
-                                             std::chrono::seconds(100).count(),
-                                             async_mqtt::allocate_buffer(config_.value().client_id),
-                                             async_mqtt::will(
-                                                 async_mqtt::allocate_buffer(mqtt_will_topic_),
-                                                 async_mqtt::buffer(std::string_view{ mqtt_will_payload_ }),
-                                                 { async_mqtt::qos::at_least_once | async_mqtt::pub::retain::no }),
-                                             async_mqtt::nullopt,
-                                             async_mqtt::nullopt,
-                                             { async_mqtt::property::session_expiry_interval{ 0 } } };
+      return async_mqtt::v5::connect_packet{
+        true,
+        std::chrono::seconds(100).count(),
+        config_.value().client_id,
+        async_mqtt::will(mqtt_will_topic_, async_mqtt::buffer(std::string_view{ mqtt_will_payload_ }),
+                         { async_mqtt::qos::at_least_once | async_mqtt::pub::retain::no }),
+        std::nullopt,
+        std::nullopt,
+        { async_mqtt::property::session_expiry_interval{ 0 } }
+      };
     }
     return async_mqtt::v5::connect_packet{ true,
                                            std::chrono::seconds(100).count(),
-                                           async_mqtt::allocate_buffer(config_.value().client_id),
+                                           config_.value().client_id,
                                            async_mqtt::will(
-                                               async_mqtt::allocate_buffer(mqtt_will_topic_),
-                                               async_mqtt::buffer(std::string_view{ mqtt_will_payload_ }),
+                                               mqtt_will_topic_, async_mqtt::buffer(std::string_view{ mqtt_will_payload_ }),
                                                { async_mqtt::qos::at_least_once | async_mqtt::pub::retain::no }),
-                                           async_mqtt::allocate_buffer(config_.value().username),
-                                           async_mqtt::allocate_buffer(config_.value().password),
+                                           config_.value().username,
+                                           config_.value().password,
                                            { async_mqtt::property::session_expiry_interval{ 0 } } };
   }
 

exes/mqtt-bridge/inc/endpoint.hpp

@@ -6,9 +6,11 @@
 #include <utility>
 
 #include <openssl/ssl.h>
+#include <async_mqtt/all.hpp>
 #include <async_mqtt/endpoint.hpp>
 #include <async_mqtt/packet/control_packet_type.hpp>
-#include <async_mqtt/predefined_underlying_layer.hpp>
+#include <async_mqtt/predefined_layer/mqtt.hpp>
+#include <async_mqtt/predefined_layer/mqtts.hpp>
 #include <async_mqtt/protocol_version.hpp>
 
 #include <boost/asio.hpp>
@@ -35,34 +37,34 @@ class endpoint_client {
     }
   }
 
-  auto strand() -> asio::strand<asio::any_io_executor> {
+  auto get_executor() const -> asio::any_io_executor {
     if (mqtts_client_) {
-      return mqtts_client_->strand();
+      return mqtts_client_->get_executor();
     }
-    return mqtt_client_->strand();
+    return mqtt_client_->get_executor();
   }
 
   auto recv(async_mqtt::control_packet_type packet_t) {
     if (mqtts_client_) {
-      return mqtts_client_->recv(async_mqtt::filter::match, { packet_t }, asio::use_awaitable);
+      return mqtts_client_->async_recv(async_mqtt::filter::match, { packet_t }, asio::use_awaitable);
     }
-    return mqtt_client_->recv(async_mqtt::filter::match, { packet_t }, asio::use_awaitable);
+    return mqtt_client_->async_recv(async_mqtt::filter::match, { packet_t }, asio::use_awaitable);
   }
 
   template <typename... args_t>
   auto send(args_t&&... args) {
     if (mqtts_client_) {
-      return mqtts_client_->send(std::forward<decltype(args)>(args)...);
+      return mqtts_client_->async_send(std::forward<decltype(args)>(args)...);
     }
-    return mqtt_client_->send(std::forward<decltype(args)>(args)...);
+    return mqtt_client_->async_send(std::forward<decltype(args)>(args)...);
   }
 
   template <typename... args_t>
   auto close(args_t&&... args) {
     if (mqtts_client_) {
-      return mqtts_client_->close(std::forward<decltype(args)>(args)...);
+      return mqtts_client_->async_close(std::forward<decltype(args)>(args)...);
     }
-    return mqtt_client_->close(std::forward<decltype(args)>(args)...);
+    return mqtt_client_->async_close(std::forward<decltype(args)>(args)...);
   }
 
   auto acquire_unique_packet_id() {

exes/mqtt-bridge/inc/run.hpp

@@ -55,14 +55,15 @@ class run {
       bool restart_needed = false;
 
       co_spawn(
-          sp_interface_.strand(),
+          sp_interface_.get_executor(),
           sp_interface_.wait_for_payloads(std::bind_front(&spark_plug::process_payload, &sp_interface_), restart_needed),
           bind_cancellation_slot(cancel_signal.slot(), asio::detached));
 
       io_ctx_.run_for(std::chrono::seconds{ 1 });
 
       while (!restart_needed) {
-        co_await asio::steady_timer{ sp_interface_.strand(), std::chrono::seconds{ 5 } }.async_wait(asio::use_awaitable);
+        co_await asio::steady_timer{ sp_interface_.get_executor(), std::chrono::seconds{ 5 } }.async_wait(
+            asio::use_awaitable);
       }
 
       cancel_signal.emit(asio::cancellation_type::all);