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Merged
merged 19 commits into from
Dec 19, 2023
Merged

Deprecate legacy API [AP-643] #1373

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b25d13d
Remove access to legacy types through `libsbp/<package>.h`
Nov 22, 2023
e120a58
Rearrange templates directory to match output locations
Nov 22, 2023
1d94086
Move v4 public headers to the top level include directory
Nov 22, 2023
698c548
Move public headers for sbp_string to top level include directory
Nov 22, 2023
c5dac02
Merge v4 API definitions in to main sbp header file
Nov 22, 2023
d5b7c1a
Remove implicit access to legacy API through main sbp header file
Nov 22, 2023
6d91b8d
Move source and private header files to get rid of 'v4' directory
Nov 22, 2023
b6efa56
Missed bazel from previous commit
Nov 22, 2023
fbc5831
Update example and packaging tests to refer to new location
Nov 23, 2023
83ae276
Add some obnoxiously loud warnings to deprecated APIs
Nov 23, 2023
80e1e8f
Break up C++ State to remove legacy dependency, silence compile time …
Nov 23, 2023
72dd99b
Fixup examples
Nov 23, 2023
0ee0b56
Fix invocation of modern tests from top level makefile
Nov 23, 2023
b72b262
Rework bitfield macro tests to avoid legacy API
Nov 23, 2023
b6926c4
Non-legacy headers shouldn't be including legacy api headers
Nov 23, 2023
14d4449
Fix big endian stage, only run modern tests
Nov 23, 2023
c709992
Woodfell/reduce code smella (#1384)
woodfell Nov 23, 2023
8f7810d
Add extra examples for modern API
Nov 24, 2023
72145c7
Something got reformatted for some reason
Dec 19, 2023
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2 changes: 1 addition & 1 deletion .github/workflows/c.yaml
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Expand Up @@ -126,7 +126,7 @@ jobs:
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
run: make test-c-modern
env:
CC: mips-linux-gnu-gcc
CXX: mips-linux-gnu-g++
Expand Down
6 changes: 3 additions & 3 deletions Makefile
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Expand Up @@ -382,13 +382,13 @@ test-c:
$(MAKE) do-all-tests
$(call announce-end,"Finished running C tests")

test-c-v4:
test-c-modern:
$(call announce-begin,"Running C tests")
cd $(SWIFTNAV_ROOT)/c; \
mkdir -p build/ && cd build/; \
cmake $(CMAKEFLAGS) ../; \
$(MAKE) -j4 test-libsbp-v4 test-libsbp-cpp-v4; \
$(MAKE) do-test-libsbp-v4 do-test-libsbp-cpp-v4
$(MAKE) -j4 test-libsbp test-libsbp-cpp; \
$(MAKE) do-test-libsbp do-test-libsbp-cpp
$(call announce-end,"Finished running C tests")

test-python:
Expand Down
80 changes: 43 additions & 37 deletions c/BUILD.bazel
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Expand Up @@ -15,38 +15,38 @@ swift_c_library(
srcs = [
"src/edc.c",
"src/sbp.c",
"src/v4/string/sbp_string.c",
"src/v4/string/multipart.c",
"src/v4/string/null_terminated.c",
"src/v4/string/double_null_terminated.c",
"src/v4/string/unterminated.c",
"src/string/sbp_string.c",
"src/string/multipart.c",
"src/string/null_terminated.c",
"src/string/double_null_terminated.c",
"src/string/unterminated.c",
# generated files
"src/v4/acquisition.c",
"src/v4/bootload.c",
"src/v4/ext_events.c",
"src/v4/file_io.c",
"src/v4/flash.c",
"src/v4/gnss.c",
"src/v4/imu.c",
"src/v4/integrity.c",
"src/v4/linux.c",
"src/v4/logging.c",
"src/v4/mag.c",
"src/v4/navigation.c",
"src/v4/ndb.c",
"src/v4/observation.c",
"src/v4/orientation.c",
"src/v4/piksi.c",
"src/v4/sbas.c",
"src/v4/settings.c",
"src/v4/signing.c",
"src/v4/solution_meta.c",
"src/v4/ssr.c",
"src/v4/system.c",
"src/v4/telemetry.c",
"src/v4/tracking.c",
"src/v4/user.c",
"src/v4/vehicle.c",
"src/acquisition.c",
"src/bootload.c",
"src/ext_events.c",
"src/file_io.c",
"src/flash.c",
"src/gnss.c",
"src/imu.c",
"src/integrity.c",
"src/linux.c",
"src/logging.c",
"src/mag.c",
"src/navigation.c",
"src/ndb.c",
"src/observation.c",
"src/orientation.c",
"src/piksi.c",
"src/sbas.c",
"src/settings.c",
"src/signing.c",
"src/solution_meta.c",
"src/ssr.c",
"src/system.c",
"src/telemetry.c",
"src/tracking.c",
"src/user.c",
"src/vehicle.c",
],
hdrs = SBP_INCLUDE + SBP_INCLUDE_INTERNAL,
copts = [
Expand Down Expand Up @@ -80,24 +80,27 @@ swift_cc_test(
includes = [
"include/libsbp",
],
copts = [
"-Wno-deprecated-declarations",
],
type = UNIT,
deps = [
":sbp",
"@check",
],
)

SBP_V4_C_SOURCES = glob(["test/auto*.c"])
SBP_C_SOURCES = glob(["test/auto*.c"])

swift_cc_test(
name = "sbp-v4-test",
name = "sbp-test",
srcs = [
"test/check_main.c",
"test/check_edc.c",
"test/check_sbp.c",
"test/check_bitfield_macros.c",
"test/check_suites.h",
] + SBP_V4_C_SOURCES,
] + SBP_C_SOURCES,
includes = ["include/libsbp"],
type = UNIT,
deps = [
Expand All @@ -106,11 +109,11 @@ swift_cc_test(
],
)

SBP_CPP_V4_C_SOURCES = glob(["test/cpp/auto*.cc"])
SBP_CPP_C_SOURCES = glob(["test/cpp/auto*.cc"])

swift_cc_test(
name = "sbp-cpp-v4-test",
srcs = SBP_CPP_V4_C_SOURCES,
name = "sbp-cpp-test",
srcs = SBP_CPP_C_SOURCES,
type = UNIT,
deps = [
":sbp",
Expand Down Expand Up @@ -146,6 +149,9 @@ swift_cc_test(
data = [
"test/legacy/cpp/sbp_data/gnss_data.sbp",
],
copts = [
"-Wno-deprecated-declarations",
],
type = UNIT,
deps = [
":sbp",
Expand Down
2 changes: 1 addition & 1 deletion c/examples/CMakeLists.txt
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Expand Up @@ -3,5 +3,5 @@ option(BUILD_EXAMPLES "" OFF)
if(BUILD_EXAMPLES)
add_custom_target(examples)
add_subdirectory(legacy)
add_subdirectory(v4)
add_subdirectory(libsbp)
endif()
4 changes: 2 additions & 2 deletions c/examples/legacy/CMakeLists.txt
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@@ -1,4 +1,4 @@
foreach(target example cpp_example tcp_example tcp_2sigma_example)
add_subdirectory(${target})
add_dependencies(examples libsbp_${target})
endforeach()
add_dependencies(examples libsbp_legacy_${target})
endforeach()
6 changes: 3 additions & 3 deletions c/examples/legacy/cpp_example/CMakeLists.txt
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@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 2.8.9)
project(libsbp_cpp_example)
project(libsbp_legacy_cpp_example)

set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")

Expand All @@ -11,5 +11,5 @@ find_package(PkgConfig)
link_directories("/usr/local/lib/")
include_directories("/usr/local/include/")

add_executable(libsbp_cpp_example cpp_example.cc)
target_link_libraries(libsbp_cpp_example sbp)
add_executable(libsbp_legacy_cpp_example cpp_example.cc)
target_link_libraries(libsbp_legacy_cpp_example sbp)
10 changes: 5 additions & 5 deletions c/examples/legacy/cpp_example/cpp_example.cc
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@@ -1,7 +1,7 @@
#include <iostream>
#include <fstream>

#include <libsbp/cpp/state.h>
#include <libsbp/legacy/cpp/legacy_state.h>
#include <libsbp/legacy/cpp/payload_handler.h>
#include <libsbp/legacy/cpp/frame_handler.h>

Expand Down Expand Up @@ -36,7 +36,7 @@ class SbpFileReader : public sbp::IReader {

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) {
}

void handle_sbp_msg(uint16_t sender_id, uint8_t message_length, const msg_gps_time_t& msg) {
Expand All @@ -55,7 +55,7 @@ class ECEFHandler : private sbp::PayloadHandler<msg_gps_time_t, msg_pos_ecef_t>

class LLHFrameHandler : private sbp::FrameHandler<msg_gps_time_t, msg_pos_llh_t> {
public:
LLHFrameHandler(sbp::State *state) : sbp::FrameHandler<msg_gps_time_t, msg_pos_llh_t>(state) {
LLHFrameHandler(sbp::LegacyState *state) : sbp::FrameHandler<msg_gps_time_t, msg_pos_llh_t>(state) {
}

void handle_sbp_frame(uint16_t sender_id, uint16_t msg_type,
Expand All @@ -74,7 +74,7 @@ class LLHFrameHandler : private sbp::FrameHandler<msg_gps_time_t, msg_pos_llh_t>

class EverythingHandler : private sbp::AllFrameHandler {
public:
EverythingHandler(sbp::State *state) : sbp::AllFrameHandler(state) {
EverythingHandler(sbp::LegacyState *state) : sbp::AllFrameHandler(state) {
}

void handle_sbp_frame(uint16_t sender_id, uint16_t msg_type,
Expand Down Expand Up @@ -102,7 +102,7 @@ int main(int argc, char **argv)
exit(EXIT_FAILURE);
}

sbp::State s;
sbp::LegacyState s;
ECEFHandler ecef_handler(&s);
LLHFrameHandler llh_handler(&s);
EverythingHandler everything_handler(&s);
Expand Down
6 changes: 3 additions & 3 deletions c/examples/legacy/example/CMakeLists.txt
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@@ -1,11 +1,11 @@
cmake_minimum_required(VERSION 2.8.9)
project(libsbp_example)
project(libsbp_legacy_example)

set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")

set(CMAKE_C_FLAGS "-Wall -Werror -Wno-error=deprecated-declarations -std=gnu99")

add_executable(libsbp_example example.c)
add_executable(libsbp_legacy_example example.c)

find_package(PkgConfig)
pkg_check_modules(LIBSERIALPORT libserialport)
Expand All @@ -15,4 +15,4 @@ include_directories(${LIBSERIALPORT_INCLUDE_DIRS})
link_directories("/usr/local/lib/")
include_directories("/usr/local/include/")

target_link_libraries(libsbp_example serialport sbp)
target_link_libraries(libsbp_legacy_example serialport sbp)
1 change: 1 addition & 0 deletions c/examples/legacy/example/example.c
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Expand Up @@ -7,6 +7,7 @@

#include <libsbp/sbp.h>
#include <libsbp/legacy/system.h>
#include <libsbp/legacy/compat.h>

char *serial_port_name = NULL;
struct sp_port *piksi_port = NULL;
Expand Down
8 changes: 4 additions & 4 deletions c/examples/legacy/tcp_2sigma_example/CMakeLists.txt
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@@ -1,11 +1,11 @@
cmake_minimum_required(VERSION 2.8.9)
project(libsbp_tcp_2sigma_example)
project(libsbp_legacy_tcp_2sigma_example)

set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")

set(CMAKE_CXX_FLAGS "-Wall -Wextra -Werror -Wno-error=deprecated-declarations -std=c++14")

add_executable(libsbp_tcp_2sigma_example tcp_2sigma_example.cc)
add_executable(libsbp_legacy_tcp_2sigma_example tcp_2sigma_example.cc)

find_package(PkgConfig)
find_package(Eigen3)
Expand All @@ -15,10 +15,10 @@ option(SHOW_PLOT "" OFF)
link_directories("/usr/local/lib/")
include_directories("/usr/local/include/")

target_link_libraries(libsbp_tcp_2sigma_example sbp)
target_link_libraries(libsbp_legacy_tcp_2sigma_example sbp)

if (SHOW_PLOT)
find_package(OpenCV)
set(CMAKE_CXX_FLAGS "-DSHOW_PLOT ${CMAKE_CXX_FLAGS}")
target_link_libraries(libsbp_tcp_2sigma_example opencv_core opencv_imgproc opencv_highgui)
target_link_libraries(libsbp_legacy_tcp_2sigma_example opencv_core opencv_imgproc opencv_highgui)
endif()
1 change: 1 addition & 0 deletions c/examples/legacy/tcp_2sigma_example/tcp_2sigma_example.cc
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Expand Up @@ -41,6 +41,7 @@

#include <libsbp/sbp.h>
#include <libsbp/legacy/navigation.h>
#include <libsbp/legacy/compat.h>

// width and height of the plot window in pixels
#define SIZE_PIXELS 300
Expand Down
6 changes: 3 additions & 3 deletions c/examples/legacy/tcp_example/CMakeLists.txt
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@@ -1,15 +1,15 @@
cmake_minimum_required(VERSION 2.8.9)
project(libsbp_tcp_example)
project(libsbp_legacy_tcp_example)

set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")

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)
add_executable(libsbp_legacy_tcp_example tcp_example.c)

find_package(PkgConfig)

link_directories("/usr/local/lib/")
include_directories("/usr/local/include/")

target_link_libraries(libsbp_tcp_example sbp)
target_link_libraries(libsbp_legacy_tcp_example sbp)
1 change: 1 addition & 0 deletions c/examples/legacy/tcp_example/tcp_example.c
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Expand Up @@ -7,6 +7,7 @@

#include <libsbp/sbp.h>
#include <libsbp/legacy/system.h>
#include <libsbp/legacy/compat.h>

char *tcp_ip_addr = NULL;
char *tcp_ip_port = NULL;
Expand Down
4 changes: 4 additions & 0 deletions c/examples/libsbp/CMakeLists.txt
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@@ -0,0 +1,4 @@
foreach(target example cpp_example cpp_traits_example tcp_example tcp_2sigma_example)
add_subdirectory(${target})
add_dependencies(examples libsbp_${target})
endforeach()
6 changes: 3 additions & 3 deletions c/examples/v4/cpp_example/CMakeLists.txt → c/examples/libsbp/cpp_example/CMakeLists.txt
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@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 2.8.9)
project(libsbp_v4_cpp_example)
project(libsbp_cpp_example)

set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")

Expand All @@ -11,5 +11,5 @@ 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)
add_executable(libsbp_cpp_example cpp_example.cc)
target_link_libraries(libsbp_cpp_example sbp)
0 c/examples/v4/cpp_example/README.md → c/examples/libsbp/cpp_example/README.md
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0 c/examples/v4/cpp_example/cpp_example.cc → c/examples/libsbp/cpp_example/cpp_example.cc
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6 changes: 3 additions & 3 deletions ...ples/v4/cpp_traits_example/CMakeLists.txt → .../libsbp/cpp_traits_example/CMakeLists.txt
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@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 2.8.9)
project(libsbp_v4_cpp_traits_example)
project(libsbp_cpp_traits_example)

set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")

Expand All @@ -11,5 +11,5 @@ find_package(PkgConfig)
link_directories("/usr/local/lib/")
include_directories("/usr/local/include/")

add_executable(libsbp_v4_cpp_traits_example cpp_example.cc)
target_link_libraries(libsbp_v4_cpp_traits_example sbp)
add_executable(libsbp_cpp_traits_example cpp_example.cc)
target_link_libraries(libsbp_cpp_traits_example sbp)
0 c/examples/v4/cpp_traits_example/README.md → ...mples/libsbp/cpp_traits_example/README.md
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