Repair the build

.github/workflows/sonar.yml

@@ -17,14 +17,14 @@ jobs:
     runs-on: ubuntu-latest
     container: ghcr.io/opencyphal/toolshed:ts24.4.3
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
         with:
           fetch-depth: 0 # Shallow clones should be disabled for a better relevancy of analysis
       - name: get nunavut
         run: |
           pip install --break-system-packages git+https://github.com/OpenCyphal/[email protected]
-      - name: Install sonar-scanner and build-wrapper
-        uses: SonarSource/sonarcloud-github-c-cpp@v2
+      - name: Install build-wrapper
+        uses: SonarSource/sonarqube-scan-action/install-build-wrapper@v6
       - name: Run tests
         env:
           GTEST_COLOR: yes
@@ -43,7 +43,7 @@ jobs:
           cmake --build . --target test/unittest/coverage.xml
           cmake --build . --target docs/examples/coverage.xml
       - name: upload-artifacts
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v5
         with:
           name: Coverage-14-gcc
           path: |
@@ -53,27 +53,28 @@ jobs:
             build/*/**/gcovr_html/*.*
           if-no-files-found: error
       - name: Run sonar-scanner
+        uses: SonarSource/sonarqube-scan-action@v6
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
           SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
-        run: >
-          sonar-scanner
-          -X
-          --define sonar.organization=opencyphal-garage
-          --define sonar.projectKey=OpenCyphal-Garage_libcyphal
-          --define sonar.projectName=libcyphal
-          --define sonar.projectVersion=1.0
-          --define sonar.sources=include,test/unittest/sonar.cpp
-          --define sonar.tests=test/unittest,docs/examples
-          --define sonar.test.inclusions=test_*.cpp,example_*.cpp
-          --define sonar.sourceEncoding=UTF-8
-          --define sonar.host.url=https://sonarcloud.io
-          --define sonar.cfamily.ignoreHeaderComments=false
-          --define sonar.coverage.exclusions="test/unittest/**/*,docs/examples/**/*,**/sonar.cpp"
-          --define sonar.cpd.exclusions="test/unittest/**/*,docs/examples/**/*,**/sonar.cpp"
-          --define sonar.cfamily.compile-commands="build/compile_commands.json"
-          --define sonar.cfamily.reportingCppStandardOverride=c++14
-          --define sonar.coverageReportPaths="build/test/unittest/coverage.xml,build/docs/examples/coverage.xml"
-          --define sonar.issue.ignore.multicriteria=r1
-          --define sonar.issue.ignore.multicriteria.r1.ruleKey=cpp:S3230
-          --define sonar.issue.ignore.multicriteria.r1.resourceKey=**
+        with:
+          args: >
+            -X
+            --define sonar.organization=opencyphal-garage
+            --define sonar.projectKey=OpenCyphal-Garage_libcyphal
+            --define sonar.projectName=libcyphal
+            --define sonar.projectVersion=1.0
+            --define sonar.sources=include,test/unittest/sonar.cpp
+            --define sonar.tests=test/unittest,docs/examples
+            --define sonar.test.inclusions=test_*.cpp,example_*.cpp
+            --define sonar.sourceEncoding=UTF-8
+            --define sonar.host.url=https://sonarcloud.io
+            --define sonar.cfamily.ignoreHeaderComments=false
+            --define sonar.coverage.exclusions="test/unittest/**/*,docs/examples/**/*,**/sonar.cpp"
+            --define sonar.cpd.exclusions="test/unittest/**/*,docs/examples/**/*,**/sonar.cpp"
+            --define sonar.cfamily.compile-commands=build/compile_commands.json
+            --define sonar.cfamily.reportingCppStandardOverride=c++14
+            --define sonar.cfamily.cobertura.reportPaths=build/test/unittest/coverage.xml,build/docs/examples/coverage.xml
+            --define sonar.issue.ignore.multicriteria=r1
+            --define sonar.issue.ignore.multicriteria.r1.ruleKey=cpp:S3230
+            --define sonar.issue.ignore.multicriteria.r1.resourceKey=**

.github/workflows/tests.yml

@@ -18,7 +18,7 @@ jobs:
     runs-on: ubuntu-latest
     container: ghcr.io/opencyphal/toolshed:ts24.4.3
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
       - name: Cache ext modules
         id: libcyphal-ext
         uses: actions/cache@v4
@@ -59,7 +59,7 @@ jobs:
             std: 14
             toolchain: gcc
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v5
     - name: Cache ext modules
       id: libcyphal-ext
       uses: actions/cache@v4
@@ -86,7 +86,7 @@ jobs:
       if: ${{ runner.debug == '1' }}
       run: ls -lAhR build/
     - name: upload-artifacts
-      uses: actions/upload-artifact@v4
+      uses: actions/upload-artifact@v5
       with:
         name: ${{ matrix.build_flavor }}-${{ matrix.std }}-${{ matrix.toolchain }}
         path: |
@@ -104,7 +104,7 @@ jobs:
     container: ghcr.io/opencyphal/toolshed:ts24.4.3
     needs: [warmup]
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v5
     - name: Cache ext modules
       id: libcyphal-ext
       uses: actions/cache@v4
@@ -129,12 +129,12 @@ jobs:
       uses: actions/configure-pages@v5
     - name: Upload docs
       if: ${{ github.event_name != 'pull_request' }}
-      uses: actions/upload-pages-artifact@v3
+      uses: actions/upload-pages-artifact@v4
       with:
         path: "build/docs/html/"
     - name: upload-pr-docs
       if: ${{ github.event_name == 'pull_request' }}
-      uses: actions/upload-artifact@v4
+      uses: actions/upload-artifact@v5
       with:
         name: pr-docs
         path: "build/docs/html/"

CMakeLists.txt

@@ -10,11 +10,12 @@ include(cmake/CMakeCommon.cmake REQUIRED)
 project(libcyphal
         VERSION ${LIBCYPHAL_VERSION}
         LANGUAGES CXX C
-        HOMEPAGE_URL https://github.com/OpenCyphal-Garage/libcyphal
+        HOMEPAGE_URL https://github.com/OpenCyphal/libcyphal
 )
 
 # Use -DNO_STATIC_ANALYSIS=1 to suppress static analysis.
 # If not suppressed, the tools used here shall be available, otherwise the build will fail.
+option(NO_STATIC_ANALYSIS "Disable static analysis (e.g. clang-tidy). If OFF, the tools must be available." OFF)
 if (NOT NO_STATIC_ANALYSIS)
     # clang-tidy (separate config files per directory)
     find_program(clang_tidy NAMES clang-tidy)

README.md

@@ -12,3 +12,18 @@
 Portable reference implementation of the [Cyphal protocol stack](https://opencyphal.org) in C++ for embedded systems, Linux, and POSIX-compliant RTOSs.
 
 Cyphal is a lightweight protocol designed for reliable communication in aerospace and robotic applications over robust vehicular networks.
+
+## Building
+
+**You don't need to build LibCyphal to use it** since this is a header-only library. You will need to build the transport libraries though (libcanard, libudpard, etc), which is covered in their respective documentation.
+
+If you want to build libcyphal for development purposes, you may use containerized toolchains as covered in CONTRIBUTING.md. Otherwise, you may want to disable static analysis:
+
+```shell
+mkdir build
+cd build
+cmake .. -DNO_STATIC_ANALYSIS=1
+make -j16
+```
+
+If you're facing obscure DSDL compilation issues, ensure you have Nunavut installed and unset `CYPHAL_PATH`.

cmake/compiler_flag_sets/default.cmake

@@ -32,6 +32,7 @@ list(APPEND C_FLAG_SET
                 "-Wswitch-enum"
                 "-Wtype-limits"
                 "-Wno-error=array-bounds"
+                "-Wno-error=attributes"
 )
 
 set(CXX_FLAG_SET ${C_FLAG_SET})

cmake/modules/Findcavl.cmake

@@ -0,0 +1,44 @@
+#
+# Copyright (C) OpenCyphal Development Team  <opencyphal.org>
+# Copyright Amazon.com Inc. or its affiliates.
+# SPDX-License-Identifier: MIT
+#
+
+include(FetchContent)
+set(cavl_GIT_REPOSITORY "https://github.com/pavel-kirienko/cavl")
+set(cavl_GIT_TAG "c-2.1.0")
+
+FetchContent_Declare(
+    cavl
+    GIT_REPOSITORY ${cavl_GIT_REPOSITORY}
+    GIT_TAG ${cavl_GIT_TAG}
+)
+
+# +--------------------------------------------------------------------------------------------------------------------+
+# Because we use FetchContent_Populate to specify a source directory other than the default we have
+# to manually manage the <lowercaseName>_POPULATED, <lowercaseName>_SOURCE_DIR, and <lowercaseName>_BINARY_DIR
+# variables normally set by this method.
+# See https://cmake.org/cmake/help/latest/module/FetchContent.html?highlight=fetchcontent#command:fetchcontent_populate
+# for more information.
+# This is not ideal, to copy-and-paste this code, but it is the only way to redirect fetch content to an in-source
+# directory. An upstream patch to cmake is needed to fix this.
+get_property(cavl_POPULATED GLOBAL PROPERTY cavl_POPULATED)
+if(NOT cavl_POPULATED)
+    cmake_path(APPEND CETLVAST_EXTERNAL_ROOT "cavl" OUTPUT_VARIABLE LOCAL_cavl_SOURCE_DIR)
+    if (NOT ${FETCHCONTENT_FULLY_DISCONNECTED})
+        FetchContent_Populate(
+            cavl
+            SOURCE_DIR      ${LOCAL_cavl_SOURCE_DIR}
+            GIT_REPOSITORY  ${cavl_GIT_REPOSITORY}
+            GIT_TAG         ${cavl_GIT_TAG}
+        )
+    else()
+        set(cavl_SOURCE_DIR ${LOCAL_cavl_SOURCE_DIR})
+    endif()
+    set_property(GLOBAL PROPERTY cavl_POPULATED true)
+endif()
+
+add_project_library(
+    NAME cavl2_c
+    HEADER_PATH "${cavl_SOURCE_DIR}/c"
+)

cmake/modules/Findcyphal.cmake

@@ -3,6 +3,7 @@
 if (NOT TARGET cyphal)
 
 include(ProjectLibrary)
+find_package(cavl REQUIRED)
 find_package(libcanard REQUIRED)
 find_package(libudpard REQUIRED)
 find_package(cetl REQUIRED)
@@ -23,23 +24,19 @@ add_project_library(
 )
 
 find_package(clangformat)
-
-if (clangformat_FOUND)
-
-# define a dry-run version that we always run.
-enable_clang_format_check_for_directory(
-    DIRECTORY ${LIBCYPHAL_INCLUDE}
-    GLOB_PATTERN "**/*.hpp"
-    ADD_TO_ALL
-)
-
-# provide an in-place format version as a helper that must be manually run.
-enable_clang_format_check_for_directory(
-    DIRECTORY ${LIBCYPHAL_INCLUDE}
-    GLOB_PATTERN "**/*.hpp"
-    FORMAT_IN_PLACE
-)
-
+if (clangformat_FOUND AND NOT NO_STATIC_ANALYSIS)
+    # define a dry-run version that we always run.
+    enable_clang_format_check_for_directory(
+        DIRECTORY ${LIBCYPHAL_INCLUDE}
+        GLOB_PATTERN "**/*.hpp"
+        ADD_TO_ALL
+    )
+    # provide an in-place format version as a helper that must be manually run.
+    enable_clang_format_check_for_directory(
+        DIRECTORY ${LIBCYPHAL_INCLUDE}
+        GLOB_PATTERN "**/*.hpp"
+        FORMAT_IN_PLACE
+    )
 endif()
 
 # +---------------------------------------------------------------------------+

cmake/modules/Findlibcanard.cmake

@@ -9,7 +9,7 @@
 include(FetchContent)
 
 set(libcanard_GIT_REPOSITORY "https://github.com/OpenCyphal/libcanard.git")
-set(libcanard_GIT_TAG "v4")
+set(libcanard_GIT_TAG "master")  # TODO: update to a release tag
 
 FetchContent_Declare(
     libcanard
@@ -73,5 +73,6 @@ add_project_library(
     STATIC
     FPIC
 )
+target_link_libraries(canard PRIVATE cavl2_c)
 
-endif()
+endif()

cmake/modules/Findlibudpard.cmake

@@ -9,7 +9,7 @@ include(FindPackageHandleStandardArgs)
 include(ProjectLibrary)
 
 set(libudpard_GIT_REPOSITORY "https://github.com/OpenCyphal-garage/libudpard.git")
-set(libudpard_GIT_TAG "v2")
+set(libudpard_GIT_TAG "main")  # TODO: update to a release tag
 
 FetchContent_Declare(
     libudpard

include/libcyphal/transport/can/can_transport_impl.hpp

@@ -337,7 +337,8 @@ class TransportImpl final : private TransportDelegate, public ICanTransport
                                                        static_cast<CanardMicrosecond>(deadline_us.count()),
                                                        &metadata,
                                                        {payload.size(), payload.data()},  // NOSONAR cpp:S5356
-                                                       static_cast<CanardMicrosecond>(now_us.count()));
+                                                       static_cast<CanardMicrosecond>(now_us.count()),
+                                                       &tx_frames_expired_);
 
             cetl::optional<AnyFailure> failure =
                 tryHandleTransientCanardResult<TransientErrorReport::CanardTxPush>(media, result);
@@ -691,7 +692,9 @@ class TransportImpl final : private TransportDelegate, public ICanTransport
                     auto* const frame_handler_ptr =
                         static_cast<decltype(frame_handler)*>(user_reference);  // NOSONAR cpp:S5356, cpp:S5357
                     return (*frame_handler_ptr)(deadline, *frame);
-                });
+                },
+                &tx_frames_expired_,
+                &tx_frames_failed_);
         }
 
         if ((result == 0) && (media.canard_tx_queue().size == 0))
@@ -781,6 +784,8 @@ class TransportImpl final : private TransportDelegate, public ICanTransport
     TransientErrorHandler                    transient_error_handler_;
     Callback::Any                            configure_filters_callback_;
     SessionTree<RxSessionTreeNode::Response> svc_response_rx_session_nodes_;
+    std::uint64_t                            tx_frames_expired_ = 0;
+    std::uint64_t                            tx_frames_failed_  = 0;
 
 };  // TransportImpl