feat(): remove legacy macro for new subs and pubs

.github/workflows/build.yml

@@ -29,6 +29,11 @@ jobs:
           source ".venv/bin/activate"
           make ${{ matrix.target }}-build
 
+      - name: Run unit tests
+        run: |
+          source ".venv/bin/activate"
+          make tests
+
       - name: Run SITL and smoke test
         timeout-minutes: 3
         run: |

CMakeLists.txt

@@ -38,6 +38,10 @@ target_include_directories(libdcnode PUBLIC
     ${DSDL_OUT_DIR}/include
 )
 
+target_compile_definitions(libdcnode PUBLIC
+    DRONECAN_CXX_WRAPPERS=1
+)
+
 
 set_source_files_properties(${SERIALIZATION_SOURCES}
     PROPERTIES
@@ -47,3 +51,25 @@ set_source_files_properties(${SERIALIZATION_SOURCES}
 target_compile_options(${PROJECT_NAME} PRIVATE
     $<$<CXX_COMPILER_ID:GNU,Clang,AppleClang>:-Wno-address-of-packed-member>
 )
+
+option(LIBDCNODE_BUILD_TESTS "Build libdcnode host tests" OFF)
+if(LIBDCNODE_BUILD_TESTS)
+    enable_testing()
+    add_executable(libdcnode_pub_sub_test
+        ${CMAKE_CURRENT_LIST_DIR}/tests/pub_sub_test.cpp
+        ${CMAKE_CURRENT_LIST_DIR}/Libs/libcanard_v0/canard.c
+        ${DSDL_OUT_DIR}/src/uavcan.protocol.Panic.c
+    )
+    target_include_directories(libdcnode_pub_sub_test PRIVATE
+        ${CMAKE_CURRENT_LIST_DIR}/include
+        ${CMAKE_CURRENT_LIST_DIR}/Libs
+        ${DSDL_OUT_DIR}/include
+    )
+    target_compile_definitions(libdcnode_pub_sub_test PRIVATE
+        DRONECAN_CXX_WRAPPERS=1
+    )
+    target_compile_options(libdcnode_pub_sub_test PRIVATE
+        $<$<COMPILE_LANGUAGE:CXX>:-Wall;-Wextra;-Werror>
+    )
+    add_test(NAME libdcnode_pub_sub_test COMMAND libdcnode_pub_sub_test)
+endif()

Libs/canard/cxx_wrappers.h

@@ -0,0 +1,93 @@
+/*
+ * Copyright (c) 2022 Siddharth B Purohit, CubePilot Pty Ltd
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *
+ */
+
+// The upstream header includes helpers.h for the complete Canard C++ API.
+// libdcnode uses only these generated type metadata macros, which do not need
+// the allocator helpers.
+
+/// @brief Broadcast message interface.
+/// @param MSGTYPE message type name
+/// @param MSG_ID message id
+/// @param MSG_SIGNATURE message signature
+/// @param MSG_MAX_SIZE maximum message size
+#if CANARD_ENABLE_CANFD || CANARD_ENABLE_TAO_OPTION
+#define BROADCAST_MESSAGE_CXX_IFACE(MSGTYPE, MSG_ID, MSG_SIGNATURE, MSG_MAX_SIZE) \
+    class MSGTYPE##_cxx_iface { \
+    public: \
+        typedef MSGTYPE msgtype; \
+        static constexpr uint32_t (*encode)(msgtype*, uint8_t*, bool) = MSGTYPE##_encode; \
+        static constexpr bool (*decode)(const CanardRxTransfer* transfer, msgtype*) = MSGTYPE##_decode; \
+        static constexpr uint16_t ID = MSG_ID; \
+        static constexpr uint64_t SIGNATURE = MSG_SIGNATURE; \
+        static constexpr uint16_t MAX_SIZE = MSG_MAX_SIZE; \
+    };
+#else
+#define BROADCAST_MESSAGE_CXX_IFACE(MSGTYPE, MSG_ID, MSG_SIGNATURE, MSG_MAX_SIZE) \
+    class MSGTYPE##_cxx_iface { \
+    public: \
+        typedef MSGTYPE msgtype; \
+        static constexpr uint32_t (*encode)(msgtype*, uint8_t*) = MSGTYPE##_encode; \
+        static constexpr bool (*decode)(const CanardRxTransfer* transfer, msgtype*) = MSGTYPE##_decode; \
+        static constexpr uint16_t ID = MSG_ID; \
+        static constexpr uint64_t SIGNATURE = MSG_SIGNATURE; \
+        static constexpr uint16_t MAX_SIZE = MSG_MAX_SIZE; \
+    };
+#endif
+
+#if CANARD_ENABLE_CANFD || CANARD_ENABLE_TAO_OPTION
+#define SERVICE_MESSAGE_CXX_IFACE(SVCTYPE, SVC_ID, SVC_SIGNATURE, SVC_REQUEST_MAX_SIZE, SVC_RESPONSE_MAX_SIZE) \
+    class SVCTYPE##_cxx_iface { \
+    public: \
+        typedef SVCTYPE##Request reqtype; \
+        typedef SVCTYPE##Response rsptype; \
+        static constexpr uint32_t (*req_encode)(reqtype*, uint8_t*, bool) = SVCTYPE##Request_encode; \
+        static constexpr uint32_t (*rsp_encode)(rsptype*, uint8_t*, bool) = SVCTYPE##Response_encode; \
+        static constexpr bool (*req_decode)(const CanardRxTransfer* transfer, reqtype*) = SVCTYPE##Request_decode; \
+        static constexpr bool (*rsp_decode)(const CanardRxTransfer* transfer, rsptype*) = SVCTYPE##Response_decode; \
+        static constexpr uint16_t ID = SVC_ID; \
+        static constexpr uint64_t SIGNATURE = SVC_SIGNATURE; \
+        static constexpr uint16_t REQ_MAX_SIZE = SVC_REQUEST_MAX_SIZE; \
+        static constexpr uint16_t RSP_MAX_SIZE = SVC_RESPONSE_MAX_SIZE; \
+    };
+#else
+/// @brief Service message interface.
+/// @param SVCTYPE message type name
+/// @param SVC_ID message id
+/// @param SVC_SIGNATURE message signature
+/// @param SVC_REQUEST_MAX_SIZE maximum request size
+/// @param SVC_RESPONSE_MAX_SIZE maximum response size
+#define SERVICE_MESSAGE_CXX_IFACE(SVCTYPE, SVC_ID, SVC_SIGNATURE, SVC_REQUEST_MAX_SIZE, SVC_RESPONSE_MAX_SIZE) \
+    class SVCTYPE##_cxx_iface { \
+    public: \
+        typedef SVCTYPE##Request reqtype; \
+        typedef SVCTYPE##Response rsptype; \
+        static constexpr uint32_t (*req_encode)(reqtype*, uint8_t*) = SVCTYPE##Request_encode; \
+        static constexpr uint32_t (*rsp_encode)(rsptype*, uint8_t*) = SVCTYPE##Response_encode; \
+        static constexpr bool (*req_decode)(const CanardRxTransfer* transfer, reqtype*) = SVCTYPE##Request_decode; \
+        static constexpr bool (*rsp_decode)(const CanardRxTransfer* transfer, rsptype*) = SVCTYPE##Response_decode; \
+        static constexpr uint16_t ID = SVC_ID; \
+        static constexpr uint64_t SIGNATURE = SVC_SIGNATURE; \
+        static constexpr uint16_t REQ_MAX_SIZE = SVC_REQUEST_MAX_SIZE; \
+        static constexpr uint16_t RSP_MAX_SIZE = SVC_RESPONSE_MAX_SIZE; \
+    };
+#endif

Makefile

@@ -5,6 +5,7 @@
 ROOT_DIR:=$(shell dirname $(realpath $(firstword $(MAKEFILE_LIST))))
 BUILD_DIR:=$(ROOT_DIR)/build
 BUILD_EXAMPLES_DIR:=$(BUILD_DIR)/src/examples
+BUILD_TESTS_DIR:=$(BUILD_DIR)/tests
 
 define build_sitl
 	$(info Build example $(1)...)
@@ -17,7 +18,7 @@ define run_sitl
 	$(BUILD_EXAMPLES_DIR)/$(1)/ubuntu
 endef
 
-.PHONY: ubuntu ubuntu-build ubuntu-run
+.PHONY: ubuntu ubuntu-build ubuntu-run tests
 
 ubuntu-build:
 	$(call build_sitl,ubuntu)
@@ -31,14 +32,19 @@ ubuntu-run:
 ubuntu: ubuntu-build
 	$(call run_sitl,ubuntu)
 
+tests:
+	cmake -S $(ROOT_DIR) -B $(BUILD_TESTS_DIR) -DLIBDCNODE_BUILD_TESTS=ON
+	cmake --build $(BUILD_TESTS_DIR) --target libdcnode_pub_sub_test
+	ctest --test-dir $(BUILD_TESTS_DIR) --output-on-failure
+
 clean:
 	rm -rf build/examples/
 
 code_style: cpplint cppcheck crlf
 astyle:
 	./scripts/code_style/check_astyle.py src include --astylerc scripts/code_style/astylerc
 cpplint:
-	cpplint src/*.cpp include/libdcnode/*.h include/libdcnode/*.hpp
+	cpplint src/*.cpp tests/*.cpp include/libdcnode/*.h include/libdcnode/*.hpp
 cppcheck:
 	./scripts/code_style/cppcheck.sh
 crlf:

include/libdcnode/pub.hpp

@@ -10,18 +10,10 @@
 
 #include <cstdint>
 #include <algorithm>
-#include <type_traits>
-#include <utility>
 #include "libdcnode/dronecan.h"
 #include "libdcnode/platform.hpp"
 #include "dronecan_msgs.h"
 
-// Max encoded message size (bytes) for publisher stack buffer.
-// Override via -DLIBDCNODE_MAX_PUB_MESSAGE_SIZE=... if your DSDL set requires more.
-#ifndef LIBDCNODE_MAX_PUB_MESSAGE_SIZE
-#define LIBDCNODE_MAX_PUB_MESSAGE_SIZE 600U
-#endif
-
 // Initial delay before first publish after boot/reset (ms).
 // Intended to reduce CAN bus flooding during rapid reboot loops (e.g., watchdog resets).
 // Override via -DLIBDCNODE_INITIAL_PUB_DELAY_MS=...
@@ -31,48 +23,6 @@
 
 namespace libdcnode
 {
-
-    template <typename MessageType>
-    struct DronecanPublisherTraits;
-
-#define LIBDCNODE_PUB_ENCODE(MessageType) MessageType##_encode
-#define LIBDCNODE_PUB_BROADCAST(buffer, Prefix, inout_transfer_id, size)                                   \
-    uavcanPublish(Prefix##_SIGNATURE, Prefix##_ID, inout_transfer_id, CANARD_TRANSFER_PRIORITY_MEDIUM,     \
-                 buffer, size)
-#define LIBDCNODE_DEFINE_PUB_TRAITS(MessageType, MessagePrefix)                                            \
-    template <>                                                                                            \
-    struct DronecanPublisherTraits<MessageType>                                                            \
-    {                                                                                                      \
-        using EncodeRet = decltype(LIBDCNODE_PUB_ENCODE(MessageType)(                                      \
-            std::declval<MessageType *>(), std::declval<std::uint8_t *>()));                               \
-        static_assert(std::is_same_v<EncodeRet, std::uint32_t>, "*_encode() must return uint32_t exactly."); \
-        static inline int16_t publish_once(MessageType *msg, uint8_t *inout_transfer_id)                   \
-        {                                                                                                  \
-            uint8_t buffer[LIBDCNODE_MAX_PUB_MESSAGE_SIZE];                                                \
-            auto bytes_needed = LIBDCNODE_PUB_ENCODE(MessageType)(msg, buffer);                            \
-            if (bytes_needed == 0U || bytes_needed > LIBDCNODE_MAX_PUB_MESSAGE_SIZE)                       \
-                return (int16_t)0;                                                                         \
-            return LIBDCNODE_PUB_BROADCAST(buffer, MessagePrefix, inout_transfer_id, bytes_needed);        \
-        }                                                                                                  \
-    };
-
-    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)
-    LIBDCNODE_DEFINE_PUB_TRAITS(::uavcan_equipment_camera_gimbal_Status, UAVCAN_EQUIPMENT_CAMERA_GIMBAL_STATUS)
-    LIBDCNODE_DEFINE_PUB_TRAITS(::uavcan_equipment_actuator_ArrayCommand,
-                                UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND)
-    LIBDCNODE_DEFINE_PUB_TRAITS(::uavcan_equipment_actuator_Status, UAVCAN_EQUIPMENT_ACTUATOR_STATUS)
-    LIBDCNODE_DEFINE_PUB_TRAITS(::uavcan_equipment_esc_Status, UAVCAN_EQUIPMENT_ESC_STATUS)
-    LIBDCNODE_DEFINE_PUB_TRAITS(::uavcan_equipment_hardpoint_Status, UAVCAN_EQUIPMENT_HARDPOINT_STATUS)
-    LIBDCNODE_DEFINE_PUB_TRAITS(::ardupilot_equipment_power_BatteryInfoAux, ARDUPILOT_EQUIPMENT_POWER_BATTERYINFOAUX)
-    LIBDCNODE_DEFINE_PUB_TRAITS(::uavcan_equipment_air_data_StaticPressure,
-                                UAVCAN_EQUIPMENT_AIR_DATA_STATICPRESSURE)
-    LIBDCNODE_DEFINE_PUB_TRAITS(::uavcan_equipment_range_sensor_Measurement,
-                                UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT)
-
     template <typename MessageType>
     class DronecanPub
     {
@@ -81,8 +31,23 @@ namespace libdcnode
 
         inline void publish()
         {
-            DronecanPublisherTraits<MessageType>::publish_once(&msg, &inout_transfer_id);
-            inout_transfer_id++;
+            using Interface = typename MessageType::cxx_iface;
+            uint8_t buffer[Interface::MAX_SIZE];
+#if CANARD_ENABLE_CANFD || CANARD_ENABLE_TAO_OPTION
+            const auto bytes_needed = Interface::encode(&msg, buffer, true);
+#else
+            const auto bytes_needed = Interface::encode(&msg, buffer);
+#endif
+            if (bytes_needed == 0U || bytes_needed > Interface::MAX_SIZE)
+            {
+                return;
+            }
+            uavcanPublish(Interface::SIGNATURE,
+                          Interface::ID,
+                          &inout_transfer_id,
+                          CANARD_TRANSFER_PRIORITY_MEDIUM,
+                          buffer,
+                          bytes_needed);
         }
 
         MessageType msg{};
@@ -120,9 +85,4 @@ namespace libdcnode
 
 } // namespace libdcnode
 
-// Undef internal macros
-#undef LIBDCNODE_PUB_ENCODE
-#undef LIBDCNODE_PUB_BROADCAST
-#undef LIBDCNODE_DEFINE_PUB_TRAITS
-
 #endif // LIBDCNODE_PUB_HPP_

include/libdcnode/sub.hpp

@@ -13,51 +13,8 @@
 #include "libdcnode/dronecan.h"
 #include "dronecan_msgs.h"
 
-// Max encoded message size (bytes) for subscriber stack buffer.
-// Override via -DLIBDCNODE_MAX_SUB_MESSAGE_SIZE=... if your DSDL set requires more.
-#ifndef LIBDCNODE_MAX_SUB_MESSAGE_SIZE
-#define LIBDCNODE_MAX_SUB_MESSAGE_SIZE 250
-#endif
-
-// Initial delay before first subscribe after boot/reset (ms).
-// Intended to reduce CAN bus flooding during rapid reboot loops (e.g., watchdog resets).
-// Override via -DLIBDCNODE_INITIAL_SUB_DELAY_MS=...
-#ifndef LIBDCNODE_INITIAL_SUB_DELAY_MS
-#define LIBDCNODE_INITIAL_SUB_DELAY_MS 500U
-#endif
-
 namespace libdcnode
 {
-
-    template <typename MessageType>
-    struct DronecanSubscriberTraits;
-
-#define LIBDCNODE_DEFINE_SUB_TRAITS(MessageType, Prefix)                               \
-    template <>                                                                        \
-    struct DronecanSubscriberTraits<MessageType>                                       \
-    {                                                                                  \
-        static inline int8_t subscribe(void (*callback)(CanardRxTransfer *))           \
-        {                                                                              \
-            return uavcanSubscribe(Prefix##_SIGNATURE, Prefix##_ID, callback);         \
-        }                                                                              \
-        static inline int8_t deserialize(CanardRxTransfer *transfer, MessageType *msg) \
-        {                                                                              \
-            return MessageType##_decode(transfer, msg);                                \
-        }                                                                              \
-    };
-
-    LIBDCNODE_DEFINE_SUB_TRAITS(::uavcan_equipment_hardpoint_Command,
-                                UAVCAN_EQUIPMENT_HARDPOINT_COMMAND)
-    LIBDCNODE_DEFINE_SUB_TRAITS(::uavcan_equipment_hardpoint_Status,
-                                UAVCAN_EQUIPMENT_HARDPOINT_STATUS)
-    LIBDCNODE_DEFINE_SUB_TRAITS(::uavcan_equipment_indication_LightsCommand, UAVCAN_EQUIPMENT_INDICATION_LIGHTSCOMMAND)
-    LIBDCNODE_DEFINE_SUB_TRAITS(::uavcan_equipment_actuator_ArrayCommand, UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND)
-    LIBDCNODE_DEFINE_SUB_TRAITS(::uavcan_equipment_camera_gimbal_AngularCommand,
-                                UAVCAN_EQUIPMENT_CAMERA_GIMBAL_ANGULARCOMMAND)
-    LIBDCNODE_DEFINE_SUB_TRAITS(::uavcan_equipment_ahrs_Solution, UAVCAN_EQUIPMENT_AHRS_SOLUTION)
-    LIBDCNODE_DEFINE_SUB_TRAITS(::uavcan_equipment_esc_RawCommand, UAVCAN_EQUIPMENT_ESC_RAWCOMMAND)
-    LIBDCNODE_DEFINE_SUB_TRAITS(::uavcan_equipment_safety_ArmingStatus, UAVCAN_EQUIPMENT_SAFETY_ARMINGSTATUS)
-
     template <typename MessageType>
     class DronecanSub
     {
@@ -73,7 +30,8 @@ namespace libdcnode
         {
             user_callback = callback;
             filter = filter_;
-            auto sub_id = DronecanSubscriberTraits<MessageType>::subscribe(transfer_callback);
+            using Interface = typename MessageType::cxx_iface;
+            auto sub_id = uavcanSubscribe(Interface::SIGNATURE, Interface::ID, transfer_callback);
             if (sub_id < 0) {
                 return sub_id;
             }
@@ -83,8 +41,8 @@ namespace libdcnode
 
         static inline void transfer_callback(CanardRxTransfer *transfer)
         {
-            int8_t res = DronecanSubscriberTraits<MessageType>::deserialize(transfer, &msg);
-            if (res < 0)
+            using Interface = typename MessageType::cxx_iface;
+            if (Interface::decode(transfer, &msg))
             {
                 return;
             }
@@ -111,7 +69,4 @@ namespace libdcnode
 
 } // namespace libdcnode
 
-// Undef internal macros
-#undef LIBDCNODE_DEFINE_SUB_TRAITS
-
 #endif // LIBDCNODE_SUB_HPP_