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Export compiler directives and some minor changes #144

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Export compiler directives and some minor changes #144

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5ea47e9
Remove msg to be copied
thomasemter Sep 25, 2024
96c242e
Add function to set quaternion to NaN
thomasemter Oct 9, 2024
caa590d
Add function to set vector to NaN and refactor parsing utilities
thomasemter Oct 9, 2024
8ae70a6
Replace new
thomasemter Oct 25, 2024
67f63ff
Export directives
thomasemter Nov 15, 2024
8aae29a
Merge remote-tracking branch 'upstream/master'
thomasemter Nov 15, 2024
130c4e0
Update changelog
thomasemter Nov 15, 2024
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5 changes: 5 additions & 0 deletions CHANGELOG.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,11 @@
Changelog for package septentrio_gnss_driver
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

1.4.2 (upcoming)
------------------
* Fixes
* Add export of compiler directives (thanks to @oysstu)

1.4.1 (2024-08-04)
------------------
* Fixes
Expand Down
6 changes: 3 additions & 3 deletions CMakeLists.txt
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Expand Up @@ -33,7 +33,6 @@ find_package(catkin QUIET)

if(catkin_FOUND)
## ROS 1 -----------------------------------------------------------------------------------------------
add_compile_definitions(ROS1)
set(ENV{ROS_VERSION} "1")

configure_file(${CMAKE_SOURCE_DIR}/msg_cache/BlockHeaderRos1.msg ${CMAKE_SOURCE_DIR}/msg/BlockHeader.msg COPYONLY)
Expand Down Expand Up @@ -129,6 +128,7 @@ if(catkin_FOUND)
${libpcap_LIBRARIES}
${GeographicLib_LIBRARIES}
)
target_compile_definitions(${PROJECT_NAME}_node PUBLIC ROS1)

# Installation
install(TARGETS ${PROJECT_NAME}_node
Expand All @@ -143,7 +143,6 @@ if(catkin_FOUND)
#-------------------------------------------------------------------------------------------------------
elseif(ament_cmake_FOUND)
## ROS 2 -----------------------------------------------------------------------------------------------
add_compile_definitions(ROS2)
set(ENV{ROS_VERSION} "2")

configure_file(${CMAKE_SOURCE_DIR}/msg_cache/BlockHeaderRos2.msg ${CMAKE_SOURCE_DIR}/msg/BlockHeader.msg COPYONLY)
Expand Down Expand Up @@ -231,6 +230,7 @@ elseif(ament_cmake_FOUND)
src/septentrio_gnss_driver/parsers/parsing_utilities.cpp
src/septentrio_gnss_driver/parsers/string_utilities.cpp
)
target_compile_definitions(${library_name} PUBLIC ROS2)
target_include_directories(${library_name} PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>"
Expand All @@ -252,7 +252,7 @@ elseif(ament_cmake_FOUND)
rosidl_get_typesupport_target(
cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
target_link_libraries(${library_name} "${cpp_typesupport_target}")
add_compile_definitions(ROS2_VER_N250)
target_compile_definitions(${library_name} PUBLIC ROS2_VER_N250)
endif()

## executable
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1 change: 1 addition & 0 deletions include/septentrio_gnss_driver/abstraction/typedefs.hpp
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Expand Up @@ -109,6 +109,7 @@ typedef geometry_msgs::msg::Quaternion QuaternionMsg;
typedef geometry_msgs::msg::PoseWithCovarianceStamped PoseWithCovarianceStampedMsg;
typedef geometry_msgs::msg::TwistWithCovarianceStamped TwistWithCovarianceStampedMsg;
typedef geometry_msgs::msg::TransformStamped TransformStampedMsg;
typedef geometry_msgs::msg::Vector3 Vector3Msg;
typedef gps_msgs::msg::GPSFix GpsFixMsg;
typedef gps_msgs::msg::GPSStatus GpsStatusMsg;
typedef sensor_msgs::msg::NavSatFix NavSatFixMsg;
Expand Down
4 changes: 3 additions & 1 deletion include/septentrio_gnss_driver/abstraction/typedefs_ros1.hpp
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Expand Up @@ -101,6 +101,7 @@ typedef geometry_msgs::Quaternion QuaternionMsg;
typedef geometry_msgs::PoseWithCovarianceStamped PoseWithCovarianceStampedMsg;
typedef geometry_msgs::TwistWithCovarianceStamped TwistWithCovarianceStampedMsg;
typedef geometry_msgs::TransformStamped TransformStampedMsg;
typedef geometry_msgs::Vector3 Vector3Msg;
typedef gps_common::GPSFix GpsFixMsg;
typedef gps_common::GPSStatus GpsStatusMsg;
typedef sensor_msgs::NavSatFix NavSatFixMsg;
Expand Down Expand Up @@ -186,7 +187,8 @@ class ROSaicNodeBase
{
public:
ROSaicNodeBase() :
pNh_(new ros::NodeHandle("~")), tfListener_(tfBuffer_), lastTfStamp_(0)
pNh_(std::make_shared<ros::NodeHandle>("~")), tfListener_(tfBuffer_),
lastTfStamp_(0)
{
}

Expand Down
6 changes: 3 additions & 3 deletions include/septentrio_gnss_driver/communication/async_manager.hpp
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Expand Up @@ -162,7 +162,7 @@ namespace io {
template <typename IoType>
AsyncManager<IoType>::AsyncManager(ROSaicNodeBase* node,
TelegramQueue* telegramQueue) :
node_(node), ioService_(new boost::asio::io_service),
node_(node), ioService_(std::make_shared<boost::asio::io_service>()),
ioInterface_(node, ioService_), telegramQueue_(telegramQueue)
{
node_->log(log_level::DEBUG, "AsyncManager created.");
Expand Down Expand Up @@ -305,7 +305,7 @@ namespace io {
template <typename IoType>
void AsyncManager<IoType>::resync()
{
telegram_.reset(new Telegram);
telegram_ = std::make_shared<Telegram>();
readSync<0>();
}

Expand Down Expand Up @@ -589,7 +589,7 @@ namespace io {
{
case SYNC_BYTE_1:
{
telegram_.reset(new Telegram);
telegram_ = std::make_shared<Telegram>();
telegram_->message[0] = buf_[0];
telegram_->stamp = node_->getTime();
node_->log(
Expand Down
18 changes: 9 additions & 9 deletions include/septentrio_gnss_driver/communication/io.hpp
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Expand Up @@ -88,9 +88,9 @@ namespace io {
private:
void connect()
{
socket_.reset(new boost::asio::ip::udp::socket(
socket_ = std::make_unique<boost::asio::ip::udp::socket>(
ioService_,
boost::asio::ip::udp::endpoint(boost::asio::ip::udp::v4(), port_)));
boost::asio::ip::udp::endpoint(boost::asio::ip::udp::v4(), port_));

asyncReceive();

Expand Down Expand Up @@ -120,7 +120,7 @@ namespace io {
{
while ((bytes_recvd - idx) > 2)
{
std::shared_ptr<Telegram> telegram(new Telegram);
auto telegram = std::make_shared<Telegram>();
telegram->stamp = stamp;
/*node_->log(log_level::DEBUG,
"Buffer: " + std::string(telegram->message.begin(),
Expand Down Expand Up @@ -283,7 +283,7 @@ namespace io {
return false;
}

stream_.reset(new boost::asio::ip::tcp::socket(*ioService_));
stream_ = std::make_unique<boost::asio::ip::tcp::socket>(*ioService_);

node_->log(log_level::INFO, "Connecting to tcp://" +
node_->settings()->device_tcp_ip + ":" +
Expand Down Expand Up @@ -372,7 +372,7 @@ namespace io {
flowcontrol_(node->settings()->hw_flow_control),
baudrate_(node->settings()->baudrate)
{
stream_.reset(new boost::asio::serial_port(*ioService_));
stream_ = std::make_unique<boost::asio::serial_port>(*ioService_);
}

~SerialIo() { stream_->close(); }
Expand Down Expand Up @@ -582,8 +582,8 @@ namespace io {

try
{
stream_.reset(
new boost::asio::posix::stream_descriptor(*ioService_));
stream_ = std::make_unique<boost::asio::posix::stream_descriptor>(
*ioService_);
stream_->assign(fd);

} catch (std::runtime_error& e)
Expand Down Expand Up @@ -631,8 +631,8 @@ namespace io {
node_->log(log_level::INFO, "Opening pcap file stream" +
node_->settings()->device + "...");

stream_.reset(
new boost::asio::posix::stream_descriptor(*ioService_));
stream_ = std::make_unique<boost::asio::posix::stream_descriptor>(
*ioService_);

pcap_ = pcap_open_offline(node_->settings()->device.c_str(),
errBuff_.data());
Expand Down
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