Release 4.0.1987-stable

Author: Raphael Siryani

CHANGELOG.md

@@ -1,22 +1,34 @@
-cmake_minimum_required(VERSION 3.18 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.16 FATAL_ERROR)
 
 set(CMAKE_BUILD_TYPE Release CACHE STRING "build type")
 
 project(sbgECom)
 
 #
-# Project configuration
+# Compiler configuration
 #
 set(CMAKE_C_STANDARD 99)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_C_EXTENSIONS ON)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
-option(BUILD_EXAMPLES "Build examples" OFF)
-option(BUILD_TOOLS "Build tools" OFF)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+#
+# Project configuration
+#
+option(BUILD_EXAMPLES           "Build examples" OFF)
+option(BUILD_TOOLS              "Build tools" OFF)
+option(USE_DEPRECATED_MACROS    "Enable deprecated preprocessor defines and macros" ON)
+
+if (USE_DEPRECATED_MACROS)
+	message(NOTICE "deprecated definitions, macros and enum values enabled")
+	add_compile_definitions(SBG_ECOM_USE_DEPRECATED_MACROS)
+endif()
 
 #
-# sbgECom
+# sbgECom library
 #
 add_library(${PROJECT_NAME} STATIC)
 
@@ -91,20 +103,55 @@ if (BUILD_TOOLS)
 		add_subdirectory(${argtable3_SOURCE_DIR} ${argtable3_BINARY_DIR} EXCLUDE_FROM_ALL)
 	endif()
 
+	#
+	# sbgBasicLogger tool - log sbgECom logs to CSV like files
+	#
 	add_executable(sbgBasicLogger
-		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/main.c
-		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/sbgBasicLoggerAccumulators.h
-		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/sbgBasicLoggerFile.h
-		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/sbgBasicLoggerHandler.h
-		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/sbgBasicLoggerAccumulators.c
-		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/sbgBasicLoggerFile.c
-		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/sbgBasicLoggerHandler.c
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerEntry/helpers/imuDataMean.h
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerEntry/loggerEntryAidings.h
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerEntry/loggerEntryDvl.h
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerEntry/loggerEntryEkf.h
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerEntry/loggerEntryEkfRotAccel.h
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerEntry/loggerEntryEvent.h
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerEntry/loggerEntryGeneral.h
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerEntry/loggerEntryGnss.h	
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerEntry/loggerEntryImu.h
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerEntry/loggerEntryMag.h
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerEntry/loggerEntryShipMotion.h
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerManager/loggerContext.h
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerManager/loggerEntry.h
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerManager/loggerManager.h
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerManager/loggerSettings.h
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerApp.h
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerEntry/helpers/imuDataMean.cpp
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerEntry/loggerEntryAidings.cpp
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerEntry/loggerEntryDvl.cpp
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerEntry/loggerEntryEkf.cpp
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerEntry/loggerEntryEkfRotAccel.cpp
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerEntry/loggerEntryEvent.cpp
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerEntry/loggerEntryGeneral.cpp
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerEntry/loggerEntryGnss.cpp
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerEntry/loggerEntryImu.cpp
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerEntry/loggerEntryMag.cpp
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerEntry/loggerEntryShipMotion.cpp
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerManager/loggerContext.cpp
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerManager/loggerEntry.cpp
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerManager/loggerManager.cpp
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerManager/loggerSettings.cpp
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/loggerApp.cpp
+		${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src/main.cpp
+	)
+	target_include_directories(sbgBasicLogger
+		PRIVATE ${argtable3_SOURCE_DIR}/src
+		PRIVATE ${PROJECT_SOURCE_DIR}/tools/sbgBasicLogger/src
 	)
-	target_include_directories(sbgBasicLogger PRIVATE ${argtable3_SOURCE_DIR}/src)
 	target_link_libraries(sbgBasicLogger ${PROJECT_NAME} argtable3_static)
 	install(TARGETS sbgBasicLogger DESTINATION bin/tools/sbgBasicLogger COMPONENT executables)
 	install(FILES tools/sbgBasicLogger/README.md DESTINATION bin/tools/sbgBasicLogger COMPONENT executables)
 
+	#
+	# sbgEComApi tool - use sbgInsRestApi GET/POS method over a serial port
+	#
 	add_executable(sbgEComApi ${PROJECT_SOURCE_DIR}/tools/sbgEComApi/src/main.c)
 	target_include_directories(sbgEComApi PRIVATE ${argtable3_SOURCE_DIR}/src)
 	target_link_libraries(sbgEComApi ${PROJECT_NAME} argtable3_static)

CMakeLists.txt

@@ -15,7 +15,7 @@ The library is written and maintained by SBG Systems SAS. You can contact the su
 
 # Documentation
 
-You can access the full online sbgECom Doxygen documentation [here](https://developer.sbg-systems.com/sbgECom/3.2).  
+You can access the full online sbgECom Doxygen documentation [here](https://developer.sbg-systems.com/sbgECom/4.0).  
 You should also read the SBG Systems [Support Center](https://support.sbg-systems.com) to quickly start using and integrating your products.  
 Please also have a look at the [sbgInsRestApi](https://developer.sbg-systems.com/sbgInsRestApi/) documentation that is used to configure High Performance INS products.
 
@@ -27,16 +27,20 @@ The library has been designed to be easily ported to any platform by just provid
 
 # Building sbgECom Library
 The sbgECom library and code examples are very easy to compile on any platform using CMake.  
-The library has no third party library dependencies making it very easy to build.
+The sbgECom library and code samples have no third party library dependencies.
+
+However, if you would like to build sbgECom CLI tools such as the `sbgBasicLogger` or `sbgInsRestApi` there is a dependency on Argtable3.
 
 SBG Systems doesn't provide the sbgECom as a pre-compiled library for obvious and good reasons.
 
 ## Dependencies
-SBG Systems has validated the following toolchain:
+SBG Systems has validated the following tool-chain and libraries:
 - \>= CMake 3.0
 - \>= GNU GCC 8 (any platform)
 - \>= AppleClang 13 (Mac OS X)
 - \>= Visual Studio 2015 or MSBuild equivalent (Windows)
+- \>= Argtable3 (to build sbgECom tools)
+- \>= Git (to fetch Argtable3)
 
 ## Building sbgECom
 To build the sbgECom static library, the C example and the command line tools go to the sbgECom library folder and type the following commands:
@@ -48,6 +52,9 @@ cmake --build build
 
 You should find the sbgECom static library, examples and tools binaries in the `build/Debug` folder.
 
+> **Disable Deprecated Macros**
+> Make sure to add `-DUSE_DEPRECATED_MACROS=OFF` to disable support of deprecated defines, macros and enum values.
+
 # Code Examples
 SBG Systems provides several and simple C code examples to quickly use the sbgECom library.
 You can find both the source code as well as a binary for each example.
@@ -108,6 +115,7 @@ The `bin/tools` directory contains pre-compiled 64 bits binaries for Windows, Li
 ## sbgBasicLogger
 Simply parse sbgECom logs from a serial or ethernet interface and write log content to CSV like files.
 This tool can also read sbgECom logs from a binary file making it very interesting to convert ELLIPSE binary streams to easy to use text files.
+It can also extract RAW GNSS data stream as well as real time differential correction (RTCM) stream to binary files.
 
 ## sbgEComApi 
 Easily access sbgInsRest API configuration over a serial or UDP interface. You can execute GET and POST queries using simple to use command lines arguments.

README.md

@@ -66,7 +66,7 @@ typedef enum _SbgDebugLogType
  *	\param[in]	errorCode						The error code that has thrown this error.
  *	\param[in]	format							String litteral for the associated error message (you can use printf like string formating).
  */
-#define SBG_LOG_ERROR_CALL(errorCode, format, ...)		sbgPlatformDebugLogMsg((const char*)__BASE_FILE__, (const char*)__FUNCTION__, __LINE__, SBG_DEBUG_LOG_CATEGORY, SBG_DEBUG_LOG_TYPE_ERROR, errorCode, format, ##__VA_ARGS__)
+#define SBG_LOG_ERROR_CALL(errorCode, format, ...)		sbgPlatformDebugLogMsg((const char*)__BASE_FILE__, (const char*)__func__, __LINE__, SBG_DEBUG_LOG_CATEGORY, SBG_DEBUG_LOG_TYPE_ERROR, errorCode, format, ##__VA_ARGS__)
 
 #if SBG_CONFIG_ENABLE_LOG_ERROR == 1
 	#define	SBG_LOG_ERROR								SBG_LOG_ERROR_CALL
@@ -79,7 +79,7 @@ typedef enum _SbgDebugLogType
  *	\param[in]	errorCode						The error code that has thrown this warning.
  *	\param[in]	format							String litteral for the associated warning message (you can use printf like string formating).
  */
-#define SBG_LOG_WARNING_CALL(errorCode, format, ...)	sbgPlatformDebugLogMsg((const char*)__BASE_FILE__, (const char*)__FUNCTION__, __LINE__, SBG_DEBUG_LOG_CATEGORY, SBG_DEBUG_LOG_TYPE_WARNING, errorCode, format, ##__VA_ARGS__)
+#define SBG_LOG_WARNING_CALL(errorCode, format, ...)	sbgPlatformDebugLogMsg((const char*)__BASE_FILE__, (const char*)__func__, __LINE__, SBG_DEBUG_LOG_CATEGORY, SBG_DEBUG_LOG_TYPE_WARNING, errorCode, format, ##__VA_ARGS__)
 
 #if SBG_CONFIG_ENABLE_LOG_WARNING == 1
 	#define	SBG_LOG_WARNING								SBG_LOG_WARNING_CALL
@@ -91,7 +91,7 @@ typedef enum _SbgDebugLogType
  *	Log an information message.
  *	\param[in]	format							String litteral for the information message (you can use printf like string formating).
  */
-#define SBG_LOG_INFO_CALL(format, ...)					sbgPlatformDebugLogMsg((const char*)__BASE_FILE__, (const char*)__FUNCTION__, __LINE__, SBG_DEBUG_LOG_CATEGORY, SBG_DEBUG_LOG_TYPE_INFO, SBG_NO_ERROR, format, ##__VA_ARGS__)
+#define SBG_LOG_INFO_CALL(format, ...)					sbgPlatformDebugLogMsg((const char*)__BASE_FILE__, (const char*)__func__, __LINE__, SBG_DEBUG_LOG_CATEGORY, SBG_DEBUG_LOG_TYPE_INFO, SBG_NO_ERROR, format, ##__VA_ARGS__)
 
 #if SBG_CONFIG_ENABLE_LOG_INFO == 1
 	#define	SBG_LOG_INFO								SBG_LOG_INFO_CALL
@@ -103,7 +103,7 @@ typedef enum _SbgDebugLogType
  *	Log an information message only in debug mode
  *	\param[in]	format							String litteral for the information message (you can use printf like string formating).
  */
-#define SBG_LOG_DEBUG_CALL(format, ...)					sbgPlatformDebugLogMsg((const char*)__BASE_FILE__, (const char*)__FUNCTION__, __LINE__, SBG_DEBUG_LOG_CATEGORY, SBG_DEBUG_LOG_TYPE_DEBUG, SBG_NO_ERROR, format, ##__VA_ARGS__)
+#define SBG_LOG_DEBUG_CALL(format, ...)					sbgPlatformDebugLogMsg((const char*)__BASE_FILE__, (const char*)__func__, __LINE__, SBG_DEBUG_LOG_CATEGORY, SBG_DEBUG_LOG_TYPE_DEBUG, SBG_NO_ERROR, format, ##__VA_ARGS__)
 
 #if SBG_CONFIG_ENABLE_LOG_DEBUG == 1
 	#define	SBG_LOG_DEBUG								SBG_LOG_DEBUG_CALL

common/debug/sbgDebug.h

@@ -25,9 +25,6 @@ void sbgInterfaceZeroInit(SbgInterface *pInterface)
 {
 	assert(pInterface);
 
-	//
-	// Make sure the whole struct is zero init
-	//
 	memset(pInterface, 0x00, sizeof(*pInterface));
 }
 

common/interfaces/sbgInterface.c

@@ -23,7 +23,7 @@
 
 
 /*!
- *	Returns the right unix baud rate const according to a baud rate value.
+ *	Returns the right Unix baud rate const according to a baud rate value.
  *
  *	\param[in] baudRate		The baud rate value (ie 115200).
  *	\return					The Unix baud rate constant.
@@ -33,7 +33,7 @@ static uint32_t sbgInterfaceSerialGetBaudRateConst(uint32_t baudRate)
 	uint32_t baudRateConst;
 
 	//
-	// Create the right baud rate value for unix platforms
+	// Create the right baud rate value for Unix platforms
 	//
 	switch (baudRate)
 	{
@@ -141,14 +141,14 @@ static SbgErrorCode sbgInterfaceSerialDestroy(SbgInterface *pInterface)
 		//
 		// Get the internal serial handle
 		//
-		pSerialHandle = (int*)pInterface->handle;
+		pSerialHandle = (int *)pInterface->handle;
 
 		//
 		// Close the port com
 		//
 		close((*pSerialHandle));
 		SBG_FREE(pSerialHandle);
-		pInterface->handle = NULL;
+		sbgInterfaceZeroInit(pInterface);
 
 		return SBG_NO_ERROR;
 	}
@@ -212,7 +212,7 @@ static SbgErrorCode sbgInterfaceSerialFlush(SbgInterface *pInterface, uint32_t f
 }
 
 /*!
- * Change the serial interface baud rate immediatly.
+ * Change the serial interface baud rate immediately.
  * 
  * \param[in]	handle				Valid handle on an initialized interface.
  * \param[in]	baudRate			The new baudrate to apply in bps.
@@ -321,7 +321,7 @@ static SbgErrorCode sbgInterfaceSerialWrite(SbgInterface *pInterface, const void
 			else
 			{
 				//
-				// An error has occured during the write
+				// An error has occurred during the write
 				//
 				fprintf(stderr, "sbgDeviceWrite: Unable to write to our device: %s\n", strerror(errno));
 				return SBG_WRITE_ERROR;
@@ -443,7 +443,7 @@ SbgErrorCode sbgInterfaceSerialCreate(SbgInterface *pInterface, const char *devi
 		if (fcntl((*pSerialHandle), F_SETFL, O_NONBLOCK) != -1)
 		{
 			//
-			// Retreive current options
+			// Retrieve current options
 			//
 			if (tcgetattr((*pSerialHandle), &options) != -1)
 			{

common/interfaces/sbgInterfaceSerialUnix.c

@@ -135,7 +135,7 @@ static SbgErrorCode sbgInterfaceSerialWrite(SbgInterface *pInterface, const void
 		if (WriteFile(pSerialDevice, pCurrentBuffer, numBytesLeftToWrite, (LPDWORD)&numBytesWritten, NULL) == false)
 		{
 			//
-			// An error has occured during the write
+			// An error has occurred during the write
 			//
 			sbgGetWindowsErrorMsg(errorMsg, sizeof(errorMsg));
 			SBG_LOG_ERROR(SBG_WRITE_ERROR, "Write failed error: %s", errorMsg);
@@ -400,7 +400,7 @@ SBG_COMMON_LIB_API SbgErrorCode sbgInterfaceSerialCreate(SbgInterface *pInterfac
 			if (PurgeComm(hSerialDevice, PURGE_TXABORT | PURGE_RXABORT | PURGE_TXCLEAR | PURGE_RXCLEAR))
 			{
 				//
-				// Retreives current com state and com timeout
+				// Retrieve current com state and com timeout
 				//
 				if ( (GetCommState(hSerialDevice, &comState)) && (GetCommTimeouts(hSerialDevice, &comTimeOut)) )
 				{