Add middleware proxy, skeleton and cluster connections by dcavalei · Pull Request #363 · eclipse-openbsw/openbsw

dcavalei · 2026-02-04T10:08:16Z

Add middleware proxy, skeleton and cluster connections

Pull request overview

This PR introduces a first implementation of the middleware “core” (proxy/skeleton base classes, cluster connections, database manipulation, logger API), plus platform abstraction headers and a fairly extensive unit test suite with mocks/stubs and CMake wiring to build/link the new middleware library.

Changes:

Add core middleware runtime sources (ClusterConnection*, ProxyBase, SkeletonBase, DatabaseManipulator, LoggerApi) and corresponding public headers.
Add platform abstraction APIs (logger, time, task/process id, lock strategies) and test-only stub/mock implementations.
Expand middleware unit test executable to cover the new core components.

Reviewed changes

Copilot reviewed 45 out of 47 changed files in this pull request and generated 17 comments.

Show a summary per file

File	Description
libs/bsw/middleware/test/src/time/mock/SystemTimerProviderMock.h	Adds gmock interface for time provider in tests
libs/bsw/middleware/test/src/time/mock/SystemTimerProviderMock.cpp	Test stub wiring for `SystemTimerProvider`
libs/bsw/middleware/test/src/os/OsDefinitions.cpp	Test stub for `getProcessId()`
libs/bsw/middleware/test/src/logger/mock/LoggerMock.h	Adds gmock logger interface for tests
libs/bsw/middleware/test/src/logger/mock/LoggerMock.cpp	Test implementation of `middleware::logger::*` routed to mock
libs/bsw/middleware/test/src/logger/DslLogger.h	Test DSL helper for asserting formatted/binary logs
libs/bsw/middleware/test/src/core/skeleton.h	Test skeleton mock helper
libs/bsw/middleware/test/src/core/proxy.h	Test proxy mock helper
libs/bsw/middleware/test/src/core/middleware_skeleton_base_unittest.cpp	Adds UTs for `SkeletonBase` behaviors
libs/bsw/middleware/test/src/core/middleware_proxy_base_unittest.cpp	Adds UTs for `ProxyBase` behaviors
libs/bsw/middleware/test/src/core/middleware_message_unittest.cpp	Minor formatting fix in existing message UT
libs/bsw/middleware/test/src/core/middleware_logger_api.cpp	Adds UTs for the new logger API helpers
libs/bsw/middleware/test/src/core/middleware_instances_database.h	Adds test instance DB + fake cluster connections
libs/bsw/middleware/test/src/core/middleware_db_manipulator_unittest.cpp	Adds UTs for `DatabaseManipulator`
libs/bsw/middleware/test/src/core/middleware_connection_unittest.cpp	Adds UTs for `ClusterConnection` base behavior
libs/bsw/middleware/test/src/core/middleware_cluster_configuration_unittest.cpp	Adds UTs for configuration dispatching + timeout registration
libs/bsw/middleware/test/src/concurrency/ConcurrencyDefinitions.cpp	Test stub implementations for lock strategy types
libs/bsw/middleware/test/CMakeLists.txt	Expands test target sources and links to new `middleware` library
libs/bsw/middleware/src/middleware/core/SkeletonBase.cpp	Implements `SkeletonBase` init/send/unsubscribe/thread-check
libs/bsw/middleware/src/middleware/core/ProxyBase.cpp	Implements `ProxyBase` init/send/header-gen/thread-check
libs/bsw/middleware/src/middleware/core/LoggerApi.cpp	Implements structured logging helpers (text + binary)
libs/bsw/middleware/src/middleware/core/IClusterConnectionConfigurationBase.cpp	Implements default dispatch + timeout registration helpers
libs/bsw/middleware/src/middleware/core/DatabaseManipulator.cpp	Implements DB subscription/unsubscription/search helpers
libs/bsw/middleware/src/middleware/core/ClusterConnectionBase.cpp	Implements base send/dispatch/error-response behavior
libs/bsw/middleware/src/middleware/core/ClusterConnection.cpp	Implements concrete cluster connection wrappers over configs
libs/bsw/middleware/include/middleware/time/SystemTimerProvider.h	Adds platform API for monotonic time
libs/bsw/middleware/include/middleware/os/TaskIdProvider.h	Adds platform API for task/process id
libs/bsw/middleware/include/middleware/logger/Logger.h	Adds platform logger API + enums
libs/bsw/middleware/include/middleware/core/types.h	Updates HRESULT values/names
libs/bsw/middleware/include/middleware/core/traits.h	Adds small traits utilities (span trait, CopyPolicy detection)
libs/bsw/middleware/include/middleware/core/TransceiverContainer.h	Adds container + comparators for transceiver registry
libs/bsw/middleware/include/middleware/core/SkeletonBase.h	Adds `SkeletonBase` public/protected API
libs/bsw/middleware/include/middleware/core/ProxyBase.h	Adds `ProxyBase` public/protected API
libs/bsw/middleware/include/middleware/core/Message.h	Minor formatting fix at namespace close
libs/bsw/middleware/include/middleware/core/LoggerApi.h	Declares structured logging helpers + byte-size traits
libs/bsw/middleware/include/middleware/core/InstancesDatabase.h	Declares instance DB interface
libs/bsw/middleware/include/middleware/core/ITransceiver.h	Declares base transceiver interface
libs/bsw/middleware/include/middleware/core/ITimeout.h	Declares timeout transceiver interface
libs/bsw/middleware/include/middleware/core/IClusterConnectionConfigurationBase.h	Declares config interfaces (proxy/skeleton/bidir + timeout)
libs/bsw/middleware/include/middleware/core/IClusterConnection.h	Declares cluster connection interface(s)
libs/bsw/middleware/include/middleware/core/DatabaseManipulator.h	Declares database manipulation API + dummy transceiver
libs/bsw/middleware/include/middleware/core/ClusterConnectionBase.h	Declares base connection classes
libs/bsw/middleware/include/middleware/core/ClusterConnection.h	Declares concrete cluster connection types + type selector
libs/bsw/middleware/include/middleware/concurrency/LockStrategies.h	Declares lock strategy API + lock macros
libs/bsw/middleware/doc/dd/queue.rst	Updates docs to refer to `Message` instead of `MiddlewareMessage`
libs/bsw/middleware/doc/dd/core.rst	Updates core docs to refer to `Message` instead of `MiddlewareMessage`
libs/bsw/middleware/CMakeLists.txt	Adds `middleware` library target and links includes/etl

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libs/bsw/middleware/include/middleware/core/TransceiverContainer.h

Copilot · 2026-02-04T10:17:05Z

libs/bsw/middleware/include/middleware/concurrency/LockStrategies.h

+ */
+#define MIDDLEWARE_SINGLE_CORE_LOCK middleware::concurrency::ScopedCoreLock();
+
+/**
+ * \def MIDDLEWARE_ECU_LOCK
+ * \brief Macro for creating an ECU-wide scoped lock.
+ * \details Creates a ScopedECULock object that will protect the current scope with an ECU-wide
+ * (multi-core) lock. The lock is automatically released when the scope exits.
+ */
+#define MIDDLEWARE_ECU_LOCK middleware::concurrency::ScopedECULock();


MIDDLEWARE_SINGLE_CORE_LOCK expands to a temporary ScopedCoreLock() that is immediately destroyed before the following block executes, so the critical section is not actually protected. Also MIDDLEWARE_ECU_LOCK constructs ScopedECULock() without the required uint8_t volatile* argument. Consider rewriting these macros so the lock object’s lifetime covers the subsequent scope (e.g., via a C++17 init-statement) and make the ECU-lock macro accept the spinlock pointer parameter.

Suggested change

*/

#define MIDDLEWARE_SINGLE_CORE_LOCK middleware::concurrency::ScopedCoreLock();

/**

* \def MIDDLEWARE_ECU_LOCK

* \brief Macro for creating an ECU-wide scoped lock.

* \details Creates a ScopedECULock object that will protect the current scope with an ECU-wide

* (multi-core) lock. The lock is automatically released when the scope exits.

*/

#define MIDDLEWARE_ECU_LOCK middleware::concurrency::ScopedECULock();

*

* Usage:

* \code

* MIDDLEWARE_SINGLE_CORE_LOCK {

* // critical section

* }

* \endcode

*/

#define MIDDLEWARE_SINGLE_CORE_LOCK \

if (middleware::concurrency::ScopedCoreLock _mw_single_core_lock{}; true)

/**

* \def MIDDLEWARE_ECU_LOCK

* \brief Macro for creating an ECU-wide scoped lock.

* \details Creates a ScopedECULock object that will protect the current scope with an ECU-wide

* (multi-core) lock. The lock is automatically released when the scope exits.

*

* Usage:

* \code

* uint8_t volatile* spinlock = /* platform-provided spinlock *\/;

* MIDDLEWARE_ECU_LOCK(spinlock) {

* // multi-core critical section

* }

* \endcode

*

* \param spinlock_ptr pointer to the volatile spinlock variable used by ScopedECULock

*/

#define MIDDLEWARE_ECU_LOCK(spinlock_ptr) \

if (middleware::concurrency::ScopedECULock _mw_ecu_lock{spinlock_ptr}; true)

libs/bsw/middleware/src/middleware/core/ProxyBase.cpp

Copilot · 2026-02-04T10:17:06Z

libs/bsw/middleware/src/middleware/core/IClusterConnectionConfigurationBase.cpp

+void ITimeoutConfiguration::registerTimeoutTransceiver(
+    ITimeout& transceiver, ::etl::ivector<ITimeout*>& timeoutTransceivers)
+{
+    MIDDLEWARE_SINGLE_CORE_LOCK
+    {
+        auto const* const iter
+            = etl::find(timeoutTransceivers.cbegin(), timeoutTransceivers.cend(), &transceiver);
+        if (iter == timeoutTransceivers.cend())
+        {
+            if (timeoutTransceivers.full())
+            {
+                // TODO: is it worth it to log this info?
+                // assert();
+            }
+            else
+            {
+                timeoutTransceivers.push_back(&transceiver);
+            }
+        }
+    }
+}
+
+void ITimeoutConfiguration::unregisterTimeoutTransceiver(
+    ITimeout& transceiver, ::etl::ivector<ITimeout*>& timeoutTransceivers)
+{
+    using ETL_OR_STD::swap;
+
+    MIDDLEWARE_SINGLE_CORE_LOCK
+    {
+        auto* const iter
+            = etl::find(timeoutTransceivers.begin(), timeoutTransceivers.end(), &transceiver);
+        if (iter != timeoutTransceivers.cend())


Several uses of auto const* const here are type-incorrect: etl::find(...) returns an iterator (for etl::vector/etl::ivector typically a raw pointer like ITimeout**), so declaring it as auto const*/auto* adds an extra level of indirection and will not compile (or would point to a temporary if the iterator is a class). Use auto iter = etl::find(...) (and similarly for the unregisterTimeoutTransceiver case).

Copilot · 2026-02-04T10:17:06Z

libs/bsw/middleware/src/middleware/core/IClusterConnectionConfigurationBase.cpp

+    {
+        auto const range = meta::DbManipulator::getTransceiversByServiceIdAndServiceInstanceId(
+            proxiesStart, proxiesEnd, msg.getHeader().serviceId, msg.getHeader().serviceInstanceId);
+        for (auto const* it = range.first; it != range.second; it = etl::next(it))


In the event-dispatch loop, range.first / range.second are iterators; declaring it as auto const* adds an extra indirection level and is very likely a compile error for ETL iterators (which are typically raw pointers). Use auto it = range.first; (and increment with ++it or etl::next(it) as desired).

Suggested change

for (auto const* it = range.first; it != range.second; it = etl::next(it))

for (auto it = range.first; it != range.second; it = etl::next(it))

Copilot · 2026-02-04T10:17:09Z

libs/bsw/middleware/src/middleware/core/DatabaseManipulator.cpp

+    auto const* const iter = etl::lower_bound(
+        start,
+        end,
+        TransceiverContainer{nullptr, serviceId, 0U},
+        [](TransceiverContainer const& lhs, TransceiverContainer const& rhs) -> bool
+        { return lhs.fServiceid < rhs.fServiceid; });
+    if ((iter != end) && (iter->fServiceid == serviceId))


etl::lower_bound(...) returns an iterator (for pointer ranges, a TransceiverContainer const*). Declaring it as auto const* const iter adds an extra indirection level and is likely a compile error. Use auto iter = etl::lower_bound(...) (or auto const* iter = ...) and keep the comparisons against end consistent.

libs/bsw/middleware/test/src/logger/mock/LoggerMock.cpp

Copilot · 2026-02-04T10:17:09Z

libs/bsw/middleware/test/src/logger/mock/LoggerMock.cpp

+void log(LogLevel const level, char const* const format, ...)
+{
+    va_list ap;
+    va_start(ap, format);
+    printf(format, ap);
+    printf("\n");
+
+    std::vector<uint32_t> args;
+    for (char const* p = format; *p != '\0'; ++p)
+    {
+        switch (*p)
+        {
+            case '%':
+                switch (*++p)
+                {
+                    case 'd': args.push_back(static_cast<uint32_t>(va_arg(ap, int))); continue;
+                }
+                break;
+        }
+    }


printf(format, ap) is undefined behavior because printf expects the variadic arguments described by format, not a va_list. Use vprintf/vsnprintf for printing, and if you need to both print and parse the same arguments, make a va_copy (or parse first) because traversing a va_list consumes it.

Copilot · 2026-02-04T10:17:09Z

libs/bsw/middleware/test/src/logger/DslLogger.h

+    template<typename T>
+    void copy_to_buffer(uint8_t* const buffer, uint32_t& index, T arg)
+    {
+        memcpy(&buffer[index], &arg, sizeof(arg));
+        index += sizeof(arg);
+    }


copy_to_buffer uses memcpy, but this header doesn’t include <cstring>, so it may fail to compile depending on transitive includes. Include <cstring> (or use etl::copy/std::memcpy with the proper header) in this file.

libs/bsw/middleware/test/src/time/mock/SystemTimerProviderMock.cpp

dcavalei · 2026-02-04T17:00:30Z

libs/bsw/middleware/include/middleware/core/MessageAllocator.h

+        return ret;
+    }
+
+    // Overload 2: Trivially copyable types that fit in MAX_PAYLOAD_SIZE


rolandreichweinbmw · 2026-02-06T15:38:43Z

Hi! Copilot review raised some valid points.

Please also adjust the PR and commit messages according to the guidelines at
https://github.com/eclipse-openbsw/openbsw/blob/main/doc/dev/guidelines/commit_message.rst

Squash commits where reasonable (as hinted by same descriptions).

dcavalei · 2026-02-10T08:51:30Z

please do NOT MERGE, thanks

Copilot AI review requested due to automatic review settings February 4, 2026 10:08

Copilot started reviewing on behalf of dcavalei February 4, 2026 10:08 View session

Copilot AI reviewed Feb 4, 2026

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dcavalei force-pushed the fork-main branch from 5256db1 to b42a15c Compare February 4, 2026 14:58

dcavalei commented Feb 4, 2026

View reviewed changes

dcavalei force-pushed the fork-main branch 7 times, most recently from f7dad1d to d9b670f Compare February 9, 2026 11:07

Add middleware proxy, skeleton and cluster connections

e769640

dcavalei force-pushed the fork-main branch from d9b670f to e769640 Compare February 9, 2026 17:18

rolandreichweinbmw changed the title ~~add middleware proxy, skeleton and cluster connections~~ Add middleware proxy, skeleton and cluster connections Feb 10, 2026

johannes-esr marked this pull request as draft February 10, 2026 09:19

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Add middleware proxy, skeleton and cluster connections#363

Add middleware proxy, skeleton and cluster connections#363
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- */
-#define MIDDLEWARE_SINGLE_CORE_LOCK middleware::concurrency::ScopedCoreLock();
-/**
- * \def MIDDLEWARE_ECU_LOCK
- * \brief Macro for creating an ECU-wide scoped lock.
- * \details Creates a ScopedECULock object that will protect the current scope with an ECU-wide
- * (multi-core) lock. The lock is automatically released when the scope exits.
- */
-#define MIDDLEWARE_ECU_LOCK middleware::concurrency::ScopedECULock();
+ *
+ * Usage:
+ * \code
+ * MIDDLEWARE_SINGLE_CORE_LOCK {
+ *     // critical section
+ * }
+ * \endcode
+ */
+#define MIDDLEWARE_SINGLE_CORE_LOCK \
+    if (middleware::concurrency::ScopedCoreLock _mw_single_core_lock{}; true)
+/**
+ * \def MIDDLEWARE_ECU_LOCK
+ * \brief Macro for creating an ECU-wide scoped lock.
+ * \details Creates a ScopedECULock object that will protect the current scope with an ECU-wide
+ * (multi-core) lock. The lock is automatically released when the scope exits.
+ *
+ * Usage:
+ * \code
+ * uint8_t volatile* spinlock = /* platform-provided spinlock *\/;
+ * MIDDLEWARE_ECU_LOCK(spinlock) {
+ *     // multi-core critical section
+ * }
+ * \endcode
+ *
+ * \param spinlock_ptr pointer to the volatile spinlock variable used by ScopedECULock
+ */
+#define MIDDLEWARE_ECU_LOCK(spinlock_ptr) \
+    if (middleware::concurrency::ScopedECULock _mw_ecu_lock{spinlock_ptr}; true)

	for (auto const* it = range.first; it != range.second; it = etl::next(it))
	for (auto it = range.first; it != range.second; it = etl::next(it))

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dcavalei commented Feb 4, 2026 •

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rolandreichweinbmw commented Feb 6, 2026 •

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