Add new OPAL-RT Orchestra node-type

CMakeLists.txt

@@ -77,6 +77,8 @@ find_package(re)
 find_package(OpenDSSC)
 find_package(FileSystem)
 find_package(Criterion)
+find_package(OpalOrchestra)
+find_package(LibXml2)
 
 # Check for tools
 find_program(PROTOBUFC_COMPILER NAMES protoc-c)
@@ -161,55 +163,55 @@ else()
 endif()
 
 # Build options
-cmake_dependent_option(WITHOUT_GPL          "Build VILLASnode without any GPL code"                 OFF                "" ON)
-cmake_dependent_option(WITH_GHC_FS          "Build using ghc::filesystem, a drop in replacement for std::filesystem"  ON "STDCXX_FS_NOT_FOUND" OFF)
-cmake_dependent_option(WITH_DEFAULTS        "Defaults for non required build options"               ON                 "" OFF)
-
-cmake_dependent_option(WITH_API             "Build with remote control API"                         "${WITH_DEFAULTS}" "" OFF)
-cmake_dependent_option(WITH_CLIENTS         "Build client applications"                             "${WITH_DEFAULTS}" "TOPLEVEL_PROJECT" OFF)
-cmake_dependent_option(WITH_CONFIG          "Build with support for libconfig configuration syntax" "${WITH_DEFAULTS}" "LIBCONFIG_FOUND" OFF)
-cmake_dependent_option(WITH_FPGA            "Build with support for VILLASfpga"                     "${WITH_DEFAULTS}" "FOUND_FPGA_SUBMODULES" OFF)
-cmake_dependent_option(WITH_GRAPHVIZ        "Build with Graphviz"                                   "${WITH_DEFAULTS}" "CGRAPH_FOUND; GVC_FOUND" OFF)
-cmake_dependent_option(WITH_HOOKS           "Build with support for processing hook plugins"        "${WITH_DEFAULTS}" "" OFF)
-cmake_dependent_option(WITH_LUA             "Build with Lua"                                        "${WITH_DEFAULTS}" "LUA_FOUND" OFF)
-cmake_dependent_option(WITH_OPENMP          "Build with support for OpenMP for parallel hooks"      "${WITH_DEFAULTS}" "OPENMP_FOUND" OFF)
-cmake_dependent_option(WITH_PLUGINS         "Build plugins"                                         "${WITH_DEFAULTS}" "TOPLEVEL_PROJECT" OFF)
-cmake_dependent_option(WITH_SRC             "Build executables"                                     "${WITH_DEFAULTS}" "TOPLEVEL_PROJECT" OFF)
-cmake_dependent_option(WITH_TESTS           "Run tests"                                             "${WITH_DEFAULTS}" "TOPLEVEL_PROJECT" OFF)
-cmake_dependent_option(WITH_TOOLS           "Build auxilary tools"                                  "${WITH_DEFAULTS}" "TOPLEVEL_PROJECT" OFF)
-cmake_dependent_option(WITH_WEB             "Build with internal webserver"                         "${WITH_DEFAULTS}" "LIBWEBSOCKETS_FOUND" OFF)
-
-cmake_dependent_option(WITH_NODE_AMQP       "Build with amqp node-type"                             "${WITH_DEFAULTS}" "RABBITMQ_C_FOUND" OFF)
-cmake_dependent_option(WITH_NODE_CAN        "Build with can node-type"                              "${WITH_DEFAULTS}" "" OFF)
-cmake_dependent_option(WITH_NODE_COMEDI     "Build with comedi node-type"                           "${WITH_DEFAULTS}" "COMEDILIB_FOUND" OFF)
-cmake_dependent_option(WITH_NODE_ETHERCAT   "Build with ethercat node-type"                         "${WITH_DEFAULTS}" "ETHERLAB_FOUND; NOT WITHOUT_GPL" OFF)
-cmake_dependent_option(WITH_NODE_EXAMPLE    "Build with example node-type"                          "${WITH_DEFAULTS}" "" OFF)
-cmake_dependent_option(WITH_NODE_EXEC       "Build with exec node-type"                             "${WITH_DEFAULTS}" "" OFF)
-cmake_dependent_option(WITH_NODE_FILE       "Build with file node-type"                             "${WITH_DEFAULTS}" "" OFF)
-cmake_dependent_option(WITH_NODE_FPGA       "Build with fpga node-type"                             "${WITH_DEFAULTS}" "WITH_FPGA" OFF)
-cmake_dependent_option(WITH_NODE_IEC61850   "Build with iec61850 node-types"                        "${WITH_DEFAULTS}" "LIBIEC61850_FOUND; NOT WITHOUT_GPL" OFF)
-cmake_dependent_option(WITH_NODE_IEC60870   "Build with iec60870 node-types"                        "${WITH_DEFAULTS}" "LIB60870_FOUND; NOT WITHOUT_GPL" OFF)
-cmake_dependent_option(WITH_NODE_INFINIBAND "Build with infiniband node-type"                       "${WITH_DEFAULTS}" "IBVerbs_FOUND; RDMACM_FOUND" OFF) # Infiniband node-type is currenly broken
-cmake_dependent_option(WITH_NODE_INFLUXDB   "Build with influxdb node-type"                         "${WITH_DEFAULTS}" "" OFF)
-cmake_dependent_option(WITH_NODE_KAFKA      "Build with kafka node-type"                            "${WITH_DEFAULTS}" "RDKAFKA_FOUND" OFF)
-cmake_dependent_option(WITH_NODE_LOOPBACK   "Build with loopback node-type"                         "${WITH_DEFAULTS}" "" OFF)
-cmake_dependent_option(WITH_NODE_MODBUS     "Build with modbus node-type"                           "${WITH_DEFAULTS}" "MODBUS_FOUND" OFF)
-cmake_dependent_option(WITH_NODE_MQTT       "Build with mqtt node-type"                             "${WITH_DEFAULTS}" "MOSQUITTO_FOUND" OFF)
-cmake_dependent_option(WITH_NODE_NANOMSG    "Build with nanomsg node-type"                          "${WITH_DEFAULTS}" "NANOMSG_FOUND" OFF)
-cmake_dependent_option(WITH_NODE_NGSI       "Build with ngsi node-type"                             "${WITH_DEFAULTS}" "" OFF)
-cmake_dependent_option(WITH_NODE_REDIS      "Build with redis node-type"                            "${WITH_DEFAULTS}" "HIREDIS_FOUND; REDISPP_FOUND" OFF)
-cmake_dependent_option(WITH_NODE_RTP        "Build with rtp node-type"                              "${WITH_DEFAULTS}" "re_FOUND" OFF)
-cmake_dependent_option(WITH_NODE_SHMEM      "Build with shmem node-type"                            "${WITH_DEFAULTS}" "HAS_SEMAPHORE; HAS_MMAN" OFF)
-cmake_dependent_option(WITH_NODE_SIGNAL     "Build with signal node-type"                           "${WITH_DEFAULTS}" "" OFF)
-cmake_dependent_option(WITH_NODE_SOCKET     "Build with socket node-type"                           "${WITH_DEFAULTS}" "LIBNL3_ROUTE_FOUND" OFF)
-cmake_dependent_option(WITH_NODE_STATS      "Build with stats node-type"                            "${WITH_DEFAULTS}" "" OFF)
-cmake_dependent_option(WITH_NODE_TEMPER     "Build with temper node-type"                           "${WITH_DEFAULTS}" "LIBUSB_FOUND" OFF)
-cmake_dependent_option(WITH_NODE_TEST_RTT   "Build with test_rtt node-type"                         "${WITH_DEFAULTS}" "" OFF)
-cmake_dependent_option(WITH_NODE_ULDAQ      "Build with uldaq node-type"                            "${WITH_DEFAULTS}" "LIBULDAQ_FOUND" OFF)
-cmake_dependent_option(WITH_NODE_WEBRTC     "Build with webrtc node-type"                           "${WITH_DEFAULTS}" "WITH_WEB; LibDataChannel_FOUND" OFF)
-cmake_dependent_option(WITH_NODE_WEBSOCKET  "Build with websocket node-type"                        "${WITH_DEFAULTS}" "WITH_WEB" OFF)
-cmake_dependent_option(WITH_NODE_ZEROMQ     "Build with zeromq node-type"                           "${WITH_DEFAULTS}" "LIBZMQ_FOUND; NOT WITHOUT_GPL" OFF)
-cmake_dependent_option(WITH_NODE_OPENDSS    "Build with opendss node-type"                          "${WITH_DEFAULTS}" "OpenDSSC_FOUND" OFF)
+cmake_dependent_option(WITHOUT_GPL              "Build VILLASnode without any GPL code"                 OFF                "" ON)
+cmake_dependent_option(WITH_GHC_FS              "Build using ghc::filesystem, a drop in replacement for std::filesystem"    ON "STDCXX_FS_NOT_FOUND" OFF)
+cmake_dependent_option(WITH_DEFAULTS            "Defaults for non required build options"               ON                 "" OFF)
+cmake_dependent_option(WITH_API                 "Build with remote control API"                         "${WITH_DEFAULTS}" "" OFF)
+cmake_dependent_option(WITH_CLIENTS             "Build client applications"                             "${WITH_DEFAULTS}" "TOPLEVEL_PROJECT" OFF)
+cmake_dependent_option(WITH_CONFIG              "Build with support for libconfig configuration syntax" "${WITH_DEFAULTS}" "LIBCONFIG_FOUND" OFF)
+cmake_dependent_option(WITH_FPGA                "Build with support for VILLASfpga"                     "${WITH_DEFAULTS}" "FOUND_FPGA_SUBMODULES" OFF)
+cmake_dependent_option(WITH_GRAPHVIZ            "Build with Graphviz"                                   "${WITH_DEFAULTS}" "CGRAPH_FOUND; GVC_FOUND" OFF)
+cmake_dependent_option(WITH_HOOKS               "Build with support for processing hook plugins"        "${WITH_DEFAULTS}" "" OFF)
+cmake_dependent_option(WITH_LUA                 "Build with Lua"                                        "${WITH_DEFAULTS}" "LUA_FOUND" OFF)
+cmake_dependent_option(WITH_OPENMP              "Build with support for OpenMP for parallel hooks"      "${WITH_DEFAULTS}" "OPENMP_FOUND" OFF)
+cmake_dependent_option(WITH_PLUGINS             "Build plugins"                                         "${WITH_DEFAULTS}" "TOPLEVEL_PROJECT" OFF)
+cmake_dependent_option(WITH_SRC                 "Build executables"                                     "${WITH_DEFAULTS}" "TOPLEVEL_PROJECT" OFF)
+cmake_dependent_option(WITH_TESTS               "Run tests"                                             "${WITH_DEFAULTS}" "TOPLEVEL_PROJECT" OFF)
+cmake_dependent_option(WITH_TOOLS               "Build auxilary tools"                                  "${WITH_DEFAULTS}" "TOPLEVEL_PROJECT" OFF)
+cmake_dependent_option(WITH_WEB                 "Build with internal webserver"                         "${WITH_DEFAULTS}" "LIBWEBSOCKETS_FOUND" OFF)
+
+cmake_dependent_option(WITH_NODE_AMQP           "Build with amqp node-type"                             "${WITH_DEFAULTS}" "RABBITMQ_C_FOUND" OFF)
+cmake_dependent_option(WITH_NODE_CAN            "Build with can node-type"                              "${WITH_DEFAULTS}" "" OFF)
+cmake_dependent_option(WITH_NODE_COMEDI         "Build with comedi node-type"                           "${WITH_DEFAULTS}" "COMEDILIB_FOUND" OFF)
+cmake_dependent_option(WITH_NODE_ETHERCAT       "Build with ethercat node-type"                         "${WITH_DEFAULTS}" "ETHERLAB_FOUND; NOT WITHOUT_GPL" OFF)
+cmake_dependent_option(WITH_NODE_EXAMPLE        "Build with example node-type"                          "${WITH_DEFAULTS}" "" OFF)
+cmake_dependent_option(WITH_NODE_EXEC           "Build with exec node-type"                             "${WITH_DEFAULTS}" "" OFF)
+cmake_dependent_option(WITH_NODE_FILE           "Build with file node-type"                             "${WITH_DEFAULTS}" "" OFF)
+cmake_dependent_option(WITH_NODE_FPGA           "Build with fpga node-type"                             "${WITH_DEFAULTS}" "WITH_FPGA" OFF)
+cmake_dependent_option(WITH_NODE_IEC61850       "Build with iec61850 node-types"                        "${WITH_DEFAULTS}" "LIBIEC61850_FOUND; NOT WITHOUT_GPL" OFF)
+cmake_dependent_option(WITH_NODE_IEC60870       "Build with iec60870 node-types"                        "${WITH_DEFAULTS}" "LIB60870_FOUND; NOT WITHOUT_GPL" OFF)
+cmake_dependent_option(WITH_NODE_INFINIBAND     "Build with infiniband node-type"                       "${WITH_DEFAULTS}" "IBVerbs_FOUND; RDMACM_FOUND" OFF) # Infiniband node-type is currenly broken
+cmake_dependent_option(WITH_NODE_INFLUXDB       "Build with influxdb node-type"                         "${WITH_DEFAULTS}" "" OFF)
+cmake_dependent_option(WITH_NODE_KAFKA          "Build with kafka node-type"                            "${WITH_DEFAULTS}" "RDKAFKA_FOUND" OFF)
+cmake_dependent_option(WITH_NODE_LOOPBACK       "Build with loopback node-type"                         "${WITH_DEFAULTS}" "" OFF)
+cmake_dependent_option(WITH_NODE_MODBUS         "Build with modbus node-type"                           "${WITH_DEFAULTS}" "MODBUS_FOUND" OFF)
+cmake_dependent_option(WITH_NODE_MQTT           "Build with mqtt node-type"                             "${WITH_DEFAULTS}" "MOSQUITTO_FOUND" OFF)
+cmake_dependent_option(WITH_NODE_NANOMSG        "Build with nanomsg node-type"                          "${WITH_DEFAULTS}" "NANOMSG_FOUND" OFF)
+cmake_dependent_option(WITH_NODE_NGSI           "Build with ngsi node-type"                             "${WITH_DEFAULTS}" "" OFF)
+cmake_dependent_option(WITH_NODE_OPAL_ORCHESTRA "Build with the opal-orchestra node-type"               "${WITH_DEFAULTS}" "OpalOrchestra_FOUND; LibXml2_FOUND" OFF)
+cmake_dependent_option(WITH_NODE_REDIS          "Build with redis node-type"                            "${WITH_DEFAULTS}" "HIREDIS_FOUND; REDISPP_FOUND" OFF)
+cmake_dependent_option(WITH_NODE_RTP            "Build with rtp node-type"                              "${WITH_DEFAULTS}" "re_FOUND" OFF)
+cmake_dependent_option(WITH_NODE_SHMEM          "Build with shmem node-type"                            "${WITH_DEFAULTS}" "HAS_SEMAPHORE; HAS_MMAN" OFF)
+cmake_dependent_option(WITH_NODE_SIGNAL         "Build with signal node-type"                           "${WITH_DEFAULTS}" "" OFF)
+cmake_dependent_option(WITH_NODE_SOCKET         "Build with socket node-type"                           "${WITH_DEFAULTS}" "LIBNL3_ROUTE_FOUND" OFF)
+cmake_dependent_option(WITH_NODE_STATS          "Build with stats node-type"                            "${WITH_DEFAULTS}" "" OFF)
+cmake_dependent_option(WITH_NODE_TEMPER         "Build with temper node-type"                           "${WITH_DEFAULTS}" "LIBUSB_FOUND" OFF)
+cmake_dependent_option(WITH_NODE_TEST_RTT       "Build with test_rtt node-type"                         "${WITH_DEFAULTS}" "" OFF)
+cmake_dependent_option(WITH_NODE_ULDAQ          "Build with uldaq node-type"                            "${WITH_DEFAULTS}" "LIBULDAQ_FOUND" OFF)
+cmake_dependent_option(WITH_NODE_WEBRTC         "Build with webrtc node-type"                           "${WITH_DEFAULTS}" "WITH_WEB; LibDataChannel_FOUND" OFF)
+cmake_dependent_option(WITH_NODE_WEBSOCKET      "Build with websocket node-type"                        "${WITH_DEFAULTS}" "WITH_WEB" OFF)
+cmake_dependent_option(WITH_NODE_ZEROMQ         "Build with zeromq node-type"                           "${WITH_DEFAULTS}" "LIBZMQ_FOUND; NOT WITHOUT_GPL" OFF)
+cmake_dependent_option(WITH_NODE_OPENDSS        "Build with opendss node-type"                          "${WITH_DEFAULTS}" "OpenDSSC_FOUND" OFF)
 
 # Set a default for the build type
 if("${CMAKE_BUILD_TYPE}" STREQUAL "")

cmake/FindOpalOrchestra.cmake

@@ -0,0 +1,29 @@
+# CMakeLists.txt.
+#
+# Author: Steffen Vogel <post@steffenvogel.de>
+# SPDX-FileCopyrightText: 2025, OPAL-RT Germany GmbH
+# SPDX-License-Identifier: Apache-2.0
+
+find_path(OPAL_ORCHESTRA_INCLUDE_DIR
+    NAMES RTAPI.h
+    PATHS
+        /usr/opalrt/common/bin
+)
+
+find_library(OPAL_ORCHESTRA_LIBRARY
+    NAMES OpalOrchestra
+    PATHS
+        /usr/opalrt/common/include
+)
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(OpalOrchestra DEFAULT_MSG OPAL_ORCHESTRA_LIBRARY OPAL_ORCHESTRA_INCLUDE_DIR)
+
+mark_as_advanced(OPAL_ORCHESTRA_INCLUDE_DIR OPAL_ORCHESTRA_LIBRARY)
+
+set(OPAL_ORCHESTRA_LIBRARIES ${OPAL_ORCHESTRA_LIBRARY})
+set(OPAL_ORCHESTRA_INCLUDE_DIRS ${OPAL_ORCHESTRA_INCLUDE_DIR})
+
+add_library(OpalOrchestra INTERFACE)
+target_link_libraries(OpalOrchestra INTERFACE ${OPAL_ORCHESTRA_LIBRARY})
+target_include_directories(OpalOrchestra INTERFACE ${OPAL_ORCHESTRA_INCLUDE_DIR})

common/include/villas/graph/directed.hpp

@@ -10,11 +10,11 @@
 #include <algorithm>
 #include <fstream>
 #include <list>
-#include <map>
 #include <memory>
 #include <sstream>
 #include <stdexcept>
 #include <string>
+#include <unordered_map>
 
 #include <villas/graph/edge.hpp>
 #include <villas/graph/vertex.hpp>
@@ -245,8 +245,8 @@ class DirectedGraph {
   VertexIdentifier lastVertexId;
   EdgeIdentifier lastEdgeId;
 
-  std::map<VertexIdentifier, std::shared_ptr<VertexType>> vertices;
-  std::map<EdgeIdentifier, std::shared_ptr<EdgeType>> edges;
+  std::unordered_map<VertexIdentifier, std::shared_ptr<VertexType>> vertices;
+  std::unordered_map<EdgeIdentifier, std::shared_ptr<EdgeType>> edges;
 
   Logger logger;
 };

common/include/villas/memory.hpp

@@ -275,7 +275,8 @@ class HostDmaRam {
   static HostDmaRamAllocator &getAllocator(int num = 0);
 
 private:
-  static std::map<int, std::unique_ptr<HostDmaRamAllocator>> allocators;
+  static std::unordered_map<int, std::unique_ptr<HostDmaRamAllocator>>
+      allocators;
 
   static std::string getUdmaBufName(int num);
 

common/include/villas/memory_manager.hpp

@@ -8,9 +8,9 @@
 #pragma once
 
 #include <cstdint>
-#include <map>
 #include <stdexcept>
 #include <string>
+#include <unordered_map>
 
 #include <fmt/ostream.h>
 #include <unistd.h>
@@ -214,7 +214,7 @@ class MemoryManager {
   MemoryGraph memoryGraph;
 
   // Cache mapping of names to address space ids for fast lookup
-  std::map<std::string, AddressSpaceId> addrSpaceLookup;
+  std::unordered_map<std::string, AddressSpaceId> addrSpaceLookup;
 
   // Logger for universal access in this class
   Logger logger;

common/include/villas/popen.hpp

@@ -8,10 +8,10 @@
 #pragma once
 
 #include <istream>
-#include <map>
 #include <memory>
 #include <ostream>
 #include <string>
+#include <unordered_map>
 #include <vector>
 
 #include <ext/stdio_filebuf.h>
@@ -24,7 +24,7 @@ class Popen {
 
 public:
   using arg_list = std::vector<std::string>;
-  using env_map = std::map<std::string, std::string>;
+  using env_map = std::unordered_map<std::string, std::string>;
 
   using char_type = char;
   using stdio_buf = __gnu_cxx::stdio_filebuf<char_type>;

common/lib/log.cpp

@@ -7,7 +7,7 @@
 
 #include <algorithm>
 #include <list>
-#include <map>
+#include <unordered_map>
 
 #include <fnmatch.h>
 #include <spdlog/sinks/basic_file_sink.h>
@@ -19,7 +19,7 @@
 
 using namespace villas;
 
-static std::map<spdlog::level::level_enum, std::string> levelNames = {
+static std::unordered_map<spdlog::level::level_enum, std::string> levelNames = {
     {spdlog::level::trace, "trc"}, {spdlog::level::debug, "dbg"},
     {spdlog::level::info, "info"}, {spdlog::level::warn, "warn"},
     {spdlog::level::err, "err"},   {spdlog::level::critical, "crit"},

common/lib/memory.cpp

@@ -155,7 +155,7 @@ HostRam::HostRamAllocator::HostRamAllocator()
   };
 }
 
-std::map<int, std::unique_ptr<HostDmaRam::HostDmaRamAllocator>>
+std::unordered_map<int, std::unique_ptr<HostDmaRam::HostDmaRamAllocator>>
     HostDmaRam::allocators;
 
 HostDmaRam::HostDmaRamAllocator::HostDmaRamAllocator(int num)

doc/openapi/components/schemas/config/node_obj.yaml

@@ -40,6 +40,7 @@ discriminator:
     nanomsg: nodes/_nanomsg.yaml
     ngsi: nodes/_ngsi.yaml
     opendss: nodes/_opendss.yaml
+    opal.orchestra: nodes/_opal_orchestra.yaml
     redis: nodes/_redis.yaml
     rtp: nodes/_rtp.yaml
     shmem: nodes/_shmem.yaml

doc/openapi/components/schemas/config/nodes/_opal_orchestra.yaml

@@ -0,0 +1,7 @@
+# yaml-language-server: $schema=http://json-schema.org/draft-07/schema
+# SPDX-FileCopyrightText: 2025 OPAL-RT Germany GmbH
+# SPDX-License-Identifier: Apache-2.0
+---
+allOf:
+- $ref: ../node_obj.yaml
+- $ref: opal_orchestra.yaml