feat: singleton platform manager. Aggressive refactor

Author: Ilyhadev

CMakeLists.txt

@@ -21,7 +21,7 @@ file(GLOB SERIALIZATION_SOURCES CONFIGURE_DEPENDS
 )
 add_library(${PROJECT_NAME} STATIC
     ${CMAKE_CURRENT_LIST_DIR}/Libs/libcanard_v0/canard.c
-    ${CMAKE_CURRENT_LIST_DIR}/src/dronecan.c
+    ${CMAKE_CURRENT_LIST_DIR}/src/dronecan.cpp
     ${CMAKE_CURRENT_LIST_DIR}/src/logger.cpp
     ${SERIALIZATION_SOURCES}
 )

README.md

@@ -78,11 +78,11 @@ target_link_libraries(${PROJECT_NAME} PRIVATE
 
 **1. Initialize**
 
-Include `dronecan.h` header and call `uavcanInitApplication` in the beginning of the application. Call `uavcanSpinOnce` periodically.
+Include `dronecan.hpp` header and call `uavcanInitApplication` in the beginning of the application. Call `uavcanSpinOnce` periodically.
 
 ```c++
-// Include dronecan.h header file
-#include "libdcnode/dronecan.h"
+// Include dronecan.hpp header file
+#include "libdcnode/dronecan.hpp"
 
 // Initialize the library somewhere
 const uint8_t node_id = 42;
@@ -104,7 +104,7 @@ while (true) {
 Adding a publisher is very easy. Include `publisher.hpp` header, create an instance of the required publisher and just call `publish` when you need. Here is a BatteryInfo publisher example:
 
 ```c++
-#include "libdcnode/dronecan.h"
+#include "libdcnode/dronecan.hpp"
 #include "libdcnode/publisher.hpp"
 
 // Create an instance of the publisher
@@ -136,7 +136,7 @@ Adding a subscriber is easy as well. Let's consider a RawCommand subscriber exam
 
 ```c++
 // Include necessary header files
-#include "libdcnode/dronecan.h"
+#include "libdcnode/dronecan.hpp"
 #include "libdcnode/subscriber.hpp"
 
 // Add a callback handler function

examples/stm32_hal/hal.cpp

@@ -7,22 +7,24 @@
 
 #include <iostream>
 #include <string.h>
-#include "libdcnode/dronecan.h"
+#include "libdcnode/dronecan.hpp"
 
-void platformSpecificReadUniqueID(uint8_t out_uid[4]) {
+void platformSpecificReadUniqueID(uint8_t out_uid[4])
+{
     const uint32_t UNIQUE_ID_16_BYTES[4] = {
         HAL_GetUIDw0(),
         HAL_GetUIDw1(),
         HAL_GetUIDw2(),
-        0
-    };
+        0};
     memset(out_uid, UNIQUE_ID_16_BYTES, 16);
 }
 
-bool platformSpecificRequestRestart() {
+bool platformSpecificRequestRestart()
+{
     return false;
 }
 
-uint32_t platformSpecificGetTimeMs() {
+uint32_t platformSpecificGetTimeMs()
+{
     return HAL_GetTick();
 }

examples/ubuntu/main.cpp

@@ -10,7 +10,7 @@
 #include <chrono>
 #include <string.h>
 #include "storage.h"
-#include "libdcnode/dronecan.h"
+#include "libdcnode/dronecan.hpp"
 #include "libdcnode/can_driver.h"
 // #include "libdcnode/subscriber.hpp"
 // #include "libdcnode/publisher.hpp"
@@ -139,6 +139,7 @@ void lights_callback(const uavcan_equipment_indication_LightsCommand &msg)
  */
 int main()
 {
+
     paramsInit(1, 1, -1, 1);
     paramsResetToDefault();
     ParamsApi params_api = {
@@ -212,7 +213,9 @@ int main()
     {
         circuit_status.msg.voltage = 5.0;
         battery_info.msg.voltage = 5.1;
+
         circuit_status.spinOnce();
+
         battery_info.spinOnce();
         uavcanSpinOnce();
     }

include/libdcnode/dronecan.h include/libdcnode/dronecan.hppinclude/libdcnode/dronecan.h renamed to include/libdcnode/dronecan.hpp

@@ -15,6 +15,7 @@
 #include "libdcnode/legacy/uavcan/protocol/get_node_info.h"
 #include "params.h"
 #include "version.h"
+#include "platform.hpp"
 
 #ifdef __cplusplus
 extern "C"
@@ -36,34 +37,6 @@ extern "C"
     uint8_t hw_version_minor;
   } AppInfo;
 
-  typedef uint32_t (*PlatformSpecificGetTimeMsFunc)(void);
-  typedef bool (*PlatformSpecificRequestRestartFunc)(void);
-  typedef void (*PlatformSpecificReadUniqueIDFunc)(uint8_t out_uid[16]);
-
-  typedef int16_t (*CanDriverInitFunc)(uint32_t can_speed, uint8_t can_driver_idx);
-  typedef int16_t (*CanDriverReceiveFunc)(CanardCANFrame *const rx_frame, uint8_t can_driver_idx);
-  typedef int16_t (*CanDriverTransmitFunc)(const CanardCANFrame *const tx_frame, uint8_t can_driver_idx);
-  typedef uint64_t (*CanDriverGetRxOverflowCountFunc)(void);
-  typedef uint64_t (*CanDriverGetErrorCountFunc)(void);
-
-  typedef struct
-  {
-    CanDriverInitFunc init;
-    CanDriverReceiveFunc recv;
-    CanDriverTransmitFunc send;
-    CanDriverGetRxOverflowCountFunc getRxOverflowCount;
-    CanDriverGetErrorCountFunc getErrorCount;
-  } CanDriverApi;
-
-  typedef struct
-  {
-    PlatformSpecificGetTimeMsFunc getTimeMs;
-    PlatformSpecificRequestRestartFunc requestRestart;
-    PlatformSpecificReadUniqueIDFunc readUniqueId;
-
-    CanDriverApi can;
-  } PlatformApi;
-
   /**
    * @brief Initialize the node and minimal required services
    * @return 0 on success, otherwise negative error

include/libdcnode/legacy/dronecan/sensors/hygrometer/Hygrometer.h

@@ -9,67 +9,71 @@
 #define DRONECAN_SENSORS_HYGROMETER_HYGROMETER_H_
 
 #include "libdcnode/serialization_internal.h"
-#include "libdcnode/dronecan.h"
+#include "libdcnode/dronecan.hpp"
 
-#define DRONECAN_SENSORS_HYGROMETER_HYGROMETER_ID               1032
-#define DRONECAN_SENSORS_HYGROMETER_HYGROMETER_SIGNATURE        0xCEB308892BF163E8ULL
-#define DRONECAN_SENSORS_HYGROMETER_HYGROMETER_MESSAGE_SIZE     5
-#define DRONECAN_SENSORS_HYGROMETER_HYGROMETER                  UAVCAN_EXPAND(DRONECAN_SENSORS_HYGROMETER_HYGROMETER)
+#define DRONECAN_SENSORS_HYGROMETER_HYGROMETER_ID 1032
+#define DRONECAN_SENSORS_HYGROMETER_HYGROMETER_SIGNATURE 0xCEB308892BF163E8ULL
+#define DRONECAN_SENSORS_HYGROMETER_HYGROMETER_MESSAGE_SIZE 5
+#define DRONECAN_SENSORS_HYGROMETER_HYGROMETER UAVCAN_EXPAND(DRONECAN_SENSORS_HYGROMETER_HYGROMETER)
 
-typedef struct {
+typedef struct
+{
     float temperature;
     float humidity;
     uint8_t id;
 } Hygrometer;
 
 #ifdef __cplusplus
-extern "C" {
+extern "C"
+{
 #endif
 
-static inline int8_t dronecan_sensors_hygrometer_hygrometer_serialize(
-    const Hygrometer* const obj,
-    uint8_t* const buffer,
-    size_t* const inout_buffer_size_bytes)
-{
-    if ((obj == NULL) || (buffer == NULL) || (inout_buffer_size_bytes == NULL)) {
-        return -2;
-    }
+    static inline int8_t dronecan_sensors_hygrometer_hygrometer_serialize(
+        const Hygrometer *const obj,
+        uint8_t *const buffer,
+        size_t *const inout_buffer_size_bytes)
+    {
+        if ((obj == NULL) || (buffer == NULL) || (inout_buffer_size_bytes == NULL))
+        {
+            return -2;
+        }
 
-    const size_t capacity_bytes = *inout_buffer_size_bytes;
-    if (capacity_bytes < DRONECAN_SENSORS_HYGROMETER_HYGROMETER_MESSAGE_SIZE) {
-        return -3;
-    }
+        const size_t capacity_bytes = *inout_buffer_size_bytes;
+        if (capacity_bytes < DRONECAN_SENSORS_HYGROMETER_HYGROMETER_MESSAGE_SIZE)
+        {
+            return -3;
+        }
 
-    uint16_t temperature = canardConvertNativeFloatToFloat16(obj->temperature);
-    canardEncodeScalar(buffer, 0, 16, &temperature);
+        uint16_t temperature = canardConvertNativeFloatToFloat16(obj->temperature);
+        canardEncodeScalar(buffer, 0, 16, &temperature);
 
-    uint16_t humidity = canardConvertNativeFloatToFloat16(obj->humidity);
-    canardEncodeScalar(buffer, 16, 16, &humidity);
+        uint16_t humidity = canardConvertNativeFloatToFloat16(obj->humidity);
+        canardEncodeScalar(buffer, 16, 16, &humidity);
 
-    canardEncodeScalar(buffer, 32, 8, &obj->id);
+        canardEncodeScalar(buffer, 32, 8, &obj->id);
 
-    return 0;
-}
+        return 0;
+    }
 
-static inline int8_t dronecan_sensors_hygrometer_hygrometer_publish(
-    const Hygrometer* const obj,
-    uint8_t* inout_transfer_id)
-{
-    uint8_t buffer[DRONECAN_SENSORS_HYGROMETER_HYGROMETER_MESSAGE_SIZE];
-    size_t inout_buffer_size = DRONECAN_SENSORS_HYGROMETER_HYGROMETER_MESSAGE_SIZE;
-    dronecan_sensors_hygrometer_hygrometer_serialize(obj, buffer, &inout_buffer_size);
-    uavcanPublish(DRONECAN_SENSORS_HYGROMETER_HYGROMETER_SIGNATURE,
-                  DRONECAN_SENSORS_HYGROMETER_HYGROMETER_ID,
-                  inout_transfer_id,
-                  CANARD_TRANSFER_PRIORITY_MEDIUM,
-                  buffer,
-                  DRONECAN_SENSORS_HYGROMETER_HYGROMETER_MESSAGE_SIZE);
+    static inline int8_t dronecan_sensors_hygrometer_hygrometer_publish(
+        const Hygrometer *const obj,
+        uint8_t *inout_transfer_id)
+    {
+        uint8_t buffer[DRONECAN_SENSORS_HYGROMETER_HYGROMETER_MESSAGE_SIZE];
+        size_t inout_buffer_size = DRONECAN_SENSORS_HYGROMETER_HYGROMETER_MESSAGE_SIZE;
+        dronecan_sensors_hygrometer_hygrometer_serialize(obj, buffer, &inout_buffer_size);
+        uavcanPublish(DRONECAN_SENSORS_HYGROMETER_HYGROMETER_SIGNATURE,
+                      DRONECAN_SENSORS_HYGROMETER_HYGROMETER_ID,
+                      inout_transfer_id,
+                      CANARD_TRANSFER_PRIORITY_MEDIUM,
+                      buffer,
+                      DRONECAN_SENSORS_HYGROMETER_HYGROMETER_MESSAGE_SIZE);
 
-    return 0;
-}
+        return 0;
+    }
 
 #ifdef __cplusplus
 }
 #endif
 
-#endif  // DRONECAN_SENSORS_HYGROMETER_HYGROMETER_H_
+#endif // DRONECAN_SENSORS_HYGROMETER_HYGROMETER_H_

include/libdcnode/legacy/uavcan/CoarseOrientation.h

@@ -1,15 +1,14 @@
 /***
  * Copyright (C) 2024 Anastasiia Stepanova  <asiiapine@gmail.com>
  *  Distributed under the terms of the GPL v3 license, available in the file LICENSE.
-***/
-
+ ***/
 
 #ifndef UAVCAN_COARCE_ORIENTATION_H_
 #define UAVCAN_COARCE_ORIENTATION_H_
 
 #include "libdcnode/serialization_internal.h"
-#include "libdcnode/dronecan.h"
-#define UAVCAN_COARSE_ORIENTATION_MESSAGE_SIZE         2
+#include "libdcnode/dronecan.hpp"
+#define UAVCAN_COARSE_ORIENTATION_MESSAGE_SIZE 2
 
 /**
  * @brief       uavcan.CoarseOrientation beam_orientation_in_body_frame
@@ -23,42 +22,47 @@
  *               - Allows to exactly represent the following angles:
  *                 0, 15, 30, 45, 60, 75, 90, 105, 120, 135, 150, 165, 180, and negatives
  */
-typedef struct {
-    int8_t fixed_axis_roll_pitch_yaw [3];
+typedef struct
+{
+    int8_t fixed_axis_roll_pitch_yaw[3];
     bool orientation_defined;
 } CoarseOrientation_t;
 
 #ifdef __cplusplus
-extern "C" {
+extern "C"
+{
 #endif
 
-
-static inline int8_t dronecan_coarse_orientation_serialize(
-    const CoarseOrientation_t* const obj, uint8_t* const buffer,
-    size_t* const inout_buffer_size_bytes, uint8_t buffer_offset) {
+    static inline int8_t dronecan_coarse_orientation_serialize(
+        const CoarseOrientation_t *const obj, uint8_t *const buffer,
+        size_t *const inout_buffer_size_bytes, uint8_t buffer_offset)
+    {
         if ((obj == NULL) || (buffer == NULL) ||
-        (inout_buffer_size_bytes == NULL)) {
-        return -2;
-    }
+            (inout_buffer_size_bytes == NULL))
+        {
+            return -2;
+        }
 
-    const size_t capacity_bytes = *inout_buffer_size_bytes - buffer_offset;
-    if (capacity_bytes < UAVCAN_COARSE_ORIENTATION_MESSAGE_SIZE) {
-        return -3;
+        const size_t capacity_bytes = *inout_buffer_size_bytes - buffer_offset;
+        if (capacity_bytes < UAVCAN_COARSE_ORIENTATION_MESSAGE_SIZE)
+        {
+            return -3;
+        }
+        int8_t size = 0;
+        for (int i = 0; i < 3; i++)
+        {
+            canardEncodeScalar(buffer, buffer_offset, 5, &obj->fixed_axis_roll_pitch_yaw[i]);
+            buffer_offset += 5;
+            size += 5;
+        }
+        bool orientation_defined = obj->orientation_defined;
+        canardEncodeScalar(buffer, buffer_offset, 1, &orientation_defined);
+        buffer_offset += 1;
+        return buffer_offset;
     }
-    int8_t size = 0;
-    for (int i = 0; i < 3; i++) {
-        canardEncodeScalar(buffer, buffer_offset, 5, &obj->fixed_axis_roll_pitch_yaw[i]);
-        buffer_offset += 5;
-        size += 5;
-    }
-    bool orientation_defined = obj->orientation_defined;
-    canardEncodeScalar(buffer, buffer_offset, 1, &orientation_defined);
-    buffer_offset += 1;
-    return buffer_offset;
-}
 
 #ifdef __cplusplus
 }
 #endif
 
-#endif  // UAVCAN_COARCE_ORIENTATION_H_
+#endif // UAVCAN_COARCE_ORIENTATION_H_