Link to System Libraries Idiomatically

.github/workflows/main.yaml

@@ -0,0 +1,29 @@
+on:
+   push:
+   pull_request:
+
+name: Build Alfred Variants
+
+jobs:
+   alfred:
+      name: Alfred Config
+      runs-on: ubuntu-latest
+      strategy:
+         matrix:
+            config: [config_alfred.h, config_sim.h, config_owlmower.h, config_owl_fuxtec_ros.h]
+      steps:
+        - name: Checkout Project
+          uses: actions/checkout@master
+
+        - name: Install dependencies
+          run: |
+             sudo apt update
+             sudo apt install -y libbluetooth-dev
+
+        - name: Build Project
+          uses: threeal/cmake-action@v2.1.0
+          with:
+             source-dir: alfred
+             build-dir: alfred/build
+             options: |
+               CONFIG_FILE=${{github.workspace}}/alfred/${{matrix.config}}

alfred/CMakeLists.txt

@@ -30,7 +30,6 @@ endif()
 # find_path (LIBNL_INCLUDE_DIR netlink/netlink.h libnl3)
 
 
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread -lbluetooth")
 SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -x c")
 # SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -x c -I /usr/include/libnl3/")
 SET(CMAKE_BUILD_TYPE Debug)
@@ -89,6 +88,8 @@ set_source_files_properties(${FIRMWARE_PATH}/sunray.ino PROPERTIES COMPILE_FLAGS
 
 add_executable(sunray ${pi_sources} ${sunray_cpp} ${sunray_c} ${FIRMWARE_PATH}/sunray.ino)
 target_include_directories(sunray PRIVATE src ${FIRMWARE_PATH}/src)
+target_link_libraries(sunray bluetooth)
+set_target_properties(sunray PROPERTIES COMPILE_FLAGS -pthread LINK_FLAGS -pthread)
 # target_link_libraries(sunray "${CMAKE_SOURCE_DIR}/lib/libarduino_${CMAKE_SYSTEM_PROCESSOR}.a")
 
 # target_include_directories(sunray PUBLIC ${LIBNL_INCLUDE_DIR})

alfred/build/.gitignore

@@ -0,0 +1 @@
+*

alfred/src/wiring_int.c

@@ -18,6 +18,8 @@
  */
 
 #include "Arduino.h"
+#include <time.h>
+#include <pthread.h>
 
 #define _BV(a) (1 << (a))
 
@@ -39,6 +41,9 @@ void *isr_executor_task(void *isr_num){
 }
 
 void *_isr_check_task(void *arg __attribute__((unused))){
+    struct timespec ts;
+    ts.tv_sec = 0;
+    ts.tv_nsec = 100 * 1000;
     while(_pin_isr_reg != 0){
         uint64_t state = 0; //GPLEV0;
         if(_pin_isr_reg >> 32) {
@@ -63,7 +68,7 @@ void *_isr_check_task(void *arg __attribute__((unused))){
             }
         }
         if(_pin_isr_reg > 0)
-            usleep(100);
+            nanosleep(&ts, NULL);
     }
     pthread_exit(NULL);
 }
@@ -78,7 +83,7 @@ void attachInterrupt(uint8_t pin, void (*userFunc)(void), int mode) {
         _pin_isr_last |= (digitalRead(pin) << pin);
         _pin_isr_reg |= _BV(pin);
         if(start && pthread_create(&_pin_isr_thread, NULL, _isr_check_task, NULL) == 0){
-            pthread_setname_np(_pin_isr_thread, "arduino-isr");
+            thread_set_name(_pin_isr_thread, "arduino-isr");
             pthread_detach(_pin_isr_thread);
         }
     }

alfred/src/wiring_thread.c

@@ -44,7 +44,7 @@ pthread_t thread_create(thread_fn fn, void * arg){
 }
 
 int thread_set_name(pthread_t t, const char *name){
-    return pthread_setname_np(t, name);
+    return thread_set_name(t, name);
 }
 
 int thread_set_priority(const int pri){
@@ -67,7 +67,7 @@ int thread_terminate(pthread_t t){
 }
 
 uint8_t thread_running(pthread_t t){
-    int r = pthread_tryjoin_np(t, NULL);
+    int r = pthread_join(t, NULL);
     return (r==0 || r==EBUSY);
 }
 

sunray/src/icm/util/ICM_20948_C.c

@@ -1,6 +1,7 @@
 #include "ICM_20948_C.h"
 #include "ICM_20948_REGISTERS.h"
 #include "AK09916_REGISTERS.h"
+#include <string.h>
 
 /*
  * Icm20948 device require a DMP image to be loaded on init
@@ -1976,7 +1977,7 @@ ICM_20948_Status_e inv_icm20948_enable_dmp_sensor_int(ICM_20948_Device_t *pdev,
   data_intr_ctl[0] = (unsigned char)(delta >> 8);
   data_intr_ctl[1] = (unsigned char)(delta & 0xff);
   pdev->_dataIntrCtl = delta; // Diagnostics
-  
+
   // Write the interrupt control bits into memory address DATA_INTR_CTL
   result = inv_icm20948_write_mems(pdev, DATA_INTR_CTL, 2, (const unsigned char *)&data_intr_ctl);
 

sunray/src/lidar/lidar.cpp

@@ -1,4 +1,4 @@
-// Ardumower Sunray 
+// Ardumower Sunray
 // Copyright (c) 2013-2020 by Alexander Grau, Grau GmbH
 // Licensed GPLv3 for open source use
 // or Grau GmbH Commercial License for commercial use (http://grauonline.de/cms2/?page_id=153)
@@ -37,16 +37,16 @@ LidarGpsDriver::LidarGpsDriver()
   hour = 0;
   mins = 0;
   sec = 0;
-  dayOfWeek = 0; 
+  dayOfWeek = 0;
 }
 
 void LidarGpsDriver::begin(){
-  CONSOLE.println("using gps driver: LiDAR");    
-  
+  CONSOLE.println("using gps driver: LiDAR");
+
 }
 
 void LidarGpsDriver::begin(HardwareSerial& bus,uint32_t baud)
-{	
+{
   CONSOLE.println("LiDAR::begin serial");
   begin();
 }
@@ -58,32 +58,36 @@ void LidarGpsDriver::begin(Client &client, char *host, uint16_t port)
   begin();
 }
 
-bool LidarGpsDriver::configure(){  
-  CONSOLE.println("using LiDAR..."); 
+bool LidarGpsDriver::configure(){
+  CONSOLE.println("using LiDAR...");
   return true;
 }
 
 void LidarGpsDriver::reboot(){
-  CONSOLE.println("reboot LiDAR..."); 
+  CONSOLE.println("reboot LiDAR...");
 }
 
 void LidarGpsDriver::run(){
 
+}
+void LidarGpsDriver::send(const uint8_t *buffer, size_t size) {
+}
+void LidarGpsDriver::sendRTCM(const uint8_t *buffer, size_t size) {
 }
 
 // ---------------------------------------------------------
 
 
-LidarImuDriver::LidarImuDriver(){    
+LidarImuDriver::LidarImuDriver(){
   dataAvail = false;
   imuFound = false;
 }
 
-void LidarImuDriver::detect(){  
+void LidarImuDriver::detect(){
 }
 
 
-bool LidarImuDriver::begin(){ 
+bool LidarImuDriver::begin(){
   return true;
 }
 
@@ -93,29 +97,29 @@ void LidarImuDriver::run(){
 
 
 bool LidarImuDriver::isDataAvail(){
- 
+
     bool res = dataAvail;
-    dataAvail = false; 
+    dataAvail = false;
     return res;
 
-}         
-    
+}
+
 void LidarImuDriver::resetData(){
-    
+
 }
 
 
 // ---------------------------------------------------------
 
 
-LidarBumperDriver::LidarBumperDriver(){ 
+LidarBumperDriver::LidarBumperDriver(){
   triggerBumper = false;
   triggerNearObstacle = false;
 }
 
 
 void LidarBumperDriver::begin(){
-  CONSOLE.println("using bumper driver: LiDAR");    
+  CONSOLE.println("using bumper driver: LiDAR");
 }
 
 void LidarBumperDriver::run(){
@@ -136,11 +140,11 @@ bool LidarBumperDriver::getLeftBumper(){
 
 bool LidarBumperDriver::getRightBumper(){
   return triggerBumper;
-}	
+}
 
 void LidarBumperDriver::getTriggeredBumper(bool &leftBumper, bool &rightBumper){
   leftBumper = triggerBumper;
   rightBumper = triggerBumper;
-}  	  		    
+}
 
 

sunray/src/lidar/lidar.h

@@ -1,42 +1,44 @@
 /*
-// Ardumower Sunray 
+// Ardumower Sunray
 // Copyright (c) 2013-2020 by Alexander Grau, Grau GmbH
 // Licensed GPLv3 for open source use
 // or Grau GmbH Commercial License for commercial use (http://grauonline.de/cms2/?page_id=153)
 
   LiDAR localization
-  
+
 */
 
 #ifndef LiDAR_h
 #define LiDAR_h
 
-#include "Arduino.h"			
+#include "Arduino.h"
 #include "../../gps.h"
 #include "../driver/RobotDriver.h"
 
 class LidarGpsDriver : public GpsDriver {
   public:
-    LidarGpsDriver();    
+    LidarGpsDriver();
     void begin();
     void begin(Client &client, char *host, uint16_t port) override;
     void begin(HardwareSerial& bus,uint32_t baud) override;
     void run() override;
-    bool configure() override;  
+    bool configure() override;
     void reboot() override;
+    void send(const uint8_t *buffer, size_t size) override;
+    void sendRTCM(const uint8_t*, size_t) override;
   private:
 
 };
 
 
-class LidarImuDriver: public ImuDriver {    
-  public:    
-    LidarImuDriver();    
+class LidarImuDriver: public ImuDriver {
+  public:
+    LidarImuDriver();
     void detect() override;
-    bool begin() override;    
+    bool begin() override;
     void run() override;
-    bool isDataAvail() override;         
-    void resetData() override;        
+    bool isDataAvail() override;
+    void resetData() override;
     bool dataAvail;
 };
 
@@ -50,7 +52,7 @@ class LidarBumperDriver: public BumperDriver {
     bool obstacle() override;
     bool getLeftBumper() override;
     bool getRightBumper() override;
-    void getTriggeredBumper(bool &leftBumper, bool &rightBumper) override;  	  		    
+    void getTriggeredBumper(bool &leftBumper, bool &rightBumper) override;
     bool triggerBumper;
     bool triggerNearObstacle;
 };

sunray/src/mpu/inv_mpu.c

@@ -39,14 +39,15 @@
  */
 #include <Arduino.h>
 //#define MPU9250
+#include "arduino_mpu9250_log.h"
 #include "arduino_mpu9250_i2c.h"
 #include "arduino_mpu9250_clk.h"
 #define i2c_write(a, b, c, d) arduino_i2c_write(a, b, c, d)
 #define i2c_read(a, b, c, d)  arduino_i2c_read(a, b, c, d)
 #define delay_ms  arduino_delay_ms
 #define get_ms    arduino_get_clock_ms
 #define log_i     _MLPrintLog
-#define log_e     _MLPrintLog 
+#define log_e     _MLPrintLog
 static inline int reg_int_cb(struct int_param_s *int_param)
 {
   return 0;
@@ -434,7 +435,7 @@ const struct gyro_reg_s reg = {
 #endif
 };
 const struct hw_s hw = {
-    .addr           = MPU_ADDR, // 0x69,   
+    .addr           = MPU_ADDR, // 0x69,
     .max_fifo       = 1024,
     .num_reg        = 118,
     .temp_sens      = 340,
@@ -610,7 +611,7 @@ int mpu_reg_dump(void)
             continue;
         if (i2c_read(st.hw->addr, ii, 1, &data))
             return -1;
-        log_i("%#5x: %#5x\r\n", ii, data);
+        log_i(ii, "tag", "%#5x: %#5x\r\n", data);
     }
     return 0;
 }
@@ -704,7 +705,7 @@ int mpu_init(struct int_param_s *int_param)
     if (mpu_configure_fifo(0))
         return -1;
 
-#ifndef EMPL_TARGET_STM32F4    
+#ifndef EMPL_TARGET_STM32F4
     if (int_param)
         reg_int_cb(int_param);
 #endif
@@ -889,7 +890,7 @@ int mpu_get_temperature(long *data, unsigned long *timestamp)
 /**
  *  @brief      Read biases to the accel bias 6500 registers.
  *  This function reads from the MPU6500 accel offset cancellations registers.
- *  The format are G in +-8G format. The register is initialized with OTP 
+ *  The format are G in +-8G format. The register is initialized with OTP
  *  factory trim values.
  *  @param[in]  accel_bias  returned structure with the accel bias
  *  @return     0 if successful.
@@ -911,7 +912,7 @@ int mpu_read_6500_accel_bias(long *accel_bias) {
 /**
  *  @brief      Read biases to the accel bias 6050 registers.
  *  This function reads from the MPU6050 accel offset cancellations registers.
- *  The format are G in +-8G format. The register is initialized with OTP 
+ *  The format are G in +-8G format. The register is initialized with OTP
  *  factory trim values.
  *  @param[in]  accel_bias  returned structure with the accel bias
  *  @return     0 if successful.
@@ -1936,7 +1937,7 @@ static int gyro_self_test(long *bias_regular, long *bias_st)
     return result;
 }
 
-#endif 
+#endif
 #ifdef AK89xx_SECONDARY
 static int compass_self_test(void)
 {
@@ -1983,13 +1984,13 @@ static int compass_self_test(void)
         result |= 0x04;
 #elif defined MPU9250
     data = (short)(tmp[1] << 8) | tmp[0];
-    if ((data > 200) || (data < -200))  
+    if ((data > 200) || (data < -200))
         result |= 0x01;
     data = (short)(tmp[3] << 8) | tmp[2];
-    if ((data > 200) || (data < -200))  
+    if ((data > 200) || (data < -200))
         result |= 0x02;
     data = (short)(tmp[5] << 8) | tmp[4];
-    if ((data > -800) || (data < -3200))  
+    if ((data > -800) || (data < -3200))
         result |= 0x04;
 #endif
 AKM_restore: