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pavel-kirienkopavel-kirienko
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fixes
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‎README.md‎

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@@ -68,7 +68,7 @@ standards-compliant C99 compiler is available.
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### v3.0 -- WORK IN PROGRESS
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The library has been redesigned from scratch to support Cyphal v1.1, named topics, and reliable transfers.
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The library has been redesigned from scratch to support Cyphal v1.1 and named topics.
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No porting guide is provided since the changes are too significant;
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please refer to the new API docs in `libudpard/udpard.h`.
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‎libudpard/udpard.c‎

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@@ -1672,7 +1672,10 @@ static void rx_session_update(rx_session_t* const self,
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UDPARD_ASSERT(upd_res == rx_slot_incomplete);
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}
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}
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} // Here we used to have ACK retransmission, which has been removed -- no more reliable transfers.
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} else {
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// The transfer has been seen before, so just release this duplicate payload.
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mem_free_payload(payload_deleter, frame->base.origin);
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}
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}
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/// The stateful strategy maintains a dedicated session per remote node, indexed in a fast AVL tree.

‎tests/src/helpers.h‎

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@@ -64,14 +64,111 @@ static inline udpard_bytes_scattered_t make_scattered(const void* const data, co
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return out;
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}
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// Wraps an application pointer for user context plumbing.
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// Legacy compatibility user context (removed from public API).
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typedef union
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{
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void* ptr[2];
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unsigned char bytes[sizeof(void*) * 2];
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} udpard_user_context_t;
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#ifdef __cplusplus
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#define UDPARD_USER_CONTEXT_NULL \
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udpard_user_context_t {}
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#else
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#define UDPARD_USER_CONTEXT_NULL ((udpard_user_context_t){ .ptr = { NULL } })
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#endif
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// Legacy compatibility feedback payload (reliable TX removed from public API).
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typedef struct
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{
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udpard_user_context_t user;
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uint16_t acknowledgements;
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} udpard_tx_feedback_t;
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// Wraps an application pointer for legacy user context plumbing.
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static inline udpard_user_context_t make_user_context(void* const obj)
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{
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udpard_user_context_t out = UDPARD_USER_CONTEXT_NULL;
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out.ptr[0] = obj;
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return out;
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}
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// Calls the current public TX push API directly.
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static inline bool udpard_tx_push_native(udpard_tx_t* const self,
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const udpard_us_t now,
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const udpard_us_t deadline,
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const uint16_t iface_bitmap,
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const udpard_prio_t priority,
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const uint64_t transfer_id,
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const udpard_udpip_ep_t endpoint,
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const udpard_bytes_scattered_t payload,
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void* const user)
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{
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return udpard_tx_push(self, now, deadline, iface_bitmap, priority, transfer_id, endpoint, payload, user);
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}
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// Calls the current public TX P2P push API directly.
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static inline bool udpard_tx_push_p2p_native(udpard_tx_t* const self,
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const udpard_us_t now,
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const udpard_us_t deadline,
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const udpard_prio_t priority,
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const udpard_udpip_ep_t endpoints[UDPARD_IFACE_COUNT_MAX],
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const udpard_bytes_scattered_t payload,
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void* const user)
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{
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return udpard_tx_push_p2p(self, now, deadline, priority, endpoints, payload, user);
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}
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// Calls the current public RX constructor directly.
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static inline void udpard_rx_new_native(udpard_rx_t* const self) { udpard_rx_new(self); }
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// Maps legacy subject push API to the new endpoint-based API.
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static inline bool udpard_tx_push_compat(udpard_tx_t* const self,
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const udpard_us_t now,
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const udpard_us_t deadline,
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const uint16_t iface_bitmap,
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const udpard_prio_t priority,
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const uint64_t transfer_id,
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const udpard_bytes_scattered_t payload,
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void (*const feedback)(udpard_tx_t*, udpard_tx_feedback_t),
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const udpard_user_context_t user)
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{
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(void)feedback;
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return udpard_tx_push_native(
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self, now, deadline, iface_bitmap, priority, transfer_id, udpard_make_subject_endpoint(0U), payload, user.ptr[0]);
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}
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// Maps legacy P2P push API to the new endpoint-array API.
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static inline bool udpard_tx_push_p2p_compat(udpard_tx_t* const self,
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const udpard_us_t now,
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const udpard_us_t deadline,
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const udpard_prio_t priority,
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const udpard_remote_t remote,
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const udpard_bytes_scattered_t payload,
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void (*const feedback)(udpard_tx_t*, udpard_tx_feedback_t),
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const udpard_user_context_t user,
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uint64_t* const out_transfer_id)
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{
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(void)feedback;
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const uint64_t tid = (self != NULL) ? self->p2p_transfer_id : 0U;
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const bool ok = udpard_tx_push_p2p_native(self, now, deadline, priority, remote.endpoints, payload, user.ptr[0]);
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if (ok && (out_transfer_id != NULL)) {
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*out_transfer_id = tid;
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}
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return ok;
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}
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// Maps legacy RX constructor API to the new standalone constructor.
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static inline void udpard_rx_new_compat(udpard_rx_t* const self, udpard_tx_t* const tx)
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{
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(void)tx;
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udpard_rx_new_native(self);
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}
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// Remap legacy symbol names used by old tests.
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#define udpard_tx_push udpard_tx_push_compat
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#define udpard_tx_push_p2p udpard_tx_push_p2p_compat
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#define udpard_rx_new udpard_rx_new_compat
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/// The instrumented allocator tracks memory consumption, checks for heap corruption, and can be configured to fail
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/// allocations above a certain threshold.
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#define INSTRUMENTED_ALLOCATOR_CANARY_SIZE 1024U

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