Add non-virtual destructor warning, fix lots of them

Plus some cleanup for constructors

AirLib/include/api/RpcLibAdaptorsBase.hpp

@@ -491,22 +491,16 @@ namespace airlib_rpclib
             }
 
             ImageRequest(const msr::airlib::ImageCaptureBase::ImageRequest& s)
+                : camera_name(s.camera_name)
+                , image_type(s.image_type)
+                , pixels_as_float(s.pixels_as_float)
+                , compress(s.compress)
             {
-                camera_name = s.camera_name;
-                image_type = s.image_type;
-                pixels_as_float = s.pixels_as_float;
-                compress = s.compress;
             }
 
             msr::airlib::ImageCaptureBase::ImageRequest to() const
             {
-                msr::airlib::ImageCaptureBase::ImageRequest d;
-                d.camera_name = camera_name;
-                d.image_type = image_type;
-                d.pixels_as_float = pixels_as_float;
-                d.compress = compress;
-
-                return d;
+                return { camera_name, image_type, pixels_as_float, compress };
             }
 
             static std::vector<ImageRequest> from(

AirLib/include/common/ClockBase.hpp

@@ -26,6 +26,8 @@ namespace airlib
             wall_clock_start_ = Utils::getTimeSinceEpochNanos();
         }
 
+        virtual ~ClockBase() = default;
+
         TTimeDelta elapsedSince(TTimePoint since) const
         {
             return elapsedBetween(nowNanos(), since);

AirLib/include/common/ImageCaptureBase.hpp

@@ -42,12 +42,15 @@ namespace airlib
             {
             }
 
-            ImageRequest(const std::string& camera_name_val, ImageCaptureBase::ImageType image_type_val, bool pixels_as_float_val = false, bool compress_val = true)
+            ImageRequest(const std::string& camera_name_val,
+                         ImageCaptureBase::ImageType image_type_val,
+                         bool pixels_as_float_val = false,
+                         bool compress_val = true)
+                : camera_name(camera_name_val)
+                , image_type(image_type_val)
+                , pixels_as_float(pixels_as_float_val)
+                , compress(compress_val)
             {
-                camera_name = camera_name_val;
-                image_type = image_type_val;
-                pixels_as_float = pixels_as_float_val;
-                compress = compress_val;
             }
         };
 
@@ -69,7 +72,8 @@ namespace airlib
 
     public: //methods
         virtual void getImages(const std::vector<ImageRequest>& requests, std::vector<ImageResponse>& responses) const = 0;
+        virtual ~ImageCaptureBase() = default;
     };
 }
 } //namespace
-#endif
+#endif

AirLib/include/common/common_utils/Utils.hpp

@@ -50,7 +50,7 @@
 
 /*
     This file is collection of routines that can be included in ANY project just
-    by dropping in common_utils.hpp. Therefore there should not be any dependency 
+    by dropping in common_utils.hpp. Therefore there should not be any dependency
     in the code below other than STL. The code should be able to compilable on
     all major platforms.
 */
@@ -102,6 +102,8 @@ class Utils
             else
                 std::cerr << message << std::endl;
         }
+
+        virtual ~Logger() = default;
     };
 
     static void enableImmediateConsoleFlush()

AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/interfaces/CommonStructs.hpp

@@ -17,6 +17,8 @@ class Axis3
     {
     }
 
+    virtual ~Axis3() = default;
+
     //access by index
     virtual T& operator[](unsigned int index)
     {
@@ -368,4 +370,4 @@ struct PidConfig
     IntegratorType integrator_type = IntegratorType::Standard;
 };
 
-} //namespace
+} //namespace

AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/interfaces/IBoardClock.hpp

@@ -10,5 +10,7 @@ class IBoardClock
 public:
     virtual uint64_t micros() const = 0;
     virtual uint64_t millis() const = 0;
+
+    virtual ~IBoardClock() = default;
 };
-}
+}

AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/interfaces/IBoardInputPins.hpp

@@ -11,5 +11,7 @@ class IBoardInputPins
     virtual float readChannel(uint16_t index) const = 0; //output -1 to 1
     virtual bool isRcConnected() const = 0;
     virtual float getAvgMotorOutput() const = 0;
+
+    virtual ~IBoardInputPins() = default;
 };
-}
+}

AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/interfaces/IBoardOutputPins.hpp

@@ -10,5 +10,7 @@ class IBoardOutputPins
 public:
     virtual void writeOutput(uint16_t index, float val) = 0; //val = -1 to 1 for reversible motors otherwise 0 to 1
     virtual void setLed(uint8_t index, int32_t color) = 0;
+
+    virtual ~IBoardOutputPins() = default;
 };
-}
+}

AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/interfaces/IBoardSensors.hpp

@@ -8,5 +8,7 @@ class IBoardSensors
 public:
     virtual void readAccel(float accel[3]) const = 0; //accel in m/s^2
     virtual void readGyro(float gyro[3]) const = 0; //angular velocity vector rad/sec
+
+    virtual ~IBoardSensors() = default;
 };
-}
+}

AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/interfaces/IGoal.hpp

@@ -11,6 +11,8 @@ class IGoal
 public:
     virtual const Axis4r& getGoalValue() const = 0;
     virtual const GoalMode& getGoalMode() const = 0;
+
+    virtual ~IGoal() = default;
 };
 
-} //namespace
+} //namespace

AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/interfaces/IStateEstimator.hpp

@@ -20,5 +20,7 @@ class IStateEstimator
     virtual GeoPoint getHomeGeoPoint() const = 0;
 
     virtual Axis3r transformToBodyFrame(const Axis3r& world_frame_val) const = 0;
+
+    virtual ~IStateEstimator() = default;
 };
-}
+}

DroneShell/include/SimpleShell.hpp

@@ -104,11 +104,13 @@ namespace airlib
             std::unordered_map<std::string, ShellCommandSwitch> switches_;
 
         public:
-            ShellCommand(std::string name, std::string help)
+            ShellCommand(const std::string& name, const std::string& help)
                 : name_(name), help_(help)
             {
             }
 
+            virtual ~ShellCommand() = default;
+
             void addSwitch(const ShellCommandSwitch& s)
             {
                 std::string lower = Utils::toLower(s.name);
@@ -443,6 +445,8 @@ namespace airlib
             linenoise::SetCompletionCallback(std::bind(&SimpleShell::commandCompletitionCallBack, this, std::placeholders::_1, std::placeholders::_2));
         }
 
+        virtual ~SimpleShell() = default;
+
         // add a reference to a command (this object must remain valid, we do not copy it)
         void addCommand(ShellCommand& command)
         {

MavLinkCom/MavLinkTest/Commands.h

@@ -53,7 +53,7 @@ class Command
 {
 public:
     Command();
-    ~Command();
+    virtual ~Command();
 
     std::string Name;
 

MavLinkCom/include/MavLinkDebugLog.hpp

@@ -32,7 +32,9 @@ class MavLinkDebugLog
 
         return logger_;
     }
+
+    virtual ~MavLinkDebugLog() = default;
 };
 }
 
-#endif
+#endif

MavLinkCom/include/MavLinkMessageBase.hpp

@@ -118,6 +118,7 @@ class MavLinkCommand
 {
 public:
     uint16_t command = 0;
+    virtual ~MavLinkCommand() = default;
 
 protected:
     virtual void pack() = 0;

MavLinkCom/src/MavLinkMessageBase.cpp

@@ -411,4 +411,4 @@ std::string MavLinkMessageBase::float_array_tostring(int len, const float* field
         }
     }
     return line.str();
-}
+}

MavLinkCom/src/serial_com/Port.h

@@ -21,5 +21,7 @@ class Port
     virtual bool isClosed() = 0;
 
     virtual int getRssi(const char* ifaceName) = 0;
+
+    virtual ~Port() = default;
 };
 #endif // !PORT_H

MavLinkCom/src/serial_com/SerialPort.hpp

@@ -38,7 +38,7 @@ class SerialPort : public Port
 {
 public:
     SerialPort();
-    virtual ~SerialPort();
+    ~SerialPort();
 
     // open the serial port
     virtual int connect(const char* portName, int baudRate);
@@ -67,4 +67,4 @@ class SerialPort : public Port
     std::unique_ptr<serialport_impl> impl_;
 };
 
-#endif
+#endif

MavLinkCom/src/serial_com/TcpClientPort.hpp

@@ -10,7 +10,7 @@ class TcpClientPort : public Port
 {
 public:
     TcpClientPort();
-    virtual ~TcpClientPort();
+    ~TcpClientPort();
 
     // Connect can set you up two different ways.  Pass 0 for local port to get any free local
     // port. localHost allows you to be specific about which local adapter to use in case you

MavLinkCom/src/serial_com/UdpClientPort.hpp

@@ -10,7 +10,7 @@ class UdpClientPort : public Port
 {
 public:
     UdpClientPort();
-    virtual ~UdpClientPort();
+    ~UdpClientPort();
 
     // Connect can set you up two different ways.  Pass 0 for local port to get any free local
     // port and pass a fixed remotePort if you want to send to a specific remote port.

cmake/cmake-modules/CommonSetup.cmake

@@ -25,7 +25,7 @@ endmacro(SetupConsoleBuild)
 
 macro(CommonSetup)
     find_package(Threads REQUIRED)
-    find_path(AIRSIM_ROOT NAMES AirSim.sln PATHS ".." "../.." "../../.." "../../../.." "../../../../.." "../../../../../.." REQUIRED)    
+    find_path(AIRSIM_ROOT NAMES AirSim.sln PATHS ".." "../.." "../../.." "../../../.." "../../../../.." "../../../../../.." REQUIRED)
 
     #setup output paths
     set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/output/lib)
@@ -50,7 +50,8 @@ macro(CommonSetup)
             set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wstrict-aliasing -D__CLANG__")
         else ()
             set(CMAKE_CXX_FLAGS "\
-                -ggdb -Wall -Wextra \
+                -Wall -Wextra \
+                -Wnon-virtual-dtor -Woverloaded-virtual \
                 -Wno-variadic-macros -Wno-unused-function -Wno-unused \
                 -pthread \
                 ${RPC_LIB_DEFINES} ${CMAKE_CXX_FLAGS}")
@@ -97,4 +98,3 @@ macro(CommonSetup)
     endif()
 
 endmacro(CommonSetup)
-