fix: Adds missed updates from dev branches

README.md

@@ -16,9 +16,7 @@ It's also a hobby project that demonstrates [principles](https://github.com/cvil
 - A stubbornly strict [command line parser](./modules/common/conio/include/grape/conio/program_options.h)
 - A scalable [message-passing backend](./modules/common/ipc/README.md)
 - Minimal external dependencies
-- Dependence on the bleeding edge for development tools:
-  - Latest C++ language version
-  - Latest release of compilers (Clang and GCC) and build tools (CMake)
+- Uses newest available C++ language features
 
 ## Getting Started
 

docs/02_roadmap.md

@@ -24,17 +24,14 @@
 - zenoh video capture/display: https://github.com/eclipse-zenoh/zenoh-demos/tree/master/computer-vision/zcam
 - HW accelerated 3D graphics
   - Select scene description format: [USD](https://developer.nvidia.com/usd#nvidia), glTF with [physics extensions](https://github.com/eoineoineoin/glTF_Physics)
-  - Select a rendering backend: vsg, ogre, raylib, something else
+  - Select a scenegraph engine: vsg, ogre, raylib, something else
   - Implement a basic scenegraph example and check performance in MacOS and Linux VM
   - Implement scenegraph in our scripting language and have it render by the backend
 - Pin zenoh version to 1.0.0
   - Review zenohc and zenohcxx installation steps are correct in external/CMakeLists.txt.
   - Make sure static libs are built and installed when requested.
-- Pin SDL3 version to 3.x
-- Implement new zenoh features as examples
-  - matched pub/sub discovery
-  - Other new features: https://zenoh.io/blog/2024-04-30-zenoh-electrode/
-- Demonstrate hard realtime capability with Ubuntu 24.04 on X86 and RaspberryPi
+  - Implement new zenoh features as examples
+- Document how to configure Raspberry Pi5 with Ubuntu realtime kernel for low latency
   - https://ubuntu.com/blog/real-time-kernel-tuning
 
 ## Phase 4 - Refactor
@@ -47,8 +44,6 @@
   - Study Quill to understand how to reduce overhead even more
 - Refactor thread class out of realtime and put it in 'grape'
   - Insert logging to capture timer overruns in the loop
-- Study [SPSC FIFO](https://youtu.be/K3P_Lmq6pw0) and review [implementation](https://github.com/CharlesFrasch/cppcon2023)
-- Benchmark `FIFOBuffer` against [SPSC fifo](https://github.com/CharlesFrasch/cppcon2023) and improve performance where possible
 - `reinterpret_cast<uintptr_t>` from `const T*` and then modifying it later is undefined behaviour. Fix `probe::PinConfig::pin`. Consider `std::start_lifetime_as` instead.
 
 ## Phase 5 - CI
@@ -75,6 +70,8 @@
   - enum to string: Copy the general idea from here: <https://godbolt.org/z/6MxYznfbf>
   - consider magic_enum and other options and choose one
   - refactor existing `toString()` functions
+- Implement shared memory
+- Implement SPMC queue using externally provided memory (heap or shared memory)
 - HW IO
   - CANopen
   - joystick

docs/03_modern_cpp.md

@@ -3,8 +3,9 @@
 - Designated initialisers (C++20)
 - 3-way comparison (spaceship) operator (C++20)
 - Concepts (C++20)
-- std::expected (C++23)
-- std::print (C++23)
 - std::format (C++20)
 - std::span (C++20)
 - std::source_location (C++20)
+- std::ranges (C++20)
+- std::expected (C++23)
+- std::print (C++23)

external/third_party_versions.cmake

@@ -0,0 +1,12 @@
+# =================================================================================================
+# Copyright (C) 2024 GRAPE Contributors
+# =================================================================================================
+
+# List of all third-party dependency versions
+
+set(CATCH2_VERSION_REQUIRED     3.6.0)
+set(BENCHMARK_VERSION_REQUIRED  1.8.4)
+set(ZENOH_VERSION_REQUIRED      0.11.0)
+set(ZENOHC_VERSION_REQUIRED     ${ZENOH_VERSION_REQUIRED})
+set(ZENOHCXX_VERSION_REQUIRED   ${ZENOH_VERSION_REQUIRED})
+set(GLFW3_VERSION_REQUIRED      3.4)

modules/common/ipc/examples/CMakeLists.txt

@@ -150,4 +150,4 @@ define_module_example(
   NAME zenoh_attachment_sub
   SOURCES zenoh_attachment_sub.cpp examples_utils.h
   PUBLIC_INCLUDE_PATHS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include>
-  PUBLIC_LINK_LIBS grape::conio)
+  PUBLIC_LINK_LIBS grape::conio)

modules/common/realtime/tests/fifo_buffer_tests.cpp

@@ -26,17 +26,16 @@ TEST_CASE("Writes and reads are in FIFO order", "[FIFOBuffer]") {
   // write
   for (std::size_t i = 0; i < CONFIG.num_frames; ++i) {
     const auto test_data = std::vector<std::byte>(CONFIG.frame_length, static_cast<std::byte>(i));
-    REQUIRE(buffer.visitToWrite([&test_data](std::span<std::byte> frame) {
-      std::copy(test_data.begin(), test_data.end(), frame.begin());
-    }));
+    REQUIRE(buffer.visitToWrite(
+        [&test_data](std::span<std::byte> frame) { std::ranges::copy(test_data, frame.begin()); }));
     REQUIRE(buffer.count() == i + 1);
   }
 
   // read
   for (std::size_t i = 0; i < CONFIG.num_frames; ++i) {
     std::vector<std::byte> read_data(CONFIG.frame_length, static_cast<std::byte>(0xff));
     REQUIRE(buffer.visitToRead([&read_data](std::span<const std::byte> frame) {
-      std::copy(frame.begin(), frame.end(), read_data.begin());
+      std::ranges::copy(frame, read_data.begin());
     }));
     REQUIRE(buffer.count() == CONFIG.num_frames - i - 1);
     REQUIRE(std::vector<std::byte>(CONFIG.frame_length, static_cast<std::byte>(i)) == read_data);

modules/probe/controller/src/controller.cpp

@@ -55,11 +55,11 @@ auto PinConfig::sort() -> std::vector<Signal>::const_iterator {
   };
 
   // sort for locality and faster access to signals later on
-  std::sort(signals_.begin(), signals_.end(), sort_by_role_and_address);
+  std::ranges::sort(signals_, sort_by_role_and_address);
 
   // return the location of first controllable
-  return std::find_if(signals_.begin(), signals_.end(),
-                      [](const Signal& s) { return s.role == Signal::Role::Control; });
+  return std::ranges::find_if(signals_,
+                              [](const Signal& s) { return s.role == Signal::Role::Control; });
 }
 
 //-------------------------------------------------------------------------------------------------

modules/probe/controller/tests/tests.cpp

@@ -34,7 +34,7 @@ TEST_CASE("[Controller is configured correctly]", "[controller]") {
     return ((a.role == b.role) ? (a.address < b.address) : (a.role == Signal::Role::Watch));
   };
 
-  CHECK(std::is_sorted(signals.begin(), signals.end(), sort_predicate));
+  CHECK(std::ranges::is_sorted(signals, sort_predicate));
   CHECK(std::all_of(controllables_start, signals.end(),
                     [r = Role::Control](const auto& s) { return s.role == r; }));
   CHECK(std::all_of(signals.begin(), controllables_start,