Switching from Goby2

General

• More consistent namespacing. This means some classes that didn't have a namespace previously now do (especially in goby::moos).
• Goby PB has been removed (this was a work in progress for what has now morphed into libgoby_zeromq).
• libgoby_util, libgoby_acomms, libgoby_common are all now in the new unified libgoby along with the new middleware code.
• goby/common/protobuf/option_extensions.proto moved to goby/protobuf/option_extensions.proto
• goby::common::logger is now goby::util::logger and goby/common/logger.h is goby/util/debug_logger.h
• util/seawater functions are now based on Boost Units and are in the namespace goby::util::seawater. Similarly for goby::util::mackenzie_soundspeed (now goby::util::seawater::mackenzie_soundspeed).
• goby::common::Colors is now goby::util::Colors

Time

• Time has been re-implemented in light of std::chrono. Because std::chrono doesn't support dates in C++14, we still support converting to and from boost::posix_time::ptime for this purpose. In addition, Boost Units quantities of time are supported for compatibility with DCCL units (http://www.libdccl.org/idl.html). The old time functions are available (but deprecated) by #include <goby/time/legacy.h> (instead of #include <goby/common/time.h>)
• Use goby::time::SystemClock, a simulation-warpable version of std::chrono::system_clock for world-reference time.
• Use goby::time::SteadyClock which is a simulation warpable version of std::chrono::steady_clock for steady time tasks (when you don't want to deal with potential changes in the time due to NTP, etc.).

MOOS

• GobyMOOSAppConfig is now goby.moos.protobuf.GobyMOOSAppConfig
• GobyMOOSApp is now goby::moos::GobyMOOSApp
• moos_gateway_g is replaced by goby_moos_gateway, which provides runtime pluggable shared library translators as needed for a given application.
• pAcommsHandler configuration:
  • driver_type is now a child of driver_cfg

Acomms

• Use UDPMulticastDriver instead of PBDriver for pure software simulations
• micromodem.protobuf moved to goby.acomms.micromodem.protobuf, and similar for other drivers
• Extensions to goby::acomms::protobuf::DriverConfig are encapsulated in a single Config object for each driver, rather than multiple extensions per driver. For example, goby::acomms::micromodem::protobuf::Config contains all the fields that were previously their own extension (e.g. micromodem::protobuf::Config::reset_nvram).
• extensions to goby::acomms::protobuf::ModemTransmission are also a single Transmission object for each driver. For example, goby::acomms::micromodem::protobuf::Transmission contains all the fields that were previously their own extension (e.g. micromodem::protobuf::type).