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Fix various inconsistencies, warnings #2485

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merged 4 commits into from
Apr 1, 2020
Merged

Fix various inconsistencies, warnings #2485

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8d9f2bf
ArduCopter: Consistent variable names, unused function, variable
rajat2004 Mar 27, 2020
5c2b477
SimpleFlight: Fix warnings, missing override, missing switch case han…
rajat2004 Mar 27, 2020
cc61d69
Use Sensor APIs for getting data
rajat2004 Mar 27, 2020
72289a1
ArduCopterSolo: Tabs->Spaces
rajat2004 Mar 28, 2020
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33 changes: 5 additions & 28 deletions AirLib/include/vehicles/car/firmwares/ardurover/ArduRoverApi.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -148,27 +148,6 @@ class ArduRoverApi : public CarApiBase {
udpSocket_->bind(connection_info_.local_host_ip, connection_info_.control_port);
}

const GpsBase* getGps() const
{
return static_cast<const GpsBase*>(sensors_->getByType(SensorBase::SensorType::Gps));
}
const ImuBase* getImu() const
{
return static_cast<const ImuBase*>(sensors_->getByType(SensorBase::SensorType::Imu));
}
const MagnetometerBase* getMagnetometer() const
{
return static_cast<const MagnetometerBase*>(sensors_->getByType(SensorBase::SensorType::Magnetometer));
}
const BarometerBase* getBarometer() const
{
return static_cast<const BarometerBase*>(sensors_->getByType(SensorBase::SensorType::Barometer));
}
const LidarBase* getLidar() const
{
return static_cast<const LidarBase*>(sensors_->getByType(SensorBase::SensorType::Lidar));
}

private:
void recvRoverControl()
{
Expand Down Expand Up @@ -202,18 +181,16 @@ class ArduRoverApi : public CarApiBase {
if (sensors_ == nullptr)
return;

const auto& gps_output = getGps()->getOutput();
const auto& imu_output = getImu()->getOutput();
// const auto& baro_output = getBarometer()->getOutput();
// const auto& mag_output = getMagnetometer()->getOutput();
const auto& gps_output = getGpsData("");
const auto& imu_output = getImuData("");

std::ostringstream oss;

const auto lidar = getLidar();
const uint count_lidars = getSensors().size(SensorBase::SensorType::Lidar);
// TODO: Add bool value in settings to check whether to send lidar data or not
// Since it's possible that we don't want to send the lidar data to Ardupilot but still have the lidar (maybe as a ROS topic)
if (lidar != nullptr) {
const auto& lidar_output = lidar->getOutput();
if (count_lidars != 0) {
const auto& lidar_output = getLidarData("");
oss << ","
"\"lidar\": {"
"\"point_cloud\": [";
Expand Down
75 changes: 31 additions & 44 deletions AirLib/include/vehicles/multirotor/firmwares/arducopter/ArduCopterApi.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ class ArduCopterApi : public MultirotorApiBase {

public:
ArduCopterApi(const MultiRotorParams* vehicle_params, const AirSimSettings::MavLinkConnectionInfo& connection_info)
: ip(connection_info.udp_address), vehicle_params_(vehicle_params)
: ip_(connection_info.udp_address), vehicle_params_(vehicle_params)
{
connection_info_ = connection_info;
sensors_ = &getSensors();
Expand Down Expand Up @@ -71,22 +71,25 @@ class ArduCopterApi : public MultirotorApiBase {
Utils::log("Not Implemented: isApiControlEnabled", Utils::kLogLevelInfo);
return false;
}
virtual void enableApiControl(bool) override
virtual void enableApiControl(bool is_enabled) override
{
Utils::log("Not Implemented: enableApiControl", Utils::kLogLevelInfo);
unused(is_enabled);
}
virtual bool armDisarm(bool) override
virtual bool armDisarm(bool arm) override
{
Utils::log("Not Implemented: armDisarm", Utils::kLogLevelInfo);
unused(arm);
return false;
}
virtual GeoPoint getHomeGeoPoint() const override
{
Utils::log("Not Implemented: getHomeGeoPoint", Utils::kLogLevelInfo);
return GeoPoint(Utils::nan<double>(), Utils::nan<double>(), Utils::nan<float>());
}
virtual void getStatusMessages(std::vector<std::string>&) override
virtual void getStatusMessages(std::vector<std::string>& messages) override
{
unused(messages);
}

virtual const SensorCollection& getSensors() const override
Expand All @@ -99,21 +102,28 @@ class ArduCopterApi : public MultirotorApiBase {
{
return rotor_controls_[rotor_index];
}

virtual size_t getActuatorCount() const override
{
return vehicle_params_->getParams().rotor_count;
}

virtual void moveByRC(const RCData& rc_data) override
{
setRCData(rc_data);
}
virtual void setSimulatedGroundTruth(const Kinematics::State*, const Environment*) override

virtual void setSimulatedGroundTruth(const Kinematics::State* kinematics, const Environment* environment) override
{
Utils::log("Not Implemented: setSimulatedGroundTruth", Utils::kLogLevelInfo);
unused(kinematics);
unused(environment);
}

virtual bool setRCData(const RCData& rc_data) override
{
last_rcData_ = rc_data;
is_rc_connected = true;
is_rc_connected_ = true;

return true;
}
Expand Down Expand Up @@ -295,46 +305,25 @@ class ArduCopterApi : public MultirotorApiBase {

void connect()
{
port = static_cast<uint16_t>(connection_info_.udp_port);
port_ = static_cast<uint16_t>(connection_info_.udp_port);

closeConnections();

if (ip == "") {
if (ip_ == "") {
throw std::invalid_argument("UdpIp setting is invalid.");
}

if (port == 0) {
if (port_ == 0) {
throw std::invalid_argument("UdpPort setting has an invalid value.");
}

Utils::log(Utils::stringf("Using UDP port %d, local IP %s, remote IP %s for sending sensor data", port, connection_info_.local_host_ip.c_str(), ip.c_str()), Utils::kLogLevelInfo);
Utils::log(Utils::stringf("Using UDP port %d for receiving rotor power", connection_info_.control_port, connection_info_.local_host_ip.c_str(), ip.c_str()), Utils::kLogLevelInfo);
Utils::log(Utils::stringf("Using UDP port %d, local IP %s, remote IP %s for sending sensor data", port_, connection_info_.local_host_ip.c_str(), ip_.c_str()), Utils::kLogLevelInfo);
Utils::log(Utils::stringf("Using UDP port %d for receiving rotor power", connection_info_.control_port, connection_info_.local_host_ip.c_str(), ip_.c_str()), Utils::kLogLevelInfo);

udpSocket_ = std::make_shared<mavlinkcom::UdpSocket>();
udpSocket_->bind(connection_info_.local_host_ip, connection_info_.control_port);
}

const GpsBase* getGps() const
{
return static_cast<const GpsBase*>(sensors_->getByType(SensorBase::SensorType::Gps));
}
const ImuBase* getImu() const
{
return static_cast<const ImuBase*>(sensors_->getByType(SensorBase::SensorType::Imu));
}
const MagnetometerBase* getMagnetometer() const
{
return static_cast<const MagnetometerBase*>(sensors_->getByType(SensorBase::SensorType::Magnetometer));
}
const BarometerBase* getBarometer() const
{
return static_cast<const BarometerBase*>(sensors_->getByType(SensorBase::SensorType::Barometer));
}
const LidarBase* getLidar() const
{
return static_cast<const LidarBase*>(sensors_->getByType(SensorBase::SensorType::Lidar));
}

private:
virtual void normalizeRotorControls()
{
Expand All @@ -349,15 +338,13 @@ class ArduCopterApi : public MultirotorApiBase {
if (sensors_ == nullptr)
return;

const auto& gps_output = getGps()->getOutput();
const auto& imu_output = getImu()->getOutput();
// const auto& baro_output = getBarometer()->getOutput();
// const auto& mag_output = getMagnetometer()->getOutput();
const auto& gps_output = getGpsData("");
const auto& imu_output = getImuData("");

std::ostringstream oss;

// Send RC channels to Ardupilot if present
if (is_rc_connected && last_rcData_.is_valid) {
if (is_rc_connected_ && last_rcData_.is_valid) {
oss << ","
"\"rc\": {"
"\"channels\": ["
Expand All @@ -372,11 +359,11 @@ class ArduCopterApi : public MultirotorApiBase {
<< "]}";
}

const auto lidar = getLidar();
const uint count_lidars = getSensors().size(SensorBase::SensorType::Lidar);
// TODO: Add bool value in settings to check whether to send lidar data or not
// Since it's possible that we don't want to send the lidar data to Ardupilot but still have the lidar (maybe as a ROS topic)
if (lidar != nullptr) {
const auto& lidar_output = lidar->getOutput();
if (count_lidars != 0) {
const auto& lidar_output = getLidarData("");
oss << ","
"\"lidar\": {"
"\"point_cloud\": [";
Expand Down Expand Up @@ -443,7 +430,7 @@ class ArduCopterApi : public MultirotorApiBase {

// Send data
if (udpSocket_ != nullptr) {
udpSocket_->sendto(buf, strlen(buf), ip, port);
udpSocket_->sendto(buf, strlen(buf), ip_, port_);
}
}

Expand Down Expand Up @@ -479,15 +466,15 @@ class ArduCopterApi : public MultirotorApiBase {
std::shared_ptr<mavlinkcom::UdpSocket> udpSocket_;

AirSimSettings::MavLinkConnectionInfo connection_info_;
uint16_t port;
const std::string& ip;
uint16_t port_;
const std::string& ip_;
const SensorCollection* sensors_;
const MultiRotorParams* vehicle_params_;

MultirotorApiParams safety_params_;

RCData last_rcData_;
bool is_rc_connected;
bool is_rc_connected_;

// TODO: Increase to 6 or 8 for hexa or larger frames, 11 was used in SoloAPI
static const int RotorControlCount = 4;
Expand Down
4 changes: 1 addition & 3 deletions AirLib/include/vehicles/multirotor/firmwares/arducopter/ArduCopterParams.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ class ArduCopterParams : public MultiRotorParams {
auto& params = getParams();

// Use connection_info_.model for the model name, see Px4MultiRotorParams for example

// Only Generic for now
setupFrameGenericQuad(params);
}
Expand Down Expand Up @@ -81,8 +81,6 @@ class ArduCopterParams : public MultiRotorParams {
}

AirSimSettings::MavLinkConnectionInfo connection_info_;
vector<unique_ptr<SensorBase>> sensor_storage_;
// const AirSimSettings::MavlinkVehicleSetting* vehicle_setting_; //store as pointer because of derived classes
std::shared_ptr<const SensorFactory> sensor_factory_;
};

Expand Down
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