Merge pull request #108 from septentrio-gnss/dev

Dev
septentrio-gnss · Nov 19, 2023 · c014daf · c014daf
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diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,6 +2,308 @@
 Changelog for package septentrio_gnss_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.3.2 (2023-11-19)
+------------------
+* Commits
+   * Merge pull request `#97 <https://github.com/septentrio-gnss/septentrio_gnss_driver/issues/97>`_ from thomasemter/dev/next
+     Integrate README changes from master
+   * Fix topics namespace
+   * Fix units of imu angular rates
+   * Merge upstream README pt2
+   * Merge upstream README
+   * Update README.md
+   * Update README.md
+   * Update README.md
+   * v1.3.1
+   * Updated package.xml
+   * v1.3.1
+   * Updated package.xml
+   * v1.3.1
+   * Updated package.xml
+   * v1.3.1
+   * Updated changelog
+   * Merge pull request `#95 <https://github.com/septentrio-gnss/septentrio_gnss_driver/issues/95>`_ from thomasemter/dev/next
+     Fix navsatfix and gpsfix frame ids
+   * Update README.md
+   * Fix navsatfix and gpsfix frame ids
+   * Merge pull request `#92 <https://github.com/septentrio-gnss/septentrio_gnss_driver/issues/92>`_ from thomasemter/dev/next
+     Fix single antenna receiver setup
+   * Update changelog
+   * Merge
+   * Fix single antenna receiver setup
+   * Merge pull request `#90 <https://github.com/septentrio-gnss/septentrio_gnss_driver/issues/90>`_ from thomasemter/dev/next
+     Fix empty headers
+   * Merge branch 'dev' into dev/next
+   * Bump version
+   * Fix empty headers
+   * Merge pull request `#88 <https://github.com/septentrio-gnss/septentrio_gnss_driver/issues/88>`_ from thomasemter/dev/next
+     Fix navsatfix containing only zeros for INS
+   * Align indent
+   * Fix navsatfix containig only zeros for INS
+   * Merge pull request `#87 <https://github.com/septentrio-gnss/septentrio_gnss_driver/issues/87>`_ from thomasemter/dev/next
+     Update firmware info
+   * Reduce INS firmware version info to released version
+   * Update firmware info
+   * v1.3.0
+   * Updated package.xml
+   * v1.3.0
+   * Update firmware info
+   * Updated package.xml
+   * v1.3.0
+   * Merge pull request `#84 <https://github.com/septentrio-gnss/septentrio_gnss_driver/issues/84>`_ from thomasemter/dev/next
+     Update readme
+   * Add expected release dates
+   * Add known issues to readme
+   * Update version
+   * Update readme
+   * Merge pull request `#81 <https://github.com/septentrio-gnss/septentrio_gnss_driver/issues/81>`_ from thomasemter/dev/next
+     Fix spelling
+   * Improve explanations in readme
+   * Categorize stream params
+   * Add keep alive check for TCP
+   * Fix spelling
+   * Change angle wrapping
+   * Add TCP communication via static IP server
+   * Add units to msgs
+   * Fix spelling
+   * Merge pull request `#75 <https://github.com/septentrio-gnss/septentrio_gnss_driver/issues/75>`_ from thomasemter/dev/next
+     upcoming release
+   * Add heading to GPSFix msg
+   * Move constant
+   * Change log level of firmware check
+   * Add improved VSM handling
+   * Change INS in GNSS node detection to auto
+   * Fix invald v_x var case
+   * Refine readme on UDP
+   * Improve server duplicate check
+   * Add more info un UDP configuration
+   * Fix publish check
+   * Add more publishing checks for configured Rx
+   * Add const for max udp packet size
+   * Update readme and changelog
+   * Add device check to node
+   * Add checks for IP server duplicates
+   * Add latency compensation to att msgs
+   * Add device check logic
+   * Add UDP params and setup logic
+   * Fix multi msg per packet
+   * Fix localization stamp and tf publishing
+   * Change VSM to be averaged and published with 2 Hz
+   * Always publish raw IMU data as indicated
+   * Change to empty fields
+   * Refine diagnostics naming scheme and add trigger to ensure emission of ReceiverSetup
+   * Change diagnostics naming scheme
+   * Expand readme on AIM+
+   * Reformulate readme about ROS and ROS2
+   * Rename msg var
+   * Add custom message to report AIM+ status
+   * Catch invalid UTM conversion
+   * Robustify command reset
+   * Add RFStatus diagnostics
+   * Merge branch 'dev/next' of https://github.com/thomasemter/septentrio_gnss_driver into dev/next
+   * Add VelCovCartesian output
+   * Add VelCovCartesian output
+   * Refine Rx type check
+   * Ensure latency reporting block is activated
+   * Add option for latency compensation
+   * Fix param type misinterpretation
+   * Add missing param to example in readme
+   * Add OSNMA diagnostics output
+   * Add keep_open option to OSNMA
+   * Add OSNMA msg
+   * Update changelog
+   * Refine README and fix compiled message logic
+   * Update changelog
+   * Add warning for configuring INS as GNSS
+   * Add warn log for misconfiguration
+   * Fix pose publishing rate
+   * Fix navsatfix publishing
+   * Make vars const
+   * Replace log functions
+   * Add small fixes and cleanup
+   * Merge branch 'dev/next' of https://github.com/thomasemter/septentrio_gnss_driver into dev/next
+   * Add option to bypass configuration of Rx
+   * Add option to bypass confugration of Rx
+   * Add diagnostics and time ref msgs again
+   * Update README on how to add new messages
+   * Add automiatic detection of serial port ID
+   * Refine changelog
+   * Change invalid timestamp handling for reading from file
+   * Add USB serial by ID info to README
+   * Fix leap seconds for timestamp if reading from file
+   * Fix reconnection logic
+   * Replace flow control setup
+   * Refactor ioservice
+   * notify semaphores in destructor
+   * Send port reset only once
+   * Fix serial connection
+   * Fix talker ID setting for INS
+   * Add NMEA talker ID setting to ensure reception
+   * Prepare communication for UDP option (still inactive)
+   * Fix UDP message identification logic
+   * Add test code for UDP, WIP
+   * Add UDP client, WIP
+   * Set do-not-use for temp to NaN
+   * Add processing latency correction for ROS timestamps
+   * Fix extsensor parser
+   * Add units to remaining msgs
+   * Add nodiscard attribute to functions
+   * Add nodiscard attribute to functions
+   * Add nodiscard attribute to functions
+   * Add const specifiers to functions
+   * Make settings access const
+   * Move SBF ID handling
+   * Refactor header assembly
+   * Rename message handler again
+   * Change parsing utilities and crc to get message
+   * Add namespace to enum
+   * Change timestamp code
+   * Update changelog
+   * Change class privacy
+   * Add assembled messages, to be tested
+   * Add units to come msg definitions
+   * Add custom BlockHeader constructor
+   * Move wait
+   * Remove copy paste vars
+   * Add file readers
+   * Fix reset main connection on exit hang
+   * Fix handling of INS NMEA talker ID
+   * Fix error response detection
+   * Add packing of generic string messages
+   * Exchange concurrent queue
+   * Remove obsolete includes
+   * Add NMEA handling
+   * Change syncronization to semaphore
+   * Add message parser, WIP
+   * Rearrange io handling, WIP
+   * Refactor and cleanup
+   * Improve io handling, WIP
+   * Refactor message parser, WIP
+   * Add message handler
+   * Add io modules
+   * Add new low level interface, WIP
+   * Change connection thread
+   * Fix attitude cov flipped twice
+   * Add cov alignment from true north to grid north
+   * Rename meridian convergence and fix sense
+   * Remove obsolete define
+   * Fix spelling errors
+   * Merge branch 'master' into dev/next
+   * v1.2.3
+   * Update package.xml
+   * v1.2.3
+   * Update package.xml
+   * v1.2.3
+   * Update package.xml
+   * v1.2.3
+   * Update package.xml
+   * Merge pull request `#68 <https://github.com/septentrio-gnss/septentrio_gnss_driver/issues/68>`_ from thomasemter/master
+     dev
+   * Fix lat/long in rad
+   * Reorder localization msg filling
+   * Update readme
+   * Fix NED to ECEF rotation matrix
+   * Add localization ECEF publishing
+   * Merge branch 'dev/next' of https://github.com/thomasemter/septentrio_gnss_driver into dev/next
+   * Merge branch 'dev/next' of https://github.com/thomasemter/septentrio_gnss_driver into dev/next
+   * Merge branch 'dev/next' of https://github.com/thomasemter/septentrio_gnss_driver into dev/next
+   * Add ecef localization msg
+   * Add local to ecef transforms
+   * Change default datum to Default
+   * Clean up block data size defines
+   * Change default datum to WGS84
+   * Set correct value for max number of base vector info
+   * Add check on shutdown to only close ports on hardware
+   * Refine readme
+   * Merge branch 'master' of https://github.com/thomasemter/septentrio_gnss_driver
+   * Add missing param
+   * Add possibility to use multiple RTK corrections of the same type
+   * Only set baud rates on real serial ports
+   * Fix decimal places trimming
+   * Update changelog
+   * Merge branch 'dev/next'
+   * Add base vecotr info to README
+   * Change param to empty vector
+   * Change param to empty vector
+   * Fix template argument
+   * Add quotation marks to pw if it contains spaces
+   * Add quotation marks to pw if it contains spaces
+   * Add option to keep aiding connections open on shutdown
+   * Merge branch 'master' into dev/next
+   * Add option to keep aiding connections open on shutdown
+   * Disable ntrip on shutdown
+   * Disable ntrip on shutdown
+   * Add base vector callbacks and publishing, WIP
+   * Add base vector msgs and parsers, WIP
+   * Fix comment swap
+   * Add send_gga option to serial RTK and fix IP server id
+   * Add possibility to specify IP server connection
+   * Increase version number in package.xml and harmonize it with ROS2
+   * Reset main port to auto input
+   * Add reset all used ports on shutdown
+   * Improve readme
+   * Change vsm options to allow simultaneous input
+   * Change corrections settings to receiver simultaneously
+   * Change correction options to be used simultenously
+   * Change param name for future extensibility
+   * Change param name for future extensibility
+   * Rework corretion parameters and add more flexible options
+   * Fix some spelling in readme
+   * Add receiver type INS as GNSS
+   * Add option to use external VSM input
+   * Add more log output for vsm
+   * Add VSM from odometry or twist ROS messages
+   * Fix GPGGA and GPRMC timestamp from GNSS
+   * Use only one stream for NMEA messages
+   * Fix merge error
+   * Fix merge error
+   * Add all possible periods and rework validity check
+   * Update changelog
+   * Add 5 ms period option
+   * Fix changelog
+   * Add twist output
+   * Add missing files to clang-formatting
+   * Merge branch 'dev/next'
+   * Merge branch 'master' of https://github.com/thomasemter/septentrio_gnss_driver
+   * Format according to clang-format
+   * Change log level of local frame tf insertion
+   * Always register ReceiverSetup
+   * Add firmware checks
+   * Add log and info to README
+   * Add insertion of local frame
+   * Update README and CHANGELOG
+   * Use leap seconds from receiver
+   * Update changelog
+   * Add config files for GNSS and INS
+   * Add ReceiverTime, WIP
+   * Add configs for GNSS and INS
+   * Contributors: Thomas Emter, Tibor Dome, septentrio-users, tibordome
+
+1.3.1 (2023-07-06)
+------------------
+* New Features
+   * Recovery from connection interruption
+   * Add option to bypass configuration of Rx
+   * OSNMA
+   * Latency compensation for ROS timestamps
+   * Output of SBF block VelCovCartesian
+   * Support for UDP and TCP via IP server
+   * New VSM handling allows for unknown variances (INS firmware >= 1.4.1)
+   * Add heading angle to GPSFix msg (by diverting dip field, cf. readme)
+* Improvements
+   * Rework IO core and message handling
+     * Unified stream processing 
+     * Internal data queue
+     * Prevent message loss in file reading
+   * Add some explanatory warnings for parameter mismatches
+   * Add units to message definitions
+* Fixes
+   * navsatfix for INS
+   * Empty headers
+   * Single antenna receiver setup
+* Preliminary Features
+   * Output of localization and tf in ECEF frame, testing and feedback welcome
+
 1.2.3 (2022-11-09)
 ------------------
 * New Features
@@ -298,8 +600,8 @@ Changelog for package septentrio_gnss_driver
     * Move more global settings to settings struct
     * Move more global settings to settings struct
     * Move global settings to settings struct
-    * Move more functions to Comm_IO
-    * Move settings to struct and configuration to Comm_IO
+    * Move more functions to CommIo
+    * Move settings to struct and configuration to CommIo
     * Merge branch 'dev/change_utc_calculation' into dev/refactor
     * Remove obsolete global variables
     * Move g_unix_time to class

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,8 +1,17 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(septentrio_gnss_driver)
 
-## Compile as C++14, supported in ROS Melodic and newer
-add_compile_options(-std=c++14)
+## Compile as C++17, supported in ROS Melodic and newer
+add_compile_options(-std=c++17)
+
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+message(STATUS "Setting build type to Release as none was specified.")
+set(CMAKE_BUILD_TYPE "Release" CACHE
+    STRING "Choose the type of build." FORCE)
+# Set the possible values of build type for cmake-gui
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
+  "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
+endif()
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
@@ -72,9 +81,13 @@ endif ()
 ## Generate messages in the 'msg' folder
 add_message_files(
    FILES
+   AIMPlusStatus.msg
    BaseVectorCart.msg
    BaseVectorGeod.msg
    BlockHeader.msg
+   GALAuthStatus.msg
+   RFBand.msg
+   RFStatus.msg
    MeasEpoch.msg
    MeasEpochChannelType1.msg
    MeasEpochChannelType2.msg
@@ -176,21 +189,19 @@ include_directories(
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-add_executable(${PROJECT_NAME}_node 
-    src/septentrio_gnss_driver/node/main.cpp
-    src/septentrio_gnss_driver/node/rosaic_node.cpp
-    src/septentrio_gnss_driver/communication/circular_buffer.cpp 
-    src/septentrio_gnss_driver/parsers/parsing_utilities.cpp 
-    src/septentrio_gnss_driver/parsers/string_utilities.cpp 
-    src/septentrio_gnss_driver/parsers/nmea_parsers/gpgga.cpp 
-    src/septentrio_gnss_driver/parsers/nmea_parsers/gprmc.cpp 
-    src/septentrio_gnss_driver/parsers/nmea_parsers/gpgsa.cpp 
-    src/septentrio_gnss_driver/parsers/nmea_parsers/gpgsv.cpp 
-    src/septentrio_gnss_driver/crc/crc.cpp
-    src/septentrio_gnss_driver/communication/communication_core.cpp 
-    src/septentrio_gnss_driver/communication/rx_message.cpp 
-    src/septentrio_gnss_driver/communication/callback_handlers.cpp
-    src/septentrio_gnss_driver/communication/pcap_reader.cpp
+add_executable(${PROJECT_NAME}_node
+  src/septentrio_gnss_driver/communication/communication_core.cpp
+  src/septentrio_gnss_driver/communication/message_handler.cpp 
+  src/septentrio_gnss_driver/communication/telegram_handler.cpp
+  src/septentrio_gnss_driver/crc/crc.cpp
+  src/septentrio_gnss_driver/node/main.cpp
+  src/septentrio_gnss_driver/node/rosaic_node.cpp
+  src/septentrio_gnss_driver/parsers/nmea_parsers/gpgga.cpp 
+  src/septentrio_gnss_driver/parsers/nmea_parsers/gprmc.cpp 
+  src/septentrio_gnss_driver/parsers/nmea_parsers/gpgsa.cpp 
+  src/septentrio_gnss_driver/parsers/nmea_parsers/gpgsv.cpp
+  src/septentrio_gnss_driver/parsers/parsing_utilities.cpp 
+  src/septentrio_gnss_driver/parsers/string_utilities.cpp  
 )
 
 ## Rename C++ executable without prefix