From 9e12a64e956da2729dfab4c5ab3ec8069db1352b Mon Sep 17 00:00:00 2001
From: Rui Rocha <rui.rocha@ctw.bmwgroup.com>
Date: Mon, 27 Jan 2025 12:31:09 +0000
Subject: [PATCH] feat: better structure
---
.devcontainer/devcontainer.json | 3 +-
com-middleware/BUILD | 7 +--
com-middleware/{ => src}/can/BUILD | 6 +--
com-middleware/{ => src}/can/CanDriver.cpp | 19 +++++--
com-middleware/{ => src}/can/CanDriver.hpp | 17 +++++--
com-middleware/src/can/ICanDriver.hpp | 25 +++++++++
com-middleware/{ => src}/exceptions/BUILD | 0
.../exceptions/CanCloseException.hpp | 2 +-
.../{ => src}/exceptions/CanInitException.hpp | 2 +-
com-middleware/{ => src}/main.cpp | 51 ++++++++++---------
com-middleware/src/mq/BUILD | 10 ++++
com-middleware/src/mq/IMQPublisher.hpp | 28 ++++++++++
com-middleware/src/mq/IMQSubscriber.hpp | 27 ++++++++++
com-middleware/src/mq/ZeroMQPublisher.cpp | 29 +++++++++++
com-middleware/src/mq/ZeroMQPublisher.hpp | 34 +++++++++++++
com-middleware/src/mq/ZeroMQSubscriber.cpp | 19 +++++++
com-middleware/src/mq/ZeroMQSubscriber.hpp | 35 +++++++++++++
17 files changed, 271 insertions(+), 43 deletions(-)
rename com-middleware/{ => src}/can/BUILD (53%)
rename com-middleware/{ => src}/can/CanDriver.cpp (79%)
rename com-middleware/{ => src}/can/CanDriver.hpp (59%)
create mode 100644 com-middleware/src/can/ICanDriver.hpp
rename com-middleware/{ => src}/exceptions/BUILD (100%)
rename com-middleware/{ => src}/exceptions/CanCloseException.hpp (92%)
rename com-middleware/{ => src}/exceptions/CanInitException.hpp (93%)
rename com-middleware/{ => src}/main.cpp (65%)
create mode 100644 com-middleware/src/mq/BUILD
create mode 100644 com-middleware/src/mq/IMQPublisher.hpp
create mode 100644 com-middleware/src/mq/IMQSubscriber.hpp
create mode 100644 com-middleware/src/mq/ZeroMQPublisher.cpp
create mode 100644 com-middleware/src/mq/ZeroMQPublisher.hpp
create mode 100644 com-middleware/src/mq/ZeroMQSubscriber.cpp
create mode 100644 com-middleware/src/mq/ZeroMQSubscriber.hpp
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 6331d00b..f9647189 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -19,7 +19,8 @@
"xaver.clang-format",
"BazelBuild.vscode-bazel",
"llvm-vs-code-extensions.vscode-clangd",
- "ms-azuretools.vscode-docker"
+ "ms-azuretools.vscode-docker",
+ "cschlosser.doxdocgen"
],
"settings": {
"remote.autoForwardPorts": false
diff --git a/com-middleware/BUILD b/com-middleware/BUILD
index d0f61154..8106915e 100644
--- a/com-middleware/BUILD
+++ b/com-middleware/BUILD
@@ -1,13 +1,14 @@
cc_binary(
name = "bin",
- srcs = ["main.cpp"],
+ srcs = ["src/main.cpp"],
features = ["warnings_critical_code_gcc"],
linkopts = [
"-lzmq",
],
deps = [
- "//com-middleware/can",
- "//com-middleware/exceptions",
+ "//com-middleware/src/can",
+ "//com-middleware/src/exceptions",
+ "//com-middleware/src/mq",
"@cppzmq",
],
)
diff --git a/com-middleware/can/BUILD b/com-middleware/src/can/BUILD
similarity index 53%
rename from com-middleware/can/BUILD
rename to com-middleware/src/can/BUILD
index e80a6630..e542ac06 100644
--- a/com-middleware/can/BUILD
+++ b/com-middleware/src/can/BUILD
@@ -1,8 +1,8 @@
cc_library(
name = "can",
- srcs = ["CanDriver.cpp"],
- hdrs = ["CanDriver.hpp"],
+ srcs = glob(["*.cpp"]),
+ hdrs = glob(["*.hpp"]),
features = ["warnings_critical_code_gcc"],
visibility = ["//visibility:public"],
- deps = ["//com-middleware/exceptions"],
+ deps = ["//com-middleware/src/exceptions"],
)
diff --git a/com-middleware/can/CanDriver.cpp b/com-middleware/src/can/CanDriver.cpp
similarity index 79%
rename from com-middleware/can/CanDriver.cpp
rename to com-middleware/src/can/CanDriver.cpp
index 3404f5bc..60726ba2 100644
--- a/com-middleware/can/CanDriver.cpp
+++ b/com-middleware/src/can/CanDriver.cpp
@@ -9,8 +9,8 @@
#include <cstring>
#include <iostream>
-#include "com-middleware/exceptions/CanCloseException.hpp"
-#include "com-middleware/exceptions/CanInitException.hpp"
+#include "com-middleware/src/exceptions/CanCloseException.hpp"
+#include "com-middleware/src/exceptions/CanInitException.hpp"
namespace candriver {
@@ -19,6 +19,14 @@ CanDriver::CanDriver(std::string can_interface, int32_t timeout_s)
initializeCan();
};
+CanDriver::~CanDriver() {
+ try {
+ uninitializeCan();
+ } catch (const std::exception &exception) {
+ std::cout << exception.what() << "\n";
+ }
+};
+
void CanDriver::initializeCan() {
if (m_canInterface.empty()) {
throw exceptions::CanInitException("Can interface is empty");
@@ -38,6 +46,7 @@ void CanDriver::initializeCan() {
// Setting the can interface
strcpy(ifr.ifr_name, m_canInterface.c_str());
// To determine the interface index an appropriate ioctl() has to be used (0 for all)
+ // NOLINTNEXTLINE(cppcoreguidelines-pro-type-vararg)
ioctl(m_can_socket_fd, SIOCGIFINDEX, &ifr);
memset(&addr, 0, sizeof(addr));
@@ -63,7 +72,7 @@ void CanDriver::uninitializeCan() const {
}
}
-auto CanDriver::readMessage(void *buffer) const -> int32_t {
- return static_cast<int32_t>(read(m_can_socket_fd, buffer, sizeof(struct can_frame)));
+auto CanDriver::receive(can_frame *frame) const -> int32_t {
+ return static_cast<int32_t>(::read(m_can_socket_fd, frame, sizeof(can_frame)));
}
-} // namespace candriver
\ No newline at end of file
+} // namespace candriver
diff --git a/com-middleware/can/CanDriver.hpp b/com-middleware/src/can/CanDriver.hpp
similarity index 59%
rename from com-middleware/can/CanDriver.hpp
rename to com-middleware/src/can/CanDriver.hpp
index a4931314..0380a236 100644
--- a/com-middleware/can/CanDriver.hpp
+++ b/com-middleware/src/can/CanDriver.hpp
@@ -1,11 +1,15 @@
#ifndef CAN_DRIVER_HPP
#define CAN_DRIVER_HPP
+#include <linux/can.h>
+
#include <string>
+#include "ICanDriver.hpp"
+
namespace candriver {
-class CanDriver {
+class CanDriver : public ICanDriver {
private:
std::string m_canInterface;
int32_t m_timeout_s;
@@ -13,7 +17,12 @@ class CanDriver {
public:
CanDriver(std::string can_interface, int32_t timeout_s);
- virtual ~CanDriver() noexcept(false) { uninitializeCan(); }
+ ~CanDriver() override;
+ CanDriver() = delete;
+ CanDriver(const CanDriver&) = default;
+ auto operator=(const CanDriver&) -> CanDriver& = default;
+ CanDriver(CanDriver&&) = default;
+ auto operator=(CanDriver&&) -> CanDriver& = default;
private:
/**
@@ -28,8 +37,8 @@ class CanDriver {
void uninitializeCan() const;
public:
- auto readMessage(void* buffer) const -> int32_t;
+ auto receive(can_frame* frame) const -> int32_t override;
};
} // namespace candriver
-#endif
\ No newline at end of file
+#endif
diff --git a/com-middleware/src/can/ICanDriver.hpp b/com-middleware/src/can/ICanDriver.hpp
new file mode 100644
index 00000000..6a286ddf
--- /dev/null
+++ b/com-middleware/src/can/ICanDriver.hpp
@@ -0,0 +1,25 @@
+#include <linux/can.h>
+
+#include <cstdint>
+
+/**
+ * @brief Asbtracts the Linux CAN Socket logic
+ *
+ */
+class ICanDriver {
+ public:
+ ICanDriver() = default;
+ ICanDriver(const ICanDriver&) = default;
+ auto operator=(const ICanDriver&) -> ICanDriver& = default;
+ ICanDriver(ICanDriver&&) = default;
+ auto operator=(ICanDriver&&) -> ICanDriver& = default;
+ virtual ~ICanDriver() = default;
+
+ /**
+ * @brief Receives CAN message
+ *
+ * @param frame CAN frame
+ * @return int32_t number of bytes received
+ */
+ virtual auto receive(can_frame* frame) const -> int32_t = 0;
+};
diff --git a/com-middleware/exceptions/BUILD b/com-middleware/src/exceptions/BUILD
similarity index 100%
rename from com-middleware/exceptions/BUILD
rename to com-middleware/src/exceptions/BUILD
diff --git a/com-middleware/exceptions/CanCloseException.hpp b/com-middleware/src/exceptions/CanCloseException.hpp
similarity index 92%
rename from com-middleware/exceptions/CanCloseException.hpp
rename to com-middleware/src/exceptions/CanCloseException.hpp
index 432d5b8a..74b80dd8 100644
--- a/com-middleware/exceptions/CanCloseException.hpp
+++ b/com-middleware/src/exceptions/CanCloseException.hpp
@@ -25,4 +25,4 @@ class CanCloseException : public exception {
} // namespace candriver::exceptions
-#endif // CAN_DRIVER_EXCEPTIONS_CANCLOSEEXCEPTION_HPP
\ No newline at end of file
+#endif // CAN_DRIVER_EXCEPTIONS_CANCLOSEEXCEPTION_HPP
diff --git a/com-middleware/exceptions/CanInitException.hpp b/com-middleware/src/exceptions/CanInitException.hpp
similarity index 93%
rename from com-middleware/exceptions/CanInitException.hpp
rename to com-middleware/src/exceptions/CanInitException.hpp
index 04025a96..52d67edc 100644
--- a/com-middleware/exceptions/CanInitException.hpp
+++ b/com-middleware/src/exceptions/CanInitException.hpp
@@ -25,4 +25,4 @@ class CanInitException : public exception {
} // namespace candriver::exceptions
-#endif // CAN_DRIVER_EXCEPTIONS_CANINITEXCEPTION_HPP
\ No newline at end of file
+#endif // CAN_DRIVER_EXCEPTIONS_CANINITEXCEPTION_HPP
diff --git a/com-middleware/main.cpp b/com-middleware/src/main.cpp
similarity index 65%
rename from com-middleware/main.cpp
rename to com-middleware/src/main.cpp
index 2c8dfe7a..abc17a18 100644
--- a/com-middleware/main.cpp
+++ b/com-middleware/src/main.cpp
@@ -14,28 +14,30 @@
#include <zmq.hpp>
#include "can/CanDriver.hpp"
+#include "mq/ZeroMQPublisher.hpp"
namespace {
// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
volatile std::sig_atomic_t interrupted{0};
} // namespace
-void signal_handler(int signum) {
+void signalHandler(int signum) {
(void)signum; // ignore unused variable
interrupted = 1;
}
-void catch_signals() {
- (void)std::signal(SIGINT, signal_handler);
- (void)std::signal(SIGTERM, signal_handler);
- (void)std::signal(SIGSEGV, signal_handler);
- (void)std::signal(SIGABRT, signal_handler);
+void catchSignals() {
+ (void)std::signal(SIGINT, signalHandler);
+ (void)std::signal(SIGTERM, signalHandler);
+ (void)std::signal(SIGSEGV, signalHandler);
+ (void)std::signal(SIGABRT, signalHandler);
}
auto main(int argc, char **argv) -> int {
int opt{};
std::string interface = "can0";
+ // NOLINTNEXTLINE(concurrency-mt-unsafe)
while ((opt = getopt(argc, argv, "i:")) != -1) { // "i:" means -i takes an argument
switch (opt) {
case 'i':
@@ -52,25 +54,28 @@ auto main(int argc, char **argv) -> int {
std::unique_ptr<candriver::CanDriver> can;
try {
can = std::make_unique<candriver::CanDriver>(interface, 5);
- } catch (const std::exception &myCustomException) {
- std::cout << myCustomException.what() << std::endl;
+ } catch (const std::exception &exception) {
+ std::cout << exception.what() << "\n";
return 1;
}
struct can_frame frame {}; // Classical can frame
- int32_t numBytes{};
+ int32_t num_bytes{};
+
// Connect to zmq
- zmq::context_t ctx(1);
- zmq::socket_t publisher(ctx, zmq::socket_type::pub);
- publisher.bind("ipc:///tmp/speed.ipc");
+ zmq::context_t context(1);
+ std::unique_ptr<zmq::socket_t> pub_socket =
+ std::make_unique<zmq::socket_t>(context, zmq::socket_type::pub);
+ mq::ZeroMQPublisher publisher{std::move(pub_socket)};
+ publisher.subscribe("ipc:///tmp/speed.ipc");
- catch_signals();
+ catchSignals();
while (true) {
- numBytes = can->readMessage(&frame);
+ num_bytes = can->receive(&frame);
- if (numBytes < 0) {
+ if (num_bytes < 0) {
if (errno == EINTR) {
- std::cout << "interrupt received, exiting gracefully..." << std::endl;
+ std::cout << "interrupt received, exiting gracefully..." << "\n";
break;
}
if (errno != EAGAIN) {
@@ -81,19 +86,21 @@ auto main(int argc, char **argv) -> int {
// The len element contains the payload length in bytes and should be used instead of
// can_dlc
+ // NOLINTNEXTLINE(cppcoreguidelines-pro-type-vararg)
printf("0x%03X [%d] ", frame.can_id, frame.len);
for (int i = 0; i < frame.len; i++) {
+ // NOLINTNEXTLINE(cppcoreguidelines-pro-type-vararg)
std::cout << printf("%02X ", frame.data[i]);
}
std::cout << "\n";
- zmq::message_t msg{static_cast<size_t>(numBytes)};
- memcpy(msg.data(), frame.data, static_cast<size_t>(numBytes));
+ std::vector<uint8_t> message(frame.len);
+ memcpy(message.data(), frame.data, static_cast<size_t>(num_bytes));
try {
- publisher.send(msg, zmq::send_flags::none);
+ publisher.publish(message);
} catch (zmq::error_t &e) {
std::cout << "interrupt received, proceeding...\n";
}
@@ -104,11 +111,5 @@ auto main(int argc, char **argv) -> int {
}
}
- // Closing ZeroMQ
- std::cout << "Closing publisher\n";
- publisher.close();
- std::cout << "Closing context\n";
- ctx.close();
-
return 0;
}
diff --git a/com-middleware/src/mq/BUILD b/com-middleware/src/mq/BUILD
new file mode 100644
index 00000000..1bc3a734
--- /dev/null
+++ b/com-middleware/src/mq/BUILD
@@ -0,0 +1,10 @@
+cc_library(
+ name = "mq",
+ srcs = glob(["*.cpp"]),
+ hdrs = glob(["*.hpp"]),
+ features = ["warnings_critical_code_gcc"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "@cppzmq",
+ ],
+)
diff --git a/com-middleware/src/mq/IMQPublisher.hpp b/com-middleware/src/mq/IMQPublisher.hpp
new file mode 100644
index 00000000..d01fe15d
--- /dev/null
+++ b/com-middleware/src/mq/IMQPublisher.hpp
@@ -0,0 +1,28 @@
+#ifndef MQ_PUBLISHER_HPP
+#define MQ_PUBLISHER_HPP
+
+#include <cstdint>
+#include <string>
+#include <vector>
+
+namespace mq {
+
+class IMQPublisher {
+ protected:
+ // Constructors
+ IMQPublisher() = default;
+ IMQPublisher(const IMQPublisher&) = default;
+ IMQPublisher(IMQPublisher&&) = default;
+
+ // Asignment operators
+ auto operator=(const IMQPublisher&) -> IMQPublisher& = default;
+ auto operator=(IMQPublisher&&) -> IMQPublisher& = default;
+
+ public:
+ virtual ~IMQPublisher() = default;
+ virtual void subscribe(const std::string& topic) = 0;
+ virtual auto publish(const std::vector<uint8_t>& data) -> bool = 0;
+};
+} // namespace mq
+
+#endif
diff --git a/com-middleware/src/mq/IMQSubscriber.hpp b/com-middleware/src/mq/IMQSubscriber.hpp
new file mode 100644
index 00000000..37bf3508
--- /dev/null
+++ b/com-middleware/src/mq/IMQSubscriber.hpp
@@ -0,0 +1,27 @@
+#ifndef MQ_SUBSCRIBER_HPP
+#define MQ_SUBSCRIBER_HPP
+
+#include <string>
+#include <vector>
+
+namespace mq {
+
+class IMQSubscriber {
+ protected:
+ // Constructors
+ IMQSubscriber() = default;
+ IMQSubscriber(const IMQSubscriber&) = default;
+ IMQSubscriber(IMQSubscriber&&) = default;
+
+ // Asignment operators
+ auto operator=(const IMQSubscriber&) -> IMQSubscriber& = default;
+ auto operator=(IMQSubscriber&&) -> IMQSubscriber& = default;
+
+ public:
+ virtual ~IMQSubscriber() = 0;
+ virtual void subscribe(const std::string& topic) = 0;
+ virtual auto receive() -> std::vector<uint8_t> = 0;
+};
+} // namespace mq
+
+#endif
diff --git a/com-middleware/src/mq/ZeroMQPublisher.cpp b/com-middleware/src/mq/ZeroMQPublisher.cpp
new file mode 100644
index 00000000..83b215a0
--- /dev/null
+++ b/com-middleware/src/mq/ZeroMQPublisher.cpp
@@ -0,0 +1,29 @@
+#include "ZeroMQPublisher.hpp"
+
+#include <iostream>
+
+namespace mq {
+ZeroMQPublisher::ZeroMQPublisher(std::unique_ptr<zmq::socket_t> socket)
+ : m_socket(std::move(socket)) {};
+
+ZeroMQPublisher::~ZeroMQPublisher() {
+ if (m_socket) {
+ std::cout << "Closing publisher\n";
+ m_socket->close();
+ }
+}
+
+void ZeroMQPublisher::subscribe(const std::string& topic) { m_socket->bind(topic); }
+
+auto ZeroMQPublisher::publish(const std::vector<uint8_t>& data) -> bool {
+ zmq::message_t msg(data.size());
+ memcpy(msg.data(), data.data(), data.size());
+ std::cout << m_socket.get() << "\n";
+ zmq::send_result_t res = m_socket->send(msg, zmq::send_flags::none);
+ if (res.has_value()) {
+ std::cout << "!sent\n";
+ return true;
+ }
+ return false;
+}
+} // namespace mq
diff --git a/com-middleware/src/mq/ZeroMQPublisher.hpp b/com-middleware/src/mq/ZeroMQPublisher.hpp
new file mode 100644
index 00000000..455eb3bc
--- /dev/null
+++ b/com-middleware/src/mq/ZeroMQPublisher.hpp
@@ -0,0 +1,34 @@
+#ifndef ZERO_MQ_PUBLISHER_HPP
+#define ZERO_MQ_PUBLISHER_HPP
+
+#include <memory>
+#include <string>
+#include <zmq.hpp>
+
+#include "IMQPublisher.hpp"
+
+namespace mq {
+
+class ZeroMQPublisher : public IMQPublisher {
+ protected:
+ // Constructors
+ ZeroMQPublisher() = default;
+ ZeroMQPublisher(ZeroMQPublisher&&) = default;
+
+ // Asignment operators
+ auto operator=(ZeroMQPublisher&&) -> ZeroMQPublisher& = default;
+
+ public:
+ virtual ~ZeroMQPublisher() override;
+ explicit ZeroMQPublisher(std::unique_ptr<zmq::socket_t> socket);
+ ZeroMQPublisher(const ZeroMQPublisher&) = delete;
+ auto operator=(const ZeroMQPublisher&) -> ZeroMQPublisher& = delete;
+ void subscribe(const std::string& topic) override;
+ auto publish(const std::vector<uint8_t>& data) -> bool override;
+
+ private:
+ std::unique_ptr<zmq::socket_t> m_socket;
+};
+} // namespace mq
+
+#endif
diff --git a/com-middleware/src/mq/ZeroMQSubscriber.cpp b/com-middleware/src/mq/ZeroMQSubscriber.cpp
new file mode 100644
index 00000000..457ee2a9
--- /dev/null
+++ b/com-middleware/src/mq/ZeroMQSubscriber.cpp
@@ -0,0 +1,19 @@
+#include "ZeroMQSubscriber.hpp"
+
+namespace mq {
+ZeroMQSubscriber::ZeroMQSubscriber(const std::shared_ptr<zmq::context_t>& context)
+ : m_context(context), m_socket(*context, zmq::socket_type::sub) {};
+
+void ZeroMQSubscriber::subscribe(const std::string& topic) { m_socket.bind(topic); }
+
+auto ZeroMQSubscriber::receive() -> std::vector<uint8_t> {
+ zmq::message_t msg;
+ if (!m_socket.recv(msg, zmq::recv_flags::none)) {
+ return {};
+ }
+
+ std::vector<uint8_t> data(msg.size());
+ memcpy(data.data(), msg.data(), msg.size());
+ return data;
+}
+} // namespace mq
diff --git a/com-middleware/src/mq/ZeroMQSubscriber.hpp b/com-middleware/src/mq/ZeroMQSubscriber.hpp
new file mode 100644
index 00000000..6c28bc9a
--- /dev/null
+++ b/com-middleware/src/mq/ZeroMQSubscriber.hpp
@@ -0,0 +1,35 @@
+#ifndef ZERO_MQ_SUBSCRIBER_HPP
+#define ZERO_MQ_SUBSCRIBER_HPP
+
+#include <memory>
+#include <string>
+#include <zmq.hpp>
+
+#include "IMQSubscriber.hpp"
+
+namespace mq {
+
+class ZeroMQSubscriber : public IMQSubscriber {
+ protected:
+ // Constructors
+ ZeroMQSubscriber() = default;
+ ZeroMQSubscriber(ZeroMQSubscriber&&) = default;
+
+ // Asignment operators
+ auto operator=(ZeroMQSubscriber&&) -> ZeroMQSubscriber& = default;
+
+ public:
+ ~ZeroMQSubscriber();
+ explicit ZeroMQSubscriber(const std::shared_ptr<zmq::context_t>& context);
+ ZeroMQSubscriber(const ZeroMQSubscriber&) = delete;
+ auto operator=(const ZeroMQSubscriber&) -> ZeroMQSubscriber& = delete;
+ void subscribe(const std::string& topic) override;
+ auto receive() -> std::vector<uint8_t> override;
+
+ private:
+ std::shared_ptr<zmq::context_t> m_context;
+ zmq::socket_t m_socket;
+};
+} // namespace mq
+
+#endif