Break up C++ State to remove legacy dependency, silence compile time warnings in legacy test suites

Author: Matt Woodward

c/include/libsbp/cpp/state.h

@@ -48,6 +48,7 @@ class State {
     return instance->reader_->read(buff, n);
   }
 
+protected:
   static s32 write_func(u8 *buff, u32 n, void *ctx) {
     State *instance = static_cast<State *>(ctx);
     return instance->writer_->write(buff, n);
@@ -76,16 +77,6 @@ class State {
     return sbp_process(&state_, &read_func);
   }
 
-  s8 send_message(u16 msg_type, u16 sender_id, u8 length, const u8 payload[]) {
-    // NOLINTNEXTLINE
-    return sbp_payload_send(&state_, msg_type, sender_id, length, const_cast<u8 *>(payload), &write_func);
-  }
-
-  s8 process_payload(u16 sender_id, u16 msg_type, u8 msg_length, const u8 payload[]) {
-    // NOLINTNEXTLINE
-    return sbp_payload_process(&state_, sender_id, msg_type, msg_length, const_cast<u8 *>(payload));
-  }
-
   s8 process_message(u16 sender_id, sbp_msg_type_t msg_type, const sbp_msg_t *msg) {
     return sbp_message_process(&state_, sender_id, msg_type, msg);
   }

c/include/libsbp/legacy/cpp/frame_handler.h

@@ -17,7 +17,7 @@
 #include <cassert>
 #include <cstddef>
 
-#include <libsbp/cpp/state.h>
+#include <libsbp/legacy/cpp/legacy_state.h>
 #include <libsbp/legacy/cpp/message_traits.h>
 
 SBP_MESSAGE(
@@ -81,7 +81,7 @@ inline void sbp_frame_cb_passthrough(uint16_t sender_id, uint16_t msg_type,
  * @example
  * class ECEFHandler : private sbp::FrameHandler<msg_gps_time_t, msg_pos_ecef_t> {
  *   public:
- *     ECEFHandler(sbp::State *state) : sbp::FrameHandler<msg_gps_time_t, msg_pos_ecef_t>(state) {
+ *     ECEFHandler(sbp::LegacyState *state) : sbp::FrameHandler<msg_gps_time_t, msg_pos_ecef_t>(state) {
  *       // The callbacks have already been registered
  *       // Perform other initialization tasks
  *     }
@@ -99,12 +99,12 @@ template<typename ...MsgTypes>
 class SBP_DEPRECATED FrameHandler {
     static constexpr std::size_t kMsgCount = sizeof...(MsgTypes);
 
-    State &state_;
+    LegacyState &state_;
     std::array<sbp_msg_callbacks_node_t, kMsgCount> callback_nodes_;
 
   public:
 
-    explicit FrameHandler(State *state) : state_(*state), callback_nodes_() {
+    explicit FrameHandler(LegacyState *state) : state_(*state), callback_nodes_() {
         static constexpr std::array<uint16_t, kMsgCount> ids = { sbp::MessageTraits<MsgTypes>::id... };
 
         for (std::size_t i = 0; i < kMsgCount; ++i) {
@@ -156,7 +156,7 @@ class SBP_DEPRECATED FrameHandler {
  * @example
  * class EverythingHandler : private sbp::AllFrameHandler {
  *   public:
- *     EverythingHandler(sbp::State *state) : sbp::AllFrameHandler(state) {
+ *     EverythingHandler(sbp::LegacyState *state) : sbp::AllFrameHandler(state) {
  *       // The callbacks have already been registered
  *       // Perform other initialization tasks
  *     }
@@ -170,12 +170,12 @@ class SBP_DEPRECATED FrameHandler {
  *
  */
 class SBP_DEPRECATED AllFrameHandler {
-    State &state_;
+    LegacyState &state_;
     sbp_msg_callbacks_node_t callback_node_;
 
   public:
 
-    explicit AllFrameHandler(State *state) : state_(*state), callback_node_() {
+    explicit AllFrameHandler(LegacyState *state) : state_(*state), callback_node_() {
       sbp_all_payload_callback_register(state_.get_state(),
               sbp_frame_cb_passthrough<AllFrameHandler>,
               this,

c/include/libsbp/legacy/cpp/legacy_state.h

@@ -0,0 +1,42 @@
+/**
+ * Copyright (C) 2019-2021 Swift Navigation Inc.
+ * Contact: https://support.swiftnav.com
+ *
+ * This source is subject to the license found in the file 'LICENSE' which must
+ * be be distributed together with this source. All other rights reserved.
+ *
+ * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+ * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+ */
+
+#ifndef SBP_LEGACY_CPP_LEGACY_STATE_H
+#define SBP_LEGACY_CPP_LEGACY_STATE_H
+
+#include <libsbp/cpp/state.h>
+
+SBP_MESSAGE(
+  "The legacy libsbp API has been deprecated. This file and all symbols contained will "
+  "be removed in version 6. You should immediately switch over to the modern libsbp API.")
+
+namespace sbp {
+
+class SBP_DEPRECATED LegacyState : public State {
+public:
+  SBP_DEPRECATED s8 send_message(u16 msg_type, u16 sender_id, u8 length, const u8 payload[]) {
+    // NOLINTNEXTLINE
+    return sbp_payload_send(get_state(), msg_type, sender_id, length,
+                            const_cast<u8 *>(payload), &State::write_func);
+  }
+
+  SBP_DEPRECATED s8 process_payload(u16 sender_id, u16 msg_type, u8 msg_length,
+                     const u8 payload[]) {
+    // NOLINTNEXTLINE
+    return sbp_payload_process(get_state(), sender_id, msg_type, msg_length,
+                               const_cast<u8 *>(payload));
+  }
+};
+
+}  // namespace sbp
+
+#endif

c/include/libsbp/legacy/cpp/payload_handler.h

@@ -16,7 +16,7 @@
 #include <cassert>
 #include <array>
 
-#include <libsbp/cpp/state.h>
+#include <libsbp/legacy/cpp/legacy_state.h>
 #include <libsbp/legacy/cpp/message_traits.h>
 #include <libsbp/legacy/compat.h>
 
@@ -127,7 +127,7 @@ class SBP_DEPRECATED PayloadCallbackInterface<MsgType> {
  * @example
  * class ECEFHandler : private sbp::PayloadHandler<msg_gps_time_t, msg_pos_ecef_t> {
  *   public:
- *     ECEFHandler(sbp::State *state) : sbp::PayloadHandler<msg_gps_time_t, msg_pos_ecef_t>(state) {
+ *     ECEFHandler(sbp::LegacyState *state) : sbp::PayloadHandler<msg_gps_time_t, msg_pos_ecef_t>(state) {
  *       // The callbacks have already been registered
  *       // Perform other initialization tasks
  *     }
@@ -147,12 +147,12 @@ template<typename... MsgTypes>
 class SBP_DEPRECATED PayloadHandler : public details::PayloadCallbackInterface<MsgTypes...> {
     static constexpr std::size_t kMsgCount = sizeof...(MsgTypes);
 
-    State &state_;
+    LegacyState &state_;
     std::array<sbp_msg_callbacks_node_t, kMsgCount> callback_nodes_;
 
   public:
 
-    explicit PayloadHandler(State *state) : details::PayloadCallbackInterface<MsgTypes...>(), state_(*state), callback_nodes_() {
+    explicit PayloadHandler(LegacyState *state) : details::PayloadCallbackInterface<MsgTypes...>(), state_(*state), callback_nodes_() {
       details::PayloadCallbackInterface<MsgTypes...>::register_callback(state_.get_state(), callback_nodes_.data());
     }
 

c/test/legacy/cpp/auto_check_sbp_acquisition_MsgAcqResult.cc

@@ -17,7 +17,6 @@
 #include <gtest/gtest.h>
 
 #include <libsbp/common.h>
-#include <libsbp/cpp/state.h>
 
 // Obviously we don't normally want to silence this message, but we also need to
 // still test the legacy implementation for as long as it exists. By silencing
@@ -27,18 +26,19 @@
 #define SBP_MESSAGE(x)
 #endif
 #include <libsbp/legacy/acquisition.h>
+#include <libsbp/legacy/cpp/legacy_state.h>
 #include <libsbp/legacy/cpp/message_traits.h>
 #include <libsbp/legacy/cpp/payload_handler.h>
 class Test_legacy_auto_check_sbp_acquisition_MsgAcqResult0
     : public ::testing::Test,
-      public sbp::State,
+      public sbp::LegacyState,
       public sbp::IReader,
       public sbp::IWriter,
       sbp::PayloadHandler<msg_acq_result_t> {
  public:
   Test_legacy_auto_check_sbp_acquisition_MsgAcqResult0()
       : ::testing::Test(),
-        sbp::State(),
+        sbp::LegacyState(),
         sbp::IReader(),
         sbp::IWriter(),
         sbp::PayloadHandler<msg_acq_result_t>(this),

c/test/legacy/cpp/auto_check_sbp_acquisition_MsgAcqResultDepA.cc

@@ -17,7 +17,6 @@
 #include <gtest/gtest.h>
 
 #include <libsbp/common.h>
-#include <libsbp/cpp/state.h>
 
 // Obviously we don't normally want to silence this message, but we also need to
 // still test the legacy implementation for as long as it exists. By silencing
@@ -27,18 +26,19 @@
 #define SBP_MESSAGE(x)
 #endif
 #include <libsbp/legacy/acquisition.h>
+#include <libsbp/legacy/cpp/legacy_state.h>
 #include <libsbp/legacy/cpp/message_traits.h>
 #include <libsbp/legacy/cpp/payload_handler.h>
 class Test_legacy_auto_check_sbp_acquisition_MsgAcqResultDepA0
     : public ::testing::Test,
-      public sbp::State,
+      public sbp::LegacyState,
       public sbp::IReader,
       public sbp::IWriter,
       sbp::PayloadHandler<msg_acq_result_dep_a_t> {
  public:
   Test_legacy_auto_check_sbp_acquisition_MsgAcqResultDepA0()
       : ::testing::Test(),
-        sbp::State(),
+        sbp::LegacyState(),
         sbp::IReader(),
         sbp::IWriter(),
         sbp::PayloadHandler<msg_acq_result_dep_a_t>(this),
@@ -126,14 +126,14 @@ TEST_F(Test_legacy_auto_check_sbp_acquisition_MsgAcqResultDepA0, Test) {
 }
 class Test_legacy_auto_check_sbp_acquisition_MsgAcqResultDepA1
     : public ::testing::Test,
-      public sbp::State,
+      public sbp::LegacyState,
       public sbp::IReader,
       public sbp::IWriter,
       sbp::PayloadHandler<msg_acq_result_dep_a_t> {
  public:
   Test_legacy_auto_check_sbp_acquisition_MsgAcqResultDepA1()
       : ::testing::Test(),
-        sbp::State(),
+        sbp::LegacyState(),
         sbp::IReader(),
         sbp::IWriter(),
         sbp::PayloadHandler<msg_acq_result_dep_a_t>(this),
@@ -222,14 +222,14 @@ TEST_F(Test_legacy_auto_check_sbp_acquisition_MsgAcqResultDepA1, Test) {
 }
 class Test_legacy_auto_check_sbp_acquisition_MsgAcqResultDepA2
     : public ::testing::Test,
-      public sbp::State,
+      public sbp::LegacyState,
       public sbp::IReader,
       public sbp::IWriter,
       sbp::PayloadHandler<msg_acq_result_dep_a_t> {
  public:
   Test_legacy_auto_check_sbp_acquisition_MsgAcqResultDepA2()
       : ::testing::Test(),
-        sbp::State(),
+        sbp::LegacyState(),
         sbp::IReader(),
         sbp::IWriter(),
         sbp::PayloadHandler<msg_acq_result_dep_a_t>(this),
@@ -319,14 +319,14 @@ TEST_F(Test_legacy_auto_check_sbp_acquisition_MsgAcqResultDepA2, Test) {
 }
 class Test_legacy_auto_check_sbp_acquisition_MsgAcqResultDepA3
     : public ::testing::Test,
-      public sbp::State,
+      public sbp::LegacyState,
       public sbp::IReader,
       public sbp::IWriter,
       sbp::PayloadHandler<msg_acq_result_dep_a_t> {
  public:
   Test_legacy_auto_check_sbp_acquisition_MsgAcqResultDepA3()
       : ::testing::Test(),
-        sbp::State(),
+        sbp::LegacyState(),
         sbp::IReader(),
         sbp::IWriter(),
         sbp::PayloadHandler<msg_acq_result_dep_a_t>(this),
@@ -416,14 +416,14 @@ TEST_F(Test_legacy_auto_check_sbp_acquisition_MsgAcqResultDepA3, Test) {
 }
 class Test_legacy_auto_check_sbp_acquisition_MsgAcqResultDepA4
     : public ::testing::Test,
-      public sbp::State,
+      public sbp::LegacyState,
       public sbp::IReader,
       public sbp::IWriter,
       sbp::PayloadHandler<msg_acq_result_dep_a_t> {
  public:
   Test_legacy_auto_check_sbp_acquisition_MsgAcqResultDepA4()
       : ::testing::Test(),
-        sbp::State(),
+        sbp::LegacyState(),
         sbp::IReader(),
         sbp::IWriter(),
         sbp::PayloadHandler<msg_acq_result_dep_a_t>(this),
@@ -512,14 +512,14 @@ TEST_F(Test_legacy_auto_check_sbp_acquisition_MsgAcqResultDepA4, Test) {
 }
 class Test_legacy_auto_check_sbp_acquisition_MsgAcqResultDepA5
     : public ::testing::Test,
-      public sbp::State,
+      public sbp::LegacyState,
       public sbp::IReader,
       public sbp::IWriter,
       sbp::PayloadHandler<msg_acq_result_dep_a_t> {
  public:
   Test_legacy_auto_check_sbp_acquisition_MsgAcqResultDepA5()
       : ::testing::Test(),
-        sbp::State(),
+        sbp::LegacyState(),
         sbp::IReader(),
         sbp::IWriter(),
         sbp::PayloadHandler<msg_acq_result_dep_a_t>(this),