[ESD-2043] Portability project

.github/workflows/c.yaml

@@ -36,3 +36,156 @@ jobs:
       - name: Upload coverage to codecov.io
         run: |
           bash <(curl -s https://codecov.io/bash) -s c/build || echo "Codecov did not collect coverage reports";
+
+
+  gcc6-release:
+    name: GCC6 - Release
+    runs-on: ubuntu-18.04
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          submodules: recursive
+          fetch-depth: 0
+
+      - name: Setup
+        run: |
+          sudo apt-get -qq update
+          sudo apt-get -qq install libeigen3-dev libserialport-dev
+
+      - name: Run tests
+        run: make test-c
+        env:
+          CMAKEFLAGS: -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
+
+      - name: Build examples
+        run: make -C c/build examples
+
+
+  clang6-debug:
+    name: Clang6 - Debug
+    runs-on: ubuntu-18.04
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          submodules: recursive
+          fetch-depth: 0
+
+      - name: Setup
+        run: |
+          sudo apt-get -qq update
+          sudo apt-get -qq install clang-6.0 libeigen3-dev libserialport-dev
+
+      - name: Run tests
+        run: make test-c
+        env:
+          CMAKEFLAGS: -DCMAKE_BUILD_TYPE=Debug -DBUILD_EXAMPLES=true
+          CC: clang-6.0
+          CXX: clang++-6.0
+
+      - name: Build examples
+        run: make -C c/build examples
+
+
+  clang6-release:
+    name: Clang6 - Release
+    runs-on: ubuntu-18.04
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          submodules: recursive
+          fetch-depth: 0
+
+      - name: Setup
+        run: |
+          sudo apt-get -qq update
+          sudo apt-get -qq install clang-6.0 libeigen3-dev libserialport-dev
+
+      - name: Run tests
+        run: make test-c
+        env:
+          CMAKEFLAGS: -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
+          CC: clang-6.0
+          CXX: clang++-6.0
+
+      - name: Build examples
+        run: make -C c/build examples
+
+
+  macos:
+    name: macos
+    runs-on: macos-10.15
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          submodules: recursive
+          fetch-depth: 0
+
+      - name: Run tests
+        run: make test-c
+        env:
+          CC: clang
+          CXX: clang++
+
+
+  big-endian:
+    name: Test Big Endian
+    runs-on: ubuntu-18.04
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          submodules: recursive
+          fetch-depth: 0
+
+      - name: Setup
+        run: |
+          sudo apt-get -qq update
+          sudo apt-get -qq install gcc-multilib-mips-linux-gnu gcc-mips-linux-gnu qemu-user g++-mips-linux-gnu
+
+      - name: Run big endian tests
+        run: make test-c-v4
+        env:
+          CC: mips-linux-gnu-gcc
+          CXX: mips-linux-gnu-g++
+
+          CMAKEFLAGS: -DCMAKE_EXE_LINKER_FLAGS_RELEASE="-static" -Dgtest_disable_pthreads=ON
+
+
+  windows-minGW:
+    name: Windows MinGW
+    runs-on: windows-2019
+    steps:
+
+      - uses: actions/checkout@v2
+        with:
+          submodules: recursive
+          fetch-depth: 0
+
+      - name: Configure
+        run: cmake -G "MinGW Makefiles" -S c -B build
+
+      - name: Build
+        run: cmake --build build --target all
+
+      - name: Test
+        run: cmake --build build --target do-all-tests
+
+
+  windows-vs-2019:
+    name: Windows VS 2019
+    runs-on: windows-2019
+    steps:
+
+      - uses: actions/checkout@v2
+        with:
+          submodules: recursive
+          fetch-depth: 0
+
+      - name: Configure
+        run: cmake -G "Visual Studio 16 2019" -S c -B build -D gtest_force_shared_crt=true
+
+      - name: Build
+        run: cmake --build build --target ALL_BUILD
+
+      - name: Test
+        run: cmake --build build --target do-all-tests
+

.gitignore

@@ -4,6 +4,7 @@
 *.*~
 limbo/
 .idea/
+*.bak
 
 # Byte-compiled / optimized / DLL files
 __pycache__/

Makefile

@@ -171,10 +171,10 @@ gen: gen-c gen-python gen-javascript gen-java gen-haskell gen-rust gen-protobuf
 gen-quicktype: gen-quicktype-typescript gen-quicktype-elm
 
 gen-c:
-	$(call announce-begin,"Generating C headers")
+	$(call announce-begin,"Generating C headers and sources")
 	cd $(SWIFTNAV_ROOT)/generator; \
 	$(SBP_GEN_BIN) -i $(SBP_SPEC_DIR) \
-		       -o $(SWIFTNAV_ROOT)/c/include/libsbp \
+		       -o $(SWIFTNAV_ROOT)/c \
 		       -r $(SBP_VERSION) \
 	               --c
 
@@ -318,7 +318,7 @@ gen-quicktype-elm:
 
 # Testers
 
-test: test-all-begin test-c test-java test-python test-haskell test-javascript test-rust test-all-end
+test: test-all-begin test-c test-c-v4 test-java test-python test-haskell test-javascript test-rust test-all-end
 
 test-all-begin:
 	$(call announce-begin,"Running all tests")
@@ -335,6 +335,15 @@ test-c:
 	$(MAKE) do-all-tests
 	$(call announce-end,"Finished running C tests")
 
+test-c-v4:
+	$(call announce-begin,"Running C tests")
+	cd $(SWIFTNAV_ROOT)/c; \
+	mkdir -p build/ && cd build/; \
+	cmake $(CMAKEFLAGS) ../; \
+	$(MAKE); \
+	$(MAKE) do-test-libsbp-v4 do-test-libsbp-cpp-v4
+	$(call announce-end,"Finished running C tests")
+
 test-python:
 	$(call announce-begin,"Running Python tests")
 	cd $(SWIFTNAV_ROOT)/python/ && tox --skip-missing-interpreters

c/CMakeLists.txt

@@ -16,6 +16,7 @@ swift_create_project_options(
     TEST_PACKAGES "Check"
     )
 include(CodeCoverage)
+include(SwiftTargets)
 include(TestTargets)
 add_code_coverage_all_targets()
 # TODO: Reformatting is limited to generated files; it should be expanded to cover all files

c/examples/CMakeLists.txt

@@ -2,9 +2,6 @@ option(BUILD_EXAMPLES "" OFF)
 
 if(BUILD_EXAMPLES)
   add_custom_target(examples)
-
-  foreach(target example cpp_example tcp_example tcp_2sigma_example)
-    add_subdirectory(${target})
-    add_dependencies(examples libsbp_${target})
-  endforeach()
+  add_subdirectory(legacy)
+  add_subdirectory(v4)
 endif()

c/examples/legacy/CMakeLists.txt

@@ -0,0 +1,4 @@
+foreach(target example cpp_example tcp_example tcp_2sigma_example)
+  add_subdirectory(${target})
+  add_dependencies(examples libsbp_${target})
+endforeach()

c/examples/cpp_example/CMakeLists.txt → c/examples/legacy/cpp_example/CMakeLists.txt

@@ -3,8 +3,8 @@ project(libsbp_cpp_example)
 
 set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
 
-set(CMAKE_C_FLAGS "-Wall -Wextra -Wno-strict-prototypes -Wno-unknown-warning-option -Werror -std=gnu99 ${CMAKE_C_FLAGS}")
-set(CMAKE_CXX_FLAGS "-Wall -Wextra -Wno-unknown-warning-option -Werror -std=c++11 ${CMAKE_CXX_FLAGS}")
+set(CMAKE_C_FLAGS "-Wall -Wextra -Wno-strict-prototypes -Werror -std=gnu99 -Wno-error=deprecated-declarations ${CMAKE_C_FLAGS}")
+set(CMAKE_CXX_FLAGS "-Wall -Wextra -Werror -std=c++11 -Wno-error=deprecated-declarations ${CMAKE_CXX_FLAGS}")
 
 find_package(PkgConfig)
 

c/examples/cpp_example/cpp_example.cc → c/examples/legacy/cpp_example/cpp_example.cc

@@ -2,8 +2,8 @@
 #include <fstream>
 
 #include <libsbp/cpp/state.h>
-#include <libsbp/cpp/message_handler.h>
-#include <libsbp/cpp/frame_handler.h>
+#include <libsbp/legacy/cpp/payload_handler.h>
+#include <libsbp/legacy/cpp/frame_handler.h>
 
 void usage(char *prog_name) {
   fprintf(stderr, "usage: %s [filename]\n", prog_name);
@@ -34,9 +34,9 @@ class SbpFileReader : public sbp::IReader {
   std::ifstream file_stream_;
 };
 
-class ECEFHandler : private sbp::MessageHandler<msg_gps_time_t, msg_pos_ecef_t> {
+class ECEFHandler : private sbp::PayloadHandler<msg_gps_time_t, msg_pos_ecef_t> {
   public:
-    ECEFHandler(sbp::State *state) : sbp::MessageHandler<msg_gps_time_t, msg_pos_ecef_t>(state) {
+    ECEFHandler(sbp::State *state) : sbp::PayloadHandler<msg_gps_time_t, msg_pos_ecef_t>(state) {
     }
 
     void handle_sbp_msg(uint16_t sender_id, uint8_t message_length, const msg_gps_time_t& msg) {

c/examples/example/CMakeLists.txt → c/examples/legacy/example/CMakeLists.txt

@@ -3,7 +3,7 @@ project(libsbp_example)
 
 set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
 
-set(CMAKE_C_FLAGS "-Wall -Werror -std=gnu99 ${CMAKE_C_FLAGS}")
+set(CMAKE_C_FLAGS "-Wall -Werror -Wno-error=deprecated-declarations -std=gnu99")
 
 add_executable(libsbp_example example.c)
 

c/examples/example/example.c → c/examples/legacy/example/example.c

@@ -6,7 +6,7 @@
 #include <libserialport.h>
 
 #include <libsbp/sbp.h>
-#include <libsbp/system.h>
+#include <libsbp/legacy/system.h>
 
 char *serial_port_name = NULL;
 struct sp_port *piksi_port = NULL;
@@ -128,7 +128,7 @@ int main(int argc, char **argv)
 
   sbp_state_init(&s);
 
-  sbp_register_callback(&s, SBP_MSG_HEARTBEAT, &heartbeat_callback, NULL,
+  sbp_payload_callback_register(&s, SBP_MSG_HEARTBEAT, &heartbeat_callback, NULL,
                         &heartbeat_callback_node);
 
   while(1) {

c/examples/tcp_2sigma_example/CMakeLists.txt → c/examples/legacy/tcp_2sigma_example/CMakeLists.txt

@@ -3,7 +3,7 @@ project(libsbp_tcp_2sigma_example)
 
 set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
 
-set(CMAKE_CXX_FLAGS "-Wall -Wextra -Wno-unknown-warning-option -Werror -std=c++14 ${CMAKE_CXX_FLAGS}")
+set(CMAKE_CXX_FLAGS "-Wall -Wextra -Werror -Wno-error=deprecated-declarations -std=c++14")
 
 add_executable(libsbp_tcp_2sigma_example tcp_2sigma_example.cc)
 

c/examples/tcp_2sigma_example/tcp_2sigma_example.cc → c/examples/legacy/tcp_2sigma_example/tcp_2sigma_example.cc

@@ -40,7 +40,7 @@
 #endif /* SHOW_PLOT */
 
 #include <libsbp/sbp.h>
-#include <libsbp/navigation.h>
+#include <libsbp/legacy/navigation.h>
 
 // width and height of the plot window in pixels
 #define SIZE_PIXELS 300
@@ -248,7 +248,7 @@ int main(int argc, char* const argv[]) {
 
     sbp_state_init(&sbp_state);
     sbp_state_set_io_context(&sbp_state, (void*)&fd);
-    sbp_register_callback(&sbp_state, SBP_MSG_POS_LLH_COV, &pos_llh_cov_callback, NULL, &callback_node[0]);
+    sbp_payload_callback_register(&sbp_state, SBP_MSG_POS_LLH_COV, &pos_llh_cov_callback, NULL, &callback_node[0]);
 
     while(1) {
         switch(sbp_process(&sbp_state, &socket_read)) {

c/examples/tcp_example/CMakeLists.txt → c/examples/legacy/tcp_example/CMakeLists.txt

@@ -3,7 +3,7 @@ project(libsbp_tcp_example)
 
 set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
 
-set(CMAKE_C_FLAGS "-Wall -Wextra -Wno-strict-prototypes -Wno-unknown-warning-option -Werror -std=gnu99 ${CMAKE_C_FLAGS}")
+set(CMAKE_C_FLAGS "-Wall -Wextra -Wno-strict-prototypes -Werror -Wno-error=deprecated-declarations -std=gnu99 ${CMAKE_C_FLAGS}")
 
 add_executable(libsbp_tcp_example tcp_example.c)
 

c/examples/tcp_example/tcp_example.c → c/examples/legacy/tcp_example/tcp_example.c

@@ -6,7 +6,7 @@
 #include <unistd.h>
 
 #include <libsbp/sbp.h>
-#include <libsbp/system.h>
+#include <libsbp/legacy/system.h>
 
 char *tcp_ip_addr = NULL;
 char *tcp_ip_port = NULL;
@@ -101,7 +101,7 @@ int main(int argc, char **argv)
 
   setup_socket();
   sbp_state_init(&s);
-  sbp_register_callback(&s, SBP_MSG_HEARTBEAT, &heartbeat_callback, NULL,
+  sbp_payload_callback_register(&s, SBP_MSG_HEARTBEAT, &heartbeat_callback, NULL,
                         &heartbeat_callback_node);
 
   while(1) {

c/examples/v4/CMakeLists.txt

@@ -0,0 +1,4 @@
+foreach(target example cpp_example cpp_traits_example)
+    add_subdirectory(${target})
+    add_dependencies(examples libsbp_v4_${target})
+endforeach()

c/examples/v4/cpp_example/CMakeLists.txt

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 2.8.9)
+project(libsbp_v4_cpp_example)
+
+set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
+
+set(CMAKE_C_FLAGS "-Wall -Wextra -Wno-strict-prototypes -Werror -std=gnu99 -Wno-error=deprecated-declarations ${CMAKE_C_FLAGS}")
+set(CMAKE_CXX_FLAGS "-Wall -Wextra -Werror -std=c++11 -Wno-error=deprecated-declarations ${CMAKE_CXX_FLAGS}")
+
+find_package(PkgConfig)
+
+link_directories("/usr/local/lib/")
+include_directories("/usr/local/include/")
+
+add_executable(libsbp_v4_cpp_example cpp_example.cc)
+target_link_libraries(libsbp_v4_cpp_example sbp)