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Various small improvements and fixes #60

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Merged
flipflip8952 merged 1 commit into from
Jan 6, 2025
Merged

Various small improvements and fixes #60

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8 changes: 0 additions & 8 deletions docker/Dockerfile.jazzy-base
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Original file line number Diff line number Diff line change
Expand Up @@ -24,10 +24,6 @@ RUN /tmp/install_clangformat.sh && rm -f /tmp/install_clangformat.sh
COPY docker/scripts/install_capnp.sh /tmp
RUN /tmp/install_capnp.sh && rm -f /tmp/install_capnp.sh

# Download, build and install PROJ
COPY docker/scripts/install_proj.sh /tmp
RUN /tmp/install_proj.sh && rm -f /tmp/install_proj.sh

# Download, build and install Doxygen
COPY docker/scripts/install_doxygen.sh /tmp
RUN /tmp/install_doxygen.sh && rm -f /tmp/install_doxygen.sh
Expand All @@ -46,10 +42,6 @@ Pin-Priority: -1
Package: capnproto libcapnp-* libcapnp-dev
Pin: origin *
Pin-Priority: -1

Package: proj proj-ps-doc proj-data proj-rdnap proj-bin libproj15 libproj-dev
Pin: origin *
Pin-Priority: -1
EOF

# For debugging docker builds... (last layer!)
Expand Down
4 changes: 4 additions & 0 deletions docker/scripts/install_aptbase.sh
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Expand Up @@ -21,11 +21,15 @@ packages=$(awk -v filt=${FPSDK_IMAGE%-*} '$1 ~ filt { print $2 }' <<EOF
noetic.humble.jazzy.bookworm libeigen3-dev
..............jazzy.bookworm libgtest-dev
noetic.humble.jazzy.bookworm libpath-tiny-perl
..............jazzy......... libproj25
..............jazzy......... libproj-dev
noetic.humble.jazzy.bookworm libsqlite3-dev
noetic.humble.jazzy.bookworm libtiff-dev
noetic.humble.jazzy.bookworm libyaml-cpp-dev
noetic.humble.jazzy.bookworm netbase
.......humble.jazzy.bookworm pre-commit
..............jazzy......... proj-data
..............jazzy......... proj-bin
noetic...................... python3-catkin-tools
noetic.humble.jazzy.bookworm python-is-python3
noetic.humble.jazzy.bookworm python3-osrf-pycommon
Expand Down
5 changes: 2 additions & 3 deletions fpsdk_common/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -44,10 +44,10 @@ find_package (Threads REQUIRED)

# PROJ is optional, unless explicitly requested with -DUSE_PROJ=ON
if (USE_PROJ STREQUAL "ON")
find_package(PROJ 9.4.1 REQUIRED CONFIG)
find_package(PROJ 9.4 REQUIRED CONFIG)
elseif(USE_PROJ STREQUAL "OFF")
else()
find_package(PROJ 9.4.1 CONFIG QUIET)
find_package(PROJ 9.4 CONFIG QUIET)
endif()
if (${PROJ_FOUND})
message(STATUS "fpsdk: Using PROJ (${PROJ_VERSION})")
Expand Down Expand Up @@ -194,5 +194,4 @@ add_gtest(TARGET trafo_test SOURCES test/trafo_test.cpp LINK
add_gtest(TARGET utils_test SOURCES test/utils_test.cpp LINK_LIBS ${PROJECT_NAME})
add_gtest(TARGET yaml_test SOURCES test/yaml_test.cpp LINK_LIBS ${PROJECT_NAME})


# ======================================================================================================================
81 changes: 41 additions & 40 deletions fpsdk_common/include/fpsdk_common/parser/fpa.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -158,7 +158,7 @@ bool FpaGetMessageInfo(char* info, const std::size_t size, const uint8_t* msg, c
*/
enum class FpaInitStatus : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
NOT_INIT = '0', //!< Not initialised
LOCAL_INIT = '1', //!< Locally initialised
GLOBAL_INIT = '2', //!< Globally initialised
Expand All @@ -169,7 +169,7 @@ enum class FpaInitStatus : int
*/
enum class FpaFusionStatusLegacy : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
NONE = '0', //!< Not started
VISION = '1', //!< Vision only
VIO = '2', //!< Visual-inertial fusion
Expand All @@ -182,7 +182,7 @@ enum class FpaFusionStatusLegacy : int
*/
enum class FpaMeasStatus : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
NOT_USED = '0', //!< Not used
USED = '1', //!< Used
DEGRADED = '2', //!< Degraded
Expand All @@ -193,7 +193,7 @@ enum class FpaMeasStatus : int
*/
enum class FpaImuStatus : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
NOT_CONVERGED = '0', //!< Not converged
WARMSTARTED = '1', //!< Warmstarted
ROUGH_CONVERGED = '2', //!< Rough convergence
Expand All @@ -205,7 +205,7 @@ enum class FpaImuStatus : int
*/
enum class FpaImuStatusLegacy : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
NOT_CONVERGED = '0', //!< Not converged
CONVERGED = '1', //!< Converged
}; // clang-format on
Expand All @@ -215,7 +215,7 @@ enum class FpaImuStatusLegacy : int
*/
enum class FpaImuNoise : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
LOW_NOISE = '1', //!< Low noise
MEDIUM_NOISE = '2', //!< Medium noise
HIGH_NOISE = '3', //!< High noise
Expand All @@ -230,7 +230,7 @@ enum class FpaImuNoise : int
*/
enum class FpaImuConv : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
RESERVED0 = '0', //!< Reserved
WAIT_IMU_MEAS = '1', //!< Awaiting IMU measurements
WAIT_GLOBAL_MEAS = '2', //!< Insufficient global measurements
Expand All @@ -246,7 +246,7 @@ enum class FpaImuConv : int
*/
enum class FpaGnssStatus : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
NO_FIX = '0', //!< No fix
SPP = '1', //!< Single-point positioning (SPP)
RTK_MB = '2', //!< RTK moving baseline
Expand All @@ -264,7 +264,7 @@ enum class FpaGnssStatus : int
*/
enum class FpaCorrStatus : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
WAITING_FUSION = '0', //!< Waiting fusion
NO_GNSS = '1', //!< No GNSS available
NO_CORR = '2', //!< No corrections used
Expand All @@ -282,7 +282,7 @@ enum class FpaCorrStatus : int
*/
enum class FpaBaselineStatus : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
WAITING_FUSION = '0', //!< Waiting fusion
NO_FIX = '1', //!< Not available or no fix
FAILING = '2', //!< Failing
Expand All @@ -294,7 +294,7 @@ enum class FpaBaselineStatus : int
*/
enum class FpaCamStatus : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
CAM_UNAVL = '0', //!< Camera not available
BAD_FEAT = '1', //!< Camera available, but not usable (e.g. too dark)
RESERVED2 = '2', //!< Reserved
Expand All @@ -308,7 +308,7 @@ enum class FpaCamStatus : int
*/
enum class FpaWsStatus : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
NOT_ENABLED = '0', //!< No wheelspeed enabled
MISS_MEAS = '1', //!< Missing wheelspeed measurements
NONE_CONVERGED = '2', //!< At least one wheelspeed enabled, no wheelspeed converged
Expand All @@ -321,7 +321,7 @@ enum class FpaWsStatus : int
*/
enum class FpaWsStatusLegacy : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
NOT_ENABLED = '-', //!< No wheelspeed enabled
NONE_CONVERGED = '0', //!< None converged
ONE_OR_MORE_CONVERGED = '1', //!< At least one converged
Expand All @@ -332,7 +332,7 @@ enum class FpaWsStatusLegacy : int
*/
enum class FpaWsConv : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
WAIT_FUSION = '0', //!< Awaiting Fusion
WAIT_WS_MEAS = '1', //!< Missing wheelspeed measurements
WAIT_GLOBAL_MEAS = '2', //!< Insufficient global measurements
Expand All @@ -347,7 +347,7 @@ enum class FpaWsConv : int
*/
enum class FpaMarkersStatus : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
NOT_ENABLED = '0', //!< No markers available
NONE_CONVERGED = '1', //!< Markers available
ONE_CONVERGED = '2', //!< Markers available and used
Expand All @@ -359,7 +359,7 @@ enum class FpaMarkersStatus : int
*/
enum class FpaMarkersConv : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
WAIT_FUSION = '0', //!< Awaiting Fusion
WAIT_MARKER_MEAS = '1', //!< Waiting marker measurements
WAIT_GLOBAL_MEAS = '2', //!< Insufficient global measurements
Expand All @@ -372,7 +372,7 @@ enum class FpaMarkersConv : int
*/
enum class FpaGnssFix : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
UNKNOWN = '0', //!< Unknown
NOFIX = '1', //!< No fix
DRONLY = '2', //!< Dead-reckoning only
Expand Down Expand Up @@ -402,8 +402,8 @@ enum class FpaEpoch : int
enum class FpaAntState : int
{
UNSPECIFIED = 0, //!< Unspecified
OK, //!< Antenna detected and good
OPEN, //!< No antenna detected (or connected via DC block)
OK, //!< Antenna detected and good
SHORT, //!< Antenna short circuit detected
};

Expand Down Expand Up @@ -623,9 +623,9 @@ struct FpaImuPayload : public FpaPayload
//! Data from which FP_A-...IMU is stored
enum class Which
{
UNSPECIFIED, //!< Unspecified
FP_A_RAWIMU, //!< Data is from FP_A-RAWIMU
FP_A_CORRIMU, //!< Data is from FP_A-CORRIMU
UNSPECIFIED, //!< Unspecified
RAWIMU, //!< Data is from FP_A-RAWIMU
CORRIMU, //!< Data is from FP_A-CORRIMU
};
Which which = Which::UNSPECIFIED; //!< Indicates from which message the data is
// clang-format off
Expand Down Expand Up @@ -728,27 +728,28 @@ struct FpaOdomPayload : public FpaPayload
//! Data from which FP_A-...IMU is stored
enum class Which
{
UNSPECIFIED, //!< Unspecified
FP_A_ODOMETRY, //!< Data is from FP_A-ODOMETRY
FP_A_ODOMENU, //!< Data is from FP_A-ODOMENU
FP_A_ODOMSH, //!< Data is from FP_A-ODOMSH
UNSPECIFIED, //!< Unspecified
ODOMETRY, //!< Data is from FP_A-ODOMETRY
ODOMENU, //!< Data is from FP_A-ODOMENU
ODOMSH, //!< Data is from FP_A-ODOMSH
};
// clang-format off
Which which = Which::UNSPECIFIED; //!< Indicates from which message the data is
FpaGpsTime gps_time; //!< Time
FpaFloat3 pos; //!< Position, X/Y/Z components
FpaFloat4 orientation; //!< Quaternion, W/X/Y/Z components
FpaFloat3 vel; //!< Velocity, X/Y/Z components
FpaFloat3 rot; //!< Bias corrected angular velocity, X/Y/Z components
FpaFloat3 acc; //!< Bias corrected acceleration, X/Y/Z components
FpaFusionStatusLegacy fusion_status; //!< Fustion status
FpaImuStatusLegacy imu_bias_status; //!< IMU bias status
FpaGnssFix gnss1_fix; //!< Fix status of GNSS1 receiver
FpaGnssFix gnss2_fix; //!< Fix status of GNSS2 receiver
FpaWsStatusLegacy wheelspeed_status; //!< Wheelspeed status
FpaFloat6 pos_cov; //!< Position covariance, XX/YY/ZZ/XY/YZ/XZ components
FpaFloat6 orientation_cov; //!< Orientation covariance, XX/YY/ZZ/XY/YZ/XZ components
FpaFloat6 vel_cov; //!< Velocity covariance, XX/YY/ZZ/XY/YZ/XZ components
Which which = Which::UNSPECIFIED; //!< Indicates from which message the data is
FpaGpsTime gps_time; //!< Time
FpaFloat3 pos; //!< Position, X/Y/Z components
FpaFloat4 orientation; //!< Quaternion, W/X/Y/Z components
FpaFloat3 vel; //!< Velocity, X/Y/Z components
FpaFloat3 rot; //!< Bias corrected angular velocity, X/Y/Z components
FpaFloat3 acc; //!< Bias corrected acceleration, X/Y/Z components
FpaFusionStatusLegacy fusion_status; //!< Fustion status
FpaImuStatusLegacy imu_bias_status; //!< IMU bias status
FpaGnssFix gnss1_fix; //!< Fix status of GNSS1 receiver
FpaGnssFix gnss2_fix; //!< Fix status of GNSS2 receiver
FpaWsStatusLegacy wheelspeed_status; //!< Wheelspeed status
FpaFloat6 pos_cov; //!< Position covariance, XX/YY/ZZ/XY/YZ/XZ components
FpaFloat6 orientation_cov; //!< Orientation covariance, XX/YY/ZZ/XY/YZ/XZ components
FpaFloat6 vel_cov; //!< Velocity covariance, XX/YY/ZZ/XY/YZ/XZ components
char version[100] = { 0 }; //!< Version
// clang-format on

/**
Expand Down
30 changes: 14 additions & 16 deletions fpsdk_common/include/fpsdk_common/parser/nmea.hpp
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Expand Up @@ -177,12 +177,10 @@ struct NmeaCoordinates

/**
* @brief NMEA talker IDs
*
* @note Do not use <, >, >=, <= operators on this!
*/
enum class NmeaTalkerId : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
PROPRIETARY = 'x', //!< Proprietary
GPS_SBAS = 'P', //!< GPS and/or SBAS
GLO = 'L', //!< GLONASS
Expand All @@ -195,12 +193,10 @@ enum class NmeaTalkerId : int

/**
* @brief NMEA-Gx-GGA quality indicator
*
* @note Do not use <, >, >=, <= operators on this!
*/
enum class NmeaQualityGga : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
NOFIX = '0', //!< No fix
SPP = '1', //!< Autonomous GNSS fix
DGNSS = '2', //!< Differential GPS fix (e.g. with SBAS)
Expand All @@ -219,7 +215,7 @@ enum class NmeaQualityGga : int
*/
enum class NmeaStatusGllRmc : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
INVALID = 'V', //!< Data invalid
VALID = 'A', //!< Data valid
// DIFFERENTIAL = 'D', // @todo another possible value?
Expand All @@ -232,7 +228,7 @@ enum class NmeaStatusGllRmc : int
*/
enum class NmeaModeGllVtg : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
INVALID = 'N', //!< Invalid (no fix)
AUTONOMOUS = 'A', //!< Autonomous mode (SPP)
DGNSS = 'D', //!< Differential GNSS fix
Expand All @@ -248,7 +244,7 @@ enum class NmeaModeGllVtg : int
*/
enum class NmeaModeRmcGns : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
INVALID = 'N', //!< Invalid (no fix)
AUTONOMOUS = 'A', //!< Autonomous mode (SPP)
DGNSS = 'D', //!< Differential GNSS fix
Expand All @@ -267,7 +263,7 @@ enum class NmeaModeRmcGns : int
*/
enum class NmeaNavStatusRmc : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
SAFE = 'S', //!< Safe
CAUTION = 'C', //!< Caution
UNSAFE = 'U', //!< Unsafe
Expand All @@ -281,30 +277,30 @@ enum class NmeaNavStatusRmc : int
*/
enum class NmeaOpModeGsa : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
MANUAL = 'M', //!< Manual
AUTO = 'A', //!< Automatic
}; // clang-format on

/**
* @brief NMEA-Gx-GNS nav mode
*
* @note Do not use <, >, >=, <= operators on this!
*/
enum class NmeaNavModeGsa : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
NOFIX = '1', //!< No fix
FIX2D = '2', //!< 2D fix
FIX3D = '3', //!< 3D fix
}; // clang-format on

/**
* @brief NMEA system IDs
*
* @note Do not use <, >, >=, <= operators on this!
*/
enum class NmeaSystemId : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
GPS_SBAS = '1', //!< GPS and/or SBAS
GLO = '2', //!< GLONASS
GAL = '3', //!< Galileo
Expand All @@ -315,10 +311,12 @@ enum class NmeaSystemId : int

/**
* @brief NMEA signal IDs
*
* @note Do not use <, >, >=, <= operators on this!
*/
enum class NmeaSignalId : int
{ // clang-format off
UNSPECIFIED = '?', //!< Unspecified
UNSPECIFIED = '!', //!< Unspecified
GPS_L1CA = '1', //!< GPS L1 C/A
GPS_L2CL = '6', //!< GPS L2 CL
GPS_L2CM = '5', //!< GPS L2 CM
Expand Down
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