fix unused params warning

AirLib/include/common/StateReporter.hpp

@@ -54,6 +54,8 @@ class StateReporter {
     //TODO: need better line end handling
     void startHeading(string heading, uint heading_size, uint columns = 20)
     {
+        unused(heading_size);
+        unused(columns);
         ss_ << "\n";
         ss_ << heading;
     }

AirLib/include/common/UpdatableObject.hpp

@@ -18,6 +18,7 @@ class UpdatableObject {
 
     virtual void reportState(StateReporter& reporter)
     {
+        unused(reporter);
         //default implementation doesn't do anything
     }
 

AirLib/include/common/common_utils/AsyncTasker.hpp

@@ -10,7 +10,7 @@
 class AsyncTasker {
 public:
     AsyncTasker(unsigned int thread_count = 4)
-        : threads_(thread_count), error_handler_([](std::exception e) {})
+        : threads_(thread_count), error_handler_([](std::exception e) {unused(e);})
     {
     }
 
@@ -26,6 +26,7 @@ class AsyncTasker {
         if (iterations == 1)
         {
             threads_.push([=](int i) {
+                unused(i);
                 try {
                     func();
                 }
@@ -36,6 +37,7 @@ class AsyncTasker {
         }
         else {
             threads_.push([=](int i) {
+                unused(i);
                 try {
                     for (unsigned int itr = 0; itr < iterations; ++itr) {
                         func();

AirLib/include/common/common_utils/Utils.hpp

@@ -79,6 +79,10 @@ static int _vscprintf(const char * format, va_list pargs)
 }
 #endif
 
+// Call this on a function parameter to suppress the unused paramter warning
+template <class T> inline 
+void unused(T const & result) { static_cast<void>(result); }
+
 namespace common_utils {
 
 class Utils {

AirLib/include/controllers/ControllerBase.hpp

@@ -30,6 +30,7 @@ class ControllerBase : public UpdatableObject {
 
     virtual void getStatusMessages(std::vector<std::string>& messages)
     {
+        unused(messages);
         //default implementation
     }
 
@@ -46,6 +47,7 @@ class ControllerBase : public UpdatableObject {
 
     virtual void reportTelemetry(float renderTime)
     {
+        unused(renderTime);
         //no default action
     }
 

AirLib/include/controllers/rosflight/AirSimRosFlightBoard.hpp

@@ -86,6 +86,11 @@ class AirSimRosFlightBoard : public rosflight::Board {
 
     virtual void pwmInit(bool useCPPM, bool usePwmFilter, bool fastPWM, uint32_t motorPwmRate, uint16_t idlePulseUsec) override 
     {
+        unused(useCPPM);
+        unused(usePwmFilter);
+        unused(fastPWM);
+        unused(motorPwmRate);
+        unused(idlePulseUsec);
         for (uint i = 0; i < OutputMotorCount; ++i)
             motors_pwm_[i] = 1000;
         for (uint i = 0; i < InputChannelCount; ++i)
@@ -109,11 +114,14 @@ class AirSimRosFlightBoard : public rosflight::Board {
     virtual void set_led(uint8_t index, bool is_on) override 
     {
         //ignored for now
+        unused(index);
+        unused(is_on);
     }
 
     virtual void toggle_led(uint8_t index) override 
     {
         //ignored for now
+        unused(index);
     }
 
     virtual void init_params() override 
@@ -128,11 +136,13 @@ class AirSimRosFlightBoard : public rosflight::Board {
 
     virtual bool write_params(bool blink_led) override 
     {
+        unused(blink_led);
         return false;
     }
 
     virtual void init_imu(uint16_t& acc1G, float& gyroScale, int boardVersion) override 
     {
+        unused(boardVersion);
         //same as mpu6050_init
         acc1G = kAccelAdcBits;
         gyroScale = kGyroScale;
@@ -173,6 +183,9 @@ class AirSimRosFlightBoard : public rosflight::Board {
 
     virtual void read_diff_pressure(float& differential_pressure, float& temp, float& velocity) override 
     {
+        unused(differential_pressure);
+        unused(temp);
+        unused(velocity);
         throw std::runtime_error("Diff pressure sensor is not available");
     }
 
@@ -202,6 +215,7 @@ class AirSimRosFlightBoard : public rosflight::Board {
 
     virtual void system_reset(bool toBootloader) override 
     {
+        unused(toBootloader);
         //no internal state to reset
     }
 

AirLib/include/controllers/rosflight/AirSimRosFlightCommLink.hpp

@@ -36,18 +36,24 @@ class AirSimRosFlightCommLink : public rosflight::CommLink {
 
     virtual void set_sys_id(int32_t sys_id)
     {
+        unused(sys_id);
     }
 
     virtual void set_streaming_rate(uint16_t param_id, int32_t rate)
     {
+        unused(param_id);
+        unused(rate);
     }
 
     virtual void notify_param_change(uint16_t param_id, int32_t value)
     {
+        unused(param_id);
+        unused(value);
     }
 
     virtual void log_message(const char* message, uint8_t error_level)
     {
+        unused(error_level);
         messages_.push_back(std::string(message));
     }
 

AirLib/include/vehicles/MultiRotor.hpp

@@ -167,6 +167,8 @@ class MultiRotor : public PhysicsBody {
 
     void updateSensors(MultiRotorParams& params, const Kinematics::State& state, const Environment& environment)
     {
+        unused(state);
+        unused(environment);
         params.getSensors().update();
     }
 

AirLib/include/vehicles/MultiRotorParams.hpp

@@ -94,6 +94,8 @@ class MultiRotorParams {
     //below method is needed to support firmwares without state estimation. In future, we should probably remove this support.
     virtual void initializePhysics(const Environment* environment, const Kinematics::State* kinematics)
     {
+        unused(environment);
+        unused(kinematics);
         //by default don't use it. If derived class needs this, it should override.
     }
 

AirLib/src/controllers/DroneControllerBase.cpp

@@ -30,6 +30,7 @@ float DroneControllerBase::getAutoLookahead(float velocity, float adaptive_looka
 
 float DroneControllerBase::getObsAvoidanceVelocity(float risk_dist, float max_obs_avoidance_vel)
 {
+    unused(risk_dist);
     return max_obs_avoidance_vel;
 }
 
@@ -605,6 +606,7 @@ void DroneControllerBase::adjustYaw(float x, float y, DrivetrainType drivetrain,
 
 void DroneControllerBase::moveToPathPosition(const Vector3r& dest, float velocity, DrivetrainType drivetrain, /* pass by value */ YawMode yaw_mode, float last_z)
 {
+    unused(last_z);
     //validate dest
     if (dest.hasNaN())
         throw std::invalid_argument(VectorMath::toString(dest,"dest vector cannot have NaN: "));

AirLib/src/controllers/MavLinkDroneController.cpp

@@ -44,6 +44,7 @@ class MavLinkLogViewerLog : public MavLinkLog
         proxy_ = proxy;
     }
     void write(const mavlinkcom::MavLinkMessage& msg, uint64_t timestamp = 0) override {
+        unused(timestamp);
         MavLinkMessage copy;
         ::memcpy(&copy, &msg, sizeof(MavLinkMessage));
         proxy_->sendMessage(copy);
@@ -146,13 +147,15 @@ struct MavLinkDroneController::impl {
             Utils::setValue(rotor_controls_, 0.0f);
             //TODO: main_node_->setMessageInterval(...);
             connection_->subscribe([=](std::shared_ptr<MavLinkConnection> connection, const MavLinkMessage& msg){
+                unused(connection);
                 processMavMessages(msg);
             });
 
             // listen to the other mavlink connection also
             auto mavcon = mav_vehicle_->getConnection();
             if (mavcon != connection_) {
                 mavcon->subscribe([=](std::shared_ptr<MavLinkConnection> connection, const MavLinkMessage& msg) {
+                    unused(connection);
                     processMavMessages(msg);
                 });
             }
@@ -217,6 +220,7 @@ struct MavLinkDroneController::impl {
             }
             else {
                 connection->subscribe([=](std::shared_ptr<MavLinkConnection> connection_val, const MavLinkMessage& msg){
+                    unused(connection_val);
                     processQgcMessages(msg);
                 });
             }
@@ -799,6 +803,8 @@ struct MavLinkDroneController::impl {
 
     bool armDisarm(bool arm, CancelableBase& cancelable_action)
     {
+        unused(arm);
+        unused(cancelable_action);
         bool rc = false;
         mav_vehicle_->armDisarm(arm).wait(10000, &rc);
         return rc;
@@ -838,6 +844,8 @@ struct MavLinkDroneController::impl {
 
     bool takeoff(float max_wait_seconds, CancelableBase& cancelable_action)
     {
+        unused(cancelable_action);
+
         bool rc = false;
         auto vec = getPosition();
         float z = vec.z() + getTakeoffZ();
@@ -871,6 +879,7 @@ struct MavLinkDroneController::impl {
 
     bool land(CancelableBase& cancelable_action)
     {
+        unused(cancelable_action);
         // bugbug: really need a downward pointing distance to ground sensor to do this properly, for now
         // we assume the ground is relatively flat an we are landing roughly at the home altitude.
         updateState();
@@ -905,6 +914,7 @@ struct MavLinkDroneController::impl {
 
     bool goHome(CancelableBase& cancelable_action)
     {
+        unused(cancelable_action);
         bool rc = false;
         if (!mav_vehicle_->returnToHome().wait(10000, &rc)) {
             throw VehicleMoveException("goHome - timeout waiting for response from drone");
@@ -948,11 +958,13 @@ struct MavLinkDroneController::impl {
 
     void setRCData(const RCData& rcData)
     {
+        unused(rcData);
         //TODO: use RC data to control MavLink drone
     }
 
     bool validateRCData(const RCData& rc_data)
     {
+        unused(rc_data);
         return true;
     }
 

DroneShell/include/SimpleShell.hpp

@@ -129,6 +129,7 @@ class SimpleShell {
     private:
         ShellCommand(){}
         ShellCommand(ShellCommand& other){
+            unused(other);
         }
     };
 
@@ -204,6 +205,7 @@ class SimpleShell {
 
         bool execute(const ShellCommandParameters& params) 
         {
+            unused(params);
             return false;
         }
     };
@@ -218,6 +220,7 @@ class SimpleShell {
 
         bool execute(const ShellCommandParameters& params) 
         {
+            unused(params);
             return true;
         }
     };