add fpsdk::common::parser, ::gnss and a few helpers, adoxygen cleanup

Makefile

@@ -173,7 +173,7 @@ $(BUILD_DIR)/.make-uid: | $(BUILD_DIR)
 .PHONY: cmake
 cmake: $(BUILD_DIR)/.make-cmake
 
-deps = $(sort $(wildcard CMakeList.txt Makefile fpsdk_doc/* Doxyfile \
+deps = $(sort $(wildcard CMakeList.txt Makefile fpsdk_doc/* \
     fpsdk_common/* fpsdk_common/*/* fpsdk_common/*/*/* fpsdk_common/*/*/*/* \
     fpsdk_ros1/* fpsdk_ros1/*/* fpsdk_ros1/*/*/* fpsdk_ros1/*/*/*/* \
     fpsdk_ros2/* fpsdk_ros2/*/* fpsdk_ros2/*/*/* fpsdk_ros2/*/*/*/* \
@@ -222,14 +222,15 @@ endif
 .PHONY: doc
 doc: $(BUILD_DIR)/.make-doc
 
-$(BUILD_DIR)/.make-doc: $(BUILD_DIR)/.make-cmake
+$(BUILD_DIR)/.make-doc: $(BUILD_DIR)/.make-cmake fpsdk_doc/Doxyfile
 	@echo "$(HLW)***** Doc ($(BUILD_TYPE)) *****$(HLO)"
 	$(V)( \
-            cat Doxyfile; \
+            cat fpsdk_doc/Doxyfile; \
             echo "PROJECT_NUMBER = $$(cat $(BUILD_DIR)/FP_VERSION_STRING || echo 'unknown revision')"; \
             echo "OUTPUT_DIRECTORY = $(BUILD_DIR)"; \
         ) | $(DOXYGEN) -
 	$(V)$(TOUCH) $@
+	@echo "now run: xdg-open $(BUILD_DIR)/doc/index.html"
 
 # ----------------------------------------------------------------------------------------------------------------------
 

docker/scripts/install_aptbase.sh

@@ -20,6 +20,7 @@ packages=$(awk -v filt=${FPSDK_IMAGE%-*} '$1 ~ filt { print $2 }' <<EOF
     noetic.humble.jazzy.bookworm    libcurl4-openssl-dev
     noetic.humble.jazzy.bookworm    libeigen3-dev
     ..............jazzy.bookworm    libgtest-dev
+    noetic.humble.jazzy.bookworm    libpath-tiny-perl
     noetic.humble.jazzy.bookworm    libsqlite3-dev
     noetic.humble.jazzy.bookworm    libtiff-dev
     noetic.humble.jazzy.bookworm    libyaml-cpp-dev
@@ -29,6 +30,7 @@ packages=$(awk -v filt=${FPSDK_IMAGE%-*} '$1 ~ filt { print $2 }' <<EOF
     noetic.humble.jazzy.bookworm    python-is-python3
     noetic.humble.jazzy.bookworm    python3-osrf-pycommon
     noetic.humble.jazzy.bookworm    python3-pip
+    noetic.humble.jazzy.bookworm    python3-venv
     noetic......................    ros-noetic-eigen-conversions
     noetic......................    ros-noetic-tf
     noetic......................    ros-noetic-tf-conversions
@@ -38,7 +40,9 @@ packages=$(awk -v filt=${FPSDK_IMAGE%-*} '$1 ~ filt { print $2 }' <<EOF
     noetic.humble.jazzy.bookworm    sqlite3
     noetic.humble.jazzy.bookworm    sudo
     ..............jazzy.........    unminimize
+    noetic.humble.jazzy.bookworm    unzip
     noetic.humble.jazzy.bookworm    zlib1g-dev
+    noetic.humble.jazzy.bookworm    zip
 EOF
 )
 

docker/scripts/install_aptdev.sh

@@ -14,6 +14,7 @@ fi
 # List of packages, with filter for the different images we make
 packages=$(awk -v filt=${FPSDK_IMAGE%-*} '$1 ~ filt { print $2 }' <<EOF
     noetic.humble.jazzy.bookworm    ack
+    noetic.humble.jazzy.bookworm    aptitude
     noetic.humble.jazzy.bookworm    bash-completion
     noetic.humble.jazzy.bookworm    bind9-dnsutils
     noetic.humble.jazzy.bookworm    bsdmainutils
@@ -48,6 +49,7 @@ packages=$(awk -v filt=${FPSDK_IMAGE%-*} '$1 ~ filt { print $2 }' <<EOF
     noetic.humble.jazzy.bookworm    manpages-posix-dev
     noetic.humble.jazzy.bookworm    moreutils
     noetic.humble.jazzy.bookworm    ncdu
+    noetic.humble.jazzy.bookwork    net-tools
     noetic.humble...............    netcat
     ..............jazzy.bookworm    netcat-openbsd
     noetic.humble.jazzy.bookworm    openssh-client

fpsdk.code-workspace

@@ -196,7 +196,8 @@
             "expected": "cpp",
             "format": "cpp",
             "stdfloat": "cpp",
-            "*.ipp": "cpp"
+            "*.ipp": "cpp",
+            "forward_list": "cpp"
         },
         "workbench.remoteIndicator.showExtensionRecommendations": true,
         "yaml.extension.recommendations": false

fpsdk_apps/CMakeLists.txt

@@ -63,13 +63,21 @@ endif()
 
 # EXECUTABLES ==========================================================================================================
 
+file(GLOB COMMON_CPP_FILES common/*.cpp)
+
 file(GLOB FPLTOOL_CPP_FILES fpltool/*.cpp)
 add_executable(fpltool ${FPLTOOL_CPP_FILES})
 target_link_libraries(fpltool
     fpsdk_common
     $<$<BOOL:${FP_USE_ROS1}>:fpsdk_ros1>
 )
 
+file(GLOB PARSERTOOL_CPP_FILES parsertool/*.cpp)
+add_executable(parsertool ${PARSERTOOL_CPP_FILES} ${COMMON_CPP_FILES})
+target_link_libraries(parsertool
+    fpsdk_common
+)
+
 file(GLOB TIMECONV_CPP_FILES timeconv/*.cpp)
 add_executable(timeconv ${TIMECONV_CPP_FILES} ${COMMON_CPP_FILES})
 target_link_libraries(timeconv
@@ -91,7 +99,7 @@ set(PROJECT_LIBRARY_DIR ${CMAKE_INSTALL_FULL_LIBDIR})
 set(PROJECT_INCLUDE_DIR ${CMAKE_INSTALL_FULL_INCLUDEDIR}/${PROJECT_NAME})
 set(PROJECT_DATA_DIR    ${CMAKE_INSTALL_FULL_DATAROOTDIR}/${PROJECT_NAME})
 
-install(TARGETS fpltool timeconv yaml2shell
+install(TARGETS fpltool parsertool timeconv yaml2shell
     EXPORT ${PROJECT_NAME}-targets
     LIBRARY DESTINATION ${PROJECT_LIBRARY_DIR}
     RUNTIME DESTINATION ${PROJECT_RUNTIME_DIR}

fpsdk_apps/README.md

@@ -5,7 +5,7 @@ This contains various apps (tools, utilities). See below for details.
 ---
 ## Dependencies
 
-- [Fixposition SDK dependencies](../README.md#dependencies)
+- [Fixposition SDK dependencies](../fpsdk_docs/README.md#dependencies)
 - [fpsdk_common](../fpsdk_common/README.md)
 - [fpsdk_ros1](../fpsdk_common/README.md) -- optional, but recommended, and required for some functionality
 

fpsdk_apps/common/common.cpp

@@ -0,0 +1,84 @@
+/**
+ * \verbatim
+ * ___    ___
+ * \  \  /  /
+ *  \  \/  /   Copyright (c) Fixposition AG (www.fixposition.com) and contributors
+ *  /  /\  \   License: see the LICENSE file
+ * /__/  \__\
+ * \endverbatim
+ *
+ * @file
+ * @brief Fixposition SDK: common app utils
+ */
+
+/* LIBC/STL */
+#include <cinttypes>
+#include <cstdint>
+#include <cstdio>
+
+/* EXTERNAL */
+
+/* Fixposition SDK */
+#include <fpsdk_common/logging.hpp>
+#include <fpsdk_common/string.hpp>
+
+/* PACKAGE */
+#include "common.hpp"
+
+namespace fpsdk {
+namespace apps {
+namespace common {
+/* ****************************************************************************************************************** */
+
+using namespace fpsdk::common::string;
+using namespace fpsdk::common::parser;
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+void PrintMessageHeader()
+{
+    // Keep in sync with PrintMessage()
+    std::printf("------- Seq#     Offset  Size Protocol Message                        Info\n");
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+void PrintMessageData(const ParserMsg& msg, const std::size_t offs, const bool hexdump)
+{
+    msg.MakeInfo();
+    std::printf("message %06" PRIuMAX " %8" PRIuMAX " %5" PRIuMAX " %-8s %-30s %s\n", msg.seq_, offs, msg.data_.size(),
+        ProtocolStr(msg.proto_), msg.name_.c_str(), msg.info_.empty() ? "-" : msg.info_.c_str());
+    if (hexdump) {
+        for (auto& line : HexDump(msg.data_)) {
+            std::printf("%s\n", line.c_str());
+        }
+    }
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+void PrintParserStats(const ParserStats& stats)
+{
+    auto& s = stats;
+    const double p_n = (s.n_msgs_ > 0 ? 100.0 / (double)s.n_msgs_ : 0.0);
+    const double p_s = (s.s_msgs_ > 0 ? 100.0 / (double)s.s_msgs_ : 0.0);
+    std::printf("Stats:     Messages               Bytes\n");
+    const char* fmt = "%-8s %10" PRIu64 " (%5.1f%%) %10" PRIu64 " (%5.1f%%)\n";
+    // clang-format off
+    std::printf(fmt, "Total",                              s.n_msgs_,   (double)s.n_msgs_   * p_n, s.s_msgs_,   (double)s.s_msgs_   * p_s);
+    std::printf(fmt, ProtocolStr(Protocol::FP_A),   s.n_fpa_,    (double)s.n_fpa_    * p_n, s.s_fpa_,    (double)s.s_fpa_    * p_s);
+    std::printf(fmt, ProtocolStr(Protocol::FP_B),   s.n_fpb_,    (double)s.n_fpb_    * p_n, s.s_fpb_,    (double)s.s_fpb_    * p_s);
+    std::printf(fmt, ProtocolStr(Protocol::NMEA),   s.n_nmea_,   (double)s.n_nmea_   * p_n, s.s_nmea_,   (double)s.s_nmea_   * p_s);
+    std::printf(fmt, ProtocolStr(Protocol::UBX),    s.n_ubx_,    (double)s.n_ubx_    * p_n, s.s_ubx_,    (double)s.s_ubx_    * p_s);
+    std::printf(fmt, ProtocolStr(Protocol::RTCM3),  s.n_rtcm3_,  (double)s.n_rtcm3_  * p_n, s.s_rtcm3_,  (double)s.s_rtcm3_  * p_s);
+    std::printf(fmt, ProtocolStr(Protocol::NOV_B),  s.n_novb_,   (double)s.n_novb_   * p_n, s.s_novb_,   (double)s.s_novb_   * p_s);
+    std::printf(fmt, ProtocolStr(Protocol::UNI_B),  s.n_unib_,   (double)s.n_unib_   * p_n, s.s_novb_,   (double)s.s_unib_   * p_s);
+    std::printf(fmt, ProtocolStr(Protocol::SPARTN), s.n_spartn_, (double)s.n_spartn_ * p_n, s.s_spartn_, (double)s.s_spartn_ * p_s);
+    std::printf(fmt, ProtocolStr(Protocol::OTHER),  s.n_other_,  (double)s.n_other_  * p_n, s.s_other_,  (double)s.s_other_  * p_s);
+    // clang-format on
+}
+
+/* ****************************************************************************************************************** */
+}  // namespace common
+}  // namespace apps
+}  // namespace fpsdk

fpsdk_apps/common/common.hpp

@@ -0,0 +1,62 @@
+/**
+ * \verbatim
+ * ___    ___
+ * \  \  /  /
+ *  \  \/  /   Copyright (c) Fixposition AG (www.fixposition.com) and contributors
+ *  /  /\  \   License: see the LICENSE file
+ * /__/  \__\
+ * \endverbatim
+ *
+ * @file
+ * @brief Fixposition SDK: common app utils
+ */
+#ifndef __FPSDK_APPS_PCOMMOM_HPP__
+#define __FPSDK_APPS_PCOMMOM_HPP__
+
+/* LIBC/STL */
+#include <cstdint>
+#include <string>
+#include <vector>
+
+/* EXTERNAL */
+
+/* Fixposition SDK */
+#include <fpsdk_common/logging.hpp>
+#include <fpsdk_common/parser/types.hpp>
+
+/* PACKAGE */
+
+namespace fpsdk {
+namespace apps {
+/**
+ * @brief common apps utils
+ */
+namespace common {
+/* ****************************************************************************************************************** */
+
+/**
+ * @brief Print header for PrintMessageData() to stdout
+ */
+void PrintMessageHeader();
+
+/**
+ * @brief Print message summary to stdout
+ *
+ * @param[in]  msg      The message
+ * @param[in]  offs     Offset [bytes] of message in data (stream, file)
+ * @param[in]  hexdump  Print also hexdump
+ */
+void PrintMessageData(const ::fpsdk::common::parser::ParserMsg& msg, const std::size_t offs, const bool hexdump);
+
+/**
+ * @brief Print parser stats to stdout
+ *
+ * @param[in]  stats  The stats
+ */
+void PrintParserStats(const ::fpsdk::common::parser::ParserStats& stats);
+
+/* ****************************************************************************************************************** */
+}  // namespace common
+}  // namespace apps
+}  // namespace fpsdk
+#endif  // __FPSDK_APPS_PCOMMOM_HPP__

fpsdk_apps/doc/doc.hpp

@@ -32,6 +32,7 @@ namespace apps {
     @section FPSDK_APPS_APPS Apps
 
     - @subpage FPSDK_APPS_FPLTOOL
+    - @subpage FPSDK_APPS_PARSERTOOL
     - @subpage FPSDK_APPS_TIMECONV
     - @subpage FPSDK_APPS_YAML2SHELL
 

fpsdk_apps/fpltool/fpltool_rosbag.cpp

@@ -24,7 +24,7 @@
 #include <fpsdk_common/string.hpp>
 #ifdef FP_USE_ROS1
 #  include <fpsdk_ros1/bagwriter.hpp>
-#  include <fpsdk_ros1/ext/ros_msgs.hpp>
+#  include <fpsdk_ros1/msgs.hpp>
 #endif
 
 /* PACKAGE */
@@ -90,7 +90,7 @@ bool DoRosbag(const FplToolOptions& opts)
 
     // Prepare message for stream messages
     fpsdk_ros1::ParserMsg stream_msg_ros;
-    stream_msg_ros.protocol = fpsdk_ros1::ParserMsg::PROTOCOL_UNSPECIFIED;
+    stream_msg_ros.protocol = fpsdk::ros1::msgs::ParserMsg::PROTOCOL_UNSPECIFIED;
     stream_msg_ros.seq = 0;
 
     // Handle SIGINT (C-c) to abort nicely