move MavLinkDroneController.cpp to header file

Alpslee · Jun 30, 2017 · dca11b6 · dca11b6
1 parent 7a6c0fb
commit dca11b6
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Showing 19 changed files with 1,385 additions and 1,391 deletions.
diff --git a/AirLib/AirLib.vcxproj b/AirLib/AirLib.vcxproj
@@ -146,7 +146,6 @@
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="src\controllers\DroneControllerBase.cpp" />
-    <ClCompile Include="src\controllers\MavLinkDroneController.cpp" />
     <ClCompile Include="src\safety\ObstacleMap.cpp" />
     <ClCompile Include="src\rpc\RpcLibClient.cpp" />
     <ClCompile Include="src\rpc\RpcLibServer.cpp" />

diff --git a/AirLib/AirLib.vcxproj.filters b/AirLib/AirLib.vcxproj.filters
@@ -389,12 +389,6 @@
     </ClInclude>
   </ItemGroup>
   <ItemGroup>
-    <ClCompile Include="src\controllers\DroneControllerBase.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="src\controllers\MavLinkDroneController.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="src\controllers\Settings.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
@@ -413,5 +407,8 @@
     <ClCompile Include="src\controllers\FileSystem.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="src\controllers\DroneControllerBase.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
 </Project>
diff --git a/AirLib/include/common/common_utils/EnumFlags.hpp b/AirLib/include/common/common_utils/EnumFlags.hpp
@@ -93,5 +93,7 @@ class EnumFlags
 
 };
 
-#endif
 }   //namespace
+
+
+#endif
diff --git a/AirLib/include/controllers/DroneControllerBase.hpp b/AirLib/include/controllers/DroneControllerBase.hpp
@@ -6,12 +6,13 @@
 
 
 #include "common/Common.hpp"
+#include "VehicleControllerBase.hpp"
+#include "common/common_utils/WorkerThread.hpp"
+#include "controllers/VehicleCamera.hpp"
 #include "Waiter.hpp"
 #include "safety/SafetyEval.hpp"
 #include "common/CommonStructs.hpp"
-#include "VehicleControllerBase.hpp"
 #include "DroneCommon.hpp"
-#include "common/common_utils/WorkerThread.hpp"
 
 namespace msr { namespace airlib {
 
@@ -63,15 +64,6 @@ class DroneControllerBase : public VehicleControllerBase {
         std::lock_guard<std::recursive_mutex> lock_;
     };
 
-    enum class ImageType : uint {
-        None = 0,
-        Scene = 1, 
-        Depth = 2, 
-        Segmentation = 4,
-        All = 255
-    };
-    typedef common_utils::EnumFlags<ImageType>  ImageTypeFlags;
-
     enum class LandedState : uint {
         Landed = 0,
         Flying = 1
@@ -233,7 +225,7 @@ class DroneControllerBase : public VehicleControllerBase {
     /// Request an image of specific type from the specified camera.  Currently AirSim is configured with only 2 cameras which
     /// have id of 0 and 1.  Camera 0 is setup to be an FPV camera view and camera 1 is setup as a 3rd person view that chases the drone.
     /// The image is return in the .png format.  This call will block until the render is complete.  
-    virtual vector<uint8_t> getImageForCamera(int camera_id, ImageType type);
+    virtual vector<uint8_t> getImageForCamera(int camera_id, VehicleCamera::ImageType type);
 
     virtual void addCamera(std::shared_ptr<VehicleCamera> camera);
 
@@ -280,7 +272,7 @@ class DroneControllerBase : public VehicleControllerBase {
     template <typename Key, typename T>
     using EnumClassUnorderedMap = std::unordered_map<Key, T, EnumClassHashType<Key>>;
 
-    unordered_map<int, EnumClassUnorderedMap<ImageType, vector<uint8_t>>> images;
+    unordered_map<int, EnumClassUnorderedMap<VehicleCamera::ImageType, vector<uint8_t>>> images;
 
 protected: //optional oveerides recommanded for any drones, default implementation may work
     virtual float getAutoLookahead(float velocity, float adaptive_lookahead,

diff --git a/AirLib/include/controllers/DroneControllerCancelable.hpp b/AirLib/include/controllers/DroneControllerCancelable.hpp
@@ -236,7 +236,7 @@ class DroneControllerCancelable  {
     }
 
     //get image
-    vector<uint8_t> getImageForCamera(int camera_id, DroneControllerBase::ImageType type)
+    vector<uint8_t> getImageForCamera(int camera_id, VehicleCamera::ImageType type)
     {
         return controller_->getImageForCamera(camera_id, type);
     }
-Original file line number
+Diff line change
@@ Expand Up / @@ -93,5 +93,7 @@ class EnumFlags @@
     };
-    #endif
     }   //namespace
+    #endif