fixposition · fgarciacardenas · Mar 28, 2025 · Mar 4, 2025 · Mar 10, 2025 · Mar 17, 2025
diff --git a/create_ros_ws.sh b/create_ros_ws.sh
@@ -138,15 +138,13 @@ function main
             catkin config --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_BUILD_TYPE=Release
         fi
     else
-        if [ ${dev} -gt 0 ]; then
-            echo 'build:' > ${abspath}/colcon_defaults.yaml
-            echo '    event-handlers: [ "console_direct+" ]' >> ${abspath}/colcon_defaults.yaml
-            echo '    cmake-args: [ "-DCMAKE_BUILD_TYPE=Debug", "-DCMAKE_EXPORT_COMPILE_COMMANDS=ON" ]' >> ${abspath}/colcon_defaults.yaml
-        else
-            echo 'build:' > ${abspath}/colcon_defaults.yaml
-            echo '#    event-handlers: [ "console_direct+" ]' >> ${abspath}/colcon_defaults.yaml
-            echo '    cmake-args: [ "-DCMAKE_BUILD_TYPE=Release", "-DCMAKE_EXPORT_COMPILE_COMMANDS=ON" ]' >> ${abspath}/colcon_defaults.yaml
+        echo 'build:' > ${abspath}/colcon_defaults.yaml
+        if [ ${dev} -eq 0 ]; then
+            echo -n '#' >> ${abspath}/colcon_defaults.yaml
         fi
+        echo '    event-handlers: [ "console_direct+" ]' >> ${abspath}/colcon_defaults.yaml
+        echo '    cmake-args: [ "-DCMAKE_BUILD_TYPE=Release", "-DCMAKE_EXPORT_COMPILE_COMMANDS=ON", "-DFPSDK_BUILD_TESTING=OFF" ]' \
+            >> ${abspath}/colcon_defaults.yaml
     fi
 
     # Happy?

diff --git a/fixposition-sdk b/fixposition-sdk
diff --git a/fixposition_driver_lib/include/fixposition_driver_lib/fixposition_driver.hpp b/fixposition_driver_lib/include/fixposition_driver_lib/fixposition_driver.hpp
@@ -221,7 +221,7 @@ class FixpositionDriver : private boost::noncopyable {
     // Worker thread
     fpsdk::common::parser::Parser parser_;  //!< Protocol parser for incoming messages
     fpsdk::common::thread::Thread worker_;  //!< Worker thread handle
-    void Worker(void* arg);                 //!< Worker thread
+    bool Worker();                          //!< Worker thread
 
     // Observers for received messages
     std::unordered_map<std::string, std::vector<FpaObserver>> fpa_observers_;    //!< FP_A message observers

diff --git a/fixposition_driver_lib/src/fixposition_driver.cpp b/fixposition_driver_lib/src/fixposition_driver.cpp
@@ -35,11 +35,12 @@ namespace fixposition {
 
 using namespace fpsdk::common;
 using namespace fpsdk::common::parser;
+using namespace fpsdk::common::thread;
 
 FixpositionDriver::FixpositionDriver(const DriverParams& params)
     : /* clang-format off */
     params_   { params },
-    worker_   { "driver", std::bind(&FixpositionDriver::Worker, this, std::placeholders::_1) }  // clang-format on
+    worker_   { "driver", std::bind(&FixpositionDriver::Worker, this) }  // clang-format on
 {}
 
 FixpositionDriver::~FixpositionDriver() { StopDriver(); }
@@ -260,11 +261,13 @@ bool FixpositionDriver::Write(const uint8_t* buf, const std::size_t size) {
 bool FixpositionDriver::StartDriver() { return Connect() && worker_.Start(); }
 
 void FixpositionDriver::StopDriver() {
-    worker_.Stop();
+    if (worker_.GetStatus() == worker_.Status::RUNNING) {
+        worker_.Stop();
+    }
     Disconnect();
 }
 
-void FixpositionDriver::Worker(void* /*arg*/) {
+bool FixpositionDriver::Worker() {
     INFO("Driver running...");
 
     while (!worker_.ShouldAbort()) {
@@ -311,12 +314,13 @@ void FixpositionDriver::Worker(void* /*arg*/) {
         // Reconnect after some time...
         else {
             INFO("Reconnecting in %.1f seconds...", params_.reconnect_delay_);
-            if (worker_.Sleep(params_.reconnect_delay_ * 1000)) {
+            if (worker_.Sleep(params_.reconnect_delay_ * 1000) == WaitRes::WOKEN) {
                 break;
             }
             Connect();
         }
     }
+    return true;
 }
 
 // ---------------------------------------------------------------------------------------------------------------------
+24 −8		.github/workflows/docker.yml
+5 −2		Makefile
+59 −22		docker/docker-compose.yaml
+1 −0		docker/docker.sh
+4 −0		docker/scripts/install_aptbase.sh
+2 −2		examples/ros1_fpsdk_demo/include/ros1_fpsdk_demo/node.hpp
+12 −6		examples/ros1_fpsdk_demo/src/node.cpp
+2 −2		examples/ros2_fpsdk_demo/include/ros2_fpsdk_demo/node.hpp
+4 −4		examples/ros2_fpsdk_demo/launch/config.yaml
+12 −6		examples/ros2_fpsdk_demo/src/node.cpp
+0 −47		fpsdk_apps/common/common.cpp
+0 −23		fpsdk_apps/common/common.hpp
+6 −2		fpsdk_apps/fpltool/fpltool_opts.hpp
+45 −0		fpsdk_apps/parsertool/parsertool.cpp
+10 −3		fpsdk_common/CMakeLists.txt
+14 −6		fpsdk_common/cmake/setup.cmake
+7 −1		fpsdk_common/cmake/testing.cmake
+1 −1		fpsdk_common/include/fpsdk_common/app.hpp
+5 −1		fpsdk_common/include/fpsdk_common/gnss.hpp
+2 −2		fpsdk_common/include/fpsdk_common/logging.hpp
+10 −0		fpsdk_common/include/fpsdk_common/math.hpp
+3 −2		fpsdk_common/include/fpsdk_common/parser.hpp
+9 −0		fpsdk_common/include/fpsdk_common/parser/fpa.hpp
+237 −228		fpsdk_common/include/fpsdk_common/parser/ubx.hpp
+17 −0		fpsdk_common/include/fpsdk_common/string.hpp
+64 −44		fpsdk_common/include/fpsdk_common/thread.hpp
+12 −16		fpsdk_common/include/fpsdk_common/time.hpp
+2 −7		fpsdk_common/include/fpsdk_common/trafo.hpp
+85 −2		fpsdk_common/include/fpsdk_common/types.hpp
+2 −2		fpsdk_common/src/app.cpp
+6 −5		fpsdk_common/src/codegen.pl
+40 −29		fpsdk_common/src/gnss.cpp
+1 −1		fpsdk_common/src/logging.cpp
+39 −12		fpsdk_common/src/math.cpp
+4 −1		fpsdk_common/src/parser.cpp
+14 −0		fpsdk_common/src/parser/fpa.cpp
+109 −25		fpsdk_common/src/parser/ubx.cpp
+13 −0		fpsdk_common/src/string.cpp
+59 −32		fpsdk_common/src/thread.cpp
+1 −1		fpsdk_common/src/types.cpp
+59 −24		fpsdk_common/test/math_test.cpp
+3 −3		fpsdk_common/test/parser_test.cpp
+40 −0		fpsdk_common/test/string_test.cpp
+103 −2		fpsdk_common/test/thread_test.cpp
+55 −3		fpsdk_common/test/types_test.cpp
+0 −7		fpsdk_common/test/yaml_test.cpp
+10 −0		fpsdk_doc/fpsdk_build.hpp
+2 −1		fpsdk_ros2/include/fpsdk_ros2/utils.hpp