Expose FullNameAndVersion() from a DSDL type. (#352)

1. Exposed full name of a DSDL type as...
```
struct _traits_
{
    ...
    constexpr const char* FullNameAndVersion() { return "{{ composite_type }}"; }
};
```
Needed for libcyphal's subscriber implementation (see [issue #
380](OpenCyphal-Garage/libcyphal#380))

2. Fix for issue #348 - added `#include <cassert>` for
`nunavut/support/serialization.hpp` file generation

src/nunavut/lang/cpp/support/serialization.j2

@@ -41,12 +41,13 @@ static_assert(__cplusplus >= 201402L,
 #ifndef NUNAVUT_ASSERT
 // By default Nunavut does not generate assert statements since the logic to halt a program is platform
 // dependent and because this header requires an absolute minimum from a platform and from the C standard library.
-// Most platforms can simply define "NUNAVUT_ASSERT(x)=assert(x)" (<assert.h> is always included by Nunavut).
+// Most platforms can simply define "NUNAVUT_ASSERT(x)=assert(x)" (<cassert> is always included by Nunavut).
 #   error "You must either define NUNAVUT_ASSERT or you need to disable assertions" \
           " when generating serialization support code using Nunavut language options"
 #endif
 {% endif -%}
 
+#include <cassert> // for assert
 #include <cstring> // for std::size_t
 {% if not options.omit_float_serialization_support -%}
 #include <cmath>  // For isfinite().

src/nunavut/lang/cpp/templates/_composite_type.j2

@@ -61,10 +61,11 @@ struct {% if composite_type.deprecated -%}
         static constexpr bool IsService      = false;
         static constexpr bool IsRequest      = {{ (composite_type == T.request_type) | string | lower }};
         static constexpr bool IsResponse     = {{ (composite_type == T.response_type) | string | lower }};
-{%- else %}
+{% else %}
         static constexpr bool IsServiceType = false;
-{% endif -%}
-    {%- assert composite_type.extent % 8 == 0 %}
+{% endif %}
+        static constexpr const char* FullNameAndVersion() { return "{{ composite_type }}"; }
+    {%  assert composite_type.extent % 8 == 0 %}
     {%- assert composite_type.inner_type.extent % 8 == 0 %}
         /// Extent is the minimum amount of memory required to hold any serialized representation of any compatible
         /// version of the data type; or, on other words, it is the the maximum possible size of received objects of this type.

verification/CMakeLists.txt

@@ -390,6 +390,8 @@ function(runTestCpp)
         #
         target_compile_options(${NATIVE_TEST_NAME} PRIVATE "-Wno-old-style-cast")
     endif()
+    # Some tests use deprecated DSDLs
+    target_compile_options(${NATIVE_TEST_NAME} PRIVATE "-Wno-deprecated-declarations")
     target_link_libraries(${NATIVE_TEST_NAME} PUBLIC o1heap)
     target_include_directories(${NATIVE_TEST_NAME} PUBLIC "${NUNAVUT_PROJECT_ROOT}/submodules/CETL/include")
     define_native_test_run(TEST_NAME ${NATIVE_TEST_NAME} OUTDIR ${NUNAVUT_VERIFICATIONS_BINARY_DIR})
@@ -412,6 +414,7 @@ if (NUNAVUT_VERIFICATION_LANG STREQUAL "cpp")
      runTestCpp(TEST_FILE test_large_bitset.cpp      LINK dsdl-regulated dsdl-test       LANGUAGE_FLAVORS c++14             c++17 c++17-pmr c++20 c++20-pmr)
      runTestCpp(TEST_FILE test_serialization.cpp     LINK dsdl-regulated dsdl-test       LANGUAGE_FLAVORS c++14             c++17 c++17-pmr c++20 c++20-pmr)
      runTestCpp(TEST_FILE test_unionant.cpp          LINK dsdl-regulated dsdl-test       LANGUAGE_FLAVORS c++14 cetl++14-17 c++17 c++17-pmr c++20 c++20-pmr)
+     runTestCpp(TEST_FILE test_constant.cpp          LINK dsdl-regulated dsdl-test       LANGUAGE_FLAVORS c++14             c++17 c++17-pmr c++20 c++20-pmr)
 endif()
 
 function(runTestC)

verification/cpp/suite/test_constant.cpp

@@ -0,0 +1,117 @@
+/*
+ * Copyright (c) 2024 OpenCyphal Development Team.
+ * Authors: Sergei Shirokov <[email protected]>
+ * This software is distributed under the terms of the MIT License.
+ *
+ * Tests of constant
+ */
+
+#include "gmock/gmock.h"
+#include "regulated/basics/Struct__0_1.hpp"
+#include "regulated/basics/Union_0_1.hpp"
+#include "regulated/basics/Service_0_1.hpp"
+
+using testing::Le;
+using testing::StrEq;
+using testing::FloatNear;
+using testing::DoubleNear;
+
+TEST(ConstantTests, Struct)
+{
+    // Type parameters.
+    EXPECT_TRUE(regulated::basics::Struct__0_1::_traits_::HasFixedPortID);
+    EXPECT_THAT(regulated::basics::Struct__0_1::_traits_::FixedPortId, 7000);
+    EXPECT_THAT(regulated::basics::Struct__0_1::_traits_::FullNameAndVersion(), StrEq("regulated.basics.Struct_.0.1"));
+
+    // Application constants.
+    EXPECT_THAT(regulated::basics::Struct__0_1::CONSTANT_MINUS_THREE, DoubleNear(-3.0, 1e-9));
+    EXPECT_THAT(regulated::basics::Struct__0_1::CONSTANT_ZEE, 'Z');
+    EXPECT_THAT(-regulated::basics::Struct__0_1::CONSTANT_MINUS_MAX_OFFSET,
+                Le(regulated::basics::Struct__0_1::_traits_::SerializationBufferSizeBytes * 8U));
+    EXPECT_TRUE(regulated::basics::Struct__0_1::CONSTANT_TRUTH);
+
+// TODO: Uncomment when some form of "ARRAY_CAPACITY" is generated.
+/*
+    // Field metadata. Expected values encoded in the field names.
+    EXPECT_THAT(regulated::basics::Struct__0_1::_traits_::i10_4_ARRAY_CAPACITY_, 4);
+    EXPECT_FALSE(regulated::basics::Struct__0_1::_traits_::i10_4_ARRAY_IS_VARIABLE_LENGTH_);
+
+    EXPECT_THAT(regulated::basics::Struct__0_1::_traits_::f16_le2_ARRAY_CAPACITY_, 2);
+    EXPECT_TRUE(regulated::basics::Struct__0_1::_traits_::f16_le2_ARRAY_IS_VARIABLE_LENGTH_);
+
+    EXPECT_THAT(regulated::basics::Struct__0_1::_traits_::unaligned_bitpacked_3_ARRAY_CAPACITY_, 3);
+    EXPECT_FALSE(regulated::basics::Struct__0_1::_traits_::unaligned_bitpacked_3_ARRAY_IS_VARIABLE_LENGTH_);
+
+    EXPECT_THAT(regulated::basics::Struct__0_1::_traits_::bytes_lt3_ARRAY_CAPACITY_, 2);
+    EXPECT_TRUE(regulated::basics::Struct__0_1::_traits_::bytes_lt3_ARRAY_IS_VARIABLE_LENGTH_);
+
+    EXPECT_THAT(regulated::basics::Struct__0_1::_traits_::bytes_3_ARRAY_CAPACITY_, 3);
+    EXPECT_FALSE(regulated::basics::Struct__0_1::_traits_::bytes_3_ARRAY_IS_VARIABLE_LENGTH_);
+
+    EXPECT_THAT(regulated::basics::Struct__0_1::_traits_::u2_le4_ARRAY_CAPACITY_, 4);
+    EXPECT_TRUE(regulated::basics::Struct__0_1::_traits_::u2_le4_ARRAY_IS_VARIABLE_LENGTH_);
+
+    EXPECT_THAT(regulated::basics::Struct__0_1::_traits_::delimited_fix_le2_ARRAY_CAPACITY_, 2);
+    EXPECT_TRUE(regulated::basics::Struct__0_1::_traits_::delimited_fix_le2_ARRAY_IS_VARIABLE_LENGTH_);
+
+    EXPECT_THAT(regulated::basics::Struct__0_1::_traits_::u16_2_ARRAY_CAPACITY_, 2);
+    EXPECT_FALSE(regulated::basics::Struct__0_1::_traits_::u16_2_ARRAY_IS_VARIABLE_LENGTH_);
+
+    EXPECT_THAT(regulated::basics::Struct__0_1::_traits_::aligned_bitpacked_3_ARRAY_CAPACITY_, 3);
+    EXPECT_FALSE(regulated::basics::Struct__0_1::_traits_::aligned_bitpacked_3_ARRAY_IS_VARIABLE_LENGTH_);
+
+    EXPECT_THAT(regulated::basics::Struct__0_1::_traits_::unaligned_bitpacked_lt3_ARRAY_CAPACITY_, 2);
+    EXPECT_TRUE(regulated::basics::Struct__0_1::_traits_::unaligned_bitpacked_lt3_ARRAY_IS_VARIABLE_LENGTH_);
+
+    EXPECT_THAT(regulated::basics::Struct__0_1::_traits_::delimited_var_2_ARRAY_CAPACITY_, 2);
+    EXPECT_FALSE(regulated::basics::Struct__0_1::_traits_::delimited_var_2_ARRAY_IS_VARIABLE_LENGTH_);
+
+    EXPECT_THAT(regulated::basics::Struct__0_1::_traits_::aligned_bitpacked_le3_ARRAY_CAPACITY_, 3);
+    EXPECT_TRUE(regulated::basics::Struct__0_1::_traits_::aligned_bitpacked_le3_ARRAY_IS_VARIABLE_LENGTH_);
+*/
+}
+
+TEST(ConstantTests, Union)
+{
+    // Type parameters.
+    EXPECT_FALSE(regulated::basics::Union_0_1::_traits_::HasFixedPortID);
+    EXPECT_THAT(regulated::basics::Union_0_1::_traits_::FullNameAndVersion(), StrEq("regulated.basics.Union.0.1"));
+    EXPECT_THAT(regulated::basics::Union_0_1::_traits_::ExtentBytes,
+                1U + regulated::basics::Struct__0_1::_traits_::ExtentBytes);  // Largest option + union tag field
+    EXPECT_THAT(regulated::basics::Union_0_1::VariantType::MAX_INDEX, 3);
+
+// TODO: Uncomment when some form of "ARRAY_CAPACITY" is generated.
+/*
+    // Field metadata. Expected values encoded in the field names.
+    EXPECT_THAT(regulated::basics::Union_0_1::_traits__delimited_fix_le2_ARRAY_CAPACITY_, 2);
+    EXPECT_FALSE(regulated::basics::Union_0_1::_traits__delimited_fix_le2_ARRAY_IS_VARIABLE_LENGTH_);
+
+    EXPECT_THAT(regulated::basics::Union_0_1::_traits__delimited_var_le2_ARRAY_CAPACITY_, 2);
+    EXPECT_TRUE(regulated::basics::Union_0_1::_traits__delimited_var_le2_ARRAY_IS_VARIABLE_LENGTH_);
+*/
+}
+
+TEST(ConstantTests, Service)
+{
+    // Type parameters.
+    EXPECT_TRUE(regulated::basics::Service_0_1::_traits_::IsService);
+    EXPECT_TRUE(regulated::basics::Service_0_1::_traits_::IsServiceType);
+
+    EXPECT_FALSE(regulated::basics::Service::Request_0_1::_traits_::IsService);
+    EXPECT_TRUE(regulated::basics::Service::Request_0_1::_traits_::IsServiceType);
+    EXPECT_TRUE(regulated::basics::Service::Request_0_1::_traits_::IsRequest);
+    EXPECT_FALSE(regulated::basics::Service::Request_0_1::_traits_::IsResponse);
+    EXPECT_THAT(regulated::basics::Service::Request_0_1::_traits_::FullNameAndVersion(),
+                StrEq("regulated.basics.Service.Request.0.1"));
+
+    EXPECT_FALSE(regulated::basics::Service::Response_0_1::_traits_::IsService);
+    EXPECT_TRUE(regulated::basics::Service::Response_0_1::_traits_::IsServiceType);
+    EXPECT_TRUE(regulated::basics::Service::Response_0_1::_traits_::IsResponse);
+    EXPECT_FALSE(regulated::basics::Service::Response_0_1::_traits_::IsRequest);
+    EXPECT_THAT(regulated::basics::Service::Response_0_1::_traits_::FullNameAndVersion(),
+                StrEq("regulated.basics.Service.Response.0.1"));
+
+    // Application constants.
+    EXPECT_THAT(regulated::basics::Service::Request_0_1::HALF, DoubleNear(0.5, 1e-9));
+    EXPECT_THAT(regulated::basics::Service::Response_0_1::ONE_TENTH, FloatNear(0.1f, 1e-9f));
+}