update cyphal_application submodule

ZilantRobotics · Nov 27, 2023 · d0cb31d · d0cb31d
1 parent 796b8ba
commit d0cb31d
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Showing 5 changed files with 45 additions and 32 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -21,6 +21,7 @@ else()
   )
 endif()
 
+# set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_FLAGS "-Wall -Wextra -pedantic -Werror -std=c++17")
 set(CYPHAL_REPO_DIR ${CMAKE_CURRENT_LIST_DIR}/Libs/cyphal_application)
 set(PLATFORM socketcan)
@@ -61,6 +62,17 @@ if(NOT DEFINED ARDUPILOT_JSON_SIM_INTERFACE)
   )
 endif()
 
+execute_process(
+  COMMAND git rev-parse --short=16 HEAD
+  COMMAND_ERROR_IS_FATAL ANY
+  OUTPUT_VARIABLE GIT_HASH_64_BIT
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+if("GIT_HASH_64_BIT" STREQUAL "")
+  set(GIT_HASH_64_BIT "BADC0FFEEFFF")
+endif()
+set(GIT_HASH "0x${GIT_HASH_64_BIT}")
+add_definitions(-DGIT_HASH=${GIT_HASH})
 
 # Generate DSDL when build
 add_custom_target(

diff --git a/Libs/cyphal_application b/Libs/cyphal_application
diff --git a/scripts/Dockerfile b/scripts/Dockerfile
@@ -23,6 +23,7 @@ COPY package.xml        package.xml
 COPY src/ src/
 COPY compile_dsdl.sh compile_dsdl.sh
 COPY Libs/ Libs/
+COPY .git/ .git/
 
 # 4. Build ROS
 RUN ./Libs/cyphal_application/scripts/nnvg_generate_c_headers.sh

diff --git a/src/autopilot_interface/cyphal_hitl.cpp b/src/autopilot_interface/cyphal_hitl.cpp
@@ -102,10 +102,10 @@ void CyphalHitlInterface::publish_esc_feedback(uint8_t esc_idx, float voltage, f
         return;
     }
 
-    ZubaxCompactFeedback feedback;
+    cyphal::ZubaxCompactFeedback feedback;
     feedback.dc_voltage = std::round(voltage * 5.0f);
     feedback.dc_current = std::round(current * 5.0f);
-    feedback.velocity = rpm * ZubaxCompactFeedbackPublisher::RPM_TO_RAD_PER_SEC;
+    feedback.velocity = rpm * cyphal::ZubaxCompactFeedbackPublisher::RPM_TO_RAD_PER_SEC;
 
     esc_feedback[esc_idx]->publish(feedback);
 }

diff --git a/src/autopilot_interface/cyphal_hitl.hpp b/src/autopilot_interface/cyphal_hitl.hpp
@@ -67,35 +67,35 @@ class CyphalHitlInterface {
 private:
     void _update_port_identifiers();
 
-    Cyphal cyphal;
-
-    SetpointSubscriber setpoint;
-    ReadinessSubscriber readiness;
-    HighColorSubscriber rgbled;
-    ZubaxCompactFeedbackPublisher esc_feedback_0;
-    ZubaxCompactFeedbackPublisher esc_feedback_1;
-    ZubaxCompactFeedbackPublisher esc_feedback_2;
-    ZubaxCompactFeedbackPublisher esc_feedback_3;
-    std::array<ZubaxCompactFeedbackPublisher*, 4> esc_feedback;
-
-    GpsPointPublisher gps_point;
-    Int16Publisher gps_sats;
-    Int16Publisher gps_status;
-    Int16Publisher gps_pdop;
-
-    BaroPressurePublisher baro_pressure;
-    BaroTemperaturePublisher baro_temperature;
-
-    MagneticFieldPublisher magnetometer;
-
-    ImuAccelPublisher accel;
-    ImuGyroPublisher gyro;
-    RawImuPublisher imu;
-
-    DiffPressurePublisher diff_pressure_0;
-    DiffPressurePublisher diff_pressure_1;
-    RangefinderRangePublisher rangefinder;
-    UdralBatteryPublisher battery;
+    cyphal::Cyphal cyphal;
+
+    cyphal::SetpointSubscriber setpoint;
+    cyphal::ReadinessSubscriber readiness;
+    cyphal::HighColorSubscriber rgbled;
+    cyphal::ZubaxCompactFeedbackPublisher esc_feedback_0;
+    cyphal::ZubaxCompactFeedbackPublisher esc_feedback_1;
+    cyphal::ZubaxCompactFeedbackPublisher esc_feedback_2;
+    cyphal::ZubaxCompactFeedbackPublisher esc_feedback_3;
+    std::array<cyphal::ZubaxCompactFeedbackPublisher*, 4> esc_feedback;
+
+    cyphal::GpsPointPublisher gps_point;
+    cyphal::Int16Publisher gps_sats;
+    cyphal::Int16Publisher gps_status;
+    cyphal::Int16Publisher gps_pdop;
+
+    cyphal::BaroPressurePublisher baro_pressure;
+    cyphal::BaroTemperaturePublisher baro_temperature;
+
+    cyphal::MagneticFieldPublisher magnetometer;
+
+    cyphal::ImuAccelPublisher accel;
+    cyphal::ImuGyroPublisher gyro;
+    cyphal::RawImuPublisher imu;
+
+    cyphal::DiffPressurePublisher diff_pressure_0;
+    cyphal::DiffPressurePublisher diff_pressure_1;
+    cyphal::RangefinderRangePublisher rangefinder;
+    cyphal::UdralBatteryPublisher battery;
 
     double _time_factor{1.0};
 };
+4 −1		.gitignore
+3 −3		CMakeLists.txt
+1 −7		Cyphal/algorithms.cpp
+1 −7		Cyphal/algorithms.hpp
+4 −0		Cyphal/cyphal.cpp
+10 −3		Cyphal/cyphal.hpp
+5 −7		Cyphal/cyphal_publishers.cpp
+4 −6		Cyphal/cyphal_publishers.hpp
+5 −7		Cyphal/cyphal_registers.cpp
+3 −6		Cyphal/cyphal_registers.hpp
+4 −9		Cyphal/cyphal_subscribers.cpp
+5 −7		Cyphal/cyphal_subscribers.hpp
+5 −7		Cyphal/cyphal_transport_can.hpp
+2 −8		Libs/libcanard/libcanard/_canard_cavl.h
+28 −23		Libs/libcanard/libcanard/canard.cpp
+2 −6		Libs/libcanard/libcanard/canard.h
+13 −9		Libs/platform_specific_components/socketcan/libcanard/src/socketcan.cpp
+2 −6		Libs/platform_specific_components/socketcan/libcanard/src/socketcan.h
+1 −1		Libs/platform_specific_components/stm32/libcanard/bxcan/src/bxcan.c
+43 −17		README.md
+4 −0		Udral/actuator.cpp
+3 −0		Udral/actuator.hpp
+4 −0		Udral/airspeed.cpp
+3 −0		Udral/airspeed.hpp
+4 −4		Udral/barometer.cpp
+4 −0		Udral/barometer.hpp
+4 −0		Udral/battery.cpp
+4 −0		Udral/battery.hpp
+27 −0		Udral/circuit_status.cpp
+26 −0		Udral/circuit_status.hpp
+4 −0		Udral/gnss.cpp
+4 −0		Udral/gnss.hpp
+4 −0		Udral/imu.cpp
+4 −0		Udral/imu.hpp
+4 −0		Udral/magnetometer.cpp
+4 −0		Udral/magnetometer.hpp
+4 −0		Udral/rangefinder.cpp
+3 −1		Udral/rangefinder.hpp
+4 −0		Udral/rgbled.cpp
+3 −0		Udral/rgbled.hpp
+4 −0		ds015/gnss.cpp
+3 −0		ds015/gnss.hpp
+0 −10		examples/git_hash.h
+9 −0		examples/ubuntu_minimal/CMakeLists.txt
+4 −4		examples/ubuntu_minimal/main.cpp
+9 −0		examples/ubuntu_publisher_example/CMakeLists.txt
+3 −3		examples/ubuntu_publisher_example/application.hpp
+3 −0		platform_specific/bxcan/cyphal_transport_can.cpp
+27 −15		platform_specific/fdcan/cyphal_transport_can.cpp
+4 −0		platform_specific/socketcan/cyphal_transport_can.cpp