* Template infrastructure for opendlv-device-gps-pos

Signed-off-by: Christian Berger <[email protected]>

.gitignore

@@ -1,32 +1 @@
-# Prerequisites
-*.d
-
-# Compiled Object files
-*.slo
-*.lo
-*.o
-*.obj
-
-# Precompiled Headers
-*.gch
-*.pch
-
-# Compiled Dynamic libraries
-*.so
-*.dylib
-*.dll
-
-# Fortran module files
-*.mod
-*.smod
-
-# Compiled Static libraries
-*.lai
-*.la
-*.a
-*.lib
-
-# Executables
-*.exe
-*.out
-*.app
+build

.multi-arch.sh

@@ -0,0 +1,21 @@
+#!/bin/sh
+
+VERSION=$1
+
+cat <<EOF >/tmp/multi.yml
+image: chalmersrevere/opendlv-device-gps-pos-multi:$VERSION
+manifests:	
+  - image: chalmersrevere/opendlv-device-gps-pos-amd64:$VERSION
+    platform:
+      architecture: amd64
+      os: linux
+  - image: chalmersrevere/opendlv-device-gps-pos-armhf:$VERSION
+    platform:
+      architecture: arm
+      os: linux
+  - image: chalmersrevere/opendlv-device-gps-pos-aarch64:$VERSION
+    platform:
+      architecture: arm64
+      os: linux
+EOF
+manifest-tool-linux-amd64 push from-spec /tmp/multi.yml

.travis.yml

@@ -0,0 +1,32 @@
+language: cpp
+
+branches:
+  only:
+  - "/^master$/"
+  - "/^pre-release$/"
+
+cache: ccache
+
+compiler:
+- gcc
+
+addons:
+  apt:
+    sources:
+    - ubuntu-toolchain-r-test
+    packages:
+    - g++-6
+
+install:
+- "[ $CC = gcc ] && export CC=gcc-6 || true"
+- "[ $CXX = g++ ] && export CXX=g++-6 || true"
+
+script:
+- mkdir -p build && cd build && cmake .. && make && make test
+
+notifications:
+  email:
+    on_success: never
+    on_failure: never
+  slack:
+    secure: j2R2/rMFRjvXuaJ2GLDUi5bdv4keb0a2ZC/J7l8QY1YPMQvQskevUB4B1Nv+e8QEpq+ERFhpnrB/tLL6FqzCj0/t7ydowLPHvRWneXIAaWeD6BWHezFcFUoys8eJ78T5eUwEjamVaFLLVZsqYjzzO19nkWY1QImPi6cpylo2Y7OB1DhTqPZhBJCj0XTMMpn5cgb+WmVyN5UTgfq+rGQGDdzyUtVrcdoMD8CECXQSuhyJnreTv8v9ZVFU3tD0khhxY9nUhd1dU6olDmq/hmbAlf7kfAFW0FSqu9BCXYMh3rvX3vpw/4EmOxXCCxIYnonY6YX0An7V6rIet4+Fjuk7X/VXo+ZGpoKtrBNRslXy/Wjkhvrq6qduIosiErDZxd6ofqNlYNFFUgC/UEbQSf1VE+3PaozfUqd0OnjjaLOgPqAUlM8Wjxuzs49MSjKhHmd/mxOE2xckx0a8rjoZ4wvoXz5NSXjGjGO+ye5Q6JAlzrNQwjyTNdVn9n3jqBTX3sVjS9j3rWOlXeiZ2VFEoWVibXC4V5O7jQQBeI7GYC8vaUvAeHAlydyCaeUcZm2iOahhJuYhdfNbmlfsp08FkHzMEiGYX9wAfw/5CtASBRiZSfQPMs4tS0tsmbeuZErTBgvWKpCt8KVHYwPXs+IoPmLiXpfQAVYwRfiC9MPu05CICgA=

CMakeLists.txt

@@ -0,0 +1,94 @@
+# Copyright (C) 2018  Christian Berger
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+cmake_minimum_required(VERSION 3.2)
+
+project(opendlv-device-gps-pos)
+
+################################################################################
+# Defining the relevant versions of OpenDLV Standard Message Set and libcluon.
+set(OPENDLV_STANDARD_MESSAGE_SET opendlv-standard-message-set-v0.9.1.odvd)
+set(CLUON_COMPLETE cluon-complete-v0.0.51.hpp)
+
+################################################################################
+# This project requires C++14 or newer.
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+# Strip unneeded symbols from binaries.
+set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -s")
+# Build a static binary.
+set(CMAKE_EXE_LINKER_FLAGS "-static-libgcc -static-libstdc++")
+# Add further warning levels.
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} \
+    -D_XOPEN_SOURCE=700 \
+    -D_FORTIFY_SOURCE=2 \
+    -O2 \
+    -fstack-protector \
+    -fomit-frame-pointer \
+    -pipe \
+    -pedantic -pedantic-errors \
+    -Werror \
+    -Weffc++ \
+    -Wall -Wextra -Wshadow -Wdeprecated \
+    -Wdiv-by-zero -Wfloat-equal -Wfloat-conversion -Wsign-compare -Wpointer-arith \
+    -Wuninitialized -Wunreachable-code \
+    -Wunused -Wunused-function -Wunused-label -Wunused-parameter -Wunused-but-set-parameter -Wunused-but-set-variable \
+    -Wunused-value -Wunused-variable -Wunused-result \
+    -Wmissing-field-initializers -Wmissing-format-attribute -Wmissing-include-dirs -Wmissing-noreturn")
+# Threads are necessary for linking the resulting binaries as UDPReceiver is running in parallel.
+set(THREADS_PREFER_PTHREAD_FLAG ON)
+find_package(Threads REQUIRED)
+
+################################################################################
+# Extract cluon-msc from cluon-complete.hpp.
+add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/cluon-msc
+    WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+    COMMAND ${CMAKE_COMMAND} -E create_symlink ${CMAKE_CURRENT_SOURCE_DIR}/src/${CLUON_COMPLETE} ${CMAKE_BINARY_DIR}/cluon-complete.hpp
+    COMMAND ${CMAKE_COMMAND} -E create_symlink ${CMAKE_BINARY_DIR}/cluon-complete.hpp ${CMAKE_BINARY_DIR}/cluon-complete.cpp
+    COMMAND ${CMAKE_CXX_COMPILER} -o ${CMAKE_BINARY_DIR}/cluon-msc ${CMAKE_BINARY_DIR}/cluon-complete.cpp -std=c++14 -pthread -D HAVE_CLUON_MSC
+    DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/src/${CLUON_COMPLETE})
+
+################################################################################
+# Generate opendlv-standard-message-set.{hpp,cpp} from ${OPENDLV_STANDARD_MESSAGE_SET} file.
+add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/opendlv-standard-message-set.cpp
+    WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+    COMMAND ${CMAKE_BINARY_DIR}/cluon-msc --cpp-sources --cpp-add-include-file=opendlv-standard-message-set.hpp --out=${CMAKE_BINARY_DIR}/opendlv-standard-message-set.cpp ${CMAKE_CURRENT_SOURCE_DIR}/src/${OPENDLV_STANDARD_MESSAGE_SET}
+    COMMAND ${CMAKE_BINARY_DIR}/cluon-msc --cpp-headers --out=${CMAKE_BINARY_DIR}/opendlv-standard-message-set.hpp ${CMAKE_CURRENT_SOURCE_DIR}/src/${OPENDLV_STANDARD_MESSAGE_SET}
+    DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/src/${OPENDLV_STANDARD_MESSAGE_SET} ${CMAKE_BINARY_DIR}/cluon-msc)
+# Add current build directory as include directory as it contains generated files.
+include_directories(SYSTEM ${CMAKE_BINARY_DIR})
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/src)
+
+################################################################################
+# Gather all object code first to avoid double compilation.
+add_library(${PROJECT_NAME}-core OBJECT ${CMAKE_CURRENT_SOURCE_DIR}/src/pos-decoder.cpp ${CMAKE_BINARY_DIR}/opendlv-standard-message-set.cpp)
+set(LIBRARIES Threads::Threads)
+
+################################################################################
+# Create executable.
+add_executable(${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/src/${PROJECT_NAME}.cpp $<TARGET_OBJECTS:${PROJECT_NAME}-core>)
+target_link_libraries(${PROJECT_NAME} ${LIBRARIES})
+
+################################################################################
+# Enable unit testing.
+enable_testing()
+add_executable(${PROJECT_NAME}-runner ${CMAKE_CURRENT_SOURCE_DIR}/test/tests-pos-decoder.cpp $<TARGET_OBJECTS:${PROJECT_NAME}-core>)
+target_link_libraries(${PROJECT_NAME}-runner ${LIBRARIES})
+add_test(NAME ${PROJECT_NAME}-runner COMMAND ${PROJECT_NAME}-runner)
+
+################################################################################
+# Install executable.
+install(TARGETS ${PROJECT_NAME} DESTINATION bin COMPONENT ${PROJECT_NAME})

Dockerfile.aarch64

@@ -0,0 +1,48 @@
+# Copyright (C) 2018  Christian Berger
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+# Part to build opendlv-device-gps-pos.
+FROM docker.io/project31/aarch64-alpine-qemu:3.5-7 as builder
+MAINTAINER Christian Berger "[email protected]"
+
+RUN [ "cross-build-start" ]
+
+RUN cat /etc/apk/repositories && \
+    echo http://dl-4.alpinelinux.org/alpine/v3.7/main > /etc/apk/repositories && \
+    echo http://dl-4.alpinelinux.org/alpine/v3.7/community >> /etc/apk/repositories
+
+RUN apk update && \
+    apk --no-cache add \
+        cmake \
+        g++ \
+        make
+ADD . /opt/sources
+WORKDIR /opt/sources
+RUN mkdir build && \
+    cd build && \
+    cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/tmp/opendlv-device-gps-pos-dest .. && \
+    make && make test && make install
+
+RUN [ "cross-build-end" ]
+
+
+# Part to deploy opendlv-device-gps-pos.
+FROM docker.io/project31/aarch64-alpine-qemu:3.5-7
+MAINTAINER Christian Berger "[email protected]"
+
+WORKDIR /usr/bin
+COPY --from=builder /tmp/opendlv-device-gps-pos-dest/bin/opendlv-device-gps-pos .
+CMD ["/usr/bin/opendlv-device-gps-pos"]
+

Dockerfile.amd64

@@ -0,0 +1,40 @@
+# Copyright (C) 2018  Christian Berger
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+# Part to build opendlv-device-gps-pos.
+FROM alpine:3.7 as builder
+MAINTAINER Christian Berger "[email protected]"
+RUN apk update && \
+    apk --no-cache add \
+        cmake \
+        g++ \
+        make \
+        upx
+ADD . /opt/sources
+WORKDIR /opt/sources
+RUN mkdir build && \
+    cd build && \
+    cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/tmp/opendlv-device-gps-pos-dest .. && \
+    make && make test && make install && upx -9 /tmp/opendlv-device-gps-pos-dest/bin/opendlv-device-gps-pos
+
+
+# Part to deploy opendlv-device-gps-pos.
+FROM alpine:3.7
+MAINTAINER Christian Berger "[email protected]"
+
+WORKDIR /usr/bin
+COPY --from=builder /tmp/opendlv-device-gps-pos-dest/bin/opendlv-device-gps-pos .
+CMD ["/usr/bin/opendlv-device-gps-pos"]
+

Dockerfile.armhf

@@ -0,0 +1,48 @@
+# Copyright (C) 2018  Christian Berger
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+# Part to build opendlv-device-gps-pos.
+FROM pipill/armhf-alpine:edge as builder
+MAINTAINER Christian Berger "[email protected]"
+
+RUN [ "cross-build-start" ]
+
+RUN cat /etc/apk/repositories && \
+    echo http://dl-4.alpinelinux.org/alpine/v3.7/main > /etc/apk/repositories && \
+    echo http://dl-4.alpinelinux.org/alpine/v3.7/community >> /etc/apk/repositories
+
+RUN apk update && \
+    apk --no-cache add \
+        cmake \
+        g++ \
+        make
+ADD . /opt/sources
+WORKDIR /opt/sources
+RUN mkdir build && \
+    cd build && \
+    cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/tmp/opendlv-device-gps-pos-dest .. && \
+    make && make test && make install
+
+RUN [ "cross-build-end" ]
+
+
+# Part to deploy opendlv-device-gps-pos.
+FROM pipill/armhf-alpine:edge
+MAINTAINER Christian Berger "[email protected]"
+
+WORKDIR /usr/bin
+COPY --from=builder /tmp/opendlv-device-gps-pos-dest/bin/opendlv-device-gps-pos .
+CMD ["/usr/bin/opendlv-device-gps-pos"]
+

README.md

@@ -1,2 +1,55 @@
-# opendlv-device-gps-pos
-OpenDLV Microservice to interface with Applanix POS GPS/INSS units
+## OpenDLV Microservice to interface with Applanix POS GPS/INSS units
+
+This repository provides source code to interface with an Applanix POS GPS/INSS unit
+providing data in POS data format for the OpenDLV software ecosystem.
+
+[![Build Status](https://travis-ci.org/chalmers-revere/opendlv-device-gps-pos.svg?branch=master)](https://travis-ci.org/chalmers-revere/opendlv-device-gps-pos) [![License: GPLv3](https://img.shields.io/badge/license-GPL--3-blue.svg
+)](https://www.gnu.org/licenses/gpl-3.0.txt)
+
+
+## Table of Contents
+* [Dependencies](#dependencies)
+* [Usage](#usage)
+* [Build from sources on the example of Ubuntu 16.04 LTS](#build-from-sources-on-the-example-of-ubuntu-1604-lts)
+* [License](#license)
+
+
+## Dependencies
+No dependencies! You just need a C++14-compliant compiler to compile this
+project as it ships the following dependencies as part of the source distribution:
+
+* [libcluon](https://github.com/chrberger/libcluon) - [![License: GPLv3](https://img.shields.io/badge/license-GPL--3-blue.svg
+)](https://www.gnu.org/licenses/gpl-3.0.txt)
+* [Unit Test Framework Catch2](https://github.com/catchorg/Catch2/releases/tag/v2.1.2) - [![License: Boost Software License v1.0](https://img.shields.io/badge/License-Boost%20v1-blue.svg)](http://www.boost.org/LICENSE_1_0.txt)
+
+
+## Usage
+This microservice is created automatically on changes to this repository via Docker's public registry for:
+* [x86_64](https://hub.docker.com/r/chalmersrevere/opendlv-device-gps-pos-amd64/tags/)
+* [armhf](https://hub.docker.com/r/chalmersrevere/opendlv-device-gps-pos-armhf/tags/)
+* [aarch64](https://hub.docker.com/r/chalmersrevere/opendlv-device-gps-pos-aarch64/tags/)
+
+To run this microservice using our pre-built Docker multi-arch images to connect
+to an Applanix POS GPS/INSS unit broadcasting data to `192.168.1.77:5602` and to publish
+the messages according to OpenDLV Standard Message Set into session 111 in
+Google Protobuf format, simply start it as follows:
+
+```
+docker run --init --rm --net=host chalmersrevere/opendlv-device-gps-pos-multi:v0.0.1 opendlv-device-gps-pos --pos_ip=192.168.1.77 --pos_port=5602 --cid=111 --verbose
+```
+
+## Build from sources on the example of Ubuntu 16.04 LTS
+To build this software, you need cmake, C++14 or newer, and make. Having these
+preconditions, just run `cmake` and `make` as follows:
+
+```
+mkdir build && cd build
+cmake -D CMAKE_BUILD_TYPE=Release ..
+make && make test && make install
+```
+
+
+## License
+
+* This project is released under the terms of the GNU GPLv3 License
+