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Merge PR of the new "libcyphal demo" sub-project
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,8 +1,11 @@ | ||
| { | ||
| "cSpell.words": [ | ||
| "baremetal", | ||
| "cetl", | ||
| "Cyphal", | ||
| "POSIX" | ||
| "libcyphal", | ||
| "POSIX", | ||
| "uavcan" | ||
| ], | ||
| "cmake.sourceDirectory": "/home/sergei/Develop/git/OpenCyphal-Garage/demos/libcyphal_demo" | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,111 @@ | ||
| // This software is distributed under the terms of the MIT License. | ||
| // Copyright (C) OpenCyphal Development Team <opencyphal.org> | ||
| // Copyright Amazon.com Inc. or its affiliates. | ||
| // SPDX-License-Identifier: MIT | ||
| // Author: Sergei Shirokov <[email protected]> | ||
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| #include "application.hpp" | ||
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| #include <libcyphal/application/registry/registry_impl.hpp> | ||
| #include <libcyphal/platform/storage.hpp> | ||
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| #include <cetl/pf17/cetlpf.hpp> | ||
| #include <o1heap.h> | ||
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| #include <uavcan/node/GetInfo_1_0.hpp> | ||
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| #include <array> | ||
| #include <cstddef> | ||
| #include <cstdint> | ||
| #include <cstdlib> | ||
| #include <iostream> | ||
| #include <random> | ||
| #include <string> // for std::stoul | ||
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| namespace | ||
| { | ||
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| constexpr std::size_t HeapSize = 16ULL * 1024ULL; | ||
| alignas(O1HEAP_ALIGNMENT) std::array<cetl::byte, HeapSize> s_heap_arena{}; | ||
|
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| } // namespace | ||
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| Application::Application() | ||
| : o1_heap_mr_{s_heap_arena} | ||
| , storage_{"/tmp/" NODE_NAME} | ||
| , registry_{o1_heap_mr_} | ||
| , regs_{o1_heap_mr_, registry_} | ||
| { | ||
| cetl::pmr::set_default_resource(&o1_heap_mr_); | ||
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| load(storage_, registry_); | ||
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| // Maybe override some of the registry values with environment variables. | ||
| // | ||
| auto iface_params = getIfaceParams(); | ||
| if (const auto* const iface_addresses_str = std::getenv("CYPHAL__UDP__IFACE")) | ||
| { | ||
| iface_params.udp_iface.value() = iface_addresses_str; | ||
| } | ||
| if (const auto* const iface_addresses_str = std::getenv("CYPHAL__CAN__IFACE")) | ||
| { | ||
| iface_params.can_iface.value() = iface_addresses_str; | ||
| } | ||
| auto node_params = getNodeParams(); | ||
| if (const auto* const node_id_str = std::getenv("CYPHAL__NODE__ID")) | ||
| { | ||
| node_params.id.value()[0] = static_cast<std::uint16_t>(std::stoul(node_id_str)); | ||
| } | ||
| } | ||
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| Application::~Application() | ||
| { | ||
| save(storage_, registry_); | ||
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| const auto mr_diag = o1_heap_mr_.queryDiagnostics(); | ||
| std::cout << "O(1) Heap diagnostics:" << "\n" | ||
| << " capacity=" << mr_diag.capacity << "\n" | ||
| << " allocated=" << mr_diag.allocated << "\n" | ||
| << " peak_allocated=" << mr_diag.peak_allocated << "\n" | ||
| << " peak_request_size=" << mr_diag.peak_request_size << "\n" | ||
| << " oom_count=" << mr_diag.oom_count << "\n"; | ||
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| cetl::pmr::set_default_resource(cetl::pmr::new_delete_resource()); | ||
| } | ||
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| /// Returns the 128-bit unique-ID of the local node. This value is used in `uavcan.node.GetInfo.Response`. | ||
| /// | ||
| void Application::getUniqueId(uavcan::node::GetInfo::Response_1_0::_traits_::TypeOf::unique_id& out) | ||
| { | ||
| const auto result = storage_.get(".unique_id", out); | ||
| if (cetl::get_if<libcyphal::platform::storage::Error>(&result) != nullptr) | ||
| { | ||
| std::random_device rd; // Seed for the random number engine | ||
| std::mt19937 gen{rd()}; // Mersenne Twister engine | ||
| std::uniform_int_distribution<std::uint8_t> dis{0, 255}; // Distribution range for bytes | ||
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| // Populate the default; it is only used at the first run. | ||
| for (auto& b : out) | ||
| { | ||
| b = dis(gen); | ||
| } | ||
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| (void) storage_.put(".unique_id", out); | ||
| } | ||
| } | ||
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| Application::Regs::Value Application::Regs::getSysInfoMem() const | ||
| { | ||
| Value value{{&o1_heap_mr_}}; | ||
| auto& uint64s = value.set_natural64(); | ||
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| const auto diagnostics = o1_heap_mr_.queryDiagnostics(); | ||
| uint64s.value.reserve(5); // five fields gonna push | ||
| uint64s.value.push_back(diagnostics.capacity); | ||
| uint64s.value.push_back(diagnostics.allocated); | ||
| uint64s.value.push_back(diagnostics.peak_allocated); | ||
| uint64s.value.push_back(diagnostics.peak_request_size); | ||
| uint64s.value.push_back(diagnostics.oom_count); | ||
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| return value; | ||
| } |
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