Merge branch 'develop' into master

Author: johandc

.github/workflows/build-test.yml

@@ -1,7 +1,7 @@
 name: Build and Test
 on: [push, pull_request]
 jobs:
-  run-test:
+  run-tests:
     strategy:
       fail-fast: false
       matrix:
@@ -49,7 +49,21 @@ jobs:
           CXX: ${{ matrix.compiler.CXX }}
         run: python3 ./examples/buildall.py ${{ matrix.arch }} --build-system=${{ matrix.buildsystem }}
 
-      - name: Run Tests
+      - name: Run Loopback Test
         run: |
           ./build/examples/csp_arch
           ./build/examples/csp_server_client -t
+
+      - name: Run ZMQ Client Test
+        run: |
+          ./build/examples/zmqproxy &
+          ./build/examples/csp_server -z localhost -a 1 -t &
+          ./build/examples/csp_client -z localhost -a 2 -C 1 -t
+          pkill zmqproxy
+
+      - name: Run ZMQ Server Test
+        run: |
+          ./build/examples/zmqproxy &
+          ./build/examples/csp_client -z localhost -a 2 -C 1 -t &
+          ./build/examples/csp_server -z localhost -a 1 -t
+          pkill zmqproxy

.github/workflows/develop-build-sphinx-docs.yml

@@ -0,0 +1,34 @@
+name: Sphinx Docs Build
+
+on:
+  push:
+    branches:
+      - develop
+jobs:
+  build-docs:
+    if: github.repository_owner == 'libcsp'
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout the repository
+        uses: actions/checkout@v4
+
+      - name: Setup packages on Linux
+        if: ${{ runner.os == 'Linux' }}
+        working-directory: ./doc
+        run: |
+          sudo apt install libclang-dev
+          pip3 install -r requirements.txt
+
+      - name: Build
+        run: |
+          cmake -B build-docs -S doc
+          cmake --build build-docs
+
+      - name: Deploy
+        uses: peaceiris/actions-gh-pages@v3
+        if: ${{ github.event_name == 'push' }}
+        with:
+          publish_branch: gh-pages
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: ./build-docs/html
+          force_orphan: true

.gitignore

@@ -23,3 +23,4 @@ GPATH
 GRTAGS
 GTAGS
 .vscode/
+build-docs

CMakeLists.txt

@@ -33,6 +33,7 @@ option(CSP_USE_RDP "Reliable Datagram Protocol" ON)
 option(CSP_USE_HMAC "Hash-based message authentication code" ON)
 option(CSP_USE_PROMISC "Promiscious mode" ON)
 option(CSP_USE_DEDUP "Packet deduplication" ON)
+option(CSP_USE_RTABLE "Use routing table" OFF)
 
 option(CSP_ENABLE_PYTHON3_BINDINGS "Build Python3 binding" OFF)
 
@@ -52,13 +53,34 @@ if(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND
   find_package(Threads REQUIRED)
   find_package(PkgConfig)
 
-  pkg_search_module(LIBZMQ libzmq)
-  pkg_search_module(LIBSOCKETCAN libsocketcan)
+  if(PKG_CONFIG_FOUND)
+    pkg_search_module(LIBZMQ libzmq)
+    if(${LIBZMQ_FOUND})
+      message(STATUS "Found ${LIBZMQ_LINK_LIBRARIES} ${LIBZMQ_VERSION}")
+      set(CSP_HAVE_LIBZMQ 1)
+    else()
+      message(NOTICE "No libzmq found")
+    endif()
+
+    pkg_search_module(LIBSOCKETCAN libsocketcan)
+    if(${LIBSOCKETCAN_FOUND})
+      message(STATUS "Found ${LIBSOCKETCAN_LINK_LIBRARIES} ${LIBSOCKETCAN_VERSION}")
+      set(CSP_HAVE_LIBSOCKETCAN 1)
+    else()
+      message(NOTICE "No libsocketcan found")
+    endif()
+  else()
+    message(NOTICE "No pkg-config found")
+  endif()
 endif()
 
 file(REAL_PATH include csp_inc)
+file(REAL_PATH src csp_inc_src)
 list(APPEND csp_inc ${CMAKE_CURRENT_BINARY_DIR}/include)
-target_include_directories(csp PUBLIC ${csp_inc})
+target_include_directories(csp
+  PUBLIC ${csp_inc}
+  PRIVATE ${csp_inc_src}
+)
 
 if(CSP_POSIX)
   set(CSP_C_ARGS -Wshadow -Wcast-align -Wwrite-strings -Wno-unused-parameter)

README.md

@@ -10,12 +10,11 @@ MAC-layer interfaces. The core of `libcsp`
 includes a router, a connection oriented socket API and
 message/connection pools.
 
-The protocol is based on a 32-bit header containing both transport and
+The protocol is based on an very lightweight header containing both transport and
 network-layer information. Its implementation is designed for, but not
-limited to, embedded systems such as the 8-bit AVR microprocessor and
-the 32-bit ARM and AVR from Atmel. The implementation is written in GNU
-C and is currently ported to run on FreeRTOS, Linux (POSIX).
-The primiary platforms being used are FreeRTOS and Linux.
+limited to, embedded systems with very limited CPU and memory resources.
+The implementation is written in GNU C and is currently ported to run on FreeRTOS, Zephyr 
+and Linux (POSIX).
 
 The idea is to give sub-system developers of cubesats the same features
 of a TCP/IP stack, but without adding the huge overhead of the IP
@@ -27,7 +26,7 @@ several advantages compared to the traditional mater/slave topology used
 on many cubesats.
 
   - Standardised network protocol: All subsystems can communicate with
-    eachother
+    eachother (multi-master)
   - Service loose coupling: Services maintain a relationship that
     minimizes dependencies between subsystems
   - Service abstraction: Beyond descriptions in the service contract,
@@ -44,8 +43,6 @@ The implementation of `libcsp` is written
 with simplicity in mind, but it's compile time configuration allows it
 to have some rather advanced features as well.
 
-You can find documentation of the library [here](doc/libcsp.md).
-
 ## Features
 
   - Thread safe Socket API
@@ -57,11 +54,15 @@ You can find documentation of the library [here](doc/libcsp.md).
   - Very Small Footprint in regards to code and memory required
   - Zero-copy buffer and queue system
   - Modular network interface system
-  - OS abstraction, currently ported to: FreeRTOS, Linux (POSIX)
-    and Windows
+  - OS abstraction, currently ported to: FreeRTOS, Zephyr, Linux
   - Broadcast traffic
   - Promiscuous mode
-  - Truncated HMAC-SHA1 Authentication (RFC 2104)
+
+## Documentation
+
+The latest version of the /doc folder is compiled to HTML and hosted on:
+
+  [libcsp.github.io/libcsp/](https://libcsp.github.io/libcsp/)
 
 ## Software license
 

contrib/zephyr/CMakeLists.txt

@@ -9,6 +9,14 @@ if(CONFIG_LIBCSP)
   # predefine it
   set(HAVE_SYS_SOCKET_H OFF)
 
+  if(CONFIG_CSP_USE_RTABLE)
+    set(CSP_USE_RTABLE ON)
+  endif()
+
+  if(CONFIG_CSP_HAVE_CAN)
+    set(HAVE_ZEPHYR_CAN ON)
+  endif()
+
   add_subdirectory(../.. build)
 
   zephyr_interface_library_named(libcsp)

contrib/zephyr/Kconfig

@@ -30,4 +30,43 @@ config APP_LINK_WITH_LIBCSP
 	help
 	  Add libcsp header files to the 'app' include path.
 
+config CSP_USE_RTABLE
+	bool "Use CSP static routing table"
+	help
+	  This option enables to use the CSP static routing table
+
+if CAN
+
+config CSP_HAVE_CAN
+	bool "Enable CAN driver for CSP"
+	default y
+	help
+	  This option enables the CAN driver for CSP.
+
+config CSP_CAN_RX_MSGQ_DEPTH
+	int "Depth of the message queue in the CSP CAN Driver."
+	default 64
+	help
+	  Depth of the message queue in the CSP CAN Driver.
+
+config CSP_CAN_RX_THREAD_PRIORITY
+	int "RX Thread priority in the CSP CAN Driver"
+	default -1
+	help
+	  CSP RX Thread priority in the CSP CAN Driver
+
+config CSP_CAN_RX_THREAD_STACK_SIZE
+	int "RX Thread stack size in the CSP CAN Driver"
+	default 512
+	help
+	  RX Thread stack size in the CSP CAN Driver
+
+config CSP_CAN_RX_THREAD_NUM
+	int "Number of thread stacks for CSP RX"
+	default 1
+	help
+	  Number of thread stacks for CSP RX
+
+endif # CAN
+
 endif # LIBCSP

contrib/zephyr/samples/arch/prj.conf

@@ -2,7 +2,8 @@ CONFIG_LIBCSP=y
 CONFIG_LIBCSP_HAVE_STDIO=y
 CONFIG_LIBCSP_LOG_LEVEL_DBG=y
 
-CONFIG_MINIMAL_LIBC_RAND=y
+CONFIG_PICOLIBC=y
+
 CONFIG_LOG=y
-CONFIG_LOG2_MODE_DEFERRED=y
+CONFIG_LOG_MODE_DEFERRED=y
 CONFIG_LOG_SPEED=y

contrib/zephyr/samples/server-client/csp_server_client_zephyr.c

@@ -4,9 +4,9 @@
 void server(void);
 void client(void);
 
-#define ROUTER_STACK_SIZE 200
-#define SERVER_STACK_SIZE 400
-#define CLIENT_STACK_SIZE 400
+#define ROUTER_STACK_SIZE 256
+#define SERVER_STACK_SIZE 1024
+#define CLIENT_STACK_SIZE 1024
 #define ROUTER_PRIO 0
 #define SERVER_PRIO 0
 #define CLIENT_PRIO 0