Cyphalize and release v1.0 (#15)

* Cyphalize
* Update catch, clang-format, Yakut
* Release v1.0

.github/workflows/main.yml

@@ -35,7 +35,7 @@ jobs:
           tests
       - working-directory: ${{github.workspace}}/build
         run: |
-          yakut compile https://github.com/UAVCAN/public_regulated_data_types/archive/refs/heads/master.zip
+          yakut compile https://github.com/OpenCyphal/public_regulated_data_types/archive/refs/heads/master.zip
           make VERBOSE=1 -j2
           make test
       - uses: actions/upload-artifact@v2
@@ -76,7 +76,7 @@ jobs:
       - working-directory: ${{github.workspace}}/build
         run: |
           make VERBOSE=1 -j2
-          yakut compile https://github.com/UAVCAN/public_regulated_data_types/archive/refs/heads/master.zip
+          yakut compile https://github.com/OpenCyphal/public_regulated_data_types/archive/refs/heads/master.zip
           make test
       - uses: actions/upload-artifact@v2
         if: always()
@@ -101,12 +101,12 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
-      - uses: DoozyX/clang-format-lint-action@v0.12
+      - uses: DoozyX/clang-format-lint-action@v0.13
         with:
           source: ./kocherga ./tests
           exclude: ./tests/3rd_party
           extensions: cpp,hpp
-          clangFormatVersion: 12
+          clangFormatVersion: 13
       - run: |
           pip install black
           black --check ./tools/
@@ -167,7 +167,7 @@ jobs:
       run: |
         cmake tests -DCMAKE_BUILD_TYPE=Debug -DNO_STATIC_ANALYSIS=1 -DCMAKE_CXX_FLAGS='-DNDEBUG=1'
         build-wrapper-linux-x86-64 --out-dir . make all VERBOSE=1
-        yakut compile https://github.com/UAVCAN/public_regulated_data_types/archive/refs/heads/master.zip
+        yakut compile https://github.com/OpenCyphal/public_regulated_data_types/archive/refs/heads/master.zip
         make test
         gcov --preserve-paths --long-file-names $(find integration/CMakeFiles/bootloader.dir -name '*.gcno')
         gcov --preserve-paths --long-file-names $(find unit/CMakeFiles/test_cov.dir          -name '*.gcno')

README.md

@@ -49,20 +49,20 @@ boot. Only if a valid `AppInfo` structure is found the application will be launc
 structure closer to the beginning of the image in order to speed up its verification. The structure is defined as
 follows:
 
-Offset | Type     | Description
--------|----------|-----------------------------------------------------------------------------------------------------
--16    |`uint64`  | Constant value 0x5E4415146FC0C4C7 used for locating the descriptor and detecting the byte order.
--8     |`uint8[8]`| Set to `APDesc00`; used for compatibility with legacy deployments.
-0      |`uint64`  | CRC-64-WE of the entire application image when this field itself is set to zero.
-8      |`uint32`  | Size of the application image, in bytes. Note that the image must be padded to eight bytes.
-12     |`void32`  | Reserved. Used to contain the 32-bit version control system revision ID; see replacement below.
-16     |`uint8[2]`| Major and minor semantic version numbers.
-18     |`uint8`   | Flags: 1 - this is a release build; 2 - this is a dirty build (uncommitted changes present).
-19     |`void8`   | Reserved; set to 0.
-20     |`uint32`  | UNIX UTC build timestamp; i.e., the number of seconds since 1970-01-01T00:00:00Z.
-24     |`uint64`  | Version control system (VCS) revision ID (e.g., the git commit hash).
-32     |`void64`  | Reserved.
-40     |`void64`  | Reserved.
+| Offset | Type       | Description                                                                                      |
+|--------|------------|--------------------------------------------------------------------------------------------------|
+| -16    | `uint64`   | Constant value 0x5E4415146FC0C4C7 used for locating the descriptor and detecting the byte order. |
+| -8     | `uint8[8]` | Set to `APDesc00`; used for compatibility with legacy deployments.                               |
+| 0      | `uint64`   | CRC-64-WE of the entire application image when this field itself is set to zero.                 |
+| 8      | `uint32`   | Size of the application image, in bytes. Note that the image must be padded to eight bytes.      |
+| 12     | `void32`   | Reserved. Used to contain the 32-bit version control system revision ID; see replacement below.  |
+| 16     | `uint8[2]` | Major and minor semantic version numbers.                                                        |
+| 18     | `uint8`    | Flags: 1 - this is a release build; 2 - this is a dirty build (uncommitted changes present).     |
+| 19     | `void8`    | Reserved; set to 0.                                                                              |
+| 20     | `uint32`   | UNIX UTC build timestamp; i.e., the number of seconds since 1970-01-01T00:00:00Z.                |
+| 24     | `uint64`   | Version control system (VCS) revision ID (e.g., the git commit hash).                            |
+| 32     | `void64`   | Reserved.                                                                                        |
+| 40     | `void64`   | Reserved.                                                                                        |
 
 When computing the application image CRC, the process will eventually encounter the location where the CRC itself is
 stored. In order to avoid recursive dependency, the CRC storage location must be replaced with zero bytes when
@@ -94,12 +94,12 @@ The following diagram documents the state machine of the bootloader:
 
 The bootloader states are mapped onto Cyphal node states as follows:
 
-Bootloader state     | Node mode       | Node health| Vendor-specific status code
----------------------|-----------------|------------|-------------------------------
-NoAppToBoot          |`SOFTWARE_UPDATE`| `WARNING`  | 0
-BootDelay            |`SOFTWARE_UPDATE`| `NOMINAL`  | 0
-BootCancelled        |`SOFTWARE_UPDATE`| `ADVISORY` | 0
-AppUpdateInProgress  |`SOFTWARE_UPDATE`| `NOMINAL`  | number of read requests, always >0
+| Bootloader state    | Node mode         | Node health | Vendor-specific status code        |
+|---------------------|-------------------|-------------|------------------------------------|
+| NoAppToBoot         | `SOFTWARE_UPDATE` | `WARNING`   | 0                                  |
+| BootDelay           | `SOFTWARE_UPDATE` | `NOMINAL`   | 0                                  |
+| BootCancelled       | `SOFTWARE_UPDATE` | `ADVISORY`  | 0                                  |
+| AppUpdateInProgress | `SOFTWARE_UPDATE` | `NOMINAL`   | number of read requests, always >0 |
 
 ### API usage
 

kocherga/kocherga.hpp

@@ -12,8 +12,8 @@
 #include <optional>
 #include <type_traits>
 
-#define KOCHERGA_VERSION_MAJOR 0  // NOLINT NOSONAR
-#define KOCHERGA_VERSION_MINOR 2  // NOLINT NOSONAR
+#define KOCHERGA_VERSION_MAJOR 1  // NOLINT NOSONAR
+#define KOCHERGA_VERSION_MINOR 0  // NOLINT NOSONAR
 
 #ifndef KOCHERGA_ASSERT
 #    include <cassert>
@@ -31,7 +31,7 @@ using TransferID = std::uint64_t;
 using NodeID     = std::uint16_t;
 using PortID     = std::uint16_t;
 
-/// UAVCAN subjects used by Kocherga.
+/// Cyphal subjects used by Kocherga.
 enum class SubjectID : PortID
 {
     NodeHeartbeat              = 7509,
@@ -40,16 +40,16 @@ enum class SubjectID : PortID
     DiagnosticRecord           = 8184,
 };
 
-/// UAVCAN services used by Kocherga.
+/// Cyphal services used by Kocherga.
 enum class ServiceID : PortID
 {
     FileRead           = 408,
     NodeGetInfo        = 430,
     NodeExecuteCommand = 435,
 };
 
-/// Version of the UAVCAN specification implemented by this library, major and minor.
-static constexpr SemanticVersion UAVCANSpecificationVersion{{1, 0}};
+/// Version of the Cyphal specification implemented by this library, major and minor.
+static constexpr SemanticVersion CyphalSpecificationVersion{{1, 0}};
 
 /// The service response timeout used by the bootloader.
 /// This value applies when the bootloader invokes uavcan.file.Read during the update.
@@ -770,8 +770,8 @@ class Presenter final : public IReactor
         const auto  app_info = controller_.getAppInfo();
         auto* const base_ptr = out_response;
         auto*       ptr      = base_ptr;
-        *ptr++               = UAVCANSpecificationVersion.at(0);
-        *ptr++               = UAVCANSpecificationVersion.at(1);
+        *ptr++               = CyphalSpecificationVersion.at(0);
+        *ptr++               = CyphalSpecificationVersion.at(1);
         *ptr++               = system_info_.hardware_version.at(0);
         *ptr++               = system_info_.hardware_version.at(1);
         if (app_info)

kocherga/kocherga_can.hpp

@@ -296,7 +296,7 @@ inline auto makePseudoUniqueID(const SystemInfo::UniqueID& uid) -> std::uint64_t
 
 /// If the local-ID is provided, the filter will match only on service transfers addressed to the local node.
 /// If the local-ID is not provided, the filter will match on PnP allocation response messages only.
-template <std::uint8_t UAVCANVersion>
+template <std::uint8_t Version>
 [[nodiscard]] auto makeAcceptanceFilter(const std::optional<std::uint8_t> local_node_id) -> CANAcceptanceFilterConfig;
 template <>
 [[nodiscard]] inline auto makeAcceptanceFilter<0>(const std::optional<std::uint8_t> local_node_id)
@@ -383,7 +383,7 @@ struct ServiceFrameModel : FrameModel
     const std::uint8_t transfer_id       = (tail & MaxTransferID);
     if (start_of_transfer && (!toggle))
     {
-        return {};  // UAVCAN v0
+        return {};  // DroneCAN
     }
     if (((!start_of_transfer) || (!end_of_transfer)) && (out_payload_size == 0))
     {
@@ -450,7 +450,7 @@ struct ServiceFrameModel : FrameModel
     -> std::optional<std::variant<MessageFrameModel, ServiceFrameModel>>
 {
     KOCHERGA_ASSERT(payload != nullptr);
-    if ((payload_size < 1) || (payload_size > 8))  // Legacy UAVCAN v0 is compatible only with Classic CAN.
+    if ((payload_size < 1) || (payload_size > 8))  // Legacy is compatible only with Classic CAN.
     {                                              // This is because the low granularity of DLC in CAN FD breaks TAO.
         return {};
     }
@@ -462,7 +462,7 @@ struct ServiceFrameModel : FrameModel
     const std::uint8_t transfer_id       = (tail & MaxTransferID);
     if (start_of_transfer && toggle)
     {
-        return {};  // UAVCAN v1
+        return {};  // Cyphal
     }
     const auto priority       = static_cast<std::uint8_t>((extended_can_id >> 24U) & 31U);
     const auto source_node_id = static_cast<std::uint8_t>(extended_can_id & 0x7FU);
@@ -671,7 +671,7 @@ class BasicTransferReasmV0
         }
         if (frame.payload_size > (buffer_.size() - state_->payload_size))
         {
-            state_.reset();  // Too much payload -- UAVCAN v0 does not define payload truncation.
+            state_.reset();  // Too much payload -- DroneCAN does not define payload truncation.
             return {};
         }
         std::copy_n(frame.payload, frame.payload_size, buffer_.begin() + state_->payload_size);
@@ -778,7 +778,7 @@ class BasicServiceTransferReasmV0 : public BasicTransferReasmV0<MaxPayloadSize>
     const std::uint8_t local_node_id_;
 };
 
-/// Send one UAVCAN/CAN v1 transfer. The push_frame callback is invoked per each transmitted frame; its type should be:
+/// Send one Cyphal/CAN transfer. The push_frame callback is invoked per each transmitted frame; its type should be:
 ///     (std::size_t, const std::uint8_t*) -> bool
 /// The return value is true on success, false otherwise.
 /// The callback shall not be an std::function<> or std::bind<> to avoid heap allocation.
@@ -1070,7 +1070,7 @@ class IActivity
     auto operator=(IActivity&&) -> IActivity& = delete;
 };
 
-/// The v0 main activity is a simplified translation layer between UAVCAN/CAN v1 and UAVCAN v0.
+/// The v0 main activity is a simplified translation layer between Cyphal/CAN and DroneCAN.
 /// The following ports are supported:
 ///
 ///     Service                 RX                  TX
@@ -1437,7 +1437,7 @@ class V0MainActivity : public IActivity
     BasicServiceTransferReasmV0<300> rx_res_file_read_{FileReadSignature, local_node_id_};
 };
 
-/// The following example shows the CAN exchange dump collected from a real network using the old UAVCAN v0 GUI Tool.
+/// The following example shows the CAN exchange dump collected from a real network using the old GUI Tool.
 ///
 /// Unique-ID of the allocatee: 35 FF D5 05 50 59 31 34 61 41 23 43 00 00 00 00
 /// Preferred node-ID:          0       (any, no preference)
@@ -1619,7 +1619,6 @@ class V0NodeIDAllocationActivity : public IActivity
         KOCHERGA_ASSERT((0 <= randomized) && (randomized <= delta));
         const auto delay = std::max(std::chrono::microseconds(1), range.first) + std::chrono::microseconds(randomized);
         KOCHERGA_ASSERT(range.first <= delay);
-        KOCHERGA_ASSERT(range.second >= delay);
         deadline_ = now + delay;
     }
 
@@ -2090,17 +2089,17 @@ class VersionDetectionActivity : public IActivity
         while (const auto frame = driver_.pop(buf))
         {
             const auto [can_id, payload_size] = *frame;
-            if (payload_size > 0)  // UAVCAN frames are guaranteed to contain the tail byte always.
+            if (payload_size > 0)  // Cyphal frames are guaranteed to contain the tail byte always.
             {
-                if (const auto uavcan_version = tryDetectVersionFromFrame(can_id, buf.at(payload_size - 1U)))
+                if (const auto version = tryDetectVersionFromFrame(can_id, buf.at(payload_size - 1U)))
                 {
                     if (!highest_version_seen_)
                     {
                         deadline_ = uptime + ListeningPeriod;
                     }
-                    if ((!highest_version_seen_) || (*highest_version_seen_ < *uavcan_version))
+                    if ((!highest_version_seen_) || (*highest_version_seen_ < *version))
                     {
-                        highest_version_seen_ = uavcan_version;
+                        highest_version_seen_ = version;
                         KOCHERGA_ASSERT(highest_version_seen_);
                     }
                 }
@@ -2114,7 +2113,7 @@ class VersionDetectionActivity : public IActivity
         -> std::optional<std::uint8_t>
     {
         // CAN ID is not validated at the moment. This may be improved in the future to avoid misdetection if there
-        // are other protocols besides UAVCAN on the same network.
+        // are other protocols besides Cyphal on the same network.
         (void) can_id;
         if ((tail_byte & TailByteStartOfTransfer) != 0)
         {
@@ -2200,22 +2199,23 @@ class BitrateDetectionActivity : public IActivity
 
 }  // namespace detail
 
-/// Kocherga node implementing the UAVCAN/CAN v1 transport along with UAVCAN v0 with automatic version detection.
+/// Kocherga node implementing the Cyphal/CAN transport along with DroneCAN with automatic version detection.
 class CANNode : public kocherga::INode
 {
 public:
     /// The local UID shall be the same that is passed to the bootloader. It is used for PnP node-ID allocation.
+    /// The protocol version is 0 for DroneCAN (derived from legacy UAVCAN v0) and 1 for Cyphal/CAN.
     /// By default, this implementation will auto-detect the parameters of the network and do a PnP node-ID allocation.
     /// The application can opt-out of autoconfiguration by providing the required data to the constructor.
     /// Unknown parameters shall be set to empty options.
     CANNode(ICANDriver&                               driver,
             const SystemInfo::UniqueID&               local_unique_id,
-            const std::optional<ICANDriver::Bitrate>& can_bitrate    = {},
-            const std::optional<std::uint8_t>         uavcan_version = {},
-            const std::optional<NodeID>               local_node_id  = {})
+            const std::optional<ICANDriver::Bitrate>& can_bitrate      = {},
+            const std::optional<std::uint8_t>         protocol_version = {},
+            const std::optional<NodeID>               local_node_id    = {})
     {
-        if ((activity_ == nullptr) && can_bitrate &&     //
-            uavcan_version && (*uavcan_version == 0) &&  //
+        if ((activity_ == nullptr) && can_bitrate &&         //
+            protocol_version && (*protocol_version == 0) &&  //
             local_node_id && (*local_node_id > 0) && (*local_node_id <= MaxNodeID))
         {
             if (const auto bus_mode =
@@ -2229,8 +2229,8 @@ class CANNode : public kocherga::INode
                                                                           static_cast<std::uint8_t>(*local_node_id));
             }
         }
-        if ((activity_ == nullptr) && can_bitrate &&     //
-            uavcan_version && (*uavcan_version == 1) &&  //
+        if ((activity_ == nullptr) && can_bitrate &&         //
+            protocol_version && (*protocol_version == 1) &&  //
             local_node_id && (*local_node_id <= MaxNodeID))
         {
             if (const auto bus_mode =
@@ -2244,7 +2244,7 @@ class CANNode : public kocherga::INode
                                                                           static_cast<std::uint8_t>(*local_node_id));
             }
         }
-        if ((activity_ == nullptr) && can_bitrate && uavcan_version && (*uavcan_version == 0))
+        if ((activity_ == nullptr) && can_bitrate && protocol_version && (*protocol_version == 0))
         {
             if (const auto bus_mode = driver.configure(*can_bitrate, false, detail::makeAcceptanceFilter<0>({})))
             {
@@ -2255,7 +2255,7 @@ class CANNode : public kocherga::INode
                                                                                               *can_bitrate);
             }
         }
-        if ((activity_ == nullptr) && can_bitrate && uavcan_version && (*uavcan_version == 1))
+        if ((activity_ == nullptr) && can_bitrate && protocol_version && (*protocol_version == 1))
         {
             if (const auto bus_mode = driver.configure(*can_bitrate, false, detail::makeAcceptanceFilter<1>({})))
             {

kocherga/kocherga_serial.hpp

@@ -241,7 +241,7 @@ struct Transfer
     const std::uint8_t* payload     = nullptr;
 };
 
-/// UAVCAN/serial stream parser. Extracts UAVCAN/serial frames from raw stream of bytes in constant time.
+/// Cyphal/serial stream parser. Extracts Cyphal/serial frames from raw stream of bytes in constant time.
 /// Frames that contain more than MaxPayloadSize bytes of payload are rejected as invalid.
 template <std::size_t MaxPayloadSize>
 class StreamParser
@@ -465,7 +465,7 @@ class ISerialPort
     auto operator=(ISerialPort&&) -> ISerialPort& = delete;
 };
 
-/// Kocherga node implementing the UAVCAN/serial transport.
+/// Kocherga node implementing the Cyphal/serial transport.
 class SerialNode : public kocherga::INode
 {
 public: