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pavel-kirienkocoderkalyan
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Libcanard v2.0 (#182)
* Drop canard_dsdl, use Nunavut instead * Upgrade CI to LLVM 13 * Actualize license headers * Support redundant transmission queues and use more consistent public field naming * Ditch the deprecated canardRxAccept(), rename canardRxAccept2() * Refactor the API to eliminate the need to cast away const qualifiers; fixes #175 * Tighten up memory checking in the test suite -- add canaries * Fix race condition in the roundtrip test * Do not use Catch2 macros from non-main thread because it is not thread-safe * Support CANARD_CONFIG_HEADER * CI: add style_check job * Use AVL tree in the transmission queue * Remove all linked lists * Reduce indirection, pointer casts, and memory footprint by exposing the AVL tree in the public API * Disable C++-specific warnings as they make no sense for a C library * Add table-based CRC option (#186) * CI: disable SonarCloud on forks * Add docker utilities (#187) * Add acceptance filter configuration helpers (#171) Co-authored-by: Kalyan Sriram <coder.kalyan@gmail.com>
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‎.github/workflows/main.yml

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name: Main Workflow
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on:
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push:
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branches: [ master ]
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pull_request:
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branches: [ master, actions ]
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on: [push, pull_request]
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env:
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# Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
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BUILD_TYPE: Release
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LLVM_VERSION: 13
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jobs:
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debug:
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env:
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BUILD_TYPE: Debug
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runs-on: ubuntu-latest
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strategy:
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matrix:
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toolchain: ['clang', 'gcc']
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include:
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- toolchain: gcc
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c-compiler: gcc
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cxx-compiler: g++
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- toolchain: clang
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c-compiler: clang-11
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cxx-compiler: clang++-11
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steps:
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- uses: actions/checkout@v2
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- name: Install Dependencies
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run: sudo apt install gcc-multilib g++-multilib clang-tidy-11 clang-format-11
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- name: Configure CMake
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run: cmake -B ${{ github.workspace }}/build -DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} -DCMAKE_C_COMPILER=${{ matrix.c-compiler }} -DCMAKE_CXX_COMPILER=${{ matrix.cxx-compiler }} tests
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- name: Build
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working-directory: ${{github.workspace}}/build
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run: make VERBOSE=1
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- name: Test
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working-directory: ${{github.workspace}}/build
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run: make test
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release:
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env:
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BUILD_TYPE: Release
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runs-on: ubuntu-latest
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strategy:
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matrix:
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toolchain: ['clang', 'gcc']
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c-compiler: gcc
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cxx-compiler: g++
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- toolchain: clang
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c-compiler: clang-11
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cxx-compiler: clang++-11
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c-compiler: clang
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cxx-compiler: clang++
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steps:
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- uses: actions/checkout@v2
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- name: Install Dependencies
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run: sudo apt install gcc-multilib g++-multilib
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- name: Configure CMake
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run: cmake -B ${{ github.workspace }}/build -DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} -DCMAKE_C_COMPILER=${{ matrix.c-compiler }} -DCMAKE_CXX_COMPILER=${{ matrix.cxx-compiler }} -DNO_STATIC_ANALYSIS=1 tests
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- name: Build
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working-directory: ${{github.workspace}}/build
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run: make VERBOSE=1
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- name: Test
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working-directory: ${{github.workspace}}/build
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run: make test
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minsizerel:
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env:
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BUILD_TYPE: MinSizeRel
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- run: |
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wget https://apt.llvm.org/llvm.sh
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chmod +x llvm.sh
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sudo ./llvm.sh $LLVM_VERSION
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sudo apt-get -y install gcc-multilib g++-multilib clang-tidy-$LLVM_VERSION
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sudo update-alternatives --install /usr/bin/clang-tidy clang-tidy /usr/bin/clang-tidy-$LLVM_VERSION 50
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clang-tidy --version
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- run: >
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cmake
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-B ${{ github.workspace }}/build
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-DCMAKE_BUILD_TYPE=Debug
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-DCMAKE_C_COMPILER=${{ matrix.c-compiler }}
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-DCMAKE_CXX_COMPILER=${{ matrix.cxx-compiler }}
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tests
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- working-directory: ${{github.workspace}}/build
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run: |
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make VERBOSE=1
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make test
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- uses: actions/upload-artifact@v2
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if: always()
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with:
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name: ${{github.job}}
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path: ${{github.workspace}}/**/*
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retention-days: 2
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optimizations:
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runs-on: ubuntu-latest
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strategy:
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matrix:
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toolchain: ['clang', 'gcc']
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build_type: [Release, MinSizeRel]
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include:
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- toolchain: gcc
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c-compiler: gcc
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cxx-compiler: g++
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- toolchain: clang
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c-compiler: clang-11
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cxx-compiler: clang++-11
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c-compiler: clang
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cxx-compiler: clang++
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steps:
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- uses: actions/checkout@v2
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- name: Install Dependencies
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run: sudo apt install gcc-multilib g++-multilib
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- name: Configure CMake
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run: cmake -B ${{ github.workspace }}/build -DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} -DCMAKE_C_COMPILER=${{ matrix.c-compiler }} -DCMAKE_CXX_COMPILER=${{ matrix.cxx-compiler }} -DNO_STATIC_ANALYSIS=1 tests
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- name: Build
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working-directory: ${{github.workspace}}/build
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run: make VERBOSE=1
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- name: Test
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working-directory: ${{github.workspace}}/build
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run: make test
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- run: sudo apt install gcc-multilib g++-multilib
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- run: >
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cmake
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-B ${{ github.workspace }}/build
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-DCMAKE_BUILD_TYPE=${{ matrix.build_type }}
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-DCMAKE_C_COMPILER=${{ matrix.c-compiler }}
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-DCMAKE_CXX_COMPILER=${{ matrix.cxx-compiler }}
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-DNO_STATIC_ANALYSIS=1
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tests
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- working-directory: ${{github.workspace}}/build
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run: |
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make VERBOSE=1
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make test
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- uses: actions/upload-artifact@v2
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if: always()
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with:
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name: ${{github.job}}
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path: ${{github.workspace}}/**/*
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retention-days: 2
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avr:
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runs-on: ubuntu-latest
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env:
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mcu: at90can64
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flags: -Wall -Wextra -Werror -pedantic -Wconversion -Wtype-limits
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steps:
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- uses: actions/checkout@v2
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- run: |
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sudo apt install gcc-avr avr-libc
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avr-gcc --version
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- run: avr-gcc libcanard/*.c -c -std=c99 -mmcu=${{ env.mcu }} ${{ env.flags }}
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- run: avr-gcc libcanard/*.c -c -std=c11 -mmcu=${{ env.mcu }} ${{ env.flags }}
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- run: avr-gcc libcanard/*.c -c -std=gnu99 -mmcu=${{ env.mcu }} ${{ env.flags }}
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- run: avr-gcc libcanard/*.c -c -std=gnu11 -mmcu=${{ env.mcu }} ${{ env.flags }}
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style_check:
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- uses: actions/checkout@v2
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- name: Install Dependencies
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run: sudo apt install gcc-avr avr-libc
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- name: Build C99
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run: avr-gcc libcanard/*.c -c -std=c99 -mmcu=${{ env.mcu }} ${{ env.flags }}
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- name: Build C11
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run: avr-gcc libcanard/*.c -c -std=c11 -mmcu=${{ env.mcu }} ${{ env.flags }}
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- name: Build GNU99
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run: avr-gcc libcanard/*.c -c -std=gnu99 -mmcu=${{ env.mcu }} ${{ env.flags }}
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- name: Build GNU11
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run: avr-gcc libcanard/*.c -c -std=gnu11 -mmcu=${{ env.mcu }} ${{ env.flags }}
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- uses: DoozyX/clang-format-lint-action@v0.13
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with:
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source: './libcanard ./tests'
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exclude: './tests/catch'
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extensions: 'c,h,cpp,hpp'
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clangFormatVersion: ${{ env.LLVM_VERSION }}
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sonarcloud:
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runs-on: ubuntu-latest
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env:
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SONAR_SCANNER_VERSION: 4.6.1.2450
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SONAR_SERVER_URL: "https://sonarcloud.io"
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BUILD_WRAPPER_OUT_DIR: build_wrapper_output_directory
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
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SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
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with:
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- name: Install Dependencies
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run: sudo apt install gcc-multilib g++-multilib
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- name: Set up JDK 11
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- name: Set up JDK
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uses: actions/setup-java@v1
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with:
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SONAR_SCANNER_DOWNLOAD_URL: https://binaries.sonarsource.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-${{ env.SONAR_SCANNER_VERSION }}-linux.zip
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run: |
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mkdir -p $HOME/.sonar
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curl -sSLo $HOME/.sonar/sonar-scanner.zip ${{ env.SONAR_SCANNER_DOWNLOAD_URL }}
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curl -sSLo $HOME/.sonar/sonar-scanner.zip ${{ env.SONAR_SCANNER_DOWNLOAD_URL }}
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unzip -o $HOME/.sonar/sonar-scanner.zip -d $HOME/.sonar/
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echo "$HOME/.sonar/sonar-scanner-${{ env.SONAR_SCANNER_VERSION }}-linux/bin" >> $GITHUB_PATH
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cmake tests -DCMAKE_BUILD_TYPE=Debug -DNO_STATIC_ANALYSIS=1 -DCMAKE_C_FLAGS='-DNDEBUG=1'
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build-wrapper-linux-x86-64 --out-dir ${{ env.BUILD_WRAPPER_OUT_DIR }} make all
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make test
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gcov-10 --preserve-paths --long-file-names $(find CMakeFiles/test_private_cov.dir -name '*.gcno')
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gcov-10 --preserve-paths --long-file-names $(find CMakeFiles/test_private_le_cov.dir -name '*.gcno')
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gcov-10 --preserve-paths --long-file-names $(find CMakeFiles/test_public_cov.dir -name '*.gcno')
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gcov --preserve-paths --long-file-names $(find CMakeFiles/test_private_cov.dir -name '*.gcno')
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gcov --preserve-paths --long-file-names $(find CMakeFiles/test_public_cov.dir -name '*.gcno')
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run: |
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sonar-scanner --define sonar.host.url="${{ env.SONAR_SERVER_URL }}" --define sonar.cfamily.build-wrapper-output="${{ env.BUILD_WRAPPER_OUT_DIR }}" --define sonar.login=${{ secrets.SONAR_TOKEN }}
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# Don't run sonar-scanner on builds originating from forks due to secrets not being available
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run: >
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[ -z "$SONAR_TOKEN" ] || sonar-scanner
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--define sonar.organization=uavcan
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--define sonar.projectName=libcanard
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--define sonar.projectKey=libcanard
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--define sonar.sources=libcanard
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--define sonar.exclusions=libcanard/cavl.h
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--define sonar.cfamily.gcov.reportsPath=.
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--define sonar.cfamily.cache.enabled=false
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--define sonar.cfamily.threads=2
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--define sonar.cfamily.build-wrapper-output="${{ env.BUILD_WRAPPER_OUT_DIR }}"
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--define sonar.host.url="${{ env.SONAR_SERVER_URL }}"
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- uses: actions/upload-artifact@v2
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if: always()
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with:
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name: ${{github.job}}
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path: ${{github.workspace}}/**/*
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retention-days: 2

‎.gitignore

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!**/.idea/dictionaries
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!**/.idea/dictionaries/*
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# Generated files
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dsdlc_generated/
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# Pycache
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__pycache__/

‎.idea/dictionaries/pavel.xml

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Some generated files are not rendered by default. Learn more about customizing how changed files appear on GitHub.

‎CONTRIBUTING.md

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The implementation shall be fully compliant with the UAVCAN/CAN specification.
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The implementation and the API should be kept simple.
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The core library `canard.c` (that is, excluding the optional DSDL presentation layer extension) shall never become
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larger than 1000 logical lines of code.
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This restriction ensures that the library is kept simple and easy to validate and verify.
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There will be no high-level abstractions -- if that is desired, other implementations of UAVCAN should be used.
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The library is intended for deeply embedded systems where the resources may be scarce.
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## Tools
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The following tools are required to conduct library development locally:
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The following tools are required to conduct library development locally
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(check the CI workflow files for the required versions):
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- GCC v10 or newer.
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- Clang and Clang-Tools v11 or newer.
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- CMake v3.12 or newer.
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- An AMD64 machine.
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- GCC
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- Clang and Clang-Tools
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- CMake
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- An AMD64 machine
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### Clang-Tidy
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the ARM Cortex M series and AVR in an emulator.
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As a high-integrity library, the Libcanard test suite should provide full test coverage for all commonly used platforms.
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**WARNING:**
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[Catch2 is NOT thread-safe!](https://github.com/catchorg/Catch2/blob/1e379de9d7522b294e201700dcbb36d4f8037301/docs/limitations.md#thread-safe-assertions)
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Never use `REQUIRE` etc. anywhere but the main thread.
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## Releasing
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Simply create a new release on GitHub: <https://github.com/UAVCAN/libcanard/releases/new>

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