add system module that publishes firmware info

CMakeLists.txt

@@ -73,4 +73,6 @@ if(NOT CMAKE_BUILD_TYPE)
     set(CMAKE_BUILD_TYPE Release)
 endif()
 
+include(${CMAKE_DIR}/full_firmware_info.cmake)
+
 add_subdirectory(${ROOT_DIR}/Src/platform/${APP_PLATFORM})

Src/applications/dronecan/CMakeLists.txt

@@ -8,6 +8,7 @@ cmake_path(GET APPLICATIONS_DIR PARENT_PATH SRC_DIR)
 add_definitions(-DCONFIG_USE_DRONECAN=1)
 
 include(${SRC_DIR}/modules/dronecan/core/CMakeLists.txt)
+include(${SRC_DIR}/modules/system/CMakeLists.txt)
 include(${SRC_DIR}/modules/dronecan/arming/CMakeLists.txt)
 include(${SRC_DIR}/modules/circuit_status/dronecan/CMakeLists.txt)
 include(${SRC_DIR}/modules/dronecan/feedback/CMakeLists.txt)

Src/modules/system/CMakeLists.txt

@@ -0,0 +1,15 @@
+# Copyright (C) 2023 Dmitry Ponomarev <[email protected]>
+# Distributed under the terms of the GPL v3 license, available in the file LICENSE.
+
+
+list(APPEND APPLICATION_HEADERS
+    ${CMAKE_CURRENT_LIST_DIR}
+)
+
+list(APPEND APPLICATION_SOURCES
+    ${CMAKE_CURRENT_LIST_DIR}/main.cpp
+)
+
+list(APPEND LIBPARAMS_PARAMS
+    ${CMAKE_CURRENT_LIST_DIR}/params.yaml
+)

Src/modules/system/main.cpp

@@ -0,0 +1,35 @@
+/**
+ * This program is free software under the GNU General Public License v3.
+ * See <https://www.gnu.org/licenses/> for details.
+ * Author: Dmitry Ponomarev <[email protected]>
+ */
+
+#include "modules/system/main.hpp"
+#include <storage.h>
+#include "can_driver.h"
+#include "common/algorithms.hpp"
+#include "params.hpp"
+#include "logger.hpp"
+
+static Logger logger = Logger("SYS");
+
+REGISTER_MODULE(SystemModule)
+
+void SystemModule::init() {
+    health = Status::OK;
+    need_notification = paramsGetIntegerValue(IntParamsIndexes::PARAM_LOG_LEVEL) <= 1;
+    mode = Module::Mode::STANDBY;
+}
+
+void SystemModule::spin_once() {
+    if (!need_notification || HAL_GetTick() < 1000) {
+        return;
+    }
+
+    need_notification = false;
+
+    // Maximum expected firmware full info size
+    constexpr size_t max_full_info_size = sizeof("Node v99.99.99_BADCOFFE RelWithDebInfo CLANG 999.999.999");
+    static_assert(sizeof(FIRMWARE_FULL_INFO) < max_full_info_size);
+    logger.log_info(FIRMWARE_FULL_INFO);
+}

Src/modules/system/main.hpp

@@ -0,0 +1,30 @@
+/**
+ * This program is free software under the GNU General Public License v3.
+ * See <https://www.gnu.org/licenses/> for details.
+ * Author: Dmitry Ponomarev <[email protected]>
+ */
+
+#ifndef SRC_MODULES_SYSTEM_HPP_
+#define SRC_MODULES_SYSTEM_HPP_
+
+#include "module.hpp"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+class SystemModule : public Module {
+public:
+    SystemModule() : Module(2, Protocol::DRONECAN) {}
+    void init() override;
+
+protected:
+    void spin_once() override;
+    bool need_notification{false};
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // SRC_MODULES_SYSTEM_HPP_

Src/modules/system/params.yaml

@@ -0,0 +1,15 @@
+system.log_level:
+  type: Integer
+  note:
+    "Log level. See [debug.LogLevel](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#loglevel) and [diagnostic.Severity](https://github.com/OpenCyphal/public_regulated_data_types/blob/master/uavcan/diagnostic/Severity.1.0.dsdl).
+    </br> 0 - Log everything (DEBUG, INFO, WARNING, ERROR)
+    </br> 1 - Log at least INFO level
+    </br> 2 - Log at least WARNING level
+    </br> 3 - Log at least ERROR level
+    </br> 4 - Disable logging
+    </br> By default 3 to show only realy important messages."
+  enum: PARAM_LOG_LEVEL
+  flags: mutable
+  default: 3
+  min: 0
+  max: 4

cmake/full_firmware_info.cmake

@@ -0,0 +1,8 @@
+# Copyright (C) 2023-2024 Dmitry Ponomarev <[email protected]>
+# Distributed under the terms of the GPL v3 license, available in the file LICENSE.
+
+if(NOT CMAKE_CXX_COMPILER_ID)
+    message(FATAL_ERROR "C++ compiler not set yet")
+endif()
+set(TOOLCHAIN_INFO "${CMAKE_CXX_COMPILER_ID} ${CMAKE_CXX_COMPILER_VERSION}")
+add_definitions(-DFIRMWARE_FULL_INFO="Node v${APP_VERSION_MAJOR}.${APP_VERSION_MINOR}.${APP_VERSION_PATCH}_${GIT_HASH_SHORT_8_DIGITS} ${CMAKE_BUILD_TYPE} ${TOOLCHAIN_INFO}")

cmake/git.cmake

@@ -1,12 +1,25 @@
 # Copyright (C) 2023-2024 Dmitry Ponomarev <[email protected]>
 # Distributed under the terms of the GPL v3 license, available in the file LICENSE.
 
+# Function to ensure a variable is within the range of 0 to 99
+function(check_version_component component_name component_value)
+    if(NOT ("${component_value}" MATCHES "^[0-9]+$"))
+        message(FATAL_ERROR "${component_name} must be an integer.")
+    endif()
+
+    if(${component_value} GREATER 99 OR ${component_value} LESS 0)
+        message(FATAL_ERROR "${component_name} must be between 0 and 99. Current value: ${component_value}")
+    endif()
+endfunction()
+
 execute_process(
     COMMAND git rev-parse --short=16 HEAD
     COMMAND_ERROR_IS_FATAL ANY
-    OUTPUT_VARIABLE GIT_HASH_SHORT
+    OUTPUT_VARIABLE GIT_HASH_SHORT_16_DIGITS
     OUTPUT_STRIP_TRAILING_WHITESPACE
 )
+string(SUBSTRING "${GIT_HASH_SHORT_16_DIGITS}" 0 8 GIT_HASH_SHORT_8_DIGITS)
+
 execute_process(
     COMMAND rl-git-info --major
     COMMAND_ERROR_IS_FATAL ANY
@@ -19,8 +32,21 @@ execute_process(
     OUTPUT_VARIABLE APP_VERSION_MINOR
     OUTPUT_STRIP_TRAILING_WHITESPACE
 )
+execute_process(
+    COMMAND rl-git-info --patch
+    COMMAND_ERROR_IS_FATAL ANY
+    OUTPUT_VARIABLE APP_VERSION_PATCH
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+
+# Check each version component
+check_version_component("APP_VERSION_MAJOR" ${APP_VERSION_MAJOR})
+check_version_component("APP_VERSION_MINOR" ${APP_VERSION_MINOR})
+check_version_component("APP_VERSION_PATCH" ${APP_VERSION_PATCH})
+
 add_definitions(-DAPP_VERSION_MAJOR=${APP_VERSION_MAJOR})
 add_definitions(-DAPP_VERSION_MINOR=${APP_VERSION_MINOR})
+add_definitions(-DAPP_VERSION_PATCH=${APP_VERSION_PATCH})
 
-set(GIT_HASH "0x${GIT_HASH_SHORT}")
+set(GIT_HASH "0x${GIT_HASH_SHORT_16_DIGITS}")
 add_definitions(-DGIT_HASH=${GIT_HASH})