feat: more flexible code gen

Author: Ilyhadev

CMakeLists.txt

@@ -27,13 +27,19 @@ add_library(${PROJECT_NAME} STATIC
 )
 add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 
-target_include_directories(${PROJECT_NAME}
-    PUBLIC
-        ${CMAKE_CURRENT_LIST_DIR}/include
-        ${CMAKE_CURRENT_LIST_DIR}/Libs/libcanard_v0
-        ${CMAKE_CURRENT_LIST_DIR}/Libs
 
-        ${DSDL_OUT_DIR}/include
+
+target_include_directories(libdcnode PUBLIC
+    ${CMAKE_CURRENT_LIST_DIR}/include
+    ${CMAKE_CURRENT_LIST_DIR}/Libs
+    ${DSDL_OUT_DIR}/include
+)
+
+
+set_source_files_properties(${SERIALIZATION_SOURCES}
+    PROPERTIES
+        LANGUAGE C
+        COMPILE_FLAGS "-Wno-switch-default -fno-strict-aliasing -Wno-undef"
 )
 target_compile_options(${PROJECT_NAME} PRIVATE
     $<$<CXX_COMPILER_ID:GNU,Clang,AppleClang>:-Wno-address-of-packed-member>

cmake/generate_dsdl.cmake

@@ -30,3 +30,11 @@ if(_run_dsdlc)
 else()
     message(STATUS "DSDL output exists and is not empty, skipping generation: ${DSDL_OUT_DIR}")
 endif()
+
+file(GLOB_RECURSE _dc_gen_headers "${DSDL_OUT_DIR}/include/*.h")
+foreach(_h ${_dc_gen_headers})
+    file(READ  "${_h}" _txt)
+    string(REPLACE "#include <canard.h>" "#include \"libcanard_v0/canard.h\"" _txt "${_txt}")
+    file(WRITE "${_h}" "${_txt}")
+endforeach()
+

include/libdcnode/platform.hpp

@@ -54,12 +54,7 @@ namespace libdcnode
         // Get the platform api (throws if not initialized)
         const PlatformApi &getPlatformApi() const
         {
-            if (!_initialized || _platform == nullptr)
-            {
-                throw std::runtime_error(
-                    "PlatformManager not initialized. "
-                    "Call PlatformManager::instance().init(api) first!");
-            }
+            assert(_initialized && _platform != nullptr);
             return *_platform;
         }
 

include/libdcnode/pub.hpp

@@ -55,6 +55,8 @@ namespace libdcnode
 
     LIBDCNODE_DEFINE_PUB_TRAITS(::uavcan_equipment_power_CircuitStatus, UAVCAN_EQUIPMENT_POWER_CIRCUITSTATUS)
     LIBDCNODE_DEFINE_PUB_TRAITS(::uavcan_equipment_power_BatteryInfo, UAVCAN_EQUIPMENT_POWER_BATTERYINFO)
+    LIBDCNODE_DEFINE_PUB_TRAITS(::uavcan_equipment_ahrs_RawIMU, UAVCAN_EQUIPMENT_AHRS_RAWIMU)
+    LIBDCNODE_DEFINE_PUB_TRAITS(::uavcan_equipment_ahrs_MagneticFieldStrength2, UAVCAN_EQUIPMENT_AHRS_MAGNETICFIELDSTRENGTH2)
 
     template <typename MessageType>
     class DronecanPub

include/libdcnode/subscriber.hpp

@@ -60,10 +60,10 @@ DEFINE_SUBSCRIBER_TRAITS(AhrsSolution_t,
                          dronecan_equipment_ahrs_solution_deserialize)
 
 template <typename MessageType>
-class DronecanSubscribe
+class DronecanSubscriber
 {
 public:
-    DronecanSubscribe() = default;
+    DronecanSubscriber() = default;
 
     int8_t init(void (*callback)(const MessageType &), bool (*filter_)(const MessageType &) = nullptr)
     {
@@ -82,7 +82,7 @@ class DronecanSubscribe
             return;
         }
 
-        auto instance = static_cast<DronecanSubscribe *>(instances[transfer->sub_id]);
+        auto instance = static_cast<DronecanSubscriber *>(instances[transfer->sub_id]);
         if (instance == nullptr)
         {
             return;

src/dronecan.cpp

@@ -83,8 +83,8 @@ static bool shouldAcceptTransfer(const CanardInstance *ins,
                                  uint8_t source_node_id);
 static void onTransferReceived(CanardInstance *ins, CanardRxTransfer *transfer);
 static uint8_t uavcanProcessSending();
-static bool uavcanProcessReceiving();
-static void uavcanSpinNodeStatus();
+static bool uavcanProcessReceiving(uint32_t crnt_time_ms);
+static void uavcanSpinNodeStatus(uint32_t now_ms);
 
 static void uavcanProtocolGetNodeInfoHandle(CanardRxTransfer *transfer);
 static void uavcanProtocolParamGetSetHandle(CanardRxTransfer *transfer);