Fixes for OpenCyphal#288, OpenCyphal#283, and OpenCyphal#271 (OpenCyp…

…hal#289) - OpenCyphal#288 : Updating dev container documentation to point to ghcr. - OpenCyphal#283 : Detecting fixed boolean arrays and modifying c++ to emit std::bitset - OpenCyphal#271 : Changing the type used when comparing array lengths to avoid compiler warnings.
edu-rossrobotics · Mar 7, 2023 · a2b24f0 · a2b24f0
1 parent 609f7ee
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Showing 15 changed files with 125 additions and 209 deletions.
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
@@ -1,21 +1,21 @@
 {
     "name": "Python dev environment",
-    "dockerFile": "python.Dockerfile",
-    "context": "..",
-    "settings": {
-        "terminal.integrated.shell.linux": "/bin/bash"
-    },
+    "image": "ghcr.io/opencyphal/toxic:tx20.4.1",
     "workspaceFolder": "/workspace",
     "workspaceMount": "source=${localWorkspaceFolder},target=/workspace,type=bind,consistency=delegated",
     "mounts": [
         "source=root-vscode-server,target=/root/.vscode-server/extensions,type=volume",
         "source=nunavut-tox,target=/workspace/.tox,type=volume"
     ],
-    "extensions": [
-        "uavcan.dsdl",
-        "wholroyd.jinja",
-        "ban.spellright",
-        "ms-python.python"
-    ],
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "uavcan.dsdl",
+                "wholroyd.jinja",
+                "ban.spellright",
+                "ms-python.python"
+            ]
+        }
+    },
     "postCreateCommand": "git submodule update --init --recursive && tox -e local"
 }
diff --git a/.devcontainer/python.Dockerfile b/.devcontainer/python.Dockerfile
diff --git a/.vscode/.spellignore b/.vscode/.spellignore
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
@@ -18,7 +18,9 @@
                 "/System/Library/Frameworks",
                 "/Library/Frameworks"
             ],
-            "defines": ["NUNAVUT_SUPPORT_LANGUAGE_OPTION_ENABLE_OVERRIDE_VARIABLE_ARRAY_CAPACITY=1"],
+            "defines": [
+                "NUNAVUT_SUPPORT_LANGUAGE_OPTION_ENABLE_OVERRIDE_VARIABLE_ARRAY_CAPACITY=1"
+            ],
             "compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
             "configurationProvider": "ms-vscode.cmake-tools",
             "cStandard": "c11",
@@ -87,7 +89,7 @@
         },
         {
             "name": "Linux-cpp",
-            "intelliSenseMode": "gcc-x64",
+            "intelliSenseMode": "linux-gcc-x64",
             "includePath": [
                 "${workspaceFolder}/submodules/googletest/googlemock/include",
                 "${workspaceFolder}/submodules/unity/src",
@@ -106,4 +108,4 @@
         }
     ],
     "version": 4
-}
+}
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -186,5 +186,30 @@
         "env": "",
         "environment": "",
         "sourceFileMap": "${sourceFileMapObj}"
-    }
+    },
+    "spellright.ignoreRegExps": [
+        "/DLCs/g",
+        "/rhs/ig",
+        "/_?rx_?/",
+        "/_?tx_?/",
+        "/Kirienko/g",
+        "/Pavel/g",
+        "/gtests/g",
+        "/(lib)?cyphal/g",
+        "/ovfl/g",
+        "/Cyphal/ig",
+        "/tparam/g",
+        "/\\.hpp/g",
+        "/endcode/g",
+        "/defgroup/",
+        "/dst/",
+        "/lvs/",
+        "/g(oogle)?mock/",
+        "/g(oogle)?test/",
+        "/(?:de?|con)struct(?:able?|or)/",
+        "/(lib)?uavcan/",
+        "/nunavut/i",
+        "/dsdl/i",
+        "/bitspan/"
+    ],
 }
diff --git a/.vscode/spellright.dict b/.vscode/spellright.dict
diff --git a/CONTRIBUTING.rst b/CONTRIBUTING.rst
@@ -72,24 +72,28 @@ To run the full suite of `tox`_ tests locally you'll need docker. Once you have
 and running do::
 
     git submodule update --init --recursive
-    docker pull uavcan/toxic:py35-py39-sq
-    docker run --rm -v $PWD:/repo uavcan/toxic:py35-py39-sq tox
+    docker pull ghcr.io/opencyphal/toxic:tx20.4.1
+    docker run --rm -v $PWD:/repo ghcr.io/opencyphal/toxic:tx20.4.1 tox
 
 To run a limited suite using only locally available interpreters directly on your host machine,
 skip the docker invocations and use ``tox -s``.
 
 To run the language verification build you'll need to use a different docker container::
 
-    docker pull uavcan/c_cpp:ubuntu-20.04
-    docker run --rm -it -v $PWD:/repo uavcan/c_cpp:ubuntu-20.04
-    cd /repo
+    docker pull ghcr.io/opencyphal/toolshed:ts20.4.1
+    docker run --rm -it -v $PWD:/workspace ghcr.io/opencyphal/toolshed:ts20.4.1
+    cd /workspace
     ./.github/verify.py -l c
     ./.github/verify.py -l cpp
 
 The verify.py script is a simple commandline generator for our cmake scripts. Use help for details::
 
     ./.github/verify.py --help
 
+If you get a "denied" response from ghcr your ip might be getting rate-limited. While these are public containers
+you'll have to login to get around any rate-limiting for your local site. See [the github docs](https://docs.github.com/en/packages/working-with-a-github-packages-registry/working-with-the-container-registry)
+for how to setup a docker client login.
+
 Files Generated by the Tests
 ================================================
 

diff --git a/src/nunavut/_dependencies.py b/src/nunavut/_dependencies.py
@@ -24,6 +24,7 @@ def __init__(self) -> None:
         self.uses_float = False
         self.uses_variable_length_array = False
         self.uses_array = False
+        self.uses_boolean_static_array = False
         self.uses_bool = False
         self.uses_primitive_static_array = False
         self.uses_union = False
@@ -118,10 +119,12 @@ def _extract_dependent_types_handle_array_type(
     ) -> None:
         if isinstance(dependant_type, pydsdl.VariableLengthArrayType):
             inout_dependencies.uses_variable_length_array = True
+        elif isinstance(dependant_type.element_type, pydsdl.BooleanType):
+            inout_dependencies.uses_boolean_static_array = True
+        elif isinstance(dependant_type.element_type, pydsdl.PrimitiveType):
+            inout_dependencies.uses_primitive_static_array = True
         else:
             inout_dependencies.uses_array = True
-            if isinstance(dependant_type.element_type, pydsdl.PrimitiveType):
-                inout_dependencies.uses_primitive_static_array = True
 
     @classmethod
     def _extract_dependent_types(

diff --git a/src/nunavut/_version.py b/src/nunavut/_version.py
@@ -8,8 +8,8 @@
 .. autodata:: __version__
 """
 
-__version__ = "2.0.6"
+__version__ = "2.0.7"
 __license__ = "MIT"
 __author__ = "OpenCyphal"
-__copyright__ = "Copyright 2022 Amazon.com, Inc. or its affiliates. All Rights Reserved. Copyright (c) 2022 OpenCyphal."
+__copyright__ = "Copyright 2023 Amazon.com, Inc. or its affiliates. All Rights Reserved. Copyright (c) 2023 OpenCyphal."
 __email__ = "maintainers@opencyphal.org"
diff --git a/src/nunavut/lang/cpp/__init__.py b/src/nunavut/lang/cpp/__init__.py
@@ -258,8 +258,10 @@ def do_includes_test(use_foobar, extension):
         if self.get_config_value_as_bool("use_standard_types"):
             if dep_types.uses_integer:
                 std_includes.append("cstdint")
-            if dep_types.uses_array:
+            if dep_types.uses_array or dep_types.uses_primitive_static_array:
                 std_includes.append("array")
+            if dep_types.uses_boolean_static_array:
+                std_includes.append("bitset")
         if dep_types.uses_union and self._has_variant():
             std_includes.append("variant")
         includes_formatted = ["<{}>".format(include) for include in sorted(std_includes)]
@@ -281,6 +283,9 @@ def filter_id(self, instance: typing.Any, id_type: str = "any") -> str:
 
         return self._get_token_encoder().strop(raw_name, id_type)
 
+    def create_bitset_decl(self, type: str, max_size: int) -> str:
+        return "std::bitset<{MAX_SIZE}>".format(MAX_SIZE=max_size)
+
     def create_array_decl(self, type: str, max_size: int) -> str:
         return "std::array<{TYPE},{MAX_SIZE}>".format(TYPE=type, MAX_SIZE=max_size)
 
@@ -989,7 +994,10 @@ def filter_declaration(language: Language, instance: pydsdl.Any) -> str:
                 TYPE=filter_declaration(language, instance.element_type), MAX_SIZE=instance.capacity
             )
     elif isinstance(instance, pydsdl.ArrayType):
-        return language.create_array_decl(filter_declaration(language, instance.element_type), instance.capacity)
+        if isinstance(instance.element_type, pydsdl.BooleanType):
+            return language.create_bitset_decl(filter_declaration(language, instance.element_type), instance.capacity)
+        else:
+            return language.create_array_decl(filter_declaration(language, instance.element_type), instance.capacity)
     else:
         return filter_full_reference_name(language, instance)
 

diff --git a/src/nunavut/lang/cpp/templates/deserialization.j2 b/src/nunavut/lang/cpp/templates/deserialization.j2
@@ -169,7 +169,7 @@
      # spurious alignment of elements but the benefit of such optimization is believed to be negligible. #}
     {% set element_offset = offset + t.element_type.bit_length_set.repeat_range(t.capacity - 1) %}
     {% set ref_index = 'index'|to_template_unique_name %}
-    for (size_t {{ ref_index }} = 0U; {{ ref_index }} < {{ t.capacity }}UL; ++{{ ref_index }})
+    for ({{ typename_unsigned_length }} {{ ref_index }} = 0U; {{ ref_index }} < {{ t.capacity }}UL; ++{{ ref_index }})
     {
         {{ _deserialize_any(t.element_type, reference + ('[%s]'|format(ref_index)), element_offset)|trim|indent }}
     }
@@ -184,7 +184,7 @@
         {# DESERIALIZE THE IMPLICIT ARRAY LENGTH FIELD #}
         {% set ref_size = 'size'|to_template_unique_name %}
         // Array length prefix: {{ t.length_field_type }}
-        {{ _deserialize_integer(t.length_field_type, ('const %s %s'|format((t.length_field_type | declaration), ref_size)) , offset) }}
+        {{ _deserialize_integer(t.length_field_type, ('const %s %s'|format( typename_unsigned_length, ref_size)) , offset) }}
         if ( {{ ref_size }} > {{ t.capacity }}U)
         {
             return -nunavut::support::Error::SerializationBadArrayLength;
@@ -201,7 +201,7 @@
 {% endif %}
     {# GENERAL CASE #}
     {% set ref_index = 'index'|to_template_unique_name %}
-        for (size_t {{ ref_index }} = 0U; {{ ref_index }} < {{ ref_size }}; ++{{ ref_index }})
+        for ({{ typename_unsigned_length }} {{ ref_index }} = 0U; {{ ref_index }} < {{ ref_size }}; ++{{ ref_index }})
         {
             // TODO This is terribly inefficient. We need to completely refactor this template to use C++ emplace and
             // move semantics instead of assuming C-style containers

diff --git a/src/nunavut/lang/cpp/templates/serialization.j2 b/src/nunavut/lang/cpp/templates/serialization.j2
@@ -272,7 +272,7 @@
      # spurious alignment of elements but the benefit of such optimization is believed to be negligible. #}
     {% set element_offset = offset + t.element_type.bit_length_set.repeat_range(t.capacity - 1) %}
     {% set ref_index = 'index'|to_template_unique_name %}
-    for (size_t {{ ref_index }} = 0U; {{ ref_index }} < {{ t.capacity }}UL; ++{{ ref_index }})
+    for ({{ typename_unsigned_length }} {{ ref_index }} = 0U; {{ ref_index }} < {{ t.capacity }}UL; ++{{ ref_index }})
     {
         {{ _serialize_any(t.element_type, reference + ('[%s]'|format(ref_index)), element_offset)|trim|indent }}
     }
@@ -308,7 +308,7 @@
 
 {# GENERAL CASE #}
     {% set ref_index = 'index'|to_template_unique_name %}
-    for (size_t {{ ref_index }} = 0U; {{ ref_index }} < {{ reference }}.size(); ++{{ ref_index }})
+    for ({{ typename_unsigned_length }} {{ ref_index }} = 0U; {{ ref_index }} < {{ reference }}.size(); ++{{ ref_index }})
     {
         {{
             _serialize_any(t.element_type, reference + ('[%s]'|format(ref_index)), element_offset)