demos: grand refactoring

[MariusBgm]

As a basis for discussion, the Demos/Can folder has been modified in several ways. If we agree on the changes there, we can use the same structure for the other demos.

TL;DR

.\SilKitDemoCanReader.exe
.\SilKitDemoCanWriter.exe
.\sil-kit-system-controller.exe CanReader CanWriter
.\SilKitDemoCanWriter.exe --name AsyncCanWriter --async
.\SilKitDemoCanWriter.exe --name SpamThatCan --async --fast
.\SilKitDemoCanReader.exe --name GiveMeAllYouGot --async --log Trace

Central modifications / guidelines

• Remove the original CanDemo
• Remove the yaml/json configurations. Instead, a new folder Demos/SampleConfigurations with useful yaml configs is provided.
• Split into one demo per participant
• No usage of std::cout, std::cerr except printing command line argument usage
• Use the SIL Kit Logger for printing
• Header-only SignalHandler and CommandLineParser in Demos/include.
• No usage of Press any key
• If possible, demos should work without requiring any command line arguments at all

The splitted demos (CanReaderDemo, CanWriterDemo)

• use the new ApplicationBase that provides all functionality that is not related to CAN (e.g. sync/async behvior)
• use a CanDemoCommon.hpp for common behavior (here: Frame*Handler). Participant specific code (here: SendFrame) is implemented in the participant specific demo.

Minimal demo SimpleCan

The SimpleCan demo is not using the ApplicationBase to showcase basic SIL Kit usage. It is sync-only, only takes a participant name as command line argument and sends/receives CAN frames. Focus here is on minimizing lines of code. Such a simple demo could be unique for CAN and is not necessary for each bus system.

The ApplicationBase

• Implements a set of default command line arguments (except --network which is an extension provided by the CAN Demo) :

  .\SilKitDemoCanReader.exe --help
  Usage: D:\git\sil-kit-1\_build\x64-debug\Debug\SilKitDemoCanReader.exe [--help] [--name <participantName>] [--registry-uri <silkitUri>] [--log <level>] [--config <filePath>] [--async] [--duration <sim step duration in us>] [--fast] [--network <name>]
  Arguments:
  -h, --help: Get this help.
  -n, --name <participantName>: The participant name used to take part in the simulation. Defaults to 'CanReader'.
  -u, --registry-uri <silkitUri>: The registry URI to connect to. Defaults to 'silkit://localhost:8500'.
  -l, --log <level>: Log to stdout with level 'trace', 'debug', 'warn', 'info', 'error', 'critical' or 'off'. Defaults to 'info' if the '--config' option is not specified. Set to 'off' to explicitly turn off stdout logging. Cannot be used together with '--config'.
  -c, --config <filePath>: Path to the Participant configuration YAML or JSON file. Cannot be used together with '--log'.
  -a, --async: run in asynchronous mode. Cannot be used together with '--duration'.
  -d, --duration <sim step duration in us>: The step size in microseconds of the participant. Defaults to 1000us. Cannot be used together with '--async'.
  -f, --fast: Run the simulation as fast as possible. By default, the execution is slowed down to a single work cycle per second. Cannot be used together with '--config'.
  -n, --network: Name of the CAN network to use. Defaults to 'CAN1'.

• The constructor also takes a struct with the arguments that can be used to define defaults per demo implementation (e.g. Can Demos should run with stepSize = 5ms)
• Provides an interface (pure virtual functions) that must be implemented by the demo:
  • AddCommandLineArgs(): Inject additional demo args. Here, the CAN demo adds a --network arg to set a network name.
  • EvaluateCommandLineArgs(): Evaluate the additional args after parsing. Here, the --network is evaluated and used in the controller creation
  • CreateControllers(): Called before lifecycle setup
  • InitControllers(): Called in CommunicationReadyHandler()
  • DoWorkAsync(): Called in the worker thread in async mode
  • DoWorkSync(std::chrono::nanoseconds now): Called in the SimulationStepHandler
• A SignalHandler is used that stops the demo in any state on CTRL-C

• Public methods:

  • SetupCommandLineArgs(int argc, char** argv, std::unordered_set<DefaultArg> excludedCommandLineArgs = {}): To split command line arg setup and the simulation run. Optionally, a set of default args can be excluded.

  • Run(): The actual simulation run. The workflow is:

        // Create participant
        SetupParticipant();
    
        // Stop() on Ctrl-C
        SetupSignalHandler();
    
        // app: Controller creation
        CreateControllers();
    
        // React on valid start / simulation abort
        // app: Controller initialization in CommunicationReadyHandler
        SetupLifecycle();
    
        // sync:  Create timeSyncService and simulationStepHandler
        //        app: DoWorkSync
        // async: Create thread and couple to starting handler
        //        app: DoWorkASync
        SetupDoWork();
    
        // Start lifecycle
        Launch();
    
        // Wait for lifecycle to end
        // async: Join worker thread
        WaitUntilDone();

• Demo main then is as simple as:

  int main(int argc, char** argv)
  {
  Arguments args;
  args.participantName = "CanWriter";
  args.duration = 5ms;
  CanWriter app{args};
  app.SetupCommandLineArgs(argc, argv);
  
  return app.Run();
  }

Functional changes of the CAN Demo itself

• No usage of the userContext paramter when sending a frame. This is actually not needed for the C++-API, as the context can always be captured when setting up the handlers. Also, the original CAN Demo used the userContext for data transport, which was misleading.
• Cleanup log messages