From f0cc6cdd7ab665b7d2612872339ec35cd560e278 Mon Sep 17 00:00:00 2001
From: Scott Dixon <dixonsco@amazon.com>
Date: Thu, 18 May 2023 13:25:58 -0700
Subject: [PATCH] Fix for #298 and workaround for Sybil 4 bug (#303)

#298 will be fixed but this will also get another refactor when we
switch to CETL.
---
 .devcontainer/devcontainer.json               |   4 +-
 .github/workflows/release.yml                 |   4 +-
 .github/workflows/test.yml                    |  73 ++-
 .vscode/cmake-variants.json                   |   3 +-
 .vscode/extensions.json                       |  10 +-
 CONTRIBUTING.rst                              |   6 +-
 docs/static/templates/footer.html             |   2 +-
 docs/templates.rst                            |   4 -
 requirements.txt                              |   2 -
 src/nunavut/_version.py                       |   4 +-
 src/nunavut/cli/__init__.py                   |  10 +-
 src/nunavut/jinja/jinja2/loaders.py           | 520 ++++++++++++------
 .../lang/cpp/templates/deserialization.j2     |   8 +-
 src/nunavut/lang/html/support/__init__.py     |  19 +
 src/nunavut/lang/js/support/__init__.py       |  19 +
 src/nunavut/lang/py/support/__init__.py       |  19 +
 ...510.GetSynchronizationMasterInfo.0.1.dsdl} |   0
 ...0.uavcan => 7168.Synchronization.1.0.dsdl} |   0
 ...> SynchronizedAmbiguousTimestamp.1.0.dsdl} |   0
 ....uavcan => SynchronizedTimestamp.1.0.dsdl} |   0
 ...eSystem.0.1.uavcan => TimeSystem.0.1.dsdl} |   0
 .../{Phased.0.1.uavcan => Phased.0.1.dsdl}    |   0
 .../{hotness.1.0.uavcan => hotness.1.0.dsdl}  |   0
 .../{malloc.1.0.uavcan => malloc.1.0.dsdl}    |   0
 .../dsdl/one/{foo.1.0.uavcan => foo.1.0.dsdl} |   0
 ...{7168.bar.1.0.uavcan => 7168.bar.1.0.dsdl} |   0
 .../{bar_svc.1.0.uavcan => bar_svc.1.0.dsdl}  |   0
 ....uavcan => SynchronizedTimestamp.1.0.dsdl} |   0
 ...{uses_vla.0.1.uavcan => uses_vla.0.1.dsdl} |   0
 ...Type.0.1.uavcan => 7168.TestType.0.1.dsdl} |   0
 ...Type.0.1.uavcan => 7168.TestType.0.1.dsdl} |   0
 ...Type.0.1.uavcan => 7169.TestType.0.1.dsdl} |   0
 ...Type.0.1.uavcan => 7170.TestType.0.1.dsdl} |   0
 ...0.uavcan => 7168.Synchronization.1.0.dsdl} |   0
 ...> SynchronizedAmbiguousTimestamp.1.0.dsdl} |   0
 ....uavcan => SynchronizedTimestamp.1.0.dsdl} |   0
 ...eSystem.0.1.uavcan => TimeSystem.0.1.dsdl} |   0
 ...rType.0.1.uavcan => DaughterType.0.1.dsdl} |   0
 .../{SonType.0.1.uavcan => SonType.0.1.dsdl}  |   0
 ...herType.0.1.uavcan => FatherType.0.1.dsdl} |   0
 .../mcu/{Timer.0.1.uavcan => Timer.0.1.dsdl}  |   0
 ...C_TYPE.0.1.uavcan => ATOMIC_TYPE.0.1.dsdl} |   0
 ....uavcan => SynchronizedTimestamp.1.0.dsdl} |   0
 ...00.Timer.1.0.uavcan => 100.Timer.1.0.dsdl} |   0
 .../{TImer.2.1.uavcan => TImer.2.1.dsdl}      |   0
 .../{Timer.1.0.uavcan => Timer.1.0.dsdl}      |   0
 ...{TestType.0.8.uavcan => TestType.0.8.dsdl} |   0
 test/gentest_nnvg/test_nnvg.py                |  12 +-
 ...{TestType.0.2.uavcan => TestType.0.2.dsdl} |   0
 ...0.uavcan => 1.HelloSerialization.1.0.dsdl} |   0
 .../{Basic.1.0.uavcan => Basic.1.0.dsdl}      |   0
 ...Sink.1.0.uavcan => 2.KitchenSink.1.0.dsdl} |   0
 .../{Nested.1.0.uavcan => Nested.1.0.dsdl}    |   0
 ...ested.1.0.uavcan => NestedNested.1.0.dsdl} |   0
 ...dUnion.1.0.uavcan => NestedUnion.1.0.dsdl} |   0
 ...vcan => NestedUnionWComplexArray.1.0.dsdl} |   0
 ...bles.0.1.uavcan => serializables.0.1.dsdl} |   0
 ...bles.0.1.uavcan => serializables.0.1.dsdl} |   0
 ...{1.covid.1.10.uavcan => 1.covid.1.10.dsdl} |   0
 .../{1.covid.1.9.uavcan => 1.covid.1.9.dsdl}  |   0
 .../{hasvla.1.0.uavcan => hasvla.1.0.dsdl}    |   0
 tox.ini                                       |  10 +-
 verification/.devcontainer/devcontainer.json  |   9 +-
 ...uavcan => CombinatorialExplosion.0.1.dsdl} |   0
 ...ervice.0.1.uavcan => 300.Service.0.1.dsdl} |   0
 ...ruct_.0.1.uavcan => 7000.Struct_.0.1.dsdl} |   0
 ...0.1.uavcan => DelimitedFixedSize.0.1.dsdl} |   0
 ....uavcan => DelimitedVariableSize.0.1.dsdl} |   0
 ...rimitive.0.1.uavcan => Primitive.0.1.dsdl} |   0
 ....1.uavcan => PrimitiveArrayFixed.0.1.dsdl} |   0
 ...uavcan => PrimitiveArrayVariable.0.1.dsdl} |   0
 .../{Union.0.1.uavcan => Union.0.1.dsdl}      |   0
 ...0.1.uavcan => UnionWithSameTypes.0.1.dsdl} |   0
 .../delimited/{A.1.0.uavcan => A.1.0.dsdl}    |   0
 .../delimited/{A.1.1.uavcan => A.1.1.dsdl}    |   0
 ...limited.1.0.uavcan => BDelimited.1.0.dsdl} |   0
 ...limited.1.1.uavcan => BDelimited.1.1.dsdl} |   0
 .../{BSealed.1.0.uavcan => BSealed.1.0.dsdl}  |   0
 .../{CFixed.1.0.uavcan => CFixed.1.0.dsdl}    |   0
 .../{CFixed.1.1.uavcan => CFixed.1.1.dsdl}    |   0
 ...Variable.1.0.uavcan => CVariable.1.0.dsdl} |   0
 ...Variable.1.1.uavcan => CVariable.1.1.dsdl} |   0
 .../{BMSInfo.1.0.uavcan => BMSInfo.1.0.dsdl}  |   0
 ...MSStatus.1.0.uavcan => BMSStatus.1.0.dsdl} |   0
 ...lue.1.0.uavcan => BMSStatusValue.1.0.dsdl} |   0
 ...y.1.0.uavcan => BatteryChemistry.1.0.dsdl} |   0
 ...int.0.1.uavcan => AngVelSetpoint.0.1.dsdl} |   0
 ....1.uavcan => RatiometricSetpoint.0.1.dsdl} |   0
 .../{Status.0.1.uavcan => Status.0.1.dsdl}    |   0
 ....0.1.uavcan => BatteryPackParams.0.1.dsdl} |   0
 ....0.1.uavcan => BatteryPackStatus.0.1.dsdl} |   0
 ...hnology.0.1.uavcan => Technology.0.1.dsdl} |   0
 ...{DCSample.0.1.uavcan => DCSample.0.1.dsdl} |   0
 93 files changed, 482 insertions(+), 256 deletions(-)
 create mode 100644 src/nunavut/lang/html/support/__init__.py
 create mode 100644 src/nunavut/lang/js/support/__init__.py
 create mode 100644 src/nunavut/lang/py/support/__init__.py
 rename test/gentest_any/dsdl/uavcan/time/{510.GetSynchronizationMasterInfo.0.1.uavcan => 510.GetSynchronizationMasterInfo.0.1.dsdl} (100%)
 rename test/gentest_any/dsdl/uavcan/time/{7168.Synchronization.1.0.uavcan => 7168.Synchronization.1.0.dsdl} (100%)
 rename test/gentest_any/dsdl/uavcan/time/{SynchronizedAmbiguousTimestamp.1.0.uavcan => SynchronizedAmbiguousTimestamp.1.0.dsdl} (100%)
 rename test/gentest_any/dsdl/uavcan/time/{SynchronizedTimestamp.1.0.uavcan => SynchronizedTimestamp.1.0.dsdl} (100%)
 rename test/gentest_any/dsdl/uavcan/time/{TimeSystem.0.1.uavcan => TimeSystem.0.1.dsdl} (100%)
 rename test/gentest_arrays/dsdl/radar/{Phased.0.1.uavcan => Phased.0.1.dsdl} (100%)
 rename test/gentest_filters/dsdl/new/{hotness.1.0.uavcan => hotness.1.0.dsdl} (100%)
 rename test/gentest_filters/dsdl/new/{malloc.1.0.uavcan => malloc.1.0.dsdl} (100%)
 rename test/gentest_filters/dsdl/one/{foo.1.0.uavcan => foo.1.0.dsdl} (100%)
 rename test/gentest_filters/dsdl/uavcan/str/{7168.bar.1.0.uavcan => 7168.bar.1.0.dsdl} (100%)
 rename test/gentest_filters/dsdl/uavcan/str/{bar_svc.1.0.uavcan => bar_svc.1.0.dsdl} (100%)
 rename test/gentest_filters/dsdl/uavcan/time/{SynchronizedTimestamp.1.0.uavcan => SynchronizedTimestamp.1.0.dsdl} (100%)
 rename test/gentest_filters/dsdl/vla/{uses_vla.0.1.uavcan => uses_vla.0.1.dsdl} (100%)
 rename test/gentest_json/dsdl/uavcan/test/{7168.TestType.0.1.uavcan => 7168.TestType.0.1.dsdl} (100%)
 rename test/gentest_lang/dsdl/langtest/c/{7168.TestType.0.1.uavcan => 7168.TestType.0.1.dsdl} (100%)
 rename test/gentest_lang/dsdl/langtest/cpp/ns/{7169.TestType.0.1.uavcan => 7169.TestType.0.1.dsdl} (100%)
 rename test/gentest_lang/dsdl/langtest/py/{7170.TestType.0.1.uavcan => 7170.TestType.0.1.dsdl} (100%)
 rename test/gentest_lookup/dsdl/uavcan/time/{7168.Synchronization.1.0.uavcan => 7168.Synchronization.1.0.dsdl} (100%)
 rename test/gentest_lookup/dsdl/uavcan/time/{SynchronizedAmbiguousTimestamp.1.0.uavcan => SynchronizedAmbiguousTimestamp.1.0.dsdl} (100%)
 rename test/gentest_lookup/dsdl/uavcan/time/{SynchronizedTimestamp.1.0.uavcan => SynchronizedTimestamp.1.0.dsdl} (100%)
 rename test/gentest_lookup/dsdl/uavcan/time/{TimeSystem.0.1.uavcan => TimeSystem.0.1.dsdl} (100%)
 rename test/gentest_multiple/dsdl/esmeinc/{DaughterType.0.1.uavcan => DaughterType.0.1.dsdl} (100%)
 rename test/gentest_multiple/dsdl/huckco/{SonType.0.1.uavcan => SonType.0.1.dsdl} (100%)
 rename test/gentest_multiple/dsdl/scotec/{FatherType.0.1.uavcan => FatherType.0.1.dsdl} (100%)
 rename test/gentest_namespaces/dsdl/scotec/mcu/{Timer.0.1.uavcan => Timer.0.1.dsdl} (100%)
 rename test/gentest_namespaces/dsdl/scotec/typedef/str/{ATOMIC_TYPE.0.1.uavcan => ATOMIC_TYPE.0.1.dsdl} (100%)
 rename test/gentest_namespaces/dsdl/uavcan/time/{SynchronizedTimestamp.1.0.uavcan => SynchronizedTimestamp.1.0.dsdl} (100%)
 rename test/gentest_nnvg/dsdl/fixedid/{100.Timer.1.0.uavcan => 100.Timer.1.0.dsdl} (100%)
 rename test/gentest_nnvg/dsdl/herringtec/{TImer.2.1.uavcan => TImer.2.1.dsdl} (100%)
 rename test/gentest_nnvg/dsdl/scotec/{Timer.1.0.uavcan => Timer.1.0.dsdl} (100%)
 rename test/gentest_nnvg/dsdl/uavcan/test/{TestType.0.8.uavcan => TestType.0.8.dsdl} (100%)
 rename test/gentest_postprocessors/dsdl/uavcan/test/{TestType.0.2.uavcan => TestType.0.2.dsdl} (100%)
 rename test/gentest_serialization/dsdl/basic/{1.HelloSerialization.1.0.uavcan => 1.HelloSerialization.1.0.dsdl} (100%)
 rename test/gentest_serialization/dsdl/basic/{Basic.1.0.uavcan => Basic.1.0.dsdl} (100%)
 rename test/gentest_serialization/dsdl/complex/{2.KitchenSink.1.0.uavcan => 2.KitchenSink.1.0.dsdl} (100%)
 rename test/gentest_serialization/dsdl/complex/{Nested.1.0.uavcan => Nested.1.0.dsdl} (100%)
 rename test/gentest_serialization/dsdl/complex/{NestedNested.1.0.uavcan => NestedNested.1.0.dsdl} (100%)
 rename test/gentest_serialization/dsdl/complex/{NestedUnion.1.0.uavcan => NestedUnion.1.0.dsdl} (100%)
 rename test/gentest_serialization/dsdl/complex/{NestedUnionWComplexArray.1.0.uavcan => NestedUnionWComplexArray.1.0.dsdl} (100%)
 rename test/gentest_tests/dsdl/buncho/{serializables.0.1.uavcan => serializables.0.1.dsdl} (100%)
 rename test/gentest_uses/dsdl/denada/{serializables.0.1.uavcan => serializables.0.1.dsdl} (100%)
 rename test/gentest_versions/dsdl/viruses/{1.covid.1.10.uavcan => 1.covid.1.10.dsdl} (100%)
 rename test/gentest_versions/dsdl/viruses/{1.covid.1.9.uavcan => 1.covid.1.9.dsdl} (100%)
 rename test/gettest_properties/dsdl/proptest/{hasvla.1.0.uavcan => hasvla.1.0.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/{CombinatorialExplosion.0.1.uavcan => CombinatorialExplosion.0.1.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/basics/{300.Service.0.1.uavcan => 300.Service.0.1.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/basics/{7000.Struct_.0.1.uavcan => 7000.Struct_.0.1.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/basics/{DelimitedFixedSize.0.1.uavcan => DelimitedFixedSize.0.1.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/basics/{DelimitedVariableSize.0.1.uavcan => DelimitedVariableSize.0.1.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/basics/{Primitive.0.1.uavcan => Primitive.0.1.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/basics/{PrimitiveArrayFixed.0.1.uavcan => PrimitiveArrayFixed.0.1.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/basics/{PrimitiveArrayVariable.0.1.uavcan => PrimitiveArrayVariable.0.1.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/basics/{Union.0.1.uavcan => Union.0.1.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/basics/{UnionWithSameTypes.0.1.uavcan => UnionWithSameTypes.0.1.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/delimited/{A.1.0.uavcan => A.1.0.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/delimited/{A.1.1.uavcan => A.1.1.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/delimited/{BDelimited.1.0.uavcan => BDelimited.1.0.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/delimited/{BDelimited.1.1.uavcan => BDelimited.1.1.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/delimited/{BSealed.1.0.uavcan => BSealed.1.0.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/delimited/{CFixed.1.0.uavcan => CFixed.1.0.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/delimited/{CFixed.1.1.uavcan => CFixed.1.1.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/delimited/{CVariable.1.0.uavcan => CVariable.1.0.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/delimited/{CVariable.1.1.uavcan => CVariable.1.1.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/drone/sensor/{BMSInfo.1.0.uavcan => BMSInfo.1.0.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/drone/sensor/{BMSStatus.1.0.uavcan => BMSStatus.1.0.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/drone/sensor/{BMSStatusValue.1.0.uavcan => BMSStatusValue.1.0.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/drone/sensor/{BatteryChemistry.1.0.uavcan => BatteryChemistry.1.0.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/zubax/actuator/esc/{AngVelSetpoint.0.1.uavcan => AngVelSetpoint.0.1.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/zubax/actuator/esc/{RatiometricSetpoint.0.1.uavcan => RatiometricSetpoint.0.1.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/zubax/actuator/esc/{Status.0.1.uavcan => Status.0.1.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/zubax/sensor/bms/{BatteryPackParams.0.1.uavcan => BatteryPackParams.0.1.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/zubax/sensor/bms/{BatteryPackStatus.0.1.uavcan => BatteryPackStatus.0.1.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/zubax/sensor/bms/{Technology.0.1.uavcan => Technology.0.1.dsdl} (100%)
 rename verification/nunavut_test_types/test0/regulated/zubax/sensor/wattmeter/{DCSample.0.1.uavcan => DCSample.0.1.dsdl} (100%)

diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index f1b209a2..d12476a3 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -1,6 +1,6 @@
 {
     "name": "Python dev environment",
-    "image": "ghcr.io/opencyphal/toxic:tx20.4.1",
+    "image": "ghcr.io/opencyphal/toxic:tx22.4.1",
     "workspaceFolder": "/workspace",
     "workspaceMount": "source=${localWorkspaceFolder},target=/workspace,type=bind,consistency=delegated",
     "mounts": [
@@ -12,7 +12,7 @@
             "extensions": [
                 "uavcan.dsdl",
                 "wholroyd.jinja",
-                "ban.spellright",
+                "streetsidesoftware.code-spell-checker",
                 "ms-python.python"
             ]
         }
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index 7f0f4d73..63a44fcc 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -8,7 +8,7 @@ jobs:
   release:
     if: ${{ github.event_name == 'release' && !github.event.release.prerelease }}
     runs-on: ubuntu-latest
-    container: ghcr.io/opencyphal/toxic:ts20.4.1
+    container: ghcr.io/opencyphal/toxic:tx22.4.1
     steps:
     - uses: actions/checkout@v3
       with:
@@ -20,8 +20,6 @@ jobs:
       # Fails the release if the release-tag doesn't match the Nunavut version at that tag.
       run: |
         $(./.github/verify.py -vv --version-check-only "${{ steps.process_event.outputs.tag }}")
-    - name: install-tox
-      run: pip3 install tox
     - name: lint
       run: tox -e lint
     - name: test-nnvg
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index dff6a47f..b5f54c96 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -9,15 +9,11 @@ on:
 jobs:
   test:
     runs-on: ubuntu-latest
+    container: ghcr.io/opencyphal/toxic:tx22.4.1
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: actions/setup-python@v4
-      with:
-        python-version: '3.10'
-    - name: install-tox
-      run: pip3 install tox
     - name: lint
       run: tox -e lint
     - name: test-nnvg
@@ -52,11 +48,9 @@ jobs:
     container: sonarsource/sonar-scanner-cli
     steps:
     - uses: actions/checkout@v3
-    - name: sonar-cache
-      uses: actions/cache@v3
       with:
-        path: /opt/sonar-scanner/.sonar/cache
-        key: sonar-scanner-cli-4.8.0.2856-${{ runner.os }}
+        # Disabling shallow clone is recommended for improving relevancy of reporting
+        fetch-depth: 0
     - name: download-converage-reports
       uses: actions/download-artifact@v3
       with:
@@ -75,43 +69,34 @@ jobs:
       working-directory: .tox
     - name: report-release
       if: ${{ github.event_name != 'pull_request' }}
+      uses: sonarsource/sonarcloud-github-action@master
       env:
-        SONARQUBE_TOKEN: ${{ secrets.SONARQUBE_TOKEN }}
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-      run: |
-        sonar-scanner -X \
-        -Dsonar.login=${{ env.SONARQUBE_TOKEN }} \
-        -Dsonar.buildString=${{ env.GITHUB_RUN_ID }} \
-        -Dsonar.projectVersion=${{ env.NUNAVUT_MAJOR_MINOR_VERSION }} \
-        -Dsonar.python.version=python3.9
+        SONAR_TOKEN: ${{ secrets.SONARQUBE_TOKEN }}
+      with:
+        args: >
+          -Dsonar.login=${{ env.SONAR_TOKEN }}
+          -Dsonar.buildString=${{ env.GITHUB_RUN_ID }}
+          -Dsonar.projectVersion=${{ env.NUNAVUT_MAJOR_MINOR_VERSION }}
+          -Dsonar.python.version=python3.10
     - name: report-pr
       if: ${{ github.event_name == 'pull_request' }}
+      uses: sonarsource/sonarcloud-github-action@master
       env:
-        SONARQUBE_TOKEN: 6526e88c286672a7852fea52056c4b6ea583aaf7
+        SONAR_TOKEN: "6526e88c286672a7852fea52056c4b6ea583aaf7"
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-      run: |
-        sonar-scanner -X \
-        -Dsonar.login=${{ env.SONARQUBE_TOKEN }} \
-        -Dsonar.buildString=${{ env.GITHUB_RUN_ID }} \
-        -Dsonar.projectVersion=${{ env.NUNAVUT_MAJOR_MINOR_VERSION }} \
-        -Dsonar.python.version=python3.9
+      with:
+        args: >
+          -Dsonar.login=${{ env.SONAR_TOKEN }}
+          -Dsonar.buildString=${{ env.GITHUB_RUN_ID }}
+          -Dsonar.projectVersion=${{ env.NUNAVUT_MAJOR_MINOR_VERSION }}
+          -Dsonar.python.version=python3.10
 
-  compat-test-python3:
+  compat-test-python3-windows-and-mac:
     strategy:
       matrix:
-        python3-version: ['11']
-        python3-platform: ['ubuntu-latest', 'windows-latest', 'macos-latest']
-        include:
-          - python3-version: 6
-            python3-platform: ubuntu-18.04
-          - python3-version: 7
-            python3-platform: ubuntu-20.04
-          - python3-version: 8
-            python3-platform: ubuntu-20.04
-          - python3-version: 9
-            python3-platform: ubuntu-20.04
-          - python3-version: 10
-            python3-platform: ubuntu-20.04
+        python3-version: ['10','11']
+        python3-platform: ['windows-latest', 'macos-latest']
     runs-on: ${{ matrix.python3-platform }}
     needs: test
     steps:
@@ -127,6 +112,20 @@ jobs:
     - name: python3.${{ matrix.python3-version }} test
       run: tox -e py3${{ matrix.python3-version }}-nnvg,py3${{ matrix.python3-version }}-test
 
+  compat-test-python3-ubuntu:
+    strategy:
+      matrix:
+        python3-version: ['7', '8', '9', '10', '11']
+    runs-on: ubuntu-latest
+    container: ghcr.io/opencyphal/toxic:tx22.4.1
+    needs: test
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+    - name: python3.${{ matrix.python3-version }} test
+      run: tox -e py3${{ matrix.python3-version }}-nnvg,py3${{ matrix.python3-version }}-test
+
   language-verification-c:
     runs-on: ubuntu-latest
     needs: test
diff --git a/.vscode/cmake-variants.json b/.vscode/cmake-variants.json
index cafd912a..57add1d9 100644
--- a/.vscode/cmake-variants.json
+++ b/.vscode/cmake-variants.json
@@ -45,7 +45,8 @@
                 "short": "--std=c11",
                 "long": "Compile and link using the C11 standard.",
                 "settings": {
-                    "NUNAVUT_VERIFICATION_LANG": "c"
+                    "NUNAVUT_VERIFICATION_LANG": "c",
+                    "NUNAVUT_VERIFICATION_LANG_STANDARD": "c11"
                 }
             },
             "C++14": {
diff --git a/.vscode/extensions.json b/.vscode/extensions.json
index da49b63d..9a828aa1 100644
--- a/.vscode/extensions.json
+++ b/.vscode/extensions.json
@@ -2,15 +2,9 @@
     // See http://go.microsoft.com/fwlink/?LinkId=827846
     // for the documentation about the extensions.json format
     "recommendations": [
-        "ms-azuretools.vscode-docker",
         "uavcan.dsdl",
         "wholroyd.jinja",
-        "ban.spellright",
-        "ms-python.python",
-        "ms-vscode.cpptools",
-        "ms-vscode.cpptools-extension-pack",
-        "xaver.clang-format",
-        "hbenl.vscode-test-explorer",
-        "matepek.vscode-catch2-test-adapter"
+        "streetsidesoftware.code-spell-checker",
+        "ms-python.python"
     ]
 }
diff --git a/CONTRIBUTING.rst b/CONTRIBUTING.rst
index b0fb77d6..13a4390b 100644
--- a/CONTRIBUTING.rst
+++ b/CONTRIBUTING.rst
@@ -72,8 +72,8 @@ To run the full suite of `tox`_ tests locally you'll need docker. Once you have
 and running do::
 
     git submodule update --init --recursive
-    docker pull ghcr.io/opencyphal/toxic:tx20.4.1
-    docker run --rm -v $PWD:/repo ghcr.io/opencyphal/toxic:tx20.4.1 tox
+    docker pull ghcr.io/opencyphal/toxic:tx22.4.1
+    docker run --rm -v $PWD:/repo ghcr.io/opencyphal/toxic:tx22.4.1 tox
 
 To run a limited suite using only locally available interpreters directly on your host machine,
 skip the docker invocations and use ``tox -s``.
@@ -187,7 +187,7 @@ Building The Docs
 We rely on `read the docs`_ to build our documentation from github but we also verify this build
 as part of our tox build. This means you can view a local copy after completing a full, successful
 test run (See `Running The Tests`_) or do
-:code:`docker run --rm -t -v $PWD:/repo uavcan/toxic:py35-py39-sq /bin/sh -c "tox -e docs"` to build
+:code:`docker run --rm -t -v $PWD:/repo ghcr.io/opencyphal/toxic:tx22.4.1 /bin/sh -c "tox -e docs"` to build
 the docs target. You can open the index.html under .tox/docs/tmp/index.html or run a local
 web-server::
 
diff --git a/docs/static/templates/footer.html b/docs/static/templates/footer.html
index 2f9fcaaf..ff53452d 100644
--- a/docs/static/templates/footer.html
+++ b/docs/static/templates/footer.html
@@ -1,7 +1,7 @@
 {% extends "!footer.html" %}
 {% block extrafooter %}
     <div style="float:right; padding: 10pt">
-        <a href="http://opencyphal.org"><img src="{{pathto('_static/' + favicon, 1)}}" class="logo" alt="UAVCAN" /></a>
+        <a href="http://opencyphal.org"><img src="{{pathto('_static/' + favicon, 1)}}" class="logo" alt="OpenCyphal" /></a>
     </div>
     <div style="margin-top: 2pt">
         <li><a href="http://opencyphal.org">OpenCyphal Website</a> &raquo;</li>
diff --git a/docs/templates.rst b/docs/templates.rst
index fe5037bc..1f538ae2 100644
--- a/docs/templates.rst
+++ b/docs/templates.rst
@@ -306,10 +306,6 @@ C++ Filters
    :noindex:
 .. autofunction:: nunavut.lang.cpp.filter_declaration
    :noindex:
-.. autofunction:: nunavut.lang.cpp.filter_definition_begin
-   :noindex:
-.. autofunction:: nunavut.lang.cpp.filter_definition_end
-   :noindex:
 .. autofunction:: nunavut.lang.cpp.filter_to_namespace_qualifier
    :noindex:
 .. autofunction:: nunavut.lang.cpp.filter_type_from_primitive
diff --git a/requirements.txt b/requirements.txt
index 444307ea..f5b0d184 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,6 +1,4 @@
 # This file provided for readthedocs.io only. Use tox.ini for all dependencies.
 
-sphinx >= 1.8.5
 sphinx-argparse
-sphinx_rtd_theme
 sphinxemoji
diff --git a/src/nunavut/_version.py b/src/nunavut/_version.py
index 11f5bf6c..8eb74fac 100644
--- a/src/nunavut/_version.py
+++ b/src/nunavut/_version.py
@@ -8,8 +8,8 @@
 .. autodata:: __version__
 """
 
-__version__ = "2.0.10"
+__version__ = "2.1.0"
 __license__ = "MIT"
 __author__ = "OpenCyphal"
-__copyright__ = "Copyright 2023 Amazon.com, Inc. or its affiliates. All Rights Reserved. Copyright (c) 2023 OpenCyphal."
+__copyright__ = "Copyright Amazon.com, Inc. or its affiliates. All Rights Reserved. Copyright (c) 2023 OpenCyphal."
 __email__ = "maintainers@opencyphal.org"
diff --git a/src/nunavut/cli/__init__.py b/src/nunavut/cli/__init__.py
index ed1c38a3..e3acfc46 100644
--- a/src/nunavut/cli/__init__.py
+++ b/src/nunavut/cli/__init__.py
@@ -108,9 +108,9 @@ def _make_parser() -> argparse.ArgumentParser:
         the vendor-specific namespace won't be able to use data types from the standard
         namespace.
 
-        Additional directories can also be specified through the environment variable
-        DSDL_INCLUDE_PATH, where the path entries are separated by colons ":" on posix
-        systems and ";" on Windows.
+        Additional directories can also be specified through an environment variable
+        DSDL_INCLUDE_PATH where the path entries are separated by colons ":" on
+        posix systems and ";" on Windows.
 
     """
         ).lstrip(),
@@ -562,9 +562,7 @@ def main() -> int:
     #
     extra_includes = args.lookup_dir
 
-    # legacy variable. We'll support this for a time.
-    extra_includes_from_env = _extra_includes_from_env("UAVCAN_DSDL_INCLUDE_PATH")
-    extra_includes_from_env += _extra_includes_from_env("DSDL_INCLUDE_PATH")
+    extra_includes_from_env = _extra_includes_from_env("DSDL_INCLUDE_PATH")
     extra_includes += sorted(extra_includes_from_env)
 
     from nunavut.cli.runners import ArgparseRunner
diff --git a/src/nunavut/jinja/jinja2/loaders.py b/src/nunavut/jinja/jinja2/loaders.py
index 1e17eeb2..e6e1a5f1 100644
--- a/src/nunavut/jinja/jinja2/loaders.py
+++ b/src/nunavut/jinja/jinja2/loaders.py
@@ -1,40 +1,44 @@
-# -*- coding: utf-8 -*-
-"""
-    jinja2.loaders
-    ~~~~~~~~~~~~~~
-
-    Jinja loader classes.
-
-    :copyright: (c) 2017 by the Jinja Team.
-    :license: BSD, see LICENSE for more details.
+"""API and implementations for loading templates from different data
+sources.
 """
+import importlib.util
 import os
+import posixpath
 import sys
+import typing as t
 import weakref
-from types import ModuleType
-from os import path
+import zipimport
+from collections import abc
 from hashlib import sha1
+from importlib import import_module
+from types import ModuleType
+
 from nunavut.jinja.jinja2.exceptions import TemplateNotFound
-from nunavut.jinja.jinja2.utils import open_if_exists, internalcode
-from nunavut.jinja.jinja2._compat import string_types, iteritems
+from nunavut.jinja.jinja2.utils import internalcode
+
+if t.TYPE_CHECKING:
+    from .environment import Environment
+    from .environment import Template
 
 
-def split_template_path(template):
+def split_template_path(template: str) -> t.List[str]:
     """Split a path into segments and perform a sanity check.  If it detects
     '..' in the path it will raise a `TemplateNotFound` error.
     """
     pieces = []
-    for piece in template.split('/'):
-        if path.sep in piece \
-           or (path.altsep and path.altsep in piece) or \
-           piece == path.pardir:
+    for piece in template.split("/"):
+        if (
+            os.sep in piece
+            or (os.path.altsep and os.path.altsep in piece)
+            or piece == os.path.pardir
+        ):
             raise TemplateNotFound(template)
-        elif piece and piece != '.':
+        elif piece and piece != ".":
             pieces.append(piece)
     return pieces
 
 
-class BaseLoader(object):
+class BaseLoader:
     """Baseclass for all loaders.  Subclass this and override `get_source` to
     implement a custom loading mechanism.  The environment provides a
     `get_template` method that calls the loader's `load` method to get the
@@ -43,7 +47,7 @@ class BaseLoader(object):
     A very basic example for a loader that looks up templates on the file
     system could look like this::
 
-        from nunavut.jinja.jinja2 import BaseLoader, TemplateNotFound
+        from jinja2 import BaseLoader, TemplateNotFound
         from os.path import join, exists, getmtime
 
         class MyLoader(BaseLoader):
@@ -56,8 +60,8 @@ def get_source(self, environment, template):
                 if not exists(path):
                     raise TemplateNotFound(template)
                 mtime = getmtime(path)
-                with file(path) as f:
-                    source = f.read().decode('utf-8')
+                with open(path) as f:
+                    source = f.read()
                 return source, path, lambda: mtime == getmtime(path)
     """
 
@@ -67,16 +71,18 @@ def get_source(self, environment, template):
     #: .. versionadded:: 2.4
     has_source_access = True
 
-    def get_source(self, environment, template):
+    def get_source(
+        self, environment: "Environment", template: str
+    ) -> t.Tuple[str, t.Optional[str], t.Optional[t.Callable[[], bool]]]:
         """Get the template source, filename and reload helper for a template.
         It's passed the environment and template name and has to return a
         tuple in the form ``(source, filename, uptodate)`` or raise a
         `TemplateNotFound` error if it can't locate the template.
 
         The source part of the returned tuple must be the source of the
-        template as unicode string or a ASCII bytestring.  The filename should
-        be the name of the file on the filesystem if it was loaded from there,
-        otherwise `None`.  The filename is used by python for the tracebacks
+        template as a string. The filename should be the name of the
+        file on the filesystem if it was loaded from there, otherwise
+        ``None``. The filename is used by Python for the tracebacks
         if no loader extension is used.
 
         The last item in the tuple is the `uptodate` function.  If auto
@@ -86,18 +92,24 @@ def get_source(self, environment, template):
         the template will be reloaded.
         """
         if not self.has_source_access:
-            raise RuntimeError('%s cannot provide access to the source' %
-                               self.__class__.__name__)
+            raise RuntimeError(
+                f"{type(self).__name__} cannot provide access to the source"
+            )
         raise TemplateNotFound(template)
 
-    def list_templates(self):
+    def list_templates(self) -> t.List[str]:
         """Iterates over all templates.  If the loader does not support that
         it should raise a :exc:`TypeError` which is the default behavior.
         """
-        raise TypeError('this loader cannot iterate over all templates')
+        raise TypeError("this loader cannot iterate over all templates")
 
     @internalcode
-    def load(self, environment, name, globals=None):
+    def load(
+        self,
+        environment: "Environment",
+        name: str,
+        globals: t.Optional[t.MutableMapping[str, t.Any]] = None,
+    ) -> "Template":
         """Loads a template.  This method looks up the template in the cache
         or loads one by calling :meth:`get_source`.  Subclasses should not
         override this method as loaders working on collections of other
@@ -131,71 +143,94 @@ def load(self, environment, name, globals=None):
             bucket.code = code
             bcc.set_bucket(bucket)
 
-        return environment.template_class.from_code(environment, code,
-                                                    globals, uptodate)
+        return environment.template_class.from_code(
+            environment, code, globals, uptodate
+        )
 
 
 class FileSystemLoader(BaseLoader):
-    """Loads templates from the file system.  This loader can find templates
-    in folders on the file system and is the preferred way to load them.
+    """Load templates from a directory in the file system.
 
-    The loader takes the path to the templates as string, or if multiple
-    locations are wanted a list of them which is then looked up in the
-    given order::
+    The path can be relative or absolute. Relative paths are relative to
+    the current working directory.
 
-    >>> loader = FileSystemLoader('/path/to/templates')
-    >>> loader = FileSystemLoader(['/path/to/templates', '/other/path'])
+    .. code-block:: python
 
-    Per default the template encoding is ``'utf-8'`` which can be changed
-    by setting the `encoding` parameter to something else.
+        loader = FileSystemLoader("templates")
 
-    To follow symbolic links, set the *followlinks* parameter to ``True``::
+    A list of paths can be given. The directories will be searched in
+    order, stopping at the first matching template.
 
-    >>> loader = FileSystemLoader('/path/to/templates', followlinks=True)
+    .. code-block:: python
 
-    .. versionchanged:: 2.8+
-       The *followlinks* parameter was added.
+        loader = FileSystemLoader(["/override/templates", "/default/templates"])
+
+    :param searchpath: A path, or list of paths, to the directory that
+        contains the templates.
+    :param encoding: Use this encoding to read the text from template
+        files.
+    :param followlinks: Follow symbolic links in the path.
+
+    .. versionchanged:: 2.8
+        Added the ``followlinks`` parameter.
     """
 
-    def __init__(self, searchpath, encoding='utf-8', followlinks=False):
-        if isinstance(searchpath, string_types):
+    def __init__(
+        self,
+        searchpath: t.Union[
+            str, "os.PathLike[str]", t.Sequence[t.Union[str, "os.PathLike[str]"]]
+        ],
+        encoding: str = "utf-8",
+        followlinks: bool = False,
+    ) -> None:
+        if not isinstance(searchpath, abc.Iterable) or isinstance(searchpath, str):
             searchpath = [searchpath]
-        self.searchpath = list(searchpath)
+
+        self.searchpath = [os.fspath(p) for p in searchpath]
         self.encoding = encoding
         self.followlinks = followlinks
 
-    def get_source(self, environment, template):
+    def get_source(
+        self, environment: "Environment", template: str
+    ) -> t.Tuple[str, str, t.Callable[[], bool]]:
         pieces = split_template_path(template)
+
         for searchpath in self.searchpath:
-            filename = path.join(searchpath, *pieces)
-            f = open_if_exists(filename)
-            if f is None:
-                continue
+            # Use posixpath even on Windows to avoid "drive:" or UNC
+            # segments breaking out of the search directory.
+            filename = posixpath.join(searchpath, *pieces)
+
+            if os.path.isfile(filename):
+                break
+        else:
+            raise TemplateNotFound(template)
+
+        with open(filename, encoding=self.encoding) as f:
+            contents = f.read()
+
+        mtime = os.path.getmtime(filename)
+
+        def uptodate() -> bool:
             try:
-                contents = f.read().decode(self.encoding)
-            finally:
-                f.close()
-
-            mtime = path.getmtime(filename)
-
-            def uptodate():
-                try:
-                    return path.getmtime(filename) == mtime
-                except OSError:
-                    return False
-            return contents, filename, uptodate
-        raise TemplateNotFound(template)
+                return os.path.getmtime(filename) == mtime
+            except OSError:
+                return False
+
+        # Use normpath to convert Windows altsep to sep.
+        return contents, os.path.normpath(filename), uptodate
 
-    def list_templates(self):
+    def list_templates(self) -> t.List[str]:
         found = set()
         for searchpath in self.searchpath:
             walk_dir = os.walk(searchpath, followlinks=self.followlinks)
-            for dirpath, dirnames, filenames in walk_dir:
+            for dirpath, _, filenames in walk_dir:
                 for filename in filenames:
-                    template = os.path.join(dirpath, filename) \
-                        [len(searchpath):].strip(os.path.sep) \
-                                          .replace(os.path.sep, '/')
-                    if template[:2] == './':
+                    template = (
+                        os.path.join(dirpath, filename)[len(searchpath) :]
+                        .strip(os.sep)
+                        .replace(os.sep, "/")
+                    )
+                    if template[:2] == "./":
                         template = template[2:]
                     if template not in found:
                         found.add(template)
@@ -203,96 +238,196 @@ def list_templates(self):
 
 
 class PackageLoader(BaseLoader):
-    """Load templates from python eggs or packages.  It is constructed with
-    the name of the python package and the path to the templates in that
-    package::
+    """Load templates from a directory in a Python package.
 
-        loader = PackageLoader('mypackage', 'views')
+    :param package_name: Import name of the package that contains the
+        template directory.
+    :param package_path: Directory within the imported package that
+        contains the templates.
+    :param encoding: Encoding of template files.
 
-    If the package path is not given, ``'templates'`` is assumed.
+    The following example looks up templates in the ``pages`` directory
+    within the ``project.ui`` package.
 
-    Per default the template encoding is ``'utf-8'`` which can be changed
-    by setting the `encoding` parameter to something else.  Due to the nature
-    of eggs it's only possible to reload templates if the package was loaded
-    from the file system and not a zip file.
+    .. code-block:: python
+
+        loader = PackageLoader("project.ui", "pages")
+
+    Only packages installed as directories (standard pip behavior) or
+    zip/egg files (less common) are supported. The Python API for
+    introspecting data in packages is too limited to support other
+    installation methods the way this loader requires.
+
+    There is limited support for :pep:`420` namespace packages. The
+    template directory is assumed to only be in one namespace
+    contributor. Zip files contributing to a namespace are not
+    supported.
+
+    .. versionchanged:: 3.0
+        No longer uses ``setuptools`` as a dependency.
+
+    .. versionchanged:: 3.0
+        Limited PEP 420 namespace package support.
     """
 
-    def __init__(self, package_name, package_path='templates',
-                 encoding='utf-8'):
-        from pkg_resources import DefaultProvider, ResourceManager, \
-                                  get_provider
-        provider = get_provider(package_name)
-        self.encoding = encoding
-        self.manager = ResourceManager()
-        self.filesystem_bound = isinstance(provider, DefaultProvider)
-        self.provider = provider
+    def __init__(
+        self,
+        package_name: str,
+        package_path: "str" = "templates",
+        encoding: str = "utf-8",
+    ) -> None:
+        package_path = os.path.normpath(package_path).rstrip(os.sep)
+
+        # normpath preserves ".", which isn't valid in zip paths.
+        if package_path == os.path.curdir:
+            package_path = ""
+        elif package_path[:2] == os.path.curdir + os.sep:
+            package_path = package_path[2:]
+
         self.package_path = package_path
+        self.package_name = package_name
+        self.encoding = encoding
 
-    def get_source(self, environment, template):
-        pieces = split_template_path(template)
-        p = '/'.join((self.package_path,) + tuple(pieces))
-        if not self.provider.has_resource(p):
-            raise TemplateNotFound(template)
+        # Make sure the package exists. This also makes namespace
+        # packages work, otherwise get_loader returns None.
+        import_module(package_name)
+        spec = importlib.util.find_spec(package_name)
+        assert spec is not None, "An import spec was not found for the package."
+        loader = spec.loader
+        assert loader is not None, "A loader was not found for the package."
+        self._loader = loader
+        self._archive = None
+        template_root = None
+
+        if isinstance(loader, zipimport.zipimporter):
+            self._archive = loader.archive
+            pkgdir = next(iter(spec.submodule_search_locations))  # type: ignore
+            template_root = os.path.join(pkgdir, package_path).rstrip(os.sep)
+        else:
+            roots: t.List[str] = []
+
+            # One element for regular packages, multiple for namespace
+            # packages, or None for single module file.
+            if spec.submodule_search_locations:
+                roots.extend(spec.submodule_search_locations)
+            # A single module file, use the parent directory instead.
+            elif spec.origin is not None:
+                roots.append(os.path.dirname(spec.origin))
+
+            for root in roots:
+                root = os.path.join(root, package_path)
+
+                if os.path.isdir(root):
+                    template_root = root
+                    break
+
+        if template_root is None:
+            raise ValueError(
+                f"The {package_name!r} package was not installed in a"
+                " way that PackageLoader understands."
+            )
+
+        self._template_root = template_root
+
+    def get_source(
+        self, environment: "Environment", template: str
+    ) -> t.Tuple[str, str, t.Optional[t.Callable[[], bool]]]:
+        # Use posixpath even on Windows to avoid "drive:" or UNC
+        # segments breaking out of the search directory. Use normpath to
+        # convert Windows altsep to sep.
+        p = os.path.normpath(
+            posixpath.join(self._template_root, *split_template_path(template))
+        )
+        up_to_date: t.Optional[t.Callable[[], bool]]
+
+        if self._archive is None:
+            # Package is a directory.
+            if not os.path.isfile(p):
+                raise TemplateNotFound(template)
+
+            with open(p, "rb") as f:
+                source = f.read()
+
+            mtime = os.path.getmtime(p)
+
+            def up_to_date() -> bool:
+                return os.path.isfile(p) and os.path.getmtime(p) == mtime
+
+        else:
+            # Package is a zip file.
+            try:
+                source = self._loader.get_data(p)  # type: ignore
+            except OSError as e:
+                raise TemplateNotFound(template) from e
+
+            # Could use the zip's mtime for all template mtimes, but
+            # would need to safely reload the module if it's out of
+            # date, so just report it as always current.
+            up_to_date = None
+
+        return source.decode(self.encoding), p, up_to_date
+
+    def list_templates(self) -> t.List[str]:
+        results: t.List[str] = []
+
+        if self._archive is None:
+            # Package is a directory.
+            offset = len(self._template_root)
+
+            for dirpath, _, filenames in os.walk(self._template_root):
+                dirpath = dirpath[offset:].lstrip(os.sep)
+                results.extend(
+                    os.path.join(dirpath, name).replace(os.sep, "/")
+                    for name in filenames
+                )
+        else:
+            if not hasattr(self._loader, "_files"):
+                raise TypeError(
+                    "This zip import does not have the required"
+                    " metadata to list templates."
+                )
+
+            # Package is a zip file.
+            prefix = self._template_root[len(self._archive) :].lstrip(os.sep) + os.sep
+            offset = len(prefix)
+
+            for name in self._loader._files.keys():
+                # Find names under the templates directory that aren't directories.
+                if name.startswith(prefix) and name[-1] != os.sep:
+                    results.append(name[offset:].replace(os.sep, "/"))
 
-        filename = uptodate = None
-        if self.filesystem_bound:
-            filename = self.provider.get_resource_filename(self.manager, p)
-            mtime = path.getmtime(filename)
-            def uptodate():
-                try:
-                    return path.getmtime(filename) == mtime
-                except OSError:
-                    return False
-
-        source = self.provider.get_resource_string(self.manager, p)
-        return source.decode(self.encoding), filename, uptodate
-
-    def list_templates(self):
-        path = self.package_path
-        if path[:2] == './':
-            path = path[2:]
-        elif path == '.':
-            path = ''
-        offset = len(path)
-        results = []
-        def _walk(path):
-            for filename in self.provider.resource_listdir(path):
-                fullname = path + '/' + filename
-                if self.provider.resource_isdir(fullname):
-                    _walk(fullname)
-                else:
-                    results.append(fullname[offset:].lstrip('/'))
-        _walk(path)
         results.sort()
         return results
 
 
 class DictLoader(BaseLoader):
-    """Loads a template from a python dict.  It's passed a dict of unicode
-    strings bound to template names.  This loader is useful for unittesting:
+    """Loads a template from a Python dict mapping template names to
+    template source.  This loader is useful for unittesting:
 
     >>> loader = DictLoader({'index.html': 'source here'})
 
     Because auto reloading is rarely useful this is disabled per default.
     """
 
-    def __init__(self, mapping):
+    def __init__(self, mapping: t.Mapping[str, str]) -> None:
         self.mapping = mapping
 
-    def get_source(self, environment, template):
+    def get_source(
+        self, environment: "Environment", template: str
+    ) -> t.Tuple[str, None, t.Callable[[], bool]]:
         if template in self.mapping:
             source = self.mapping[template]
             return source, None, lambda: source == self.mapping.get(template)
         raise TemplateNotFound(template)
 
-    def list_templates(self):
+    def list_templates(self) -> t.List[str]:
         return sorted(self.mapping)
 
 
 class FunctionLoader(BaseLoader):
     """A loader that is passed a function which does the loading.  The
     function receives the name of the template and has to return either
-    an unicode string with the template source, a tuple in the form ``(source,
+    a string with the template source, a tuple in the form ``(source,
     filename, uptodatefunc)`` or `None` if the template does not exist.
 
     >>> def load_template(name):
@@ -307,15 +442,30 @@ class FunctionLoader(BaseLoader):
     return value.
     """
 
-    def __init__(self, load_func):
+    def __init__(
+        self,
+        load_func: t.Callable[
+            [str],
+            t.Optional[
+                t.Union[
+                    str, t.Tuple[str, t.Optional[str], t.Optional[t.Callable[[], bool]]]
+                ]
+            ],
+        ],
+    ) -> None:
         self.load_func = load_func
 
-    def get_source(self, environment, template):
+    def get_source(
+        self, environment: "Environment", template: str
+    ) -> t.Tuple[str, t.Optional[str], t.Optional[t.Callable[[], bool]]]:
         rv = self.load_func(template)
+
         if rv is None:
             raise TemplateNotFound(template)
-        elif isinstance(rv, string_types):
+
+        if isinstance(rv, str):
             return rv, None, None
+
         return rv
 
 
@@ -334,40 +484,49 @@ class PrefixLoader(BaseLoader):
     by loading ``'app2/index.html'`` the file from the second.
     """
 
-    def __init__(self, mapping, delimiter='/'):
+    def __init__(
+        self, mapping: t.Mapping[str, BaseLoader], delimiter: str = "/"
+    ) -> None:
         self.mapping = mapping
         self.delimiter = delimiter
 
-    def get_loader(self, template):
+    def get_loader(self, template: str) -> t.Tuple[BaseLoader, str]:
         try:
             prefix, name = template.split(self.delimiter, 1)
             loader = self.mapping[prefix]
-        except (ValueError, KeyError):
-            raise TemplateNotFound(template)
+        except (ValueError, KeyError) as e:
+            raise TemplateNotFound(template) from e
         return loader, name
 
-    def get_source(self, environment, template):
+    def get_source(
+        self, environment: "Environment", template: str
+    ) -> t.Tuple[str, t.Optional[str], t.Optional[t.Callable[[], bool]]]:
         loader, name = self.get_loader(template)
         try:
             return loader.get_source(environment, name)
-        except TemplateNotFound:
+        except TemplateNotFound as e:
             # re-raise the exception with the correct filename here.
             # (the one that includes the prefix)
-            raise TemplateNotFound(template)
+            raise TemplateNotFound(template) from e
 
     @internalcode
-    def load(self, environment, name, globals=None):
+    def load(
+        self,
+        environment: "Environment",
+        name: str,
+        globals: t.Optional[t.MutableMapping[str, t.Any]] = None,
+    ) -> "Template":
         loader, local_name = self.get_loader(name)
         try:
             return loader.load(environment, local_name, globals)
-        except TemplateNotFound:
+        except TemplateNotFound as e:
             # re-raise the exception with the correct filename here.
             # (the one that includes the prefix)
-            raise TemplateNotFound(name)
+            raise TemplateNotFound(name) from e
 
-    def list_templates(self):
+    def list_templates(self) -> t.List[str]:
         result = []
-        for prefix, loader in iteritems(self.mapping):
+        for prefix, loader in self.mapping.items():
             for template in loader.list_templates():
                 result.append(prefix + self.delimiter + template)
         return result
@@ -387,10 +546,12 @@ class ChoiceLoader(BaseLoader):
     from a different location.
     """
 
-    def __init__(self, loaders):
+    def __init__(self, loaders: t.Sequence[BaseLoader]) -> None:
         self.loaders = loaders
 
-    def get_source(self, environment, template):
+    def get_source(
+        self, environment: "Environment", template: str
+    ) -> t.Tuple[str, t.Optional[str], t.Optional[t.Callable[[], bool]]]:
         for loader in self.loaders:
             try:
                 return loader.get_source(environment, template)
@@ -399,7 +560,12 @@ def get_source(self, environment, template):
         raise TemplateNotFound(template)
 
     @internalcode
-    def load(self, environment, name, globals=None):
+    def load(
+        self,
+        environment: "Environment",
+        name: str,
+        globals: t.Optional[t.MutableMapping[str, t.Any]] = None,
+    ) -> "Template":
         for loader in self.loaders:
             try:
                 return loader.load(environment, name, globals)
@@ -407,7 +573,7 @@ def load(self, environment, name, globals=None):
                 pass
         raise TemplateNotFound(name)
 
-    def list_templates(self):
+    def list_templates(self) -> t.List[str]:
         found = set()
         for loader in self.loaders:
             found.update(loader.list_templates())
@@ -433,20 +599,26 @@ class ModuleLoader(BaseLoader):
 
     has_source_access = False
 
-    def __init__(self, path):
-        package_name = '_jinja2_module_templates_%x' % id(self)
+    def __init__(
+        self,
+        path: t.Union[
+            str, "os.PathLike[str]", t.Sequence[t.Union[str, "os.PathLike[str]"]]
+        ],
+    ) -> None:
+        package_name = f"_jinja2_module_templates_{id(self):x}"
 
         # create a fake module that looks for the templates in the
         # path given.
         mod = _TemplateModule(package_name)
-        if isinstance(path, string_types):
+
+        if not isinstance(path, abc.Iterable) or isinstance(path, str):
             path = [path]
-        else:
-            path = list(path)
-        mod.__path__ = path
 
-        sys.modules[package_name] = weakref.proxy(mod,
-            lambda x: sys.modules.pop(package_name, None))
+        mod.__path__ = [os.fspath(p) for p in path]
+
+        sys.modules[package_name] = weakref.proxy(
+            mod, lambda x: sys.modules.pop(package_name, None)
+        )
 
         # the only strong reference, the sys.modules entry is weak
         # so that the garbage collector can remove it once the
@@ -455,27 +627,37 @@ def __init__(self, path):
         self.package_name = package_name
 
     @staticmethod
-    def get_template_key(name):
-        return 'tmpl_' + sha1(name.encode('utf-8')).hexdigest()
+    def get_template_key(name: str) -> str:
+        return "tmpl_" + sha1(name.encode("utf-8")).hexdigest()
 
     @staticmethod
-    def get_module_filename(name):
-        return ModuleLoader.get_template_key(name) + '.py'
+    def get_module_filename(name: str) -> str:
+        return ModuleLoader.get_template_key(name) + ".py"
 
     @internalcode
-    def load(self, environment, name, globals=None):
+    def load(
+        self,
+        environment: "Environment",
+        name: str,
+        globals: t.Optional[t.MutableMapping[str, t.Any]] = None,
+    ) -> "Template":
         key = self.get_template_key(name)
-        module = '%s.%s' % (self.package_name, key)
+        module = f"{self.package_name}.{key}"
         mod = getattr(self.module, module, None)
+
         if mod is None:
             try:
-                mod = __import__(module, None, None, ['root'])
-            except ImportError:
-                raise TemplateNotFound(name)
+                mod = __import__(module, None, None, ["root"])
+            except ImportError as e:
+                raise TemplateNotFound(name) from e
 
             # remove the entry from sys.modules, we only want the attribute
             # on the module object we have stored on the loader.
             sys.modules.pop(module, None)
 
+        if globals is None:
+            globals = {}
+
         return environment.template_class.from_module_dict(
-            environment, mod.__dict__, globals)
+            environment, mod.__dict__, globals
+        )
diff --git a/src/nunavut/lang/cpp/templates/deserialization.j2 b/src/nunavut/lang/cpp/templates/deserialization.j2
index 8151e1dd..397a8332 100644
--- a/src/nunavut/lang/cpp/templates/deserialization.j2
+++ b/src/nunavut/lang/cpp/templates/deserialization.j2
@@ -201,15 +201,15 @@
 {% endif %}
     {# GENERAL CASE #}
     {% set ref_index = 'index'|to_template_unique_name %}
+    {% set tmp_element = 'tmp'|to_template_unique_name %}
         for ({{ typename_unsigned_length }} {{ ref_index }} = 0U; {{ ref_index }} < {{ ref_size }}; ++{{ ref_index }})
         {
-            // TODO This is terribly inefficient. We need to completely refactor this template to use C++ emplace and
-            // move semantics instead of assuming C-style containers
-            {{ reference }}.push_back();
+            {{ t.element_type | declaration }} {{ tmp_element }} = {{ t.element_type | declaration }}();
             {{
-                _deserialize_any(t.element_type, reference + ('[%s]'|format(ref_index)), element_offset)
+                _deserialize_any(t.element_type, tmp_element, element_offset)
             |trim|indent
             }}
+            {{ reference }}.push_back(std::move({{ tmp_element }}));
         }
 
     }
diff --git a/src/nunavut/lang/html/support/__init__.py b/src/nunavut/lang/html/support/__init__.py
new file mode 100644
index 00000000..f5c35ff9
--- /dev/null
+++ b/src/nunavut/lang/html/support/__init__.py
@@ -0,0 +1,19 @@
+#
+# Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+# Copyright (C) 2018-2020  OpenCyphal Development Team  <opencyphal.org>
+# This software is distributed under the terms of the MIT License.
+#
+"""
+Empty python package to ensure the support generator doesn't explode.
+"""
+import pathlib
+import typing
+
+from nunavut._utilities import ResourceType, empty_list_support_files
+
+__version__ = "1.0.0"
+"""Version of the html support headers."""
+
+
+def list_support_files(resource_type: ResourceType = ResourceType.ANY) -> typing.Generator[pathlib.Path, None, None]:
+    return empty_list_support_files()
diff --git a/src/nunavut/lang/js/support/__init__.py b/src/nunavut/lang/js/support/__init__.py
new file mode 100644
index 00000000..9f0dfc3c
--- /dev/null
+++ b/src/nunavut/lang/js/support/__init__.py
@@ -0,0 +1,19 @@
+#
+# Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+# Copyright (C) 2018-2020  OpenCyphal Development Team  <opencyphal.org>
+# This software is distributed under the terms of the MIT License.
+#
+"""
+Empty python package to ensure the support generator doesn't explode.
+"""
+import pathlib
+import typing
+
+from nunavut._utilities import ResourceType, empty_list_support_files
+
+__version__ = "1.0.0"
+"""Version of the js support headers."""
+
+
+def list_support_files(resource_type: ResourceType = ResourceType.ANY) -> typing.Generator[pathlib.Path, None, None]:
+    return empty_list_support_files()
diff --git a/src/nunavut/lang/py/support/__init__.py b/src/nunavut/lang/py/support/__init__.py
new file mode 100644
index 00000000..8ff6165b
--- /dev/null
+++ b/src/nunavut/lang/py/support/__init__.py
@@ -0,0 +1,19 @@
+#
+# Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+# Copyright (C) 2018-2020  OpenCyphal Development Team  <opencyphal.org>
+# This software is distributed under the terms of the MIT License.
+#
+"""
+Empty python package to ensure the support generator doesn't explode.
+"""
+import pathlib
+import typing
+
+from nunavut._utilities import ResourceType, empty_list_support_files
+
+__version__ = "1.0.0"
+"""Version of the py support headers."""
+
+
+def list_support_files(resource_type: ResourceType = ResourceType.ANY) -> typing.Generator[pathlib.Path, None, None]:
+    return empty_list_support_files()
diff --git a/test/gentest_any/dsdl/uavcan/time/510.GetSynchronizationMasterInfo.0.1.uavcan b/test/gentest_any/dsdl/uavcan/time/510.GetSynchronizationMasterInfo.0.1.dsdl
similarity index 100%
rename from test/gentest_any/dsdl/uavcan/time/510.GetSynchronizationMasterInfo.0.1.uavcan
rename to test/gentest_any/dsdl/uavcan/time/510.GetSynchronizationMasterInfo.0.1.dsdl
diff --git a/test/gentest_any/dsdl/uavcan/time/7168.Synchronization.1.0.uavcan b/test/gentest_any/dsdl/uavcan/time/7168.Synchronization.1.0.dsdl
similarity index 100%
rename from test/gentest_any/dsdl/uavcan/time/7168.Synchronization.1.0.uavcan
rename to test/gentest_any/dsdl/uavcan/time/7168.Synchronization.1.0.dsdl
diff --git a/test/gentest_any/dsdl/uavcan/time/SynchronizedAmbiguousTimestamp.1.0.uavcan b/test/gentest_any/dsdl/uavcan/time/SynchronizedAmbiguousTimestamp.1.0.dsdl
similarity index 100%
rename from test/gentest_any/dsdl/uavcan/time/SynchronizedAmbiguousTimestamp.1.0.uavcan
rename to test/gentest_any/dsdl/uavcan/time/SynchronizedAmbiguousTimestamp.1.0.dsdl
diff --git a/test/gentest_any/dsdl/uavcan/time/SynchronizedTimestamp.1.0.uavcan b/test/gentest_any/dsdl/uavcan/time/SynchronizedTimestamp.1.0.dsdl
similarity index 100%
rename from test/gentest_any/dsdl/uavcan/time/SynchronizedTimestamp.1.0.uavcan
rename to test/gentest_any/dsdl/uavcan/time/SynchronizedTimestamp.1.0.dsdl
diff --git a/test/gentest_any/dsdl/uavcan/time/TimeSystem.0.1.uavcan b/test/gentest_any/dsdl/uavcan/time/TimeSystem.0.1.dsdl
similarity index 100%
rename from test/gentest_any/dsdl/uavcan/time/TimeSystem.0.1.uavcan
rename to test/gentest_any/dsdl/uavcan/time/TimeSystem.0.1.dsdl
diff --git a/test/gentest_arrays/dsdl/radar/Phased.0.1.uavcan b/test/gentest_arrays/dsdl/radar/Phased.0.1.dsdl
similarity index 100%
rename from test/gentest_arrays/dsdl/radar/Phased.0.1.uavcan
rename to test/gentest_arrays/dsdl/radar/Phased.0.1.dsdl
diff --git a/test/gentest_filters/dsdl/new/hotness.1.0.uavcan b/test/gentest_filters/dsdl/new/hotness.1.0.dsdl
similarity index 100%
rename from test/gentest_filters/dsdl/new/hotness.1.0.uavcan
rename to test/gentest_filters/dsdl/new/hotness.1.0.dsdl
diff --git a/test/gentest_filters/dsdl/new/malloc.1.0.uavcan b/test/gentest_filters/dsdl/new/malloc.1.0.dsdl
similarity index 100%
rename from test/gentest_filters/dsdl/new/malloc.1.0.uavcan
rename to test/gentest_filters/dsdl/new/malloc.1.0.dsdl
diff --git a/test/gentest_filters/dsdl/one/foo.1.0.uavcan b/test/gentest_filters/dsdl/one/foo.1.0.dsdl
similarity index 100%
rename from test/gentest_filters/dsdl/one/foo.1.0.uavcan
rename to test/gentest_filters/dsdl/one/foo.1.0.dsdl
diff --git a/test/gentest_filters/dsdl/uavcan/str/7168.bar.1.0.uavcan b/test/gentest_filters/dsdl/uavcan/str/7168.bar.1.0.dsdl
similarity index 100%
rename from test/gentest_filters/dsdl/uavcan/str/7168.bar.1.0.uavcan
rename to test/gentest_filters/dsdl/uavcan/str/7168.bar.1.0.dsdl
diff --git a/test/gentest_filters/dsdl/uavcan/str/bar_svc.1.0.uavcan b/test/gentest_filters/dsdl/uavcan/str/bar_svc.1.0.dsdl
similarity index 100%
rename from test/gentest_filters/dsdl/uavcan/str/bar_svc.1.0.uavcan
rename to test/gentest_filters/dsdl/uavcan/str/bar_svc.1.0.dsdl
diff --git a/test/gentest_filters/dsdl/uavcan/time/SynchronizedTimestamp.1.0.uavcan b/test/gentest_filters/dsdl/uavcan/time/SynchronizedTimestamp.1.0.dsdl
similarity index 100%
rename from test/gentest_filters/dsdl/uavcan/time/SynchronizedTimestamp.1.0.uavcan
rename to test/gentest_filters/dsdl/uavcan/time/SynchronizedTimestamp.1.0.dsdl
diff --git a/test/gentest_filters/dsdl/vla/uses_vla.0.1.uavcan b/test/gentest_filters/dsdl/vla/uses_vla.0.1.dsdl
similarity index 100%
rename from test/gentest_filters/dsdl/vla/uses_vla.0.1.uavcan
rename to test/gentest_filters/dsdl/vla/uses_vla.0.1.dsdl
diff --git a/test/gentest_json/dsdl/uavcan/test/7168.TestType.0.1.uavcan b/test/gentest_json/dsdl/uavcan/test/7168.TestType.0.1.dsdl
similarity index 100%
rename from test/gentest_json/dsdl/uavcan/test/7168.TestType.0.1.uavcan
rename to test/gentest_json/dsdl/uavcan/test/7168.TestType.0.1.dsdl
diff --git a/test/gentest_lang/dsdl/langtest/c/7168.TestType.0.1.uavcan b/test/gentest_lang/dsdl/langtest/c/7168.TestType.0.1.dsdl
similarity index 100%
rename from test/gentest_lang/dsdl/langtest/c/7168.TestType.0.1.uavcan
rename to test/gentest_lang/dsdl/langtest/c/7168.TestType.0.1.dsdl
diff --git a/test/gentest_lang/dsdl/langtest/cpp/ns/7169.TestType.0.1.uavcan b/test/gentest_lang/dsdl/langtest/cpp/ns/7169.TestType.0.1.dsdl
similarity index 100%
rename from test/gentest_lang/dsdl/langtest/cpp/ns/7169.TestType.0.1.uavcan
rename to test/gentest_lang/dsdl/langtest/cpp/ns/7169.TestType.0.1.dsdl
diff --git a/test/gentest_lang/dsdl/langtest/py/7170.TestType.0.1.uavcan b/test/gentest_lang/dsdl/langtest/py/7170.TestType.0.1.dsdl
similarity index 100%
rename from test/gentest_lang/dsdl/langtest/py/7170.TestType.0.1.uavcan
rename to test/gentest_lang/dsdl/langtest/py/7170.TestType.0.1.dsdl
diff --git a/test/gentest_lookup/dsdl/uavcan/time/7168.Synchronization.1.0.uavcan b/test/gentest_lookup/dsdl/uavcan/time/7168.Synchronization.1.0.dsdl
similarity index 100%
rename from test/gentest_lookup/dsdl/uavcan/time/7168.Synchronization.1.0.uavcan
rename to test/gentest_lookup/dsdl/uavcan/time/7168.Synchronization.1.0.dsdl
diff --git a/test/gentest_lookup/dsdl/uavcan/time/SynchronizedAmbiguousTimestamp.1.0.uavcan b/test/gentest_lookup/dsdl/uavcan/time/SynchronizedAmbiguousTimestamp.1.0.dsdl
similarity index 100%
rename from test/gentest_lookup/dsdl/uavcan/time/SynchronizedAmbiguousTimestamp.1.0.uavcan
rename to test/gentest_lookup/dsdl/uavcan/time/SynchronizedAmbiguousTimestamp.1.0.dsdl
diff --git a/test/gentest_lookup/dsdl/uavcan/time/SynchronizedTimestamp.1.0.uavcan b/test/gentest_lookup/dsdl/uavcan/time/SynchronizedTimestamp.1.0.dsdl
similarity index 100%
rename from test/gentest_lookup/dsdl/uavcan/time/SynchronizedTimestamp.1.0.uavcan
rename to test/gentest_lookup/dsdl/uavcan/time/SynchronizedTimestamp.1.0.dsdl
diff --git a/test/gentest_lookup/dsdl/uavcan/time/TimeSystem.0.1.uavcan b/test/gentest_lookup/dsdl/uavcan/time/TimeSystem.0.1.dsdl
similarity index 100%
rename from test/gentest_lookup/dsdl/uavcan/time/TimeSystem.0.1.uavcan
rename to test/gentest_lookup/dsdl/uavcan/time/TimeSystem.0.1.dsdl
diff --git a/test/gentest_multiple/dsdl/esmeinc/DaughterType.0.1.uavcan b/test/gentest_multiple/dsdl/esmeinc/DaughterType.0.1.dsdl
similarity index 100%
rename from test/gentest_multiple/dsdl/esmeinc/DaughterType.0.1.uavcan
rename to test/gentest_multiple/dsdl/esmeinc/DaughterType.0.1.dsdl
diff --git a/test/gentest_multiple/dsdl/huckco/SonType.0.1.uavcan b/test/gentest_multiple/dsdl/huckco/SonType.0.1.dsdl
similarity index 100%
rename from test/gentest_multiple/dsdl/huckco/SonType.0.1.uavcan
rename to test/gentest_multiple/dsdl/huckco/SonType.0.1.dsdl
diff --git a/test/gentest_multiple/dsdl/scotec/FatherType.0.1.uavcan b/test/gentest_multiple/dsdl/scotec/FatherType.0.1.dsdl
similarity index 100%
rename from test/gentest_multiple/dsdl/scotec/FatherType.0.1.uavcan
rename to test/gentest_multiple/dsdl/scotec/FatherType.0.1.dsdl
diff --git a/test/gentest_namespaces/dsdl/scotec/mcu/Timer.0.1.uavcan b/test/gentest_namespaces/dsdl/scotec/mcu/Timer.0.1.dsdl
similarity index 100%
rename from test/gentest_namespaces/dsdl/scotec/mcu/Timer.0.1.uavcan
rename to test/gentest_namespaces/dsdl/scotec/mcu/Timer.0.1.dsdl
diff --git a/test/gentest_namespaces/dsdl/scotec/typedef/str/ATOMIC_TYPE.0.1.uavcan b/test/gentest_namespaces/dsdl/scotec/typedef/str/ATOMIC_TYPE.0.1.dsdl
similarity index 100%
rename from test/gentest_namespaces/dsdl/scotec/typedef/str/ATOMIC_TYPE.0.1.uavcan
rename to test/gentest_namespaces/dsdl/scotec/typedef/str/ATOMIC_TYPE.0.1.dsdl
diff --git a/test/gentest_namespaces/dsdl/uavcan/time/SynchronizedTimestamp.1.0.uavcan b/test/gentest_namespaces/dsdl/uavcan/time/SynchronizedTimestamp.1.0.dsdl
similarity index 100%
rename from test/gentest_namespaces/dsdl/uavcan/time/SynchronizedTimestamp.1.0.uavcan
rename to test/gentest_namespaces/dsdl/uavcan/time/SynchronizedTimestamp.1.0.dsdl
diff --git a/test/gentest_nnvg/dsdl/fixedid/100.Timer.1.0.uavcan b/test/gentest_nnvg/dsdl/fixedid/100.Timer.1.0.dsdl
similarity index 100%
rename from test/gentest_nnvg/dsdl/fixedid/100.Timer.1.0.uavcan
rename to test/gentest_nnvg/dsdl/fixedid/100.Timer.1.0.dsdl
diff --git a/test/gentest_nnvg/dsdl/herringtec/TImer.2.1.uavcan b/test/gentest_nnvg/dsdl/herringtec/TImer.2.1.dsdl
similarity index 100%
rename from test/gentest_nnvg/dsdl/herringtec/TImer.2.1.uavcan
rename to test/gentest_nnvg/dsdl/herringtec/TImer.2.1.dsdl
diff --git a/test/gentest_nnvg/dsdl/scotec/Timer.1.0.uavcan b/test/gentest_nnvg/dsdl/scotec/Timer.1.0.dsdl
similarity index 100%
rename from test/gentest_nnvg/dsdl/scotec/Timer.1.0.uavcan
rename to test/gentest_nnvg/dsdl/scotec/Timer.1.0.dsdl
diff --git a/test/gentest_nnvg/dsdl/uavcan/test/TestType.0.8.uavcan b/test/gentest_nnvg/dsdl/uavcan/test/TestType.0.8.dsdl
similarity index 100%
rename from test/gentest_nnvg/dsdl/uavcan/test/TestType.0.8.uavcan
rename to test/gentest_nnvg/dsdl/uavcan/test/TestType.0.8.dsdl
diff --git a/test/gentest_nnvg/test_nnvg.py b/test/gentest_nnvg/test_nnvg.py
index 58c42e48..15d04c72 100644
--- a/test/gentest_nnvg/test_nnvg.py
+++ b/test/gentest_nnvg/test_nnvg.py
@@ -16,8 +16,8 @@
 from nunavut.lang._language import LanguageClassLoader
 
 
-@pytest.mark.parametrize("env_var_name", ["UAVCAN_DSDL_INCLUDE_PATH", "DSDL_INCLUDE_PATH"])
-def test_UAVCAN_DSDL_INCLUDE_PATH(gen_paths: typing.Any, run_nnvg: typing.Callable, env_var_name: str) -> None:
+@pytest.mark.parametrize("env_var_name", ["DSDL_INCLUDE_PATH"])
+def test_DSDL_INCLUDE_PATH(gen_paths: typing.Any, run_nnvg: typing.Callable, env_var_name: str) -> None:
     """
     Verify that supported environment variables are used by nnvg.
     """
@@ -71,7 +71,7 @@ def test_list_inputs(gen_paths: typing.Any, run_nnvg: typing.Callable, generate_
     """
     expected_output = [
         gen_paths.templates_dir / pathlib.Path("Any.j2"),
-        gen_paths.dsdl_dir / pathlib.Path("uavcan") / pathlib.Path("test") / pathlib.Path("TestType.0.8.uavcan"),
+        gen_paths.dsdl_dir / pathlib.Path("uavcan") / pathlib.Path("test") / pathlib.Path("TestType.0.8.dsdl"),
     ]
 
     expected_serialization_support_outputs = [
@@ -81,7 +81,7 @@ def test_list_inputs(gen_paths: typing.Any, run_nnvg: typing.Callable, generate_
         / pathlib.Path("serialization").with_suffix(".j2")
     ]
 
-    # when #58 is fixed `(gen_paths.dsdl_dir / pathlib.Path('scotec') / pathlib.Path('Timer.1.0.uavcan')).as_posix()`
+    # when #58 is fixed `(gen_paths.dsdl_dir / pathlib.Path('scotec') / pathlib.Path('Timer.1.0.dsdl')).as_posix()`
     # should be added to this list.
     nnvg_args = [
         "--templates",
@@ -114,13 +114,13 @@ def test_list_inputs_w_namespaces(gen_paths: typing.Any, run_nnvg: typing.Callab
     expected_output = sorted(
         [
             gen_paths.templates_dir / pathlib.Path("Any.j2"),
-            gen_paths.dsdl_dir / pathlib.Path("uavcan") / pathlib.Path("test") / pathlib.Path("TestType.0.8.uavcan"),
+            gen_paths.dsdl_dir / pathlib.Path("uavcan") / pathlib.Path("test") / pathlib.Path("TestType.0.8.dsdl"),
             gen_paths.dsdl_dir / pathlib.Path("uavcan"),
             gen_paths.dsdl_dir / pathlib.Path("uavcan") / pathlib.Path("test"),
         ]
     )
 
-    # when #58 is fixed `(gen_paths.dsdl_dir / pathlib.Path('scotec') / pathlib.Path('Timer.1.0.uavcan')).as_posix()`
+    # when #58 is fixed `(gen_paths.dsdl_dir / pathlib.Path('scotec') / pathlib.Path('Timer.1.0.dsdl')).as_posix()`
     # and `(gen_paths.dsdl_dir / pathlib.Path('scotec').as_posix()` should be added to this list.
     nnvg_args = [
         "--templates",
diff --git a/test/gentest_postprocessors/dsdl/uavcan/test/TestType.0.2.uavcan b/test/gentest_postprocessors/dsdl/uavcan/test/TestType.0.2.dsdl
similarity index 100%
rename from test/gentest_postprocessors/dsdl/uavcan/test/TestType.0.2.uavcan
rename to test/gentest_postprocessors/dsdl/uavcan/test/TestType.0.2.dsdl
diff --git a/test/gentest_serialization/dsdl/basic/1.HelloSerialization.1.0.uavcan b/test/gentest_serialization/dsdl/basic/1.HelloSerialization.1.0.dsdl
similarity index 100%
rename from test/gentest_serialization/dsdl/basic/1.HelloSerialization.1.0.uavcan
rename to test/gentest_serialization/dsdl/basic/1.HelloSerialization.1.0.dsdl
diff --git a/test/gentest_serialization/dsdl/basic/Basic.1.0.uavcan b/test/gentest_serialization/dsdl/basic/Basic.1.0.dsdl
similarity index 100%
rename from test/gentest_serialization/dsdl/basic/Basic.1.0.uavcan
rename to test/gentest_serialization/dsdl/basic/Basic.1.0.dsdl
diff --git a/test/gentest_serialization/dsdl/complex/2.KitchenSink.1.0.uavcan b/test/gentest_serialization/dsdl/complex/2.KitchenSink.1.0.dsdl
similarity index 100%
rename from test/gentest_serialization/dsdl/complex/2.KitchenSink.1.0.uavcan
rename to test/gentest_serialization/dsdl/complex/2.KitchenSink.1.0.dsdl
diff --git a/test/gentest_serialization/dsdl/complex/Nested.1.0.uavcan b/test/gentest_serialization/dsdl/complex/Nested.1.0.dsdl
similarity index 100%
rename from test/gentest_serialization/dsdl/complex/Nested.1.0.uavcan
rename to test/gentest_serialization/dsdl/complex/Nested.1.0.dsdl
diff --git a/test/gentest_serialization/dsdl/complex/NestedNested.1.0.uavcan b/test/gentest_serialization/dsdl/complex/NestedNested.1.0.dsdl
similarity index 100%
rename from test/gentest_serialization/dsdl/complex/NestedNested.1.0.uavcan
rename to test/gentest_serialization/dsdl/complex/NestedNested.1.0.dsdl
diff --git a/test/gentest_serialization/dsdl/complex/NestedUnion.1.0.uavcan b/test/gentest_serialization/dsdl/complex/NestedUnion.1.0.dsdl
similarity index 100%
rename from test/gentest_serialization/dsdl/complex/NestedUnion.1.0.uavcan
rename to test/gentest_serialization/dsdl/complex/NestedUnion.1.0.dsdl
diff --git a/test/gentest_serialization/dsdl/complex/NestedUnionWComplexArray.1.0.uavcan b/test/gentest_serialization/dsdl/complex/NestedUnionWComplexArray.1.0.dsdl
similarity index 100%
rename from test/gentest_serialization/dsdl/complex/NestedUnionWComplexArray.1.0.uavcan
rename to test/gentest_serialization/dsdl/complex/NestedUnionWComplexArray.1.0.dsdl
diff --git a/test/gentest_tests/dsdl/buncho/serializables.0.1.uavcan b/test/gentest_tests/dsdl/buncho/serializables.0.1.dsdl
similarity index 100%
rename from test/gentest_tests/dsdl/buncho/serializables.0.1.uavcan
rename to test/gentest_tests/dsdl/buncho/serializables.0.1.dsdl
diff --git a/test/gentest_uses/dsdl/denada/serializables.0.1.uavcan b/test/gentest_uses/dsdl/denada/serializables.0.1.dsdl
similarity index 100%
rename from test/gentest_uses/dsdl/denada/serializables.0.1.uavcan
rename to test/gentest_uses/dsdl/denada/serializables.0.1.dsdl
diff --git a/test/gentest_versions/dsdl/viruses/1.covid.1.10.uavcan b/test/gentest_versions/dsdl/viruses/1.covid.1.10.dsdl
similarity index 100%
rename from test/gentest_versions/dsdl/viruses/1.covid.1.10.uavcan
rename to test/gentest_versions/dsdl/viruses/1.covid.1.10.dsdl
diff --git a/test/gentest_versions/dsdl/viruses/1.covid.1.9.uavcan b/test/gentest_versions/dsdl/viruses/1.covid.1.9.dsdl
similarity index 100%
rename from test/gentest_versions/dsdl/viruses/1.covid.1.9.uavcan
rename to test/gentest_versions/dsdl/viruses/1.covid.1.9.dsdl
diff --git a/test/gettest_properties/dsdl/proptest/hasvla.1.0.uavcan b/test/gettest_properties/dsdl/proptest/hasvla.1.0.dsdl
similarity index 100%
rename from test/gettest_properties/dsdl/proptest/hasvla.1.0.uavcan
rename to test/gettest_properties/dsdl/proptest/hasvla.1.0.dsdl
diff --git a/tox.ini b/tox.ini
index dac7f0e4..6d267813 100644
--- a/tox.ini
+++ b/tox.ini
@@ -9,7 +9,7 @@ envlist = {py36,py37,py38,py39,py310,py311}-{test,nnvg,doctest,rstdoctest},lint,
 
 [base]
 deps =
-    Sybil >= 3.0.0
+    Sybil >= 3.0.0, < 4.0.0
     pytest >= 5.4.3, < 7.0.0
     pytest-timeout
     coverage
@@ -163,13 +163,17 @@ commands =
 
 
 [testenv:docs]
-deps = -rrequirements.txt
+deps =
+    -rrequirements.txt
+    sphinx ~= 6.2.1
+    sphinx-rtd-theme
+    readthedocs-sphinx-ext
 commands =
     sphinx-build -W -b html {toxinidir} {envtmpdir}
 
 
 [testenv:gen-apidoc]
-whitelist_externals = rm
+allowlist_externals = rm
 deps =
     sphinx-autoapi
 
diff --git a/verification/.devcontainer/devcontainer.json b/verification/.devcontainer/devcontainer.json
index 816354a8..436f8c1c 100644
--- a/verification/.devcontainer/devcontainer.json
+++ b/verification/.devcontainer/devcontainer.json
@@ -12,13 +12,12 @@
             "extensions": [
                 "uavcan.dsdl",
                 "wholroyd.jinja",
-                "ban.spellright",
-                "ms-python.python",
-                "ms-vscode.cpptools",
                 "ms-vscode.cpptools-extension-pack",
+                "streetsidesoftware.code-spell-checker",
                 "xaver.clang-format",
-                "hbenl.vscode-test-explorer",
-                "matepek.vscode-catch2-test-adapter"
+                "vadimcn.vscode-lldb",
+                "matepek.vscode-catch2-test-adapter",
+                "ms-python.python"
             ]
         }
     },
diff --git a/verification/nunavut_test_types/test0/regulated/CombinatorialExplosion.0.1.uavcan b/verification/nunavut_test_types/test0/regulated/CombinatorialExplosion.0.1.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/CombinatorialExplosion.0.1.uavcan
rename to verification/nunavut_test_types/test0/regulated/CombinatorialExplosion.0.1.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/basics/300.Service.0.1.uavcan b/verification/nunavut_test_types/test0/regulated/basics/300.Service.0.1.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/basics/300.Service.0.1.uavcan
rename to verification/nunavut_test_types/test0/regulated/basics/300.Service.0.1.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/basics/7000.Struct_.0.1.uavcan b/verification/nunavut_test_types/test0/regulated/basics/7000.Struct_.0.1.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/basics/7000.Struct_.0.1.uavcan
rename to verification/nunavut_test_types/test0/regulated/basics/7000.Struct_.0.1.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/basics/DelimitedFixedSize.0.1.uavcan b/verification/nunavut_test_types/test0/regulated/basics/DelimitedFixedSize.0.1.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/basics/DelimitedFixedSize.0.1.uavcan
rename to verification/nunavut_test_types/test0/regulated/basics/DelimitedFixedSize.0.1.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/basics/DelimitedVariableSize.0.1.uavcan b/verification/nunavut_test_types/test0/regulated/basics/DelimitedVariableSize.0.1.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/basics/DelimitedVariableSize.0.1.uavcan
rename to verification/nunavut_test_types/test0/regulated/basics/DelimitedVariableSize.0.1.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/basics/Primitive.0.1.uavcan b/verification/nunavut_test_types/test0/regulated/basics/Primitive.0.1.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/basics/Primitive.0.1.uavcan
rename to verification/nunavut_test_types/test0/regulated/basics/Primitive.0.1.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/basics/PrimitiveArrayFixed.0.1.uavcan b/verification/nunavut_test_types/test0/regulated/basics/PrimitiveArrayFixed.0.1.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/basics/PrimitiveArrayFixed.0.1.uavcan
rename to verification/nunavut_test_types/test0/regulated/basics/PrimitiveArrayFixed.0.1.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/basics/PrimitiveArrayVariable.0.1.uavcan b/verification/nunavut_test_types/test0/regulated/basics/PrimitiveArrayVariable.0.1.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/basics/PrimitiveArrayVariable.0.1.uavcan
rename to verification/nunavut_test_types/test0/regulated/basics/PrimitiveArrayVariable.0.1.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/basics/Union.0.1.uavcan b/verification/nunavut_test_types/test0/regulated/basics/Union.0.1.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/basics/Union.0.1.uavcan
rename to verification/nunavut_test_types/test0/regulated/basics/Union.0.1.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/basics/UnionWithSameTypes.0.1.uavcan b/verification/nunavut_test_types/test0/regulated/basics/UnionWithSameTypes.0.1.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/basics/UnionWithSameTypes.0.1.uavcan
rename to verification/nunavut_test_types/test0/regulated/basics/UnionWithSameTypes.0.1.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/delimited/A.1.0.uavcan b/verification/nunavut_test_types/test0/regulated/delimited/A.1.0.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/delimited/A.1.0.uavcan
rename to verification/nunavut_test_types/test0/regulated/delimited/A.1.0.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/delimited/A.1.1.uavcan b/verification/nunavut_test_types/test0/regulated/delimited/A.1.1.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/delimited/A.1.1.uavcan
rename to verification/nunavut_test_types/test0/regulated/delimited/A.1.1.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/delimited/BDelimited.1.0.uavcan b/verification/nunavut_test_types/test0/regulated/delimited/BDelimited.1.0.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/delimited/BDelimited.1.0.uavcan
rename to verification/nunavut_test_types/test0/regulated/delimited/BDelimited.1.0.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/delimited/BDelimited.1.1.uavcan b/verification/nunavut_test_types/test0/regulated/delimited/BDelimited.1.1.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/delimited/BDelimited.1.1.uavcan
rename to verification/nunavut_test_types/test0/regulated/delimited/BDelimited.1.1.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/delimited/BSealed.1.0.uavcan b/verification/nunavut_test_types/test0/regulated/delimited/BSealed.1.0.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/delimited/BSealed.1.0.uavcan
rename to verification/nunavut_test_types/test0/regulated/delimited/BSealed.1.0.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/delimited/CFixed.1.0.uavcan b/verification/nunavut_test_types/test0/regulated/delimited/CFixed.1.0.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/delimited/CFixed.1.0.uavcan
rename to verification/nunavut_test_types/test0/regulated/delimited/CFixed.1.0.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/delimited/CFixed.1.1.uavcan b/verification/nunavut_test_types/test0/regulated/delimited/CFixed.1.1.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/delimited/CFixed.1.1.uavcan
rename to verification/nunavut_test_types/test0/regulated/delimited/CFixed.1.1.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/delimited/CVariable.1.0.uavcan b/verification/nunavut_test_types/test0/regulated/delimited/CVariable.1.0.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/delimited/CVariable.1.0.uavcan
rename to verification/nunavut_test_types/test0/regulated/delimited/CVariable.1.0.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/delimited/CVariable.1.1.uavcan b/verification/nunavut_test_types/test0/regulated/delimited/CVariable.1.1.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/delimited/CVariable.1.1.uavcan
rename to verification/nunavut_test_types/test0/regulated/delimited/CVariable.1.1.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/drone/sensor/BMSInfo.1.0.uavcan b/verification/nunavut_test_types/test0/regulated/drone/sensor/BMSInfo.1.0.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/drone/sensor/BMSInfo.1.0.uavcan
rename to verification/nunavut_test_types/test0/regulated/drone/sensor/BMSInfo.1.0.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/drone/sensor/BMSStatus.1.0.uavcan b/verification/nunavut_test_types/test0/regulated/drone/sensor/BMSStatus.1.0.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/drone/sensor/BMSStatus.1.0.uavcan
rename to verification/nunavut_test_types/test0/regulated/drone/sensor/BMSStatus.1.0.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/drone/sensor/BMSStatusValue.1.0.uavcan b/verification/nunavut_test_types/test0/regulated/drone/sensor/BMSStatusValue.1.0.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/drone/sensor/BMSStatusValue.1.0.uavcan
rename to verification/nunavut_test_types/test0/regulated/drone/sensor/BMSStatusValue.1.0.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/drone/sensor/BatteryChemistry.1.0.uavcan b/verification/nunavut_test_types/test0/regulated/drone/sensor/BatteryChemistry.1.0.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/drone/sensor/BatteryChemistry.1.0.uavcan
rename to verification/nunavut_test_types/test0/regulated/drone/sensor/BatteryChemistry.1.0.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/zubax/actuator/esc/AngVelSetpoint.0.1.uavcan b/verification/nunavut_test_types/test0/regulated/zubax/actuator/esc/AngVelSetpoint.0.1.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/zubax/actuator/esc/AngVelSetpoint.0.1.uavcan
rename to verification/nunavut_test_types/test0/regulated/zubax/actuator/esc/AngVelSetpoint.0.1.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/zubax/actuator/esc/RatiometricSetpoint.0.1.uavcan b/verification/nunavut_test_types/test0/regulated/zubax/actuator/esc/RatiometricSetpoint.0.1.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/zubax/actuator/esc/RatiometricSetpoint.0.1.uavcan
rename to verification/nunavut_test_types/test0/regulated/zubax/actuator/esc/RatiometricSetpoint.0.1.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/zubax/actuator/esc/Status.0.1.uavcan b/verification/nunavut_test_types/test0/regulated/zubax/actuator/esc/Status.0.1.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/zubax/actuator/esc/Status.0.1.uavcan
rename to verification/nunavut_test_types/test0/regulated/zubax/actuator/esc/Status.0.1.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/zubax/sensor/bms/BatteryPackParams.0.1.uavcan b/verification/nunavut_test_types/test0/regulated/zubax/sensor/bms/BatteryPackParams.0.1.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/zubax/sensor/bms/BatteryPackParams.0.1.uavcan
rename to verification/nunavut_test_types/test0/regulated/zubax/sensor/bms/BatteryPackParams.0.1.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/zubax/sensor/bms/BatteryPackStatus.0.1.uavcan b/verification/nunavut_test_types/test0/regulated/zubax/sensor/bms/BatteryPackStatus.0.1.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/zubax/sensor/bms/BatteryPackStatus.0.1.uavcan
rename to verification/nunavut_test_types/test0/regulated/zubax/sensor/bms/BatteryPackStatus.0.1.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/zubax/sensor/bms/Technology.0.1.uavcan b/verification/nunavut_test_types/test0/regulated/zubax/sensor/bms/Technology.0.1.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/zubax/sensor/bms/Technology.0.1.uavcan
rename to verification/nunavut_test_types/test0/regulated/zubax/sensor/bms/Technology.0.1.dsdl
diff --git a/verification/nunavut_test_types/test0/regulated/zubax/sensor/wattmeter/DCSample.0.1.uavcan b/verification/nunavut_test_types/test0/regulated/zubax/sensor/wattmeter/DCSample.0.1.dsdl
similarity index 100%
rename from verification/nunavut_test_types/test0/regulated/zubax/sensor/wattmeter/DCSample.0.1.uavcan
rename to verification/nunavut_test_types/test0/regulated/zubax/sensor/wattmeter/DCSample.0.1.dsdl