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traversarotraversaro
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Merge pull request #31 from wep21/ublox
feat: add ublox
2 parents f4e63ca + d58b288 commit b0e642b

8 files changed

+276
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‎patch/ros-jazzy-ublox-gps.win.patch‎

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diff --git a/CMakeLists.txt b/CMakeLists.txt
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index 5a9fdf1..3d2e2a2 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -10,6 +10,8 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
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+
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set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
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find_package(ament_cmake_ros REQUIRED)
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@@ -64,6 +66,8 @@ target_link_libraries(ublox_gps PUBLIC
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ublox_serialization::ublox_serialization
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)
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+target_compile_definitions(ublox_gps PRIVATE _USE_MATH_DEFINES)
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+
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install(TARGETS ublox_gps EXPORT export_${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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diff --git a/include/ublox_gps/ublox_firmware7plus.hpp b/include/ublox_gps/ublox_firmware7plus.hpp
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index 84ffe7a..1b8043d 100644
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--- a/include/ublox_gps/ublox_firmware7plus.hpp
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+++ b/include/ublox_gps/ublox_firmware7plus.hpp
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@@ -175,7 +175,17 @@ class UbloxFirmware7Plus : public UbloxFirmware {
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}
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// Raise diagnostic level to error if no fix
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if (last_nav_pvt_.fix_type == ublox_msgs::msg::NavPVT::FIX_TYPE_NO_FIX) {
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+#if defined(_WIN32)
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+# if defined(ERROR)
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+# pragma push_macro("ERROR")
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+# undef ERROR
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+# endif
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+#endif
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stat.level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
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+#if defined(_WIN32)
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+# pragma warning(suppress : 4602)
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+# pragma pop_macro("ERROR")
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+#endif
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stat.message = "No fix";
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}
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diff --git a/src/gps.cpp b/src/gps.cpp
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index e71377d..9e91478 100644
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--- a/src/gps.cpp
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+++ b/src/gps.cpp
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@@ -138,12 +138,6 @@ void Gps::initializeSerial(const std::string & port, unsigned int baudrate,
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RCLCPP_INFO(logger_, "U-Blox: Opened serial port %s", port.c_str());
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- int fd = serial->native_handle();
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- termios tio{};
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- tcgetattr(fd, &tio);
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- cfmakeraw(&tio);
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- tcsetattr(fd, TCSANOW, &tio);
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-
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// Set the I/O worker
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if (worker_) {
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return;
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diff --git a/src/hpg_ref_product.cpp b/src/hpg_ref_product.cpp
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index b12caaf..62c61b4 100644
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--- a/src/hpg_ref_product.cpp
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+++ b/src/hpg_ref_product.cpp
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@@ -224,7 +224,17 @@ void HpgRefProduct::tmode3Diagnostics(
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stat.message = "Disabled";
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} else if (mode_ == SURVEY_IN) {
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if (!last_nav_svin_.active && !last_nav_svin_.valid) {
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+#if defined(_WIN32)
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+# if defined(ERROR)
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+# pragma push_macro("ERROR")
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+# undef ERROR
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+# endif
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+#endif
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stat.level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
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+#if defined(_WIN32)
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+# pragma warning(suppress : 4602)
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+# pragma pop_macro("ERROR")
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+#endif
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stat.message = "Survey-In inactive and invalid";
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} else if (last_nav_svin_.active && !last_nav_svin_.valid) {
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stat.level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
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diff --git a/src/hpg_rov_product.cpp b/src/hpg_rov_product.cpp
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index 7b524d5..b08a862 100644
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--- a/src/hpg_rov_product.cpp
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+++ b/src/hpg_rov_product.cpp
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@@ -65,7 +65,17 @@ void HpgRovProduct::carrierPhaseDiagnostics(
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if (carr_soln & ublox_msgs::msg::NavRELPOSNED::FLAGS_CARR_SOLN_NONE ||
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!(last_rel_pos_.flags & ublox_msgs::msg::NavRELPOSNED::FLAGS_DIFF_SOLN &&
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last_rel_pos_.flags & ublox_msgs::msg::NavRELPOSNED::FLAGS_REL_POS_VALID)) {
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+#if defined(_WIN32)
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+# if defined(ERROR)
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+# pragma push_macro("ERROR")
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+# undef ERROR
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+# endif
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+#endif
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stat.level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
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+#if defined(_WIN32)
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+# pragma warning(suppress : 4602)
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+# pragma pop_macro("ERROR")
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+#endif
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stat.message = "None";
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} else {
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if (carr_soln & ublox_msgs::msg::NavRELPOSNED::FLAGS_CARR_SOLN_FLOAT) {
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diff --git a/src/node.cpp b/src/node.cpp
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index 23f5172..0153410 100644
108+
--- a/src/node.cpp
109+
+++ b/src/node.cpp
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@@ -506,7 +506,17 @@ void UbloxNode::pollMessages() {
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}
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void UbloxNode::printInf(const ublox_msgs::msg::Inf &m, uint8_t id) {
114+
+#if defined(_WIN32)
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+# if defined(ERROR)
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+# pragma push_macro("ERROR")
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+# undef ERROR
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+# endif
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+#endif
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if (id == ublox_msgs::Message::INF::ERROR) {
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+#if defined(_WIN32)
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+# pragma warning(suppress : 4602)
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+# pragma pop_macro("ERROR")
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+#endif
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RCLCPP_ERROR(this->get_logger(), "INF: %s", std::string(m.str.begin(), m.str.end()).c_str());
126+
} else if (id == ublox_msgs::Message::INF::WARNING) {
127+
RCLCPP_WARN(this->get_logger(), "INF: %s", std::string(m.str.begin(), m.str.end()).c_str());
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@@ -546,10 +556,20 @@ void UbloxNode::subscribe() {
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}
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if (getRosBoolean(this, "inf.error")) {
132+
+#if defined(_WIN32)
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+# if defined(ERROR)
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+# pragma push_macro("ERROR")
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+# undef ERROR
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+# endif
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+#endif
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gps_->subscribeId<ublox_msgs::msg::Inf>(
139+
std::bind(&UbloxNode::printInf, this, std::placeholders::_1,
140+
ublox_msgs::Message::INF::ERROR),
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ublox_msgs::Message::INF::ERROR);
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+#if defined(_WIN32)
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+# pragma warning(suppress : 4602)
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+# pragma pop_macro("ERROR")
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+#endif
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}
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148+
if (getRosBoolean(this, "inf.notice")) {
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@@ -616,8 +636,7 @@ void UbloxNode::processMonVer() {
150+
RCLCPP_DEBUG(this->get_logger(), "%s",
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std::string(monVer.extension[i].field.begin(), monVer.extension[i].field.end()).c_str());
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// Find the end of the string (null character)
153+
- unsigned char* end = std::find(monVer.extension[i].field.begin(),
154+
- monVer.extension[i].field.end(), '\0');
155+
+ auto end = std::find(monVer.extension[i].field.begin(), monVer.extension[i].field.end(), '\0');
156+
extensions.emplace_back(std::string(monVer.extension[i].field.begin(), end));
157+
}
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159+
diff --git a/src/ublox_firmware6.cpp b/src/ublox_firmware6.cpp
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index 0bb7f3b..24046c5 100644
161+
--- a/src/ublox_firmware6.cpp
162+
+++ b/src/ublox_firmware6.cpp
163+
@@ -151,7 +151,17 @@ void UbloxFirmware6::fixDiagnostic(
164+
}
165+
// Raise diagnostic level to error if no fix
166+
if (last_nav_sol_.gps_fix == ublox_msgs::msg::NavSOL::GPS_NO_FIX) {
167+
+#if defined(_WIN32)
168+
+# if defined(ERROR)
169+
+# pragma push_macro("ERROR")
170+
+# undef ERROR
171+
+# endif
172+
+#endif
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stat.level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
174+
+#if defined(_WIN32)
175+
+# pragma warning(suppress : 4602)
176+
+# pragma pop_macro("ERROR")
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+#endif
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stat.message = "No fix";
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}
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‎patch/ros-jazzy-ublox-msgs.win.patch‎

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diff --git a/CMakeLists.txt b/CMakeLists.txt
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index e4c03c0..5f18382 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -10,6 +10,8 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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9+
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
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+
11+
find_package(ament_cmake_ros REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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find_package(sensor_msgs REQUIRED)
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@@ -108,12 +110,16 @@ if(cpp_typesupport_target)
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add_library(${PROJECT_NAME}_lib src/ublox_msgs.cpp)
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target_include_directories(${PROJECT_NAME}_lib PRIVATE
17+
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
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+ "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>"
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"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
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target_link_libraries(${PROJECT_NAME}_lib
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${cpp_typesupport_target}
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ublox_serialization::ublox_serialization
23+
)
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+ include(GenerateExportHeader)
26+
+ generate_export_header(${PROJECT_NAME}_lib BASE_NAME ublox_serialization)
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+
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install(TARGETS ${PROJECT_NAME}_lib EXPORT ${PROJECT_NAME}_lib
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ARCHIVE DESTINATION lib
30+
LIBRARY DESTINATION lib
31+
@@ -124,6 +130,8 @@ if(cpp_typesupport_target)
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DESTINATION "include/${PROJECT_NAME}"
33+
)
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+ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/ublox_serialization_export.h DESTINATION include)
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+
37+
ament_export_include_directories("include/${PROJECT_NAME}")
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ament_export_libraries(${PROJECT_NAME}_lib)
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ament_export_targets(${PROJECT_NAME}_lib)
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diff --git a/include/ublox_msgs/serialization.hpp b/include/ublox_msgs/serialization.hpp
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index 9ef607f..980f920 100644
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--- a/include/ublox_msgs/serialization.hpp
43+
+++ b/include/ublox_msgs/serialization.hpp
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@@ -32,6 +32,7 @@
45+
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#include <cstdint>
47+
48+
+#include <ublox_serialization_export.h>
49+
#include <ublox_serialization/serialization.hpp>
50+
#include <ublox_msgs/ublox_msgs.hpp>
51+
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diff --git a/include/ublox_msgs/ublox_msgs.hpp b/include/ublox_msgs/ublox_msgs.hpp
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index d362c8d..761a08c 100644
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--- a/include/ublox_msgs/ublox_msgs.hpp
55+
+++ b/include/ublox_msgs/ublox_msgs.hpp
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@@ -185,7 +185,17 @@ namespace Message {
57+
} // namespace RXM
58+
59+
namespace INF {
60+
+#if defined(_WIN32)
61+
+# if defined(ERROR)
62+
+# pragma push_macro("ERROR")
63+
+# undef ERROR
64+
+# endif
65+
+#endif
66+
static const uint8_t ERROR = 0x00;
67+
+#if defined(_WIN32)
68+
+# pragma warning(suppress : 4602)
69+
+# pragma pop_macro("ERROR")
70+
+#endif
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static const uint8_t WARNING = 0x01;
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static const uint8_t NOTICE = 0x02;
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static const uint8_t TEST = 0x03;

‎patch/ros-jazzy-ublox-serialization.win.patch‎

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diff --git a/include/ublox_serialization/serialization.hpp b/include/ublox_serialization/serialization.hpp
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index b04fc81..ba3ef08 100644
3+
--- a/include/ublox_serialization/serialization.hpp
4+
+++ b/include/ublox_serialization/serialization.hpp
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@@ -324,7 +324,7 @@ class Message {
6+
};
7+
8+
private:
9+
- static std::vector<std::pair<uint8_t,uint8_t> > keys_;
10+
+ static UBLOX_SERIALIZATION_EXPORT std::vector<std::pair<uint8_t,uint8_t> > keys_;
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};
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/**

‎vinca_linux_64.yaml‎

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@@ -94,5 +94,7 @@ packages_select_by_deps:
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- lanelet2
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- ublox
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patch_dir: patch
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rosdistro_snapshot: rosdistro_snapshot.yaml

‎vinca_linux_aarch64.yaml‎

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@@ -94,5 +94,7 @@ packages_select_by_deps:
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- lanelet2
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- ublox
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patch_dir: patch
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rosdistro_snapshot: rosdistro_snapshot.yaml

‎vinca_osx.yaml‎

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@@ -103,5 +103,7 @@ packages_select_by_deps:
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- lanelet2
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- ublox
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patch_dir: patch
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rosdistro_snapshot: rosdistro_snapshot.yaml

‎vinca_osx_arm64.yaml‎

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@@ -103,5 +103,7 @@ packages_select_by_deps:
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- lanelet2
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- ublox
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patch_dir: patch
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rosdistro_snapshot: rosdistro_snapshot.yaml

‎vinca_win.yaml‎

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@@ -104,6 +104,8 @@ packages_select_by_deps:
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- lanelet2
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- ublox
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patch_dir: patch
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rosdistro_snapshot: rosdistro_snapshot.yaml
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