Throughout UHD, we are using a random mix of __FUNCTION__, __func__,
__PRETTY_FUNCTION__, and BOOST_CURRENT_FUNCTION. Note that the first two
macros are non-standard (although many compilers understand them), and
the last requires Boost. __func__ is available since C++11, but is not
the best choice because the C++ standard doesn't require it to be of any
specific value.
We thus define UHD_FUNCTION and UHD_PRETTY_FUNCTION as portable macros.
The former simply contains the undecorated function name, the latter the
expanded function with full signature.
As it happens, our currently supported compilers didn't have any issues
using non-standard macros, so the main fix here is the removal of the
Boost macros and the harmonization of the other macros.
This is a very mechanical task that could almost have been done with
sed. Boost versions of mutexes and locks were removed, and replaced with
std:: versions. The replacement tables are as follows:
== Mutexes ==
- boost::mutex -> std::mutex
- boost::recursive_mutex -> std::recursive_mutex
Mutexes behave identically between Boost and std:: and have the same
API.
== Locks ==
C++11 has only two types of lock that we use/need in UHD:
- std::lock_guard: Identical to boost::lock_guard
- std::unique_lock: Identical to boost::unique_lock
Boost also has boost::mutex::scoped_lock, which is a typedef for
boost::unique_lock<>. However, we often have used scoped_lock where we
meant to use lock_guard<>. The name is a bit misleading, "scoped lock"
sounding a bit like an RAII mechanism. Therefore, some previous
boost::mutex::scoped_lock are now std::lock_guard<>.
std::unique_lock is required when doing more than RAII locking (i.e.,
unlocking, relocking, usage with condition variables, etc.).
== Condition Variables ==
Condition variables were out of the scope of this lock/mutex change, but
in UHD, we inconsistently use boost::condition vs.
boost::condition_variable. The former is a templated version of the
latter, and thus works fine with std::mutex'es. Therefore, some
boost::condition_variable where changed to boost::condition.
All locks and mutexes use `#include <mutex>`. The corresponding Boost
includes were removed. In some cases, this exposed issues with implicit
Boost includes elsewhere. The missing explicit includes were added.
The checks from the new clang-tidy file are applied to the source tree
using:
$ find . -name "*.cpp" | sort -u | xargs \
--max-procs 8 --max-args 1 clang-tidy --format-style=file \
--fix -p /path/to/compile_commands.json
This replaces all of the following with standard C++ features:
- boost::tuple
- boost::make_tuple
- boost::tuple::get
- #include <boost/tuple/tuple.hpp>
All usages were replaced with search-and-replace scripts (the usages of
get could be automatically replaced with a vim macro, the rest was
straightforward search-and-replace).
boost::regex was a requirement until the minimum version of gcc was
increased. Since it is at version 5.3 now, using Boost.Regex is no
longer necessary.
This change is a pure search-and-replace; Boost and std versions of
regex are compatible and use the same syntax.
The C/C++ standards don't define what time_t is, only that it is
arithmetic (and real for C11, and integral for C++). It should not be
used in portable software and is only used as the return value for some
libc calls.
A common definition for time_t is int64_t, so we'll switch to that
permanently in our own APIs. System APIs will of course stick with
time_t.
Replaced with initialization lists.
Note: uhd::dict does not work with initializer lists without making
changes to said data structure. This commit has no functional changes,
so keeping the boost::assigns for uhd::dict.
- Added re-sending of *IDN? command if no reply or unexpected string (i.e. during GPSDO firmware initialization)
- Shortened detection timeout to return sooner if no GPSDO present (faster initialization)
- Reordered operations to make sure setting clock and time sources is first
- Reduced delay waiting for ref lock
- Added wait for GPSDO warm up
- Made warning messages in gps_ctrl function into log messages to prevent unnecessary output
- Also removes all references to boost/cstdint.hpp and replaces it with
stdint.h (The 'correct' replacement would be <cstdint>, but not all of our
compilers support that).
- Check for updates if cached data is older than one millisecond
- Removed timeouts when checking for updated data from UART
- Subscribe to SERVO:TRACe message every second and process like NMEA strings
- Refactored code for simplification
- Corrected types of some variables to be boost types.
- Removed debugging code accidentally left in.
- Changed some compiled out error messages to log messages.
Fix for BUG #460: X300: GPGGA sensor most often empty, while RMC is usually OK
- Added checksum verification of NMEA strings
- Improved handling of short or malformed strings
- Fixed GPSDO data synchronization between X300 firmware and host
- It was found that strings containing only a newline character were being returned by N-series and X-series devices.
- Added better handling of strings received under 6 bytes.
- Added erasing of end of line characters.
This addresses a bug only on the master branch.
Also turn off the servo sensor, its too long a delay.
We will need to conditionally enable this in a later commit.
away the 'wrong' messages.
The old way to do this was when a sensor was requested, to wait for the
corresponding NMEA message to pass by, throwing away all the 'wrong'
ones in the meantime. However, this leads to problems if the user
requests combinations that are based on the same NMEA string.
To avoid this we now try to cache the strings for a 'freshness' period.
* Rewrote NMEA acquisition to be more general
* Added GPS sensors instead of member fns for data access
* GPS sensors added to mboard sensors to keep ABI compat
* VITA time initialized to GPS time on init
