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librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.28)
+project(librmcs_wrapper VERSION 3 LANGUAGES C CXX)
+set(LIBRMCS_PROJECT_VERSION "3.0.1-0.dev.4.gbaf538b")
+set(LIBRMCS_DEBIAN_VERSION "3.0.1~0.dev.4.gbaf538b")
+add_subdirectory(host)

librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/CMakePresets.json

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+{
+    "version": 4,
+    "include": [
+        "host/CMakePresets.json"
+    ]
+}

librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/include/librmcs/data/datas.hpp

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+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+#include <span>
+
+namespace librmcs::data {
+
+enum class DataId : uint8_t {
+    kExtend = 0,
+
+    kGpio = 1,
+
+    kCan0 = 2,
+    kCan1 = 3,
+    kCan2 = 4,
+    kCan3 = 5,
+    kCan4 = 6,
+    kCan5 = 7,
+    kCan6 = 8,
+    kCan7 = 9,
+
+    kUartDbus = 10,
+    kUart0 = 11,
+    kUart1 = 12,
+    kUart2 = 13,
+    kUart3 = 14,
+
+    kImu = 15,
+};
+
+struct CanDataView {
+    uint32_t can_id;
+    std::span<const std::byte> can_data;
+    bool is_fdcan = false;
+    bool is_extended_can_id = false;
+    bool is_remote_transmission = false;
+};
+
+struct UartDataView {
+    std::span<const std::byte> uart_data;
+    bool idle_delimited = false;
+};
+
+struct GpioDigitalDataView {
+    uint8_t channel;
+    bool high;
+};
+
+struct GpioAnalogDataView {
+    uint8_t channel;
+    uint16_t value;
+};
+
+struct GpioReadConfigView {
+    uint8_t channel;
+    uint16_t period_ms = 0;
+    bool asap = false;
+    bool rising_edge = false;
+    bool falling_edge = false;
+};
+
+struct AccelerometerDataView {
+    int16_t x;
+    int16_t y;
+    int16_t z;
+};
+
+struct GyroscopeDataView {
+    int16_t x;
+    int16_t y;
+    int16_t z;
+};
+
+class DataCallback {
+public:
+    DataCallback() = default;
+    DataCallback(const DataCallback&) = delete;
+    DataCallback& operator=(const DataCallback&) = delete;
+    DataCallback(DataCallback&&) = delete;
+    DataCallback& operator=(DataCallback&&) = delete;
+    virtual ~DataCallback() = default;
+
+    // `*_receive_callback` returns `true` if id is valid
+    virtual bool can_receive_callback(DataId id, const CanDataView& data) = 0;
+
+    virtual bool uart_receive_callback(DataId id, const UartDataView& data) = 0;
+
+    virtual void gpio_digital_read_result_callback(const GpioDigitalDataView& data) = 0;
+
+    virtual void gpio_analog_read_result_callback(const GpioAnalogDataView& data) = 0;
+
+    virtual void accelerometer_receive_callback(const AccelerometerDataView& data) = 0;
+
+    virtual void gyroscope_receive_callback(const GyroscopeDataView& data) = 0;
+};
+
+} // namespace librmcs::data

librmcs-sdk-src-3.0.1-0.dev.4.gbaf538b/core/setup-clangd

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+#!/usr/bin/env sh
+set -eu
+
+usage() {
+    cat <<'EOF'
+Usage: setup-clangd <path>
+Creates symlinks in core/:
+    .clangd -> ../<path>/.clangd
+    compile_commands.json -> ../<path>/build/compile_commands.json
+
+Example: setup-clangd firmware/rmcs_board
+EOF
+}
+
+if [ "$#" -ne 1 ]; then
+    usage
+    exit 1
+fi
+
+core_dir=$(CDPATH='' cd -- "$(dirname -- "$0")" && pwd)
+root_dir=$(CDPATH='' cd -- "$core_dir/.." && pwd)
+target="$root_dir/$1"
+
+if [ ! -d "$target" ]; then
+    echo "Error: directory '$1' does not exist." >&2
+    exit 1
+fi
+
+link_clangd="$core_dir/.clangd"
+link_compile="$core_dir/compile_commands.json"
+
+for link in "$link_clangd" "$link_compile"; do
+    if [ -L "$link" ]; then
+        rm -f "$link"
+    elif [ -e "$link" ]; then
+        echo "Error: $link exists and is not a symlink." >&2
+        exit 1
+    fi
+done
+
+(
+    cd "$core_dir"
+    ln -s "../$1/.clangd" .clangd
+    ln -s "../$1/build/compile_commands.json" compile_commands.json
+)