Encapsulate all library code into namespace "cyphal".

The purpose of this is to prevent naming collisions with other libraries.
107-systems · Aug 10, 2023 · 30da545 · 30da545
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Showing 33 changed files with 289 additions and 91 deletions.
diff --git a/examples/OpenCyphal-Blink/OpenCyphal-Blink.ino b/examples/OpenCyphal-Blink/OpenCyphal-Blink.ino
@@ -55,12 +55,12 @@ ArduinoMCP2515 mcp2515([]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); },
                        onReceiveBufferFull,
                        nullptr);
 
-Node::Heap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
-Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
+cyphal::Node::Heap<cyphal::Node::DEFAULT_O1HEAP_SIZE> node_heap;
+cyphal::Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
 
-Publisher<Heartbeat_1_0> heartbeat_pub = node_hdl.create_publisher<Heartbeat_1_0>
+cyphal::Publisher<Heartbeat_1_0> heartbeat_pub = node_hdl.create_publisher<Heartbeat_1_0>
   (1*1000*1000UL /* = 1 sec in usecs. */);
-Subscription bit_subscription = node_hdl.create_subscription<Bit_1_0>
+cyphal::Subscription bit_subscription = node_hdl.create_subscription<Bit_1_0>
   (BIT_PORT_ID, onBit_1_0_Received);
 
 /**************************************************************************************

diff --git a/examples/OpenCyphal-Heartbeat-Publisher/OpenCyphal-Heartbeat-Publisher.ino b/examples/OpenCyphal-Heartbeat-Publisher/OpenCyphal-Heartbeat-Publisher.ino
@@ -36,10 +36,10 @@ ArduinoMCP2515 mcp2515([]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); },
                        nullptr,
                        nullptr);
 
-Node::Heap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
-Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
+cyphal::Node::Heap<cyphal::Node::DEFAULT_O1HEAP_SIZE> node_heap;
+cyphal::Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
 
-Publisher<Heartbeat_1_0> heartbeat_pub = node_hdl.create_publisher<Heartbeat_1_0>
+cyphal::Publisher<Heartbeat_1_0> heartbeat_pub = node_hdl.create_publisher<Heartbeat_1_0>
   (1*1000*1000UL /* = 1 sec in usecs. */);
 
 /**************************************************************************************

diff --git a/...phal-Heartbeat-Subscriber-With-Metadata/OpenCyphal-Heartbeat-Subscriber-With-Metadata.ino b/...phal-Heartbeat-Subscriber-With-Metadata/OpenCyphal-Heartbeat-Subscriber-With-Metadata.ino
@@ -43,10 +43,11 @@ ArduinoMCP2515 mcp2515([]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); },
                        onReceiveBufferFull,
                        nullptr);
 
-Node::Heap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
-Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
+cyphal::Node::Heap<cyphal::Node::DEFAULT_O1HEAP_SIZE> node_heap;
+cyphal::Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
+
+cyphal::Subscription heartbeat_subscription = node_hdl.create_subscription<Heartbeat_1_0>(onHeartbeat_1_0_Received);
 
-Subscription heartbeat_subscription = node_hdl.create_subscription<Heartbeat_1_0>(onHeartbeat_1_0_Received);
 /**************************************************************************************
  * SETUP/LOOP
  **************************************************************************************/

diff --git a/examples/OpenCyphal-Heartbeat-Subscriber/OpenCyphal-Heartbeat-Subscriber.ino b/examples/OpenCyphal-Heartbeat-Subscriber/OpenCyphal-Heartbeat-Subscriber.ino
@@ -43,10 +43,10 @@ ArduinoMCP2515 mcp2515([]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); },
                        onReceiveBufferFull,
                        nullptr);
 
-Node::Heap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
-Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
+cyphal::Node::Heap<cyphal::Node::DEFAULT_O1HEAP_SIZE> node_heap;
+cyphal::Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
 
-Subscription heartbeat_subscription = node_hdl.create_subscription<Heartbeat_1_0>(onHeartbeat_1_0_Received);
+cyphal::Subscription heartbeat_subscription = node_hdl.create_subscription<Heartbeat_1_0>(onHeartbeat_1_0_Received);
 
 /**************************************************************************************
  * SETUP/LOOP

diff --git a/examples/OpenCyphal-Service-Client/OpenCyphal-Service-Client.ino b/examples/OpenCyphal-Service-Client/OpenCyphal-Service-Client.ino
@@ -44,10 +44,10 @@ ArduinoMCP2515 mcp2515([]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); },
                        onReceiveBufferFull,
                        nullptr);
 
-Node::Heap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
-Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); }, 28);
+cyphal::Node::Heap<cyphal::Node::DEFAULT_O1HEAP_SIZE> node_heap;
+cyphal::Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); }, 28);
 
-ServiceClient<ExecuteCommand::Request_1_1> srv_client = node_hdl.create_service_client<ExecuteCommand::Request_1_1, ExecuteCommand::Response_1_1>(
+cyphal::ServiceClient<ExecuteCommand::Request_1_1> srv_client = node_hdl.create_service_client<ExecuteCommand::Request_1_1, ExecuteCommand::Response_1_1>(
   2*1000*1000UL,
   onExecuteCommand_1_1_Response_Received);
 

diff --git a/examples/OpenCyphal-Service-Server/OpenCyphal-Service-Server.ino b/examples/OpenCyphal-Service-Server/OpenCyphal-Service-Server.ino
@@ -44,10 +44,10 @@ ArduinoMCP2515 mcp2515([]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); },
                        onReceiveBufferFull,
                        nullptr);
 
-Node::Heap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
-Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); }, 27);
+cyphal::Node::Heap<cyphal::Node::DEFAULT_O1HEAP_SIZE> node_heap;
+cyphal::Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); }, 27);
 
-ServiceServer execute_command_srv = node_hdl.create_service_server<ExecuteCommand::Request_1_1, ExecuteCommand::Response_1_1>(
+cyphal::ServiceServer execute_command_srv = node_hdl.create_service_server<ExecuteCommand::Request_1_1, ExecuteCommand::Response_1_1>(
   2*1000*1000UL,
   onExecuteCommand_1_1_Request_Received);
 

diff --git a/examples/host-example-01-opencyphal-basic-node/host-example-01-opencyphal-basic-node.cpp b/examples/host-example-01-opencyphal-basic-node/host-example-01-opencyphal-basic-node.cpp
@@ -54,14 +54,14 @@ int main(int argc, char ** argv)
     return EXIT_FAILURE;
   }
 
-  Node::Heap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
-  Node node_hdl(node_heap.data(), node_heap.size(), micros, [socket_can_fd] (CanardFrame const & frame) { return (socketcanPush(socket_can_fd, &frame, 1000*1000UL) > 0); });
+  cyphal::Node::Heap<cyphal::Node::DEFAULT_O1HEAP_SIZE> node_heap;
+  cyphal::Node node_hdl(node_heap.data(), node_heap.size(), micros, [socket_can_fd] (CanardFrame const & frame) { return (socketcanPush(socket_can_fd, &frame, 1000*1000UL) > 0); });
   std::mutex node_mtx;
 
-  Publisher<uavcan::node::Heartbeat_1_0> heartbeat_pub = node_hdl.create_publisher<uavcan::node::Heartbeat_1_0>
+  cyphal::Publisher<uavcan::node::Heartbeat_1_0> heartbeat_pub = node_hdl.create_publisher<uavcan::node::Heartbeat_1_0>
     (1*1000*1000UL /* = 1 sec in usecs. */);
 
-  Publisher<CounterMsg> counter_pub = node_hdl.create_publisher<CounterMsg>
+  cyphal::Publisher<CounterMsg> counter_pub = node_hdl.create_publisher<CounterMsg>
     (DEFAULT_COUNTER_PORT_ID, 1*1000*1000UL /* = 1 sec in usecs. */);
 
   /* REGISTER ***************************************************************************/

diff --git a/src/CanRxQueueItem.hpp b/src/CanRxQueueItem.hpp
@@ -18,51 +18,67 @@
 
 #include <array>
 
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+namespace cyphal
+{
+
 /**************************************************************************************
  * CLASS DECLARATION
  **************************************************************************************/
 
 template<size_t MTU_BYTES>
 class CanRxQueueItem
 {
-  static_assert((MTU_BYTES == CANARD_MTU_CAN_CLASSIC) || (MTU_BYTES == CANARD_MTU_CAN_FD),
-    "CanRxQueueItem can only have an MTU size of either 8 (CANARD_MTU_CAN_CLASSIC) or 64 (CANARD_MTU_CAN_FD).");
+  static_assert((MTU_BYTES
+  == CANARD_MTU_CAN_CLASSIC) || (MTU_BYTES == CANARD_MTU_CAN_FD),
+  "CanRxQueueItem can only have an MTU size of either 8 (CANARD_MTU_CAN_CLASSIC) or 64 (CANARD_MTU_CAN_FD).");
 public:
   CanRxQueueItem()
-  : _extended_can_id{0}
-  , _payload_size{0}
-  , _payload_buf{}
-  , _rx_timestamp_usec{0}
-  { }
+    : _extended_can_id{0}, _payload_size{0}, _payload_buf{}, _rx_timestamp_usec{0}
+  {}
+
+  CanRxQueueItem(CanardFrame const *const frame, CanardMicrosecond const rx_timestamp_usec)
+    : _extended_can_id{frame->extended_can_id}, _payload_size{frame->payload_size},
+      _payload_buf{fromCanardFrame(frame)}, _rx_timestamp_usec{rx_timestamp_usec}
+  {}
 
-  CanRxQueueItem(CanardFrame const * const frame, CanardMicrosecond const rx_timestamp_usec)
-  : _extended_can_id{frame->extended_can_id}
-  , _payload_size{frame->payload_size}
-  , _payload_buf{fromCanardFrame(frame)}
-  , _rx_timestamp_usec{rx_timestamp_usec}
-  { }
 
+  [[nodiscard]] uint32_t extended_can_id() const
+  { return _extended_can_id; }
 
-  [[nodiscard]] uint32_t extended_can_id() const { return _extended_can_id; }
-  [[nodiscard]] size_t payload_size() const { return _payload_size; }
-  [[nodiscard]] std::array<uint8_t, MTU_BYTES> const & payload_buf() const { return _payload_buf; }
-  [[nodiscard]] CanardMicrosecond rx_timestamp_usec() const { return _rx_timestamp_usec; }
+  [[nodiscard]] size_t payload_size() const
+  { return _payload_size; }
+
+  [[nodiscard]] std::array <uint8_t, MTU_BYTES> const &payload_buf() const
+  { return _payload_buf; }
+
+  [[nodiscard]] CanardMicrosecond rx_timestamp_usec() const
+  { return _rx_timestamp_usec; }
 
 
 private:
   uint32_t _extended_can_id;
   size_t _payload_size;
-  std::array<uint8_t, MTU_BYTES> _payload_buf;
+  std::array <uint8_t, MTU_BYTES> _payload_buf;
   CanardMicrosecond _rx_timestamp_usec;
 
-  static std::array<uint8_t, MTU_BYTES> fromCanardFrame(CanardFrame const * const frame)
+  static std::array <uint8_t, MTU_BYTES> fromCanardFrame(CanardFrame const *const frame)
   {
-    std::array<uint8_t, MTU_BYTES> payload_buf{};
+    std::array <uint8_t, MTU_BYTES> payload_buf{};
     std::copy(static_cast<uint8_t const *>(frame->payload),
               static_cast<uint8_t const *>(frame->payload) + std::min(frame->payload_size, MTU_BYTES),
               payload_buf.begin());
     return payload_buf;
   }
 };
 
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+} /* cyphal */
+
 #endif /* INC_107_ARDUINO_CYPHAL_CANARDRXQUEUEITEM_HPP */
diff --git a/src/CircularBuffer.hpp b/src/CircularBuffer.hpp
@@ -17,6 +17,13 @@
 #include <array>
 #include <memory>
 
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+namespace cyphal
+{
+
 /**************************************************************************************
  * CLASS DECLARATION
  **************************************************************************************/
@@ -55,6 +62,12 @@ class CircularBuffer : public CircularBufferBase
   size_t nextIndex(size_t const index) { return ((index + 1) % _size); }
 };
 
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+} /* cyphal */
+
 /**************************************************************************************
  * TEMPLATE IMPLEMENTATION
  **************************************************************************************/

diff --git a/src/CircularBuffer.ipp b/src/CircularBuffer.ipp
@@ -5,6 +5,13 @@
  * Contributors: https://github.com/107-systems/107-Arduino-Cyphal/graphs/contributors.
  */
 
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+namespace cyphal
+{
+
 /**************************************************************************************
  * CTOR/DTOR
  **************************************************************************************/
@@ -60,3 +67,9 @@ void CircularBuffer<T>::pop()
   _tail = nextIndex(_tail);
   _num_elems--;
 }
+
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+} /* cyphal */
diff --git a/src/Node.cpp b/src/Node.cpp
@@ -17,6 +17,13 @@
 #include "util/registry/Registry.hpp"
 #include "util/port/PortListPublisher.hpp"
 
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+namespace cyphal
+{
+
 /**************************************************************************************
  * CTOR/DTOR
  **************************************************************************************/
@@ -179,3 +186,9 @@ void Node::processTxQueue()
     return;
   }
 }
+
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+} /* cyphal */
diff --git a/src/Node.hpp b/src/Node.hpp
@@ -34,6 +34,13 @@
 #include "libo1heap/o1heap.h"
 #include "libcanard/canard.h"
 
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+namespace cyphal
+{
+
 /**************************************************************************************
  * CLASS DECLARATION
  **************************************************************************************/
@@ -148,6 +155,12 @@ class Node
   void processRxFrame(CanRxQueueItem<MTU_BYTES> const * const rx_queue_item);
 };
 
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+} /* cyphal */
+
 /**************************************************************************************
  * TEMPLATE SOURCE FILE
  **************************************************************************************/

diff --git a/src/Node.ipp b/src/Node.ipp
@@ -14,6 +14,13 @@
 #include "ServiceClient.hpp"
 #include "ServiceServer.hpp"
 
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+namespace cyphal
+{
+
 /**************************************************************************************
  * PUBLIC MEMBER FUNCTIONS
  **************************************************************************************/
@@ -174,3 +181,9 @@ void Node::processRxFrame(CanRxQueueItem<MTU_BYTES> const * const rx_queue_item)
     _canard_hdl.memory_free(&_canard_hdl, rx_transfer.payload);
   }
 }
+
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+} /* cyphal */
diff --git a/src/Publisher.hpp b/src/Publisher.hpp
@@ -20,6 +20,9 @@
  * NAMESPACE
  **************************************************************************************/
 
+namespace cyphal
+{
+
 namespace impl
 {
 
@@ -53,6 +56,7 @@ class Publisher final : public PublisherBase<T>
  **************************************************************************************/
 
 } /* impl */
+} /* cyphal */
 
 /**************************************************************************************
  * TEMPLATE IMPLEMENTATION

diff --git a/src/Publisher.ipp b/src/Publisher.ipp
@@ -19,6 +19,9 @@
  * NAMESPACE
  **************************************************************************************/
 
+namespace cyphal
+{
+
 namespace impl
 {
 
@@ -59,3 +62,4 @@ bool Publisher<T>::publish(T const & msg)
  **************************************************************************************/
 
 } /* impl */
+} /* cyphal */
diff --git a/src/PublisherBase.hpp b/src/PublisherBase.hpp
@@ -18,6 +18,9 @@
  * NAMESPACE
  **************************************************************************************/
 
+namespace cyphal
+{
+
 namespace impl
 {
 
@@ -52,4 +55,10 @@ class PublisherBase
 template <typename T>
 using Publisher = std::shared_ptr<impl::PublisherBase<T>>;
 
+/**************************************************************************************
+ * NAMESPACE
+ **************************************************************************************/
+
+} /* cyphal */
+
 #endif /* INC_107_ARDUINO_CYPHAL_PUBLISHER_BASE_H */
diff --git a/src/ServiceClient.hpp b/src/ServiceClient.hpp
@@ -20,6 +20,9 @@
  * NAMESPACE
  **************************************************************************************/
 
+namespace cyphal
+{
+
 namespace impl
 {
 
@@ -58,6 +61,7 @@ class ServiceClient final : public ServiceClientBase<T_REQ>
  **************************************************************************************/
 
 } /* impl */
+} /* cyphal */
 
 /**************************************************************************************
  * TEMPLATE IMPLEMENTATION