novatel · jonathanmcdermid · Jun 27, 2024 · Sep 21, 2024 · Sep 28, 2024 · Sep 28, 2024
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -64,6 +64,12 @@ jobs:
       - name: Build
         run: cmake --build out/build --parallel --config ${{ env.BUILD_TYPE }}
 
+      - name: Inspect build outputs
+        if: env.OPERATING_SYSTEM == 'linux'
+        run: |
+          ls -lh out/build/bin/*
+          (cd out/build/bin/* && for f in *; do echo $f; objdump -p $f | grep -P 'RUNPATH|RPATH' || true; done)
+
       - name: Unit Tests
         run: ctest --test-dir out/build --build-config ${{ env.BUILD_TYPE }} --output-on-failure
 
@@ -103,7 +109,7 @@ jobs:
         sudo apt-get install -y clang-format
 
     - name: Check code formatting
-      run: find src examples \( -name '*.cpp' -o -name '*.hpp' \) -exec clang-format -Werror --style=file -n {} + || (echo "Clang-format failed! See the README if you don't know how to fix this." && exit 1)
+      run: find include src examples \( -name '*.cpp' -o -name '*.hpp' \) -exec clang-format -Werror --style=file -n {} + || (echo "Clang-format failed! See the README if you don't know how to fix this." && exit 1)
 
   # =========================================================
   # Editor Config Job
@@ -122,7 +128,7 @@ jobs:
       run: find . \( -name 'CMakeLists.txt' \) -exec editorconfig-checker {} \+ || { echo "EditorConfig check failed! See the README if you don't know how to fix this."; exit 1; }
 
     - name: Check C++ formatting
-      run: find src examples \( -name '*.cpp' -o -name '*.hpp' \) -exec editorconfig-checker {} \+ || { echo "EditorConfig check failed! See the README if you don't know how to fix this."; exit 1; }
+      run: find include src examples \( -name '*.cpp' -o -name '*.hpp' \) -exec editorconfig-checker {} \+ || { echo "EditorConfig check failed! See the README if you don't know how to fix this."; exit 1; }
 
   # =========================================================
   # Clang Tidy Job
@@ -185,10 +191,10 @@ jobs:
     - name: Generate HTML code coverage reports
       run: | 
         mkdir out/build/code-coverage
-        gcovr -r ./src/ ./out/build/ --exclude='.*/test/.*' --exclude='.*/dynamic_library/.*' --exclude='.*/version.h' --html --html-details -o ./out/build/code-coverage/index.html
+        gcovr -r ./src/ ./out/build/ --exclude='.*/test/.*' --exclude='.*/version.h' --html --html-details -o ./out/build/code-coverage/index.html
 
     - name: Coverage visualization in pipeline summary
-      run: gcovr -r ./src/ ./out/build/ --exclude='.*/test/.*' --exclude='.*/dynamic_library/.*' --exclude='.*/version.h' --exclude-unreachable-branches --print-summary -o ./out/build/coverage.xml
+      run: gcovr -r ./src/ ./out/build/ --exclude='.*/test/.*' --exclude='.*/version.h' --exclude-unreachable-branches --print-summary -o ./out/build/coverage.xml
 
     - name: Upload Artifacts
       uses: actions/[email protected]

diff --git a/.gitignore b/.gitignore
@@ -7,6 +7,6 @@ bin/
 venv/
 CMakeSettings.json
 CMakeUserPresets.json
-/src/version.h
+/include/novatel_edie/version.h
 edie.*.log
 edie.log
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,144 +1,78 @@
 cmake_minimum_required(VERSION 3.15)
+include(cmake/ThirdParty.cmake)
+project(novatel_edie VERSION 3.3.7 LANGUAGES CXX)
 
 option(BUILD_TESTS "Build tests" ON)
 option(BUILD_EXAMPLES "Build examples" ON)
 option(CMAKE_POSITION_INDEPENDENT_CODE "Set -fPIC" ON)
 option(WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
 option(COVERAGE "Coverage" OFF)
-option(USE_STATIC_LIBS "Statically link dependencies" OFF)
 
-if(USE_STATIC_LIBS)
-    # Set Conan statically link dependencies
-    unset(CONAN_INSTALL_ARGS CACHE)
-    set(CONAN_OPTIONS -o spdlog/*:shared=False -o fmt/*:shared=False)
-else()
-    # Set Conan dynamically link dependencies
-    unset(CONAN_INSTALL_ARGS CACHE)
-    set(CONAN_OPTIONS -o spdlog/*:shared=True -o fmt/*:shared=True)
-endif()
-
-include(cmake/third_party.cmake)
-project(novatel-edie VERSION 3.3.7 LANGUAGES CXX)
-
-if(NOT DEFINED CMAKE_BUILD_TYPE)
-    set(CMAKE_BUILD_TYPE Release)
-endif()
-
-# Check platforms
-if(CMAKE_HOST_WIN32)
-    set(WINDOWS 1)
-    cmake_host_system_information(RESULT OS_NAME QUERY OS_NAME)
-    set(DISTRIB_NAME ${OS_NAME})
-elseif(CMAKE_HOST_UNIX)
-    set(LINUX 1)
-    cmake_host_system_information(RESULT DISTRIB_NAME QUERY DISTRIB_NAME)
-    cmake_host_system_information(RESULT DISTRIB_VERSION_ID QUERY DISTRIB_VERSION_ID)
-    set(DISTRIB_NAME "${DISTRIB_NAME}-${DISTRIB_VERSION_ID}")
-else()
-    message(WARNING "Unable to identify OS. Update script to support distribution or OS")
-endif()
-
-if(MSVC)
-    set_property(GLOBAL PROPERTY USE_FOLDERS ON)
-    if(NOT DEFINED CMAKE_MSVC_RUNTIME_LIBRARY)
-        # shared spdlog requires MultiThreadedDLL
-        set(CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>DLL")
-    endif()
-    add_definitions(-DWIN32 -D_WINDOWS)
-    add_compile_options(/W4 /GR /EHsc /utf-8 /wd4244 /wd4996)
-    add_compile_options("$<$<CONFIG:Release>:/Ox;/Ob2>")
-    if(WARNINGS_AS_ERRORS)
-        add_compile_options(/WX)
-    endif()
-elseif(CMAKE_CXX_COMPILER_ID MATCHES "^(GNU|Clang|AppleClang)$")
-    add_compile_options(-Wall -Wextra -pedantic)
-    add_compile_options("$<$<CONFIG:Release>:-O3>")
-
-    if(WINDOWS)
-        # TODO: we shouldn't have to do this, something is bloating an object file
-        add_compile_options($<$<CONFIG:Debug>:-O1>)
-    endif()
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
 
-    if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-        add_compile_options(-Wno-format-truncation)
-    endif()
-
-    if(WARNINGS_AS_ERRORS)
-        add_compile_options(-Werror)
-    endif()
-
-    if(COVERAGE)
-        message("Coverage is On")
-        add_compile_options(--coverage)
-        add_link_options(--coverage)
-    endif()
-else()
-    message(WARNING "Unable to identify compiler.")
-endif()
+include(GNUInstallDirs)
+include(cmake/SetDefaultProfile.cmake)
+include(cmake/CompilerOptions.cmake)
+include(cmake/Utils.cmake)
+# For custom Find*.cmake modules
+list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/modules")
 
 # Output all binaries in the same directory for easier testing
 string(TOUPPER ${CMAKE_BUILD_TYPE} BUILD_TYPE)
 string(TOLOWER ${CMAKE_SYSTEM_NAME} OPERATING_SYSTEM)
 string(TOLOWER ${CMAKE_CXX_COMPILER_ID} COMPILER)
-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY_${BUILD_TYPE} "${CMAKE_BINARY_DIR}/bin/${OPERATING_SYSTEM}-${CMAKE_SYSTEM_PROCESSOR}-${COMPILER}-${CMAKE_BUILD_TYPE}")
-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY_${BUILD_TYPE} "${CMAKE_BINARY_DIR}/bin/${OPERATING_SYSTEM}-${CMAKE_SYSTEM_PROCESSOR}-${COMPILER}-${CMAKE_BUILD_TYPE}")
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_${BUILD_TYPE} "${CMAKE_BINARY_DIR}/bin/${OPERATING_SYSTEM}-${CMAKE_SYSTEM_PROCESSOR}-${COMPILER}-${CMAKE_BUILD_TYPE}")
+set(OUTPUT_DIR "${CMAKE_BINARY_DIR}/bin/${OPERATING_SYSTEM}-${CMAKE_SYSTEM_PROCESSOR}-${COMPILER}-${CMAKE_BUILD_TYPE}")
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY_${BUILD_TYPE} "${OUTPUT_DIR}")
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY_${BUILD_TYPE} "${OUTPUT_DIR}")
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_${BUILD_TYPE} "${OUTPUT_DIR}")
 
-# Find Git package, if not need to install manually or through .yml file
-find_package(Git)
-if(NOT Git_FOUND)
-    message(FATAL_ERROR "Git was not found. Install Git and make sure it is in your PATH.")
-endif()
+# Look for shared libs in the same directory as the executable when running tests
+set(CMAKE_BUILD_RPATH "\$ORIGIN")
 
+find_package(Git REQUIRED)
 if(NOT DEFINED GIT_BRANCH)
     set(GIT_BRANCH "main")
 endif()
-
-# Build version of EDIE through cmake
-if(GIT_EXECUTABLE)
-    execute_process(COMMAND ${CMAKE_COMMAND}
-        -D SRC=${CMAKE_CURRENT_SOURCE_DIR}/src/version.h.in
-        -D DST=${CMAKE_CURRENT_SOURCE_DIR}/src/version.h
-        -D GIT_EXECUTABLE=${GIT_EXECUTABLE}
-        -D GIT_BRANCH=${GIT_BRANCH}
-        -P ${CMAKE_CURRENT_SOURCE_DIR}/cmake/GenerateVersionHeader.cmake)
-endif()
-
-include_directories(
-    ${CMAKE_CURRENT_SOURCE_DIR}
-    ${CMAKE_CURRENT_SOURCE_DIR}/src
-)
+execute_process(COMMAND ${CMAKE_COMMAND}
+    -D SRC=${CMAKE_CURRENT_SOURCE_DIR}/src/version.h.in
+    -D DST=${CMAKE_CURRENT_SOURCE_DIR}/include/novatel_edie/version.h
+    -D GIT_EXECUTABLE=${GIT_EXECUTABLE}
+    -D GIT_BRANCH=${GIT_BRANCH}
+    -P ${CMAKE_CURRENT_SOURCE_DIR}/cmake/GenerateVersionHeader.cmake)
 
 # Build EDIE components
-add_subdirectory(src/hw_interface)
-add_subdirectory(src/decoders)
+add_subdirectory(src/common)
+add_subdirectory(src/stream_interface)
+add_subdirectory(src/decoders/common)
+add_subdirectory(src/decoders/oem)
+
+# Add an aggregate target for all components
+add_library(novatel_edie INTERFACE)
+add_library(novatel_edie::novatel_edie ALIAS novatel_edie)
+target_link_libraries(novatel_edie INTERFACE
+    common
+    stream_interface
+    decoders_common
+    oem_decoder
+)
 
 if(BUILD_TESTS)
     enable_testing()
+    add_subdirectory(src/common/test)
+    add_subdirectory(src/stream_interface/test)
     add_subdirectory(src/decoders/common/test)
-    add_subdirectory(src/decoders/novatel/test)
-    add_subdirectory(src/hw_interface/stream_interface/test)
+    add_subdirectory(src/decoders/oem/test)
 endif()
 
 if(BUILD_EXAMPLES)
     add_subdirectory(examples)
 endif()
 
-if(WIN32)
-    # Copy third-party DLLs to the build directory for tests
-    copy_third_party_dlls()
-    # Copy C++ runtime DLL for non-MSVC compilers
-    if(NOT MSVC)
-        if(NOT EXISTS CMAKE_CXX_COMPILER)
-            find_program(CXX_COMPILER_PATH NAMES "${CMAKE_CXX_COMPILER}")
-        else()
-            set(CXX_COMPILER_PATH "${CMAKE_CXX_COMPILER}")
-        endif()
-        get_filename_component(COMPILER_BIN_DIR "${CXX_COMPILER_PATH}" DIRECTORY)
-        foreach(stdcpp_library libstdc++-6.dll libc++.dll)
-            if(EXISTS "${COMPILER_BIN_DIR}/${stdcpp_library}")
-                file(COPY "${COMPILER_BIN_DIR}/${stdcpp_library}" DESTINATION "${CMAKE_BINARY_DIR}/bin/${OPERATING_SYSTEM}-${CMAKE_SYSTEM_PROCESSOR}-${COMPILER}-${CMAKE_BUILD_TYPE}")
-            endif()
-        endforeach()
-    endif()
-endif()
+# Copy shared libs to the build output directory for tests
+copy_cpp_runtime_dlls("${OUTPUT_DIR}")
+copy_third_party_shared_libs("${OUTPUT_DIR}")
+
+# Install
+install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+install(FILES database/messages_public.json DESTINATION ${CMAKE_INSTALL_DATADIR}/novatel_edie)
+install_novatel_edie_cmake_config()
diff --git a/README.md b/README.md
@@ -145,7 +145,7 @@ The FileParser class provides an interface for parsing GPS files.
 ```cpp
 #include <iostream>
 
-#include "decoders/novatel/api/fileparser.hpp"
+#include <novatel_edie/decoders/oem/fileparser.hpp>
 
 using namespace novatel::edie;
 using namespace novatel::edie::oem;
@@ -209,7 +209,7 @@ Note that all fields must be provided in the abbreviated ASCII string command in
 ```cpp
 #include <iostream>
 
-#include "decoders/novatel/api/commander.hpp"
+#include <novatel_edie/decoders/oem/commander.hpp>
 
 using namespace novatel::edie;
 using namespace novatel::edie::oem;

diff --git a/cmake/CompilerOptions.cmake b/cmake/CompilerOptions.cmake
@@ -0,0 +1,32 @@
+if(MSVC)
+    set_property(GLOBAL PROPERTY USE_FOLDERS ON)
+    add_definitions(-DWIN32 -D_WINDOWS)
+    add_compile_options(/W4 /GR /EHsc /utf-8 /wd4244 /wd4996)
+    add_compile_options("$<$<CONFIG:Release>:/Ox;/Ob2>")
+    if(WARNINGS_AS_ERRORS)
+        add_compile_options(/WX)
+    endif()
+elseif(CMAKE_CXX_COMPILER_ID MATCHES "^(GNU|Clang|AppleClang)$")
+    add_compile_options(-Wall -Wextra -pedantic)
+    add_compile_options("$<$<CONFIG:Release>:-O3>")
+
+    if(CMAKE_HOST_WIN32)
+        add_compile_options($<$<CONFIG:Debug>:-Wa,-mbig-obj>)
+    endif()
+
+    if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+        add_compile_options(-Wno-format-truncation)
+    endif()
+
+    if(WARNINGS_AS_ERRORS)
+        add_compile_options(-Werror)
+    endif()
+
+    if(COVERAGE)
+        message("Coverage is On")
+        add_compile_options(--coverage)
+        add_link_options(--coverage)
+    endif()
+else()
+    message(WARNING "Unable to identify compiler.")
+endif()
diff --git a/cmake/SetDefaultProfile.cmake b/cmake/SetDefaultProfile.cmake
@@ -0,0 +1,13 @@
+if(NOT DEFINED CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE Release)
+endif()
+
+if(NOT DEFINED CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 17)
+endif()
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+if(MSVC AND NOT DEFINED CMAKE_MSVC_RUNTIME_LIBRARY)
+    set(CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>DLL")
+endif()
diff --git a/cmake/ThirdParty.cmake b/cmake/ThirdParty.cmake
@@ -0,0 +1,65 @@
+include(CMakeDependentOption)
+
+if(CMAKE_TOOLCHAIN_FILE MATCHES "conan_toolchain.cmake")
+    set(CONAN_ALREADY_ACTIVE 1)
+endif()
+
+cmake_dependent_option(USE_CONAN "Use Conan to automatically manage dependencies" ON
+    "NOT DEFINED VCPKG_TOOLCHAIN AND NOT CONAN_ALREADY_ACTIVE" OFF)
+
+if(USE_CONAN)
+    if(CMAKE_VERSION VERSION_LESS 3.24)
+        message(FATAL_ERROR "Automatic Conan integration requires CMake 3.24 or later.")
+    endif()
+    include("${CMAKE_CURRENT_LIST_DIR}/SetDefaultProfile.cmake")
+    list(APPEND CMAKE_PROJECT_TOP_LEVEL_INCLUDES ${CMAKE_CURRENT_LIST_DIR}/conan_provider.cmake)
+endif()
+
+# Copy third-party shared libs to the build directory for tests
+function(copy_third_party_shared_libs target_dir)
+    if(USE_CONAN)
+        get_property(conan_generators_folder GLOBAL PROPERTY CONAN_GENERATORS_FOLDER)
+        include("${conan_generators_folder}/conan_runtime_paths.cmake")
+    endif()
+    if(NOT DEFINED CONAN_RUNTIME_LIB_DIRS)
+        if(USE_CONAN)
+            message(FATAL_ERROR "Failed to load CONAN_RUNTIME_LIB_DIRS")
+        endif()
+        # TODO: Add support for vcpkg
+        message(STATUS "Not using Conan, skipping copying third-party shared libraries.")
+        return()
+    endif()
+
+    message(STATUS "Copying third-party shared libraries to ${target_dir}...")
+
+    if(WIN32)
+        set(pattern "*.dll")
+    elseif(APPLE)
+        set(pattern "*.dylib")
+    else()
+        set(pattern "*.so*")
+    endif()
+
+    set(copied_files)
+    foreach(path ${CONAN_RUNTIME_LIB_DIRS})
+        message(STATUS "Copying shared libraries from ${path}")
+        file(GLOB libs "${path}/${pattern}")
+        file(COPY ${libs} DESTINATION "${target_dir}")
+        list(APPEND copied_files ${libs})
+    endforeach()
+
+    # Set RPATH to $ORIGIN for the copied libraries
+    if(NOT WIN32)
+        find_program(PATCHELF_EXECUTABLE patchelf REQUIRED)
+        foreach(lib ${copied_files})
+            get_filename_component(lib_name ${lib} NAME)
+            if(APPLE)
+                execute_process(COMMAND install_name_tool -add_rpath @loader_path "${target_dir}/${lib_name}"
+                    COMMAND_ERROR_IS_FATAL ANY)
+            else()
+                execute_process(COMMAND "${PATCHELF_EXECUTABLE}" --set-rpath \$ORIGIN "${target_dir}/${lib_name}"
+                    COMMAND_ERROR_IS_FATAL ANY)
+            endif()
+        endforeach()
+    endif()
+endfunction()