feat: implement cymon-lib — DSDL protocol, C++ device API, gtest suite, CI pipeline by Copilot · Pull Request #1 · Tecnologic/cymon-lib

Copilot · 2026-05-19T21:05:02Z

- Add DSDL types: Variable, TriggerMode, GetVariableList, GetBufferInfo, SetupCapture, ArmTrigger, ReadSamples, TriggerEvent - Add include/cymon/{config,trigger,sample_buffer,device}.hpp headers - Add src/cymon/{trigger,sample_buffer,device}.cpp implementations - Add CMakeLists.txt with gtest-based tests (FetchContent v1.14.0) - Add cmake/nunavut.cmake for optional DSDL code generation - Add .clang-format (Google style, 80 col) and .clang-tidy config - Add .github/workflows/ci.yml with build/test/format/tidy steps - Update README.md with CI badge, features, protocol table, build docs - Update .gitignore with generated/ directory All 33 tests pass; clang-format clean. Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> Co-authored-by: Tecnologic <1442404+Tecnologic@users.noreply.github.com>

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> Co-authored-by: Tecnologic <1442404+Tecnologic@users.noreply.github.com>

…eline Agent-Logs-Url: https://github.com/Tecnologic/cymon-lib/sessions/9806afcf-6a40-46e7-acd8-dceea43a9108 Co-authored-by: Tecnologic <1442404+Tecnologic@users.noreply.github.com>

Tecnologic · 2026-05-19T21:06:55Z

@@ -0,0 +1,3 @@
+---
+BasedOnStyle: Google
+ColumnLimit: 80


@copilot Change to 140.

Done — changed to ColumnLimit: 140 in 6c923af. All C++ source files were also reformatted with the new limit.

Tecnologic · 2026-05-19T21:11:32Z

+---
+uint32 buffer_bytes
+uint8 max_channels
+uint16 max_samples_per_channel


@copilot how this should be calculated? Max samples for 1 active channel differs from max samples for 8 active channels

Good catch. The field was renamed to max_frames (6c923af) and is now calculated as buffer_bytes / sizeof(float) — the maximum frame depth with a single channel. The monitor divides by its planned channel count to get the actual depth: max_frames_for_N = max_frames / N. That way the DSDL response is independent of the current configuration, and the monitor can plan any channel count it likes.

Tecnologic · 2026-05-19T21:13:08Z

+uint16 index
+---
+uint8 id
+cymon.Variable.1.0 variable


@copilot is cymon variable used only here? If yes remove the type definition an add all values directly here

cymon.Variable.1.0 was only used here. Variable.1.0.dsdl has been deleted and its two fields (name, unit) are now inline in GetVariableList.1.0.dsdl (6c923af).

Tecnologic · 2026-05-19T21:14:29Z

+
+# Paged read-out of captured samples.
+
+uint16 frame_offset


@wahts the purpose of this offset

frame_offset is the page index for paged read-out. A CAN-FD payload is limited, so a single ReadSamples response carries only a few frames at a time (max_frames). The monitor fetches the full capture by incrementing the offset: first call with frame_offset=0 returns frames 0…N-1, next call with frame_offset=N returns frames N…2N-1, and so on. The end_of_data flag tells the monitor when it has received the last page. A comment has been added to the DSDL field in 6c923af.

Tecnologic · 2026-05-19T21:15:39Z

+bool triggered
+bool end_of_data
+uint8 num_channels
+uint8[<=16] channel_ids


Why sending the channel IDs. They are known to the monitor node because it did the setup

channel_ids has been removed from the response in 6c923af. The monitor already knows which channels it configured, so echoing them back was redundant.

…le, remove channel_ids, max_frames) Agent-Logs-Url: https://github.com/Tecnologic/cymon-lib/sessions/b9b89e2e-4b92-4b01-a818-196f76d7d4cf Co-authored-by: Tecnologic <1442404+Tecnologic@users.noreply.github.com>

Copilot

Pull request overview

Implements the initial cymon-lib C++17 device-side library and its Cyphal-facing DSDL protocol, including a gtest-based test suite and CI pipeline to build/test and enforce clang-format/clang-tidy.

Changes:

Added core library components: Trigger, SampleBuffer, and Device APIs + implementations.
Introduced unregulated DSDL service/message definitions for variable enumeration and capture (setup/arm/read/trigger event).
Added gtest suite + CMake integration and GitHub Actions CI for build/test/format/tidy.

Reviewed changes

Copilot reviewed 24 out of 25 changed files in this pull request and generated 5 comments.

Show a summary per file

File	Description
`src/cymon/trigger.cpp`	Implements trigger evaluation state machine (rising/falling/hysteresis).
`include/cymon/trigger.hpp`	Public trigger API/types.
`src/cymon/sample_buffer.cpp`	Implements circular pre/post-trigger capture buffer and paged reads.
`include/cymon/sample_buffer.hpp`	Public sample buffer API and fixed-size storage definition.
`src/cymon/device.cpp`	Implements the high-level device API and capture/trigger service handlers.
`include/cymon/device.hpp`	Public `Device` API, configs, and response structures.
`include/cymon/config.hpp`	Compile-time limits for buffer/vars/channels/read paging.
`tests/test_trigger.cpp`	Unit tests for trigger modes and arming/disarming semantics.
`tests/test_sample_buffer.cpp`	Unit tests for buffer setup, trigger flow, and readout behavior.
`tests/test_device.cpp`	Unit tests covering variable registry and capture/trigger/read handlers.
`tests/CMakeLists.txt`	Fetches GoogleTest and wires up test target discovery.
`dsdl/cymon/GetVariableList.1.0.dsdl`	DSDL iterator-style variable enumeration service.
`dsdl/cymon/GetBufferInfo.1.0.dsdl`	DSDL service for reporting capture buffer limits.
`dsdl/cymon/SetupCapture.1.0.dsdl`	DSDL capture configuration service.
`dsdl/cymon/ArmTrigger.1.0.dsdl`	DSDL trigger arm/disarm service.
`dsdl/cymon/ReadSamples.1.0.dsdl`	DSDL paged interleaved sample readout service.
`dsdl/cymon/TriggerMode.1.0.dsdl`	DSDL enum for trigger mode selection.
`dsdl/cymon/TriggerEvent.1.0.dsdl`	DSDL broadcast message for trigger events.
`CMakeLists.txt`	Top-level library build, optional nunavut generation, and test toggle.
`cmake/nunavut.cmake`	CMake helper to generate C++ types from DSDL using nunavut.
`.github/workflows/ci.yml`	CI pipeline to build, test, and run format/tidy checks.
`.clang-format`	clang-format configuration (Google-based).
`.clang-tidy`	clang-tidy configuration (bugprone/google/modernize/performance/readability).
`.gitignore`	Ignores generated artifacts (incl. nunavut output dir).
`README.md`	Project overview, protocol summary, build instructions, and integration snippet.

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Tecnologic · 2026-05-19T22:13:10Z

+  resp.num_samples = static_cast<uint8_t>(static_cast<std::size_t>(frames_read) * ch);
+
+  const uint16_t total = buffer_.num_samples();
+  resp.end_of_data = (static_cast<uint32_t>(frame_offset) + frames_read >= total) || buffer_.IsComplete();


@copilot add this

Fixed in e1dc38b. end_of_data is now set purely from frame_offset + frames_read >= total, removing the || buffer_.IsComplete() that incorrectly terminated paging at the end of the first read. A new test HandleReadSamples_EndOfData_PagingIsCorrect verifies a 6-frame capture read in two 3-frame pages: first page returns end_of_data = false, second returns end_of_data = true.

Tecnologic · 2026-05-19T22:16:36Z

+
+namespace cymon {
+
+Device::Device() = default;
+
+void Device::set_actual_sample_period_us(float us) { actual_sample_period_us_ = us; }
+
+bool Device::RegisterVariable(std::string_view name, std::string_view unit, std::function<float()> getter) {
+  if (var_count_ >= static_cast<uint8_t>(kMaxVars)) {


@copilot make 255 a hard limit. To ensure no one gets past it

Done in c12dad5. config.hpp now has static_assert(kMaxVars <= 255U, ...) immediately after the constant, so overriding CYMON_MAX_VARS above 255 is a compile error. The unsafe static_cast<uint8_t>(kMaxVars) in RegisterVariable() has also been removed — the direct comparison var_count_ >= kMaxVars is now safe since the assert guarantees the value fits.

…fig error code Agent-Logs-Url: https://github.com/Tecnologic/cymon-lib/sessions/283d72b1-50b1-4da3-98c8-a41bee013996 Co-authored-by: Tecnologic <1442404+Tecnologic@users.noreply.github.com>

…a paging logic Agent-Logs-Url: https://github.com/Tecnologic/cymon-lib/sessions/f3b01c04-d66a-448a-b0fd-762d712e7795 Co-authored-by: Tecnologic <1442404+Tecnologic@users.noreply.github.com>

…ls=8 with CYMON_MAX_CHANNELS override Agent-Logs-Url: https://github.com/Tecnologic/cymon-lib/sessions/801a3240-6068-428b-a551-5bbd5212769b Co-authored-by: Tecnologic <1442404+Tecnologic@users.noreply.github.com>

Copilot AI and others added 3 commits May 19, 2026 19:43

docs: fix spelling Licence -> License in README

f53fd2c

Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> Co-authored-by: Tecnologic <1442404+Tecnologic@users.noreply.github.com>

feat: implement cymon-lib — DSDL, C++ device API, gtest suite, CI pip…

75b826a

…eline Agent-Logs-Url: https://github.com/Tecnologic/cymon-lib/sessions/9806afcf-6a40-46e7-acd8-dceea43a9108 Co-authored-by: Tecnologic <1442404+Tecnologic@users.noreply.github.com>

Copilot AI assigned Copilot and Tecnologic May 19, 2026

Copilot created this pull request from a session on behalf of Tecnologic May 19, 2026 21:05 View session

Tecnologic requested changes May 19, 2026

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Copilot started work on behalf of Tecnologic May 19, 2026 21:28 View session

refactor: address PR review comments (column limit 140, inline Variab…

6c923af

…le, remove channel_ids, max_frames) Agent-Logs-Url: https://github.com/Tecnologic/cymon-lib/sessions/b9b89e2e-4b92-4b01-a818-196f76d7d4cf Co-authored-by: Tecnologic <1442404+Tecnologic@users.noreply.github.com>

Copilot finished work on behalf of Tecnologic May 19, 2026 21:33

Copilot AI requested a review from Tecnologic May 19, 2026 21:33

Tecnologic approved these changes May 19, 2026

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Tecnologic marked this pull request as ready for review May 19, 2026 22:05

Tecnologic requested a review from Copilot May 19, 2026 22:05

Copilot started reviewing on behalf of Tecnologic May 19, 2026 22:06 View session

Copilot AI reviewed May 19, 2026

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Copilot started work on behalf of Tecnologic May 19, 2026 22:12 View session

fix: add num_channels bounds check in HandleSetupCapture; add kBadCon…

dc92a33

…fig error code Agent-Logs-Url: https://github.com/Tecnologic/cymon-lib/sessions/283d72b1-50b1-4da3-98c8-a41bee013996 Co-authored-by: Tecnologic <1442404+Tecnologic@users.noreply.github.com>

Copilot finished work on behalf of Tecnologic May 19, 2026 22:14

Copilot AI requested a review from Tecnologic May 19, 2026 22:14

Copilot started work on behalf of Tecnologic May 19, 2026 22:15 View session

fix: snapshot written_before_trigger_ in SampleBuffer; fix end_of_dat…

e1dc38b

…a paging logic Agent-Logs-Url: https://github.com/Tecnologic/cymon-lib/sessions/f3b01c04-d66a-448a-b0fd-762d712e7795 Co-authored-by: Tecnologic <1442404+Tecnologic@users.noreply.github.com>

Copilot finished work on behalf of Tecnologic May 19, 2026 22:19

Copilot started work on behalf of Tecnologic May 19, 2026 22:19 View session

Copilot finished work on behalf of Tecnologic May 19, 2026 22:23

Tecnologic approved these changes May 20, 2026

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Tecnologic merged commit 7d9ffec into main May 20, 2026

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Copilot AI commented May 19, 2026 •

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