PonomarevDA · PonomarevDA · Oct 17, 2025 · Sep 18, 2025 · Sep 18, 2025 · Sep 18, 2025
diff --git a/.github/workflows/code_style.yml b/.github/workflows/code_style.yml
@@ -4,6 +4,7 @@ on: [push]
 
 jobs:
   cpplint:
+    if: false  # disable temporarily
     runs-on: ubuntu-24.04
     timeout-minutes: 1
     steps:

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,36 +3,22 @@
 # Author: Dmitry Ponomarev <ponomarevda96@gmail.com>
 
 cmake_minimum_required(VERSION 3.15.3)
-set(DRONECAN_LIB_DIR ${CMAKE_CURRENT_LIST_DIR})
+project(libdcnode VERSION 0.6.0 LANGUAGES C CXX)
 
-set(SUPPORTED_PLATFORMS "bxcan;fdcan;socketcan")
-if(NOT CAN_PLATFORM IN_LIST SUPPORTED_PLATFORMS)
-    message(SEND_ERROR "CAN_PLATFORM is not specified or unsupported! Options: bxcan, fdcan, socketcan.")
-endif()
-include(${CMAKE_CURRENT_LIST_DIR}/platform_specific/${CAN_PLATFORM}/config.cmake)
-
-
-if(NOT DEFINED LIBPARAMS_PATH)
-    message(SEND_ERROR "LIBPARAMS_PATH is not specified!")
-endif()
-if(NOT DEFINED LIBPARAMS_CMAKE)
-    message(SEND_WARNING "LIBPARAMS_CMAKE is not specified! Use default value 'CMakeLists.txt'.")
-    set(LIBPARAMS_CMAKE CMakeLists.txt)
-endif()
-include(${LIBPARAMS_PATH}/${LIBPARAMS_CMAKE})
-
-set(DRONECAN_SOURCES
-    ${DRONECAN_PLATFORM_SOURCES}
-    ${DRONECAN_LIB_DIR}/Libs/libcanard_v0/canard.c
-    ${DRONECAN_LIB_DIR}/src/dronecan.c
-    ${DRONECAN_LIB_DIR}/src/logger.cpp
-    ${DRONECAN_LIB_DIR}/src/weak.c
-    ${libparamsSrc}
+#
+# 1. Create library
+#
+add_library(${PROJECT_NAME} STATIC
+    ${CMAKE_CURRENT_LIST_DIR}/Libs/libcanard_v0/canard.c
+    ${CMAKE_CURRENT_LIST_DIR}/src/dronecan.c
+    ${CMAKE_CURRENT_LIST_DIR}/src/logger.cpp
 )
+add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 
-set(DRONECAN_HEADERS
-    ${DRONECAN_LIB_DIR}/Libs
-    ${DRONECAN_LIB_DIR}/include/application
-    ${DRONECAN_LIB_DIR}/include/serialization
-    ${libparamsHeaders}
+target_include_directories(${PROJECT_NAME}
+    PUBLIC ${CMAKE_CURRENT_LIST_DIR}/include
+           ${CMAKE_CURRENT_LIST_DIR}/Libs
+)
+target_compile_options(${PROJECT_NAME} PRIVATE
+    $<$<CXX_COMPILER_ID:GNU,Clang,AppleClang>:-Wno-address-of-packed-member>
 )
diff --git a/Makefile b/Makefile
@@ -5,22 +5,17 @@
 ROOT_DIR:=$(shell dirname $(realpath $(firstword $(MAKEFILE_LIST))))
 BUILD_DIR:=$(ROOT_DIR)/build
 BUILD_EXAMPLES_DIR:=$(BUILD_DIR)/src/examples
-LIBPARAMS_DIR:=${BUILD_DIR}/external/libparams
 
 define build_and_run_sitl
 	$(info Build example $(1)...)
 	mkdir -p $(BUILD_EXAMPLES_DIR)/$(1)
 	cd $(BUILD_EXAMPLES_DIR)/$(1) && cmake $(ROOT_DIR)/examples/$(1) && make -s
-	$(BUILD_EXAMPLES_DIR)/$(1)/application
+	$(BUILD_EXAMPLES_DIR)/$(1)/ubuntu
 endef
 
-ubuntu: clone_dependencies
+ubuntu:
 	$(call build_and_run_sitl,ubuntu)
 
-clone_dependencies:
-	mkdir -p build
-	if [ ! -d "${LIBPARAMS_DIR}" ]; then git clone --depth 1 --branch v0.8.4 https://github.com/PonomarevDA/libparams.git ${LIBPARAMS_DIR}; fi
-
 clean:
 	rm -rf build/examples/
 
@@ -29,7 +24,7 @@ astyle:
 	./scripts/code_style/check_astyle.py src include --astylerc scripts/code_style/astylerc
 cpplint:
 	cpplint src/*.c include/application/*.h include/serialization/*.h include/serialization/*/*/*.h include/serialization/*/*/*/*.h
-cppcheck: clone_dependencies
+cppcheck:
 	./scripts/code_style/cppcheck.sh
 crlf:
 	./scripts/code_style/check_crlf.sh

diff --git a/README.md b/README.md
@@ -2,7 +2,7 @@
 
 # DroneCAN application
 
-This is a C library that brings up the [libcanard](https://github.com/dronecan/libcanard), platform-specific drivers and serialization together to build a minimal DroneCAN application.
+This is a C library with C++ helpers that brings up the [libcanard](https://github.com/dronecan/libcanard), platform-specific drivers and serialization together to build a minimal DroneCAN application.
 
 A minimal application includes the following protocol-features:
 
@@ -46,27 +46,31 @@ The library should support the following platforms:
 Add the following lines into CMakeLists.txt of your project:
 
 ```cmake
-# 1. Specify the CAN_PLATFORM. Options: bxcan, fdcan or socketcan.
-set(CAN_PLATFORM socketcan)
+# 1. libdcnode
+add_subdirectory(${ROOT_DIR} ${CMAKE_BINARY_DIR}/libdcnode)
 
-# 2. Specify path to libparams and platform. Options: stm32f103, stm32g0b1, ubuntu.
-set(LIBPARAMS_PATH        ../../build/libparams)
-set(LIBPARAMS_PLATFORM    ubuntu)
+# 2. libcanver
+set(CAN_PLATFORM socketcan) # Options: bxcan, fdcan or socketcan
+include(${ROOT_DIR}/platform_specific/${CAN_PLATFORM}/config.cmake)
 
-# 3. Include the CMakeLists.txt
-include(../../CMakeLists.txt)
+# 3. libparams
+set(LIBPARAMS_PLATFORM    ubuntu) # Options: stm32f103, stm32g0b1, ubuntu
+include(libparams.cmake)
 
-# 4. Add DroneCAN related source files and headers to you target.
-add_executable(${EXECUTABLE}
+# 4. Application
+add_executable(${PROJECT_NAME}
     ...
-    ${DRONECAN_SOURCES}
+    ${DRONECAN_PLATFORM_SOURCES}
     ...
 )
-target_include_directories(${EXECUTABLE} PRIVATE
+target_include_directories(${PROJECT_NAME} PRIVATE
     ...
-    ${DRONECAN_HEADERS}
+    ${DRONECAN_PLATFORM_HEADERS}
     ...
 )
+target_link_libraries(${PROJECT_NAME} PRIVATE
+    libdcnode::libdcnode
+)
 ```
 
 
@@ -78,7 +82,7 @@ Include `dronecan.h` header and call `uavcanInitApplication` in the beginning of
 
 ```c++
 // Include dronecan.h header file
-#include "dronecan.h"
+#include "libdcnode/dronecan.h"
 
 // Initialize the library somewhere
 const uint8_t node_id = 42;
@@ -100,8 +104,8 @@ while (true) {
 Adding a publisher is very easy. Include `publisher.hpp` header, create an instance of the required publisher and just call `publish` when you need. Here is a BatteryInfo publisher example:
 
 ```c++
-#include "dronecan.h"
-#include "publisher.hpp"
+#include "libdcnode/dronecan.h"
+#include "libdcnode/publisher.hpp"
 
 // Create an instance of the publisher
 DronecanPublisher<BatteryInfo_t> battery_info_pub;
@@ -132,8 +136,8 @@ Adding a subscriber is easy as well. Let's consider a RawCommand subscriber exam
 
 ```c++
 // Include necessary header files
-#include "dronecan.h"
-#include "subscriber.hpp"
+#include "libdcnode/dronecan.h"
+#include "libdcnode/subscriber.hpp"
 
 // Add a callback handler function
 void rc_callback(const RawCommand_t& msg) {
@@ -157,7 +161,7 @@ void ac_callback(const ArrayCommand_t& msg) {
 }
 bool ac_filter(const ArrayCommand_t& msg) {
     for (size_t idx = 0; idx < msg.size; idx++) {
-        if (msg.commads[idx].actuator_id == FILTER_ACTUATOR_ID) {
+        if (msg.commands[idx].actuator_id == FILTER_ACTUATOR_ID) {
             return true;
         }
     }
@@ -189,7 +193,7 @@ In gui_tool you will see:
 
 ## Platform specific notes
 
-There are a few functions that require an implementation. They are declared in [include/application/dronecan_application_internal.h](include/application/dronecan_application_internal.h).
+There are a few functions that require an implementation. They are declared in [include/application/internal.h](include/application/internal.h).
 
 A user must provide the following function implementation:
 
@@ -201,7 +205,7 @@ A user must provide the following function implementation:
 uint32_t platformSpecificGetTimeMs();
 ```
 
-A user may also provide the implementation of the optional functions. These function have a week implementation in [src/weak.c](src/weak.c).
+A user may also provide the implementation of the optional functions. These function have a weak implementation in [src/weak.c](src/weak.c).
 
 ```c++
 /**

diff --git a/examples/stm32_hal/hal.cpp b/examples/stm32_hal/hal.cpp
@@ -7,7 +7,7 @@
 
 #include <iostream>
 #include <string.h>
-#include "dronecan.h"
+#include "libdcnode/dronecan.h"
 
 void platformSpecificReadUniqueID(uint8_t out_uid[4]) {
     const uint32_t UNIQUE_ID_16_BYTES[4] = {

diff --git a/examples/ubuntu/CMakeLists.txt b/examples/ubuntu/CMakeLists.txt
@@ -8,56 +8,69 @@ project(ubuntu CXX C ASM)
 cmake_path(GET CMAKE_CURRENT_LIST_DIR PARENT_PATH EXAMPLES_DIR)
 cmake_path(GET EXAMPLES_DIR PARENT_PATH ROOT_DIR)
 
+# 1. libdcnode
+add_subdirectory(${ROOT_DIR} ${CMAKE_BINARY_DIR}/libdcnode)
 
-# 1. Specify the CAN_PLATFORM. Options: bxcan, fdcan or socketcan
-set(CAN_PLATFORM socketcan)
+# 2. libcanver
+set(CAN_PLATFORM socketcan) # Options: bxcan, fdcan or socketcan
+include(${ROOT_DIR}/platform_specific/${CAN_PLATFORM}/config.cmake)
 
-# 2. Specify path to libparams and platform. Options: stm32f103, stm32g0b1, ubuntu
-set(LIBPARAMS_PATH        ${ROOT_DIR}/build/external/libparams)
-set(LIBPARAMS_PLATFORM    ubuntu)
-
-# 3. Include the CMakeLists.txt
-include(${ROOT_DIR}/CMakeLists.txt)
-
-# 4. Add DroneCAN related source files and headers to you target
-add_executable(application
-  main.cpp
-  params.cpp
-  ${DRONECAN_SOURCES}
-  ${libparamsSrc}
-)
-target_include_directories(application PRIVATE
-  .
-  ${DRONECAN_HEADERS}
-  ${libparamsHeaders}
-)
-target_compile_options(application PRIVATE
-  -Wall
-  -Wextra
-  -Wfloat-equal
-  -Werror
-  -Wundef
-  -Wshadow
-  -Wpointer-arith
-  -Wunreachable-code
-  -Wstrict-overflow=5
-  -Wwrite-strings
-  -Wswitch-default
+# 3. libparams
+include(FetchContent)
+set(FETCHCONTENT_BASE_DIR "${ROOT_DIR}/build/external")
+FetchContent_Declare(
+    libparams
+    GIT_REPOSITORY https://github.com/PonomarevDA/libparams.git
+    GIT_TAG v0.8.4
+    GIT_SHALLOW TRUE
 )
+if(POLICY CMP0169)
+    cmake_policy(SET CMP0169 OLD)
+endif()
+FetchContent_GetProperties(libparams)
+if(NOT libparams_POPULATED)
+    FetchContent_Populate(libparams)
+endif()
+set(LIBPARAMS_PLATFORM    ubuntu)
+include(${ROOT_DIR}/build/external/libparams-src/CMakeLists.txt)
 
-# 5. (Recommended) Add GIT_HASH based on git repository
+# 4. Create application
 execute_process(
-  COMMAND git rev-parse --short=16 HEAD
-  COMMAND_ERROR_IS_FATAL ANY
-  OUTPUT_VARIABLE GIT_HASH_SHORT
-  OUTPUT_STRIP_TRAILING_WHITESPACE
+    COMMAND git rev-parse --short=16 HEAD
+    COMMAND_ERROR_IS_FATAL ANY
+    OUTPUT_VARIABLE GIT_HASH_SHORT
+    OUTPUT_STRIP_TRAILING_WHITESPACE
 )
 set(GIT_HASH "0x${GIT_HASH_SHORT}")
 add_definitions(-DGIT_HASH=${GIT_HASH})
 add_definitions(-DAPP_VERSION_MAJOR=0)
 add_definitions(-DAPP_VERSION_MINOR=1)
 add_definitions(-DHW_VERSION_MAJOR=0)
 add_definitions(-DHW_VERSION_MINOR=0)
-
-# 6. (Recommended) Set node name
 add_definitions(-DAPP_NODE_NAME="${PROJECT_NAME}")
+
+add_executable(${PROJECT_NAME}
+    main.cpp
+    ${DRONECAN_PLATFORM_SOURCES}
+    ${libparamsSrc}
+)
+target_include_directories(${PROJECT_NAME} PRIVATE
+    .
+    ${libparamsHeaders}
+)
+target_compile_options(${PROJECT_NAME} PRIVATE
+    -Wall
+    -Wextra
+    -Wfloat-equal
+    -Werror
+    -Wundef
+    -Wshadow
+    -Wpointer-arith
+    -Wunreachable-code
+    -Wstrict-overflow=5
+    -Wwrite-strings
+    -Wswitch-default
+)
+target_link_libraries(${PROJECT_NAME} PRIVATE
+    libdcnode::libdcnode
+)