From 8d1ad9cc6aedaa02d40d7f76f934c875af6f7ae3 Mon Sep 17 00:00:00 2001
From: PonomarevDA <ponomarevda96@gmail.com>
Date: Mon, 27 Nov 2023 23:45:17 +0300
Subject: [PATCH] update cyphal_application submodule

---
 CMakeLists.txt                          | 12 +++++
 Libs/cyphal_application                 |  2 +-
 scripts/Dockerfile                      |  1 +
 src/autopilot_interface/cyphal_hitl.cpp |  4 +-
 src/autopilot_interface/cyphal_hitl.hpp | 58 ++++++++++++-------------
 5 files changed, 45 insertions(+), 32 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index f881006..6fc90b1 100644
--- 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
index e8633b8..9fb5bb0 160000
--- a/Libs/cyphal_application
+++ b/Libs/cyphal_application
@@ -1 +1 @@
-Subproject commit e8633b8eb7410512b41b617cffbda11a458fdf30
+Subproject commit 9fb5bb0bcbf6b841a4d45921753ef0d8bc066f54
diff --git a/scripts/Dockerfile b/scripts/Dockerfile
index 29727f0..3f78618 100644
--- 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
index 2e0af95..f79da88 100644
--- 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
index 305aa41..23a4f0a 100644
--- 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};
 };