Merge branch 'develop' into 'master'

Develop

See merge request enfo/sentiboard-utils!12

.gitlab-ci.yml

-image: gcc-cpplint-cmake-gcov
-
-build:
-  stage: build
-  script: 
-    - make -C parsers tests -j 4
-  artifacts:
-    paths:
-      - parsers/build/sentiboard_utils_test
-  cache:
-    paths:
-      - parsers/build/
-
-lint:
-  stage: build
-  script:
-    - make -C parsers lint
-
-test:
-  stage: test
-  script:
-    - ./parsers/build/sentiboard_utils_test
-
-coverage:
-  stage: test
-  script:
-    - make -C parsers coverage
-  coverage: '/lines[.: ]*\d+.\d+%/'
-  artifacts:
-    paths:
-      - parsers/build_coverage/sentiboard_utils_test
-      - parsers/coverage/
-  cache:
-    paths:
-      - parsers/build_coverage/
-      - parsers/coverage/
-
-branch-coverage:
-  stage: test
-  script:
-    - make -C parsers coverage
-  coverage: '/branches[.: ]*\d+.\d+%/'
-  artifacts:
-    paths:
-      - parsers/build_coverage/sentiboard_utils_test
-      - parsers/coverage/
-  cache:
-    paths:
-      - parsers/build_coverage/
-      - parsers/coverage/

README.md

 Sentiboard Utils
 ================
 
-Status
-------
-
-[![build status](https://kyb.guru/gitlab/enfo/sentiboard-utils/badges/master/pipeline.svg)](https://kyb.guru/gitlab/enfo/sentiboard-utils/commits/master)
- Lines: [![coverage report](https://kyb.guru/gitlab/enfo/sentiboard-utils/badges/master/coverage.svg?job=coverage)](https://kyb.guru/gitlab/enfo/sentiboard-utils/commits/master)
- Branches: [![coverage report](https://kyb.guru/gitlab/enfo/sentiboard-utils/badges/master/coverage.svg?job=branch-coverage)](https://kyb.guru/gitlab/enfo/sentiboard-utils/commits/master)
-
-
 Usage
 =====
 

connectors/README.md

+Note that the UART connector is pin-equal to the RS-232 connector, except that
+the CTS and RTS pins are not connected.

converters/pos2kml.py

+# -*- coding: utf-8 -*-
+"""
+Created on Fri May  4 21:08:58 2018
+
+@author: Enfenion
+"""
+
+import argparse
+import os
+import rtk
+import datetime
+
+kml_start='''<?xml version="1.0" encoding="UTF-8"?>
+<kml xmlns="http://www.opengis.net/kml/2.2">
+  <Document>
+    <name>Paths</name>
+    <description>Examples of paths. Note that the tessellate tag is by default
+      set to 0. If you want to create tessellated lines, they must be authored
+      (or edited) directly in KML.</description>
+    <Style id="yellowLineGreenPoly">
+      <LineStyle>
+        <color>7f00ffff</color>
+        <width>4</width>
+      </LineStyle>
+      <PolyStyle>
+        <color>7f00ff00</color>
+      </PolyStyle>
+    </Style>
+    <Placemark>
+      <name>Absolute Extruded</name>
+      <description>Transparent green wall with yellow outlines</description>
+      <styleUrl>#yellowLineGreenPoly</styleUrl>
+      <LineString>
+        <extrude>1</extrude>
+        <tessellate>1</tessellate>
+        <altitudeMode>absolute</altitudeMode>
+        <coordinates>
+'''
+kml_end='''        </coordinates>
+      </LineString>
+    </Placemark>
+  </Document>
+</kml>
+'''
+
+kml2_start='''<?xml version="1.0" encoding="UTF-8"?>
+<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:gx="http://www.google.com/kml/ext/2.2" xmlns:kml="http://www.opengis.net/kml/2.2" xmlns:atom="http://www.w3.org/2005/Atom">
+<Document>
+	<name>UAV-icons.kml</name>
+	<Style id="sn_airports">
+		<IconStyle>
+			<color>ffffaa00</color>
+			<scale>1.2</scale>
+			<Icon>
+				<href>http://maps.google.com/mapfiles/kml/shapes/airports.png</href>
+			</Icon>
+			<hotSpot x="0.5" y="0" xunits="fraction" yunits="fraction"/>
+		</IconStyle>
+		<ListStyle>
+		</ListStyle>
+		<LineStyle>
+			<color>99ffaa00</color>
+			<width>6</width>
+		</LineStyle>
+	</Style>
+	<StyleMap id="msn_airports">
+		<Pair>
+			<key>normal</key>
+			<styleUrl>#sn_airports</styleUrl>
+		</Pair>
+		<Pair>
+			<key>highlight</key>
+			<styleUrl>#sh_airports</styleUrl>
+		</Pair>
+	</StyleMap>
+	<Style id="sh_airports">
+		<IconStyle>
+			<color>ffffaa00</color>
+			<scale>1.4</scale>
+			<Icon>
+				<href>http://maps.google.com/mapfiles/kml/shapes/airports.png</href>
+			</Icon>
+			<hotSpot x="0.5" y="0" xunits="fraction" yunits="fraction"/>
+		</IconStyle>
+		<ListStyle>
+		</ListStyle>
+		<LineStyle>
+			<color>99ffaa00</color>
+			<width>8</width>
+		</LineStyle>
+	</Style>
+	<Placemark>
+		<name>UAV</name>
+		<styleUrl>#msn_airports</styleUrl>
+		<gx:Track>
+			<altitudeMode>relativeToGround</altitudeMode>
+'''
+kml2_end='''		</gx:Track>
+	</Placemark>
+</Document>
+</kml>
+'''
+
+
+def create_kml(data, destname, interval):
+    lats, lons, alts = data['latitude'], data['longitude'], data['height']
+    gpsweek, gpsseconds = data['week'], data['gpst']
+    mode=2
+    leapseconds = 0
+    last = datetime.datetime(1980, 1, 6, 0, 0, 0)
+    with open(destname, 'w') as f:
+        if mode == 1:
+            f.write(kml_start)
+            for ix in range(len(lats)):
+                f.write('%.9f,%.9f,%.2f\n' % (lons[ix], lats[ix], alts[ix]))
+            f.write(kml_end)
+        else:
+            f.write(kml2_start)
+            for ix in range(len(lats)):
+                d = rtk.weeksecondstoutc(gpsweek[ix],gpsseconds[ix],leapseconds)
+                if (d - last).total_seconds() < interval:
+                    continue
+                last = d
+
+                f.write('<when>%s</when>\n' % d.strftime("%Y-%m-%dT%H:%M:%SZ"))
+                f.write('<gx:coord>')
+                f.write('%.9f,%.9f,%.2f' % (lons[ix], lats[ix], alts[ix]))
+                f.write('</gx:coord>\n')
+            f.write(kml2_end)
+    print('Stored .kml to %s' % destname)
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(description='Convert an RTK .pos-file to a .kml for Google Earth')
+    parser.add_argument('pos', help='RTK .pos-file')
+    parser.add_argument('--output', '-O', dest='dest', help='Optional destination file (default *.kml)')
+    parser.add_argument('--interval', '-d', dest='interval', type=float, help='Interval between each data point', default=1)
+    args = parser.parse_args()
+
+    filename = args.pos
+
+    if args.dest:
+        destname = args.dest
+    else:
+        destname = os.path.splitext(filename)[0] + '.kml'
+
+    data, names = rtk.parse_file(filename)
+    create_kml(data, destname, args.interval)

converters/rtk.py

+# -*- coding: utf-8 -*-
+"""
+Created on Fri May  4 21:44:51 2018
+
+@author: Enfenion
+"""
+import re
+import datetime
+
+
+def weeksecondstoutc(gpsweek,gpsseconds,leapseconds):
+    epoch = datetime.datetime(1980, 1, 6, 0, 0, 0)
+    elapsed = datetime.timedelta(days=(gpsweek * 7), seconds=(gpsseconds + leapseconds))
+    return epoch + elapsed
+
+def split_line(line):
+    if '|' in line:
+        return line.split('|')
+    if '\t' in line:
+        return line.split('\t')
+    return re.sub(' +', ' ', line).split(' ')
+
+def parseline(line, names):
+    values = split_line(line)
+    converters = [int] + [float]*4 + [int]*2 + [float]*8
+    conv_vals = [c(v) for c, v in zip(converters, values) ]
+    return dict(zip(names, conv_vals))
+
+def count_lines(f):
+    n_lines = 0
+    for line in f:
+        if line.startswith('%'):
+            continue
+        n_lines += 1
+    f.seek(0)
+    return n_lines
+
+def handle_name(name):
+    name = name.strip().lower()
+    if '(' in name:
+        name = name[:name.index('(')]
+    name = name.replace('-', '_')
+
+    return name
+
+def extract_data(f, n_lines):
+    names = ['week', 'tow', 'ecef_x', 'ecef_y', 'ecef_z', 'Q', 'ns',
+             'sdx', 'sdy', 'sdz', 'sdxy', 'sdyz', 'sdzx', 'age', 'ratio']
+    ref_pos = None
+    tmpbuf = [0] * n_lines
+    print('Found %d lines' % n_lines)
+    data = {}
+    c_line = 0
+    for line in f:
+        if line.startswith('%'):
+            if 'age' in line:
+                names = [handle_name(name) for name in split_line(line.strip('% '))]
+                if names[0] == 'gpst':
+                    names.insert(0, 'week')
+            if 'ref pos' in line:
+                data_start = line.index(':', 1)
+                ref_pos = [float(p) for p in split_line(line[data_start+1:].strip())]
+            continue
+        data_line = parseline(line, names)
+        for key, val in data_line.items():
+            try:
+                data[key][c_line] = val
+            except KeyError:
+                data[key] = list(tmpbuf)
+                data[key][c_line] = val
+        c_line += 1
+    f.seek(0)
+    return data, names, ref_pos
+
+def parse_file(infile):
+    ref_pos = None
+    with open(infile, 'rU') as f:
+        n_lines = count_lines(f)
+
+        data, names, ref_pos = extract_data(f, n_lines)
+
+    if 'ecef_x' in names:
+        try:
+            from pymap3d import ecef2geodetic
+            print('Adding latlon')
+            lat, lon, height = ecef2geodetic(data['ecef_x'], data['ecef_y'], data['ecef_z'])
+            data['latitude'] = lat
+            data['longitude'] = lon
+            data['height'] = height
+            names += ['latitude', 'longitude', 'height']
+        except ImportError:
+            print('Install pymap3d to automatically add enu solution')
+
+    if 'latitude' in names and ref_pos is not None:
+        try:
+            from pymap3d import geodetic2enu
+            print('Adding enu')
+            east, north, up = geodetic2enu(data['latitude'], data['longitude'], data['height'], *ref_pos)
+            data['e_baseline'] = east
+            data['n_baseline'] = north
+            data['u_baseline'] = up
+            names += ['e_baseline', 'n_baseline', 'u_baseline']
+        except ImportError:
+            print('Install pymap3d to automatically add enu solution')
+    elif 'e_baseline' in names:
+        try:
+            from pymap3d import enu2geodetic
+            print('Adding latlon')
+            lat, lon, height = enu2geodetic(data['e_baseline'], data['n_baseline'], data['u_baseline'], *ref_pos)
+            data['latitude'] = lat
+            data['longitude'] = lon
+            data['height'] = height
+            names += ['latitude', 'longitude', 'height']
+        except ImportError:
+            print('Install pymap3d to automatically add enu solution')
+
+    return data, names
\ No newline at end of file

converters/rtklib2matlab.py

@@ -3,6 +3,7 @@
 import sys
 import os
 import re
+import numpy as np
 from scipy.io import savemat
 dir_path = os.path.dirname(os.path.realpath(__file__))
 sys.path.append(os.path.join(dir_path, '..'))
@@ -52,6 +53,7 @@ if __name__ == '__main__':
      'sdz', 'sdxy', 'sdyz', 'sdzx', 'age', 'ratio']
 
     n_lines = 0
+    ref_pos = None
     with open(infile, 'rU') as f:
         for line in f:
             if line.startswith('%'):
@@ -69,6 +71,9 @@ if __name__ == '__main__':
                     names = [handle_name(name) for name in split_line(line.strip('% '))]
                     if names[0] == 'gpst':
                         names.insert(0, 'week')
+                if 'ref pos' in line:
+                    data_start = line.index(':', 1)
+                    ref_pos = [float(p) for p in split_line(line[data_start+1:].strip())]
                 continue
             data_line = parseline(line, names)
             for key, val in data_line.items():
@@ -79,6 +84,38 @@ if __name__ == '__main__':
                     data[key][c_line] = val
             c_line += 1
 
+    if 'latitude' in names:
+        try:
+            from pymap3d import geodetic2enu
+            print('Adding enu')
+            east, north, up = geodetic2enu(data['latitude'], data['longitude'], data['height'], *ref_pos)
+            data['e_baseline'] = east
+            data['n_baseline'] = north
+            data['u_baseline'] = up
+            names += ['e_baseline', 'n_baseline', 'u_baseline']
+        except ImportError:
+            print('Install pymap3d to automatically add enu solution')
+    elif 'e_baseline' in names:
+        try:
+            from pymap3d import enu2geodetic
+            print('Adding latlon')
+            lat, lon, height = geodetic2enu(data['e_baseline'], data['n_baseline'], data['u_baseline'], *ref_pos)
+            data['latitude'] = lat
+            data['longitude'] = lon
+            data['height'] = height
+            names += ['latitude', 'longitude', 'height']
+        except ImportError:
+            print('Install pymap3d to automatically add enu solution')
+
     print('Saving .mat')
     savemat(outfile, {'rtklib': data})
+    print('Saving .npy')
+
+    values = np.array([data[name] for name in names])
+
+    struct_packs = np.array(values,
+                            dtype={'names': names, 'formats': ['d']*len(names)})
+
+    np.savez_compressed(outfile[:-4], rtk=struct_packs)
+
     print('Done.')

converters/sb2matlab.py

@@ -40,7 +40,7 @@ def extract_packages(fname, parsers):
             try:
                 pack = parser.parse_buffer(raw_pack)
             except Exception as e:
-                print 'Could not parse package', e
+                print('Could not parse package: %s' % e)
                 continue
         except EOFError:
             break
@@ -52,7 +52,7 @@ def extract_packages(fname, parsers):
             packages[raw_pack.package_type] = data
 
 
-        for k, v in pack.dict.iteritems():
+        for k, v in pack.dict.items():
             try:
                 data[k].append(v)
             except KeyError:
@@ -62,19 +62,19 @@ def extract_packages(fname, parsers):
 
 def handle_data_directory(sb_data_dir, parsers, outdir):
     global data
-    for i in xrange(1, 101):
+    for i in range(1, 101):
         if i == 100:
             raise IndexError('Could not find proper directory')
         odir = outdir + '_%02d' % i
         if not os.path.exists(odir):
-            os.mkdir(odir, 0770)
+            os.mkdir(odir, 0o0770)
             break
         if os.listdir(odir) == []:
             break
 
     outdir = os.path.abspath(odir)
     print('Saving to %s' % outdir)
-    print
+    print('')
 
     globname = glob(os.path.join(sb_data_dir, '*.*'))
 
@@ -91,9 +91,7 @@ def handle_data_directory(sb_data_dir, parsers, outdir):
 
     return
 
-def do_combine_data(data_dir, combined_dir, overwrite, newnames=None):
-    if newnames is None:
-        newnames = {}
+def do_combine_data(data_dir, combined_dir, overwrite):
     if os.path.exists(combined_dir):
         if not overwrite:
             return combined_dir
@@ -102,20 +100,17 @@ def do_combine_data(data_dir, combined_dir, overwrite, newnames=None):
 
     sensor_files = {}
     for pardir in sorted(glob(os.path.join(data_dir, '*_[0-9]*'))):
+        print 'pardir:', pardir
         for p in glob(os.path.join(pardir, '*')):
-            print 'Handling', os.path.abspath(p)
+            print('Handling %s' % os.path.abspath(p))
             _, fname = os.path.split(p)
             try:
                 sensor_files[fname].append(p)
             except KeyError:
                 sensor_files[fname] = [p]
 
-    for n, filelist in sensor_files.iteritems():
-        try:
-            newname = newnames[n]
-        except KeyError:
-            newname = n
-
+    for n, filelist in sensor_files.items():
+        newname = n
         with open(os.path.join(combined_dir, newname), 'wb') as out_f:
             for fn in filelist:
                 with open(fn, 'rb') as in_f:
@@ -149,6 +144,7 @@ if __name__ == '__main__':
     else:
         print('not combining')
         outdir = os.path.join(sb_data_dir, outdir_name)
+    print('Getting data from', sb_data_dir)
     print('Writing data to:', outdir)
 
     parsers = {'adis': AdisParser(), 'aeroprobe': AeroprobeParser(),
@@ -157,4 +153,4 @@ if __name__ == '__main__':
     try:
         handle_data_directory(sb_data_dir, parsers, outdir)
     finally:
-        print 'Done'
+        print('Done')

loggers/log_master.sh

@@ -17,7 +17,7 @@ for flight_id in $( seq 0 999 ); do
     FLIGHT_DIR=$( printf "$FLIGHT_DIR_NAME%03d" $flight_id )
     FLIGHT_PATH=$ROOT_DIR/$FLIGHT_DIR
     if [ ! -e "$FLIGHT_PATH" ]; then
-	break
+        break
     fi
 done
 
@@ -37,7 +37,7 @@ for logger in ${LOGGER_PROGRAMS[@]}; do
     mkdir "$FLIGHT_PATH/$logdir"
     #Start task, with logdir as param
     echo "Starting logger $logger in directory $FLIGHT_PATH/$logdir"
-    $logger $FLIGHT_PATH/$logdir & 
+    $logger $FLIGHT_PATH/$logdir &
     pid=$!
     LOGGERS[$logger]="$!;$logdir"
 done

parsers/CMakeLists.txt

-cmake_minimum_required (VERSION 3.1.0 FATAL_ERROR)
-project (sentiboard-utils)
-
-# The version number.
-set (sentiboard_utils_VERSION_MAJOR 0)
-set (sentiboard_utils_VERSION_MINOR 1)
-
-set (SENTIBOARD_SRC_DIR "${CMAKE_SOURCE_DIR}/src")
-set (SENTIBOARD_INCLUDE_DIR "${CMAKE_SOURCE_DIR}/include")
-
-include_directories(
-  ${SENTIBOARD_INCLUDE_DIR}
-)
-
-set(SENTIBOARD_SRCS
-  ${SENTIBOARD_SRC_DIR}/Reader.cpp
-  ${SENTIBOARD_SRC_DIR}/Package.cpp
-)
-
-FILE(GLOB_RECURSE SENTIBOARD_HEADERS "include/*.h" "include/*.hpp)")
-
-
-add_library(sentiboard_utils
-  ${SENTIBOARD_SRCS}
-  ${SENTIBOARD_HEADERS}
-)
-
-target_compile_features(sentiboard_utils PRIVATE cxx_auto_type cxx_range_for)
-
-
-#  -- Set up test project --
-
-set (TEST_TARGET "sentiboard_utils_test")
-
-set (TEST_SRC_DIR "${CMAKE_SOURCE_DIR}/tests")
-set (TEST_INCLUDE_DIR "${TEST_SRC_DIR}/include")
-
-include_directories(
-  ${TEST_INCLUDE_DIR}
-)
-
-
-# Select wether to use Catch c++ or doctest
-option(USE_CATCH_TESTS "Use the Catch c++ test framework" True)
-
-
-set(SENTIBOARD_TEST_HEADERS "${TEST_SRC_DIR}/include/framework/test_framework.hpp")
-if(USE_CATCH_TESTS)
-    add_definitions(-DUSE_CATCH)
-    list(APPEND SENTIBOARD_TEST_HEADERS "${TEST_SRC_DIR}/include/framework/catch.hpp")
-else()
-    list(APPEND SENTIBOARD_TEST_HEADERS "${TEST_SRC_DIR}/include/framework/doctest.h")
-endif()
-
-set(SENTIBOARD_TEST_SRCS
-  ${TEST_SRC_DIR}/testmain.cpp
-  ${TEST_SRC_DIR}/sentiboard_reader_test.cpp
-  ${TEST_SRC_DIR}/stim_parser_test.cpp
-  ${TEST_SRC_DIR}/test_utils.cpp
-)
-
-add_executable(${TEST_TARGET}
-  ${SENTIBOARD_TEST_SRCS}
-  ${SENTIBOARD_TEST_HEADERS}
-)
-
-
-target_compile_features(${TEST_TARGET} PRIVATE cxx_auto_type cxx_nullptr)
-
-target_link_libraries(${TEST_TARGET} sentiboard_utils)
-
-
-#  -- Set up code coverage project --
-
-set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake-modules)
-if (CMAKE_BUILD_TYPE STREQUAL "Coverage")
-    SET(CMAKE_CXX_FLAGS "-g -O0 -fprofile-arcs -ftest-coverage")
-    SET(CMAKE_C_FLAGS "-g -O0 -fprofile-arcs -ftest-coverage")
-
-    include(CodeCoverage)
-    SETUP_TARGET_FOR_COVERAGE(test_coverage ${TEST_TARGET} ${PROJECT_SOURCE_DIR}/coverage)
-
-endif() #CMAKE_BUILD_TYPE STREQUAL "Coverage"

parsers/Makefile

-CPPLINT_EXCLUDES = --exclude=tests/include/framework/* --filter=-readability/casting,-readability/check --repository=.
-
-BIN_DIR = build
-BIN_COV_DIR = build_coverage
-TEST_TARGET = sentiboard_utils_test
-
-.PHONY: all
-all: tests
-
-.PHONY: tests
-tests :
-	mkdir -p $(BIN_DIR)
-	cd $(BIN_DIR) && cmake ..
-	make -C $(BIN_DIR) -j 8
-
-.PHONY: lint
-lint:
-	cpplint --recursive $(CPPLINT_EXCLUDES) src include tests simulator
-
-.PHONY: coverage
-coverage:
-	mkdir -p $(BIN_COV_DIR)
-	cd $(BIN_COV_DIR) && cmake -DCMAKE_BUILD_TYPE=Coverage ..
-	make -C $(BIN_COV_DIR) -j8 test_coverage 
-
-.PHONY: run
-run: $(BIN_DIR)/$(TEST_TARGET)
-	./$(BIN_DIR)/$(TEST_TARGET)
-
-.PHONY: test
-test: run
-
-.PHONY: clean
-clean:
-	$(RM) -r build

parsers/cmake-modules/CodeCoverage.cmake

-#
-# 2012-01-31, Lars Bilke
-# - Enable Code Coverage
-#
-# 2013-09-17, Joakim Söderberg
-# - Added support for Clang.
-# - Some additional usage instructions.
-#
-# USAGE:
-
-# 0. (Mac only) If you use Xcode 5.1 make sure to patch geninfo as described here:
-#      http://stackoverflow.com/a/22404544/80480
-#
-# 1. Copy this file into your cmake modules path.
-#
-# 2. Add the following line to your CMakeLists.txt:
-#      INCLUDE(CodeCoverage)
-#
-# 3. Set compiler flags to turn off optimization and enable coverage:
-#    SET(CMAKE_CXX_FLAGS "-g -O0 -fprofile-arcs -ftest-coverage")
-#     SET(CMAKE_C_FLAGS "-g -O0 -fprofile-arcs -ftest-coverage")
-#
-# 3. Use the function SETUP_TARGET_FOR_COVERAGE to create a custom make target
-#    which runs your test executable and produces a lcov code coverage report:
-#    Example:
-#     SETUP_TARGET_FOR_COVERAGE(
-#                my_coverage_target  # Name for custom target.
-#                test_driver         # Name of the test driver executable that runs the tests.
-#                                    # NOTE! This should always have a ZERO as exit code
-#                                    # otherwise the coverage generation will not complete.
-#                coverage            # Name of output directory.
-#                )
-#
-# 4. Build a Debug build:
-#     cmake -DCMAKE_BUILD_TYPE=Debug ..
-#     make
-#     make my_coverage_target
-#
-#
-
-# Check prereqs
-FIND_PROGRAM( GCOV_PATH gcov )
-FIND_PROGRAM( LCOV_PATH lcov )
-FIND_PROGRAM( GENHTML_PATH genhtml )
-FIND_PROGRAM( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/tests)
-
-IF(NOT GCOV_PATH)
-    MESSAGE(FATAL_ERROR "gcov not found! Aborting...")
-ENDIF() # NOT GCOV_PATH
-
-IF(NOT CMAKE_COMPILER_IS_GNUCXX)
-    # Clang version 3.0.0 and greater now supports gcov as well.
-    MESSAGE(WARNING "Compiler is not GNU gcc! Clang Version 3.0.0 and greater supports gcov as well, but older versions don't.")
-
-    IF(NOT "${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
-        MESSAGE(FATAL_ERROR "Compiler is not GNU gcc! Aborting...")
-    ENDIF()
-ENDIF() # NOT CMAKE_COMPILER_IS_GNUCXX
-
-SET(CMAKE_CXX_FLAGS_COVERAGE
-    "-Wunused-variable -g -O0 --coverage -fprofile-arcs -ftest-coverage"
-    CACHE STRING "Flags used by the C++ compiler during coverage builds."
-    FORCE )
-SET(CMAKE_C_FLAGS_COVERAGE
-    "-Wunused-variable -g -O0 --coverage -fprofile-arcs -ftest-coverage"
-    CACHE STRING "Flags used by the C compiler during coverage builds."
-    FORCE )
-SET(CMAKE_EXE_LINKER_FLAGS_COVERAGE
-    ""
-    CACHE STRING "Flags used for linking binaries during coverage builds."
-    FORCE )
-SET(CMAKE_SHARED_LINKER_FLAGS_COVERAGE
-    ""
-    CACHE STRING "Flags used by the shared libraries linker during coverage builds."
-    FORCE )
-MARK_AS_ADVANCED(
-    CMAKE_CXX_FLAGS_COVERAGE
-    CMAKE_C_FLAGS_COVERAGE
-    CMAKE_EXE_LINKER_FLAGS_COVERAGE
-    CMAKE_SHARED_LINKER_FLAGS_COVERAGE )
-
-IF ( NOT (CMAKE_BUILD_TYPE STREQUAL "Debug" OR CMAKE_BUILD_TYPE STREQUAL "Coverage"))
-  MESSAGE( WARNING "Code coverage results with an optimized (non-Debug) build may be misleading" )
-ENDIF() # NOT CMAKE_BUILD_TYPE STREQUAL "Debug"
-
-
-# Param _targetname     The name of new the custom make target
-# Param _testrunner     The name of the target which runs the tests.
-#                        MUST return ZERO always, even on errors.
-#                        If not, no coverage report will be created!
-# Param _outputname     lcov output is generated as _outputname.info
-#                       HTML report is generated in _outputname/index.html
-# Optional fourth parameter is passed as arguments to _testrunner
-#   Pass them in list form, e.g.: "-j;2" for -j 2
-FUNCTION(SETUP_TARGET_FOR_COVERAGE _targetname _testrunner _outputname)
-
-    IF(NOT LCOV_PATH)
-        MESSAGE(FATAL_ERROR "lcov not found! Aborting...")
-    ENDIF() # NOT LCOV_PATH
-
-    IF(NOT GENHTML_PATH)
-        MESSAGE(FATAL_ERROR "genhtml not found! Aborting...")