Add beginning of a unit test and fix linux compile errors.

delort · Apr 7, 2017 · b489084 · b489084
1 parent 065bbe9
commit b489084
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Showing 18 changed files with 152 additions and 99 deletions.
diff --git a/AirLib/include/controllers/rosflight/AirSimRosFlightBoard.hpp b/AirLib/include/controllers/rosflight/AirSimRosFlightBoard.hpp
@@ -62,7 +62,7 @@ class AirSimRosFlightBoard : public rosflight::Board {
 
     virtual uint32_t millis() override 
     {
-        return static_cast<uint64_t>(Utils::getTimeSinceEpoch() * 1E3);
+        return static_cast<uint32_t>(Utils::getTimeSinceEpoch() * 1E3);
     }
 
     virtual void init_sensors(uint16_t& acc1G, float& gyro_scale, int boardVersion, const std::function<void(void)>& imu_updated_callback) override 
@@ -196,7 +196,7 @@ class AirSimRosFlightBoard : public rosflight::Board {
 
     virtual void delay_millis(uint32_t ms) override 
     {
-        sleep(ms);
+        sleep(static_cast<float>(ms));
     }
 
     virtual void system_reset(bool toBootloader) override 

diff --git a/AirLib/include/controllers/rosflight/RosFlightDroneController.hpp b/AirLib/include/controllers/rosflight/RosFlightDroneController.hpp
@@ -133,7 +133,7 @@ class RosFlightDroneController : public DroneControllerBase {
         return RCData();
     }
 
-    void setRCData(const RCData& rcData)
+    void setRCData(const RCData& rcData) override
     {
         if (rcData.is_connected) {
             board_->setInputChannel(0, angleToPwm(rcData.roll)); //X

diff --git a/AirLib/include/controllers/rosflight/firmware/estimator.hpp b/AirLib/include/controllers/rosflight/firmware/estimator.hpp
@@ -53,7 +53,7 @@ class Estimator {
     vector_t wbar;
     vector_t wfinal;
     vector_t w_acc;
-    constexpr static vector_t g = {0.0f, 0.0f, -1.0f};
+    const vector_t g = {0.0f, 0.0f, -1.0f}; // 'static constexpr' here results in link error.
     vector_t b;
     quaternion_t q_tilde;
     quaternion_t q_hat;

diff --git a/AirLib/include/controllers/rosflight/firmware/mixer.hpp b/AirLib/include/controllers/rosflight/firmware/mixer.hpp
@@ -68,7 +68,7 @@ class Mixer {
     Params* params;
     Board* board;
 
-    constexpr static mixer_t quadcopter_plus_mixing =
+	const mixer_t quadcopter_plus_mixing =
     {
         {M, M, M, M, NONE, NONE, NONE, NONE}, // output_type
 
@@ -79,7 +79,7 @@ class Mixer {
     };
 
 
-    constexpr static mixer_t quadcopter_x_mixing =
+	const mixer_t quadcopter_x_mixing =
     {
         {M, M, M, M, NONE, NONE, NONE, NONE}, // output_type
 
@@ -89,7 +89,7 @@ class Mixer {
         {-1.0f, 1.0f, 1.0f,-1.0f,  0.0f, 0.0f, 0.0f, 0.0f}  // Z Mix
     };
 
-    constexpr static mixer_t quadcopter_h_mixing =
+	const mixer_t quadcopter_h_mixing =
     {
         {M, M, M, M, NONE, NONE, NONE, NONE}, // output_type
 
@@ -99,7 +99,7 @@ class Mixer {
         {-1.0f, 1.0f, 1.0f,-1.0f,  0.0f, 0.0f, 0.0f, 0.0f}  // Z Mix
     };
 
-    constexpr static mixer_t fixedwing_mixing =
+	const mixer_t fixedwing_mixing =
     {
         {S, S, M, S, NONE, NONE, NONE, NONE},
 
@@ -109,7 +109,7 @@ class Mixer {
         { 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f}  // Z Mix
     };
 
-    constexpr static mixer_t tricopter_mixing =
+	const mixer_t tricopter_mixing =
     {
         {M, M, M, S, NONE, NONE, NONE, NONE},
 
@@ -119,7 +119,7 @@ class Mixer {
         { 0.0f,     0.0f,   0.0f,   1.0f, 0.0f, 0.0f, 0.0f, 0.0f}  // Z Mix
     };
 
-    constexpr static mixer_t Y6_mixing =
+	const mixer_t Y6_mixing =
     {
         {M, M, M, M, M, M, NONE, NONE},
         { 1.0f,   1.0f,    1.0f,    1.0f,    1.0f,    1.0f,   0.0f, 0.0f}, // F Mix
@@ -128,7 +128,7 @@ class Mixer {
         {-1.0f,   1.0f,    1.0f,    1.0f,   -1.0f,   -1.0f,   0.0f, 0.0f}  // Z Mix
     };
 
-    constexpr static mixer_t const *array_of_mixers[NUM_MIXERS] =
+	const mixer_t *array_of_mixers[NUM_MIXERS] =
     {
         &quadcopter_plus_mixing,
         &quadcopter_x_mixing,

diff --git a/AirLib/include/vehicles/configs/BlacksheepQuadX.hpp b/AirLib/include/vehicles/configs/BlacksheepQuadX.hpp
@@ -41,19 +41,19 @@ namespace msr {
 
                 // relative to Forward vector in the order (0,3,1,2) required by quad X pattern
                 // http://ardupilot.org/copter/_images/MOTORS_QuadX_QuadPlus.jpg
-                arm_lengths.push_back(0.22);
-                arm_lengths.push_back(0.255);
-                arm_lengths.push_back(0.22);
-                arm_lengths.push_back(0.255);
+                arm_lengths.push_back(0.22f);
+                arm_lengths.push_back(0.255f);
+                arm_lengths.push_back(0.22f);
+                arm_lengths.push_back(0.255f);
 
                 // note: the Forward vector is actually the "x" axis, and the AngleAxisr rotation is pointing down and is left handed, so this means the rotation
                 // is counter clockwise, so the vector (arm_lengths[i], 0) is the X-axis, so the CCW rotations to position each arm correctly are listed below:
                 // See measurements here: http://diydrones.com/profiles/blogs/arducopter-tbs-discovery-style (angles reversed because we are doing CCW rotation)
                 std::vector<real_T> arm_angles;
-                arm_angles.push_back(-55);
-                arm_angles.push_back(125);
-                arm_angles.push_back(55);
-                arm_angles.push_back(-125);
+                arm_angles.push_back(-55.0f);
+                arm_angles.push_back(125.0f);
+                arm_angles.push_back(55.0f);
+                arm_angles.push_back(-125.0f);
 
                 // quad X pattern 
                 std::vector<RotorTurningDirection> rotor_directions;
@@ -71,8 +71,8 @@ namespace msr {
 
                 // the props we are using a E-Prop, which I didn't find in UIUC database, but this one is close:
                 // http://m-selig.ae.illinois.edu/props/volume-2/plots/ef_130x70_static_ctcp.png
-                params.rotor_params.C_T = 0.11;
-                params.rotor_params.C_P = 0.047;
+                params.rotor_params.C_T = 0.11f;
+                params.rotor_params.C_P = 0.047f;
                 params.rotor_params.max_rpm = 9500;
                 params.rotor_params.calculateMaxThrust();
 				params.rotor_params.throttle_boost = 0;

diff --git a/AirLib/include/vehicles/configs/FlamewheelQuadX.hpp b/AirLib/include/vehicles/configs/FlamewheelQuadX.hpp
@@ -24,7 +24,7 @@ class FlamewheelQuadX : public MultiRotorParams {
         //set up arm lengths
         //dimensions are for F450 frame: http://artofcircuits.com/product/quadcopter-frame-hj450-with-power-distribution
         params.rotor_count = 4;
-        std::vector<real_T> arm_lengths(params.rotor_count, 0.225);
+        std::vector<real_T> arm_lengths(params.rotor_count, 0.225f);
         std::vector<real_T> arm_angles(params.rotor_count, 45);
 
         //set up mass

diff --git a/AirLib/include/vehicles/configs/RosFlightQuadX.hpp b/AirLib/include/vehicles/configs/RosFlightQuadX.hpp
@@ -44,7 +44,7 @@ class RosFlightQuadX : public MultiRotorParams {
         //setup rotor poses
         params.rotor_poses.clear();
         params.rotor_poses.emplace_back(Vector3r(0.230f, 0.1926f,  -0.0762f), Vector3r(0.0223925f, -0.02674078f,  -0.99939157f), RotorTurningDirection::RotorTurningDirectionCCW);
-        params.rotor_poses.emplace_back(Vector3r(-0.205, -0.1907f, -0.0762f), Vector3r(-0.02375588f, 0.02553726f, -0.99939157f), RotorTurningDirection::RotorTurningDirectionCCW);
+        params.rotor_poses.emplace_back(Vector3r(-0.205f, -0.1907f, -0.0762f), Vector3r(-0.02375588f, 0.02553726f, -0.99939157f), RotorTurningDirection::RotorTurningDirectionCCW);
         params.rotor_poses.emplace_back(Vector3r(0.205f, -0.1907f, -0.0762f), Vector3r(0.02375588f, 0.02553726f, -0.99939157f), RotorTurningDirection::RotorTurningDirectionCW);
         params.rotor_poses.emplace_back(Vector3r(-0.230f, 0.1926f, -0.0762f), Vector3r(-0.0223925f,  -0.02674078f, -0.99939157f), RotorTurningDirection::RotorTurningDirectionCW);
 

diff --git a/AirLibUnitTests/AirLibUnitTests.cpp b/AirLibUnitTests/AirLibUnitTests.cpp
@@ -1,12 +1,16 @@
 // AirLibUnitTests.cpp : Defines the entry point for the console application.
 //
 
-#include "stdafx.h"
 #include <cassert>
+#include "TestVehicles.hpp"
 
 int main()
 {
-	assert(1 + 1 > 1);
+	Settings& settings = Settings::loadJSonFile("settings.json");
+
+	TestVehicles test1;
+	test1.Run();
+
     return 0;
 }
 
diff --git a/AirLibUnitTests/AirLibUnitTests.vcxproj b/AirLibUnitTests/AirLibUnitTests.vcxproj
@@ -83,11 +83,12 @@
   </PropertyGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
     <ClCompile>
-      <PrecompiledHeader>Use</PrecompiledHeader>
+      <PrecompiledHeader>NotUsing</PrecompiledHeader>
       <WarningLevel>Level3</WarningLevel>
       <Optimization>Disabled</Optimization>
       <PreprocessorDefinitions>WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <SDLCheck>true</SDLCheck>
+      <AdditionalIncludeDirectories>../AirLib/Include;$(EIGEN_ROOT)\Eigen3;</AdditionalIncludeDirectories>
     </ClCompile>
     <Link>
       <SubSystem>Console</SubSystem>
@@ -96,11 +97,12 @@
   </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <ClCompile>
-      <PrecompiledHeader>Use</PrecompiledHeader>
+      <PrecompiledHeader>NotUsing</PrecompiledHeader>
       <WarningLevel>Level3</WarningLevel>
       <Optimization>Disabled</Optimization>
       <PreprocessorDefinitions>_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <SDLCheck>true</SDLCheck>
+      <AdditionalIncludeDirectories>../AirLib/Include;$(EIGEN_ROOT)\Eigen3;</AdditionalIncludeDirectories>
     </ClCompile>
     <Link>
       <SubSystem>Console</SubSystem>
@@ -110,12 +112,13 @@
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
     <ClCompile>
       <WarningLevel>Level3</WarningLevel>
-      <PrecompiledHeader>Use</PrecompiledHeader>
+      <PrecompiledHeader>NotUsing</PrecompiledHeader>
       <Optimization>MaxSpeed</Optimization>
       <FunctionLevelLinking>true</FunctionLevelLinking>
       <IntrinsicFunctions>true</IntrinsicFunctions>
       <PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <SDLCheck>true</SDLCheck>
+      <AdditionalIncludeDirectories>../AirLib/Include;$(EIGEN_ROOT)\Eigen3;</AdditionalIncludeDirectories>
     </ClCompile>
     <Link>
       <SubSystem>Console</SubSystem>
@@ -127,12 +130,13 @@
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <ClCompile>
       <WarningLevel>Level3</WarningLevel>
-      <PrecompiledHeader>Use</PrecompiledHeader>
+      <PrecompiledHeader>NotUsing</PrecompiledHeader>
       <Optimization>MaxSpeed</Optimization>
       <FunctionLevelLinking>true</FunctionLevelLinking>
       <IntrinsicFunctions>true</IntrinsicFunctions>
       <PreprocessorDefinitions>NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <SDLCheck>true</SDLCheck>
+      <AdditionalIncludeDirectories>../AirLib/Include;$(EIGEN_ROOT)\Eigen3;</AdditionalIncludeDirectories>
     </ClCompile>
     <Link>
       <SubSystem>Console</SubSystem>
@@ -145,17 +149,18 @@
     <Text Include="ReadMe.txt" />
   </ItemGroup>
   <ItemGroup>
-    <ClInclude Include="stdafx.h" />
-    <ClInclude Include="targetver.h" />
+    <ClCompile Include="AirLibUnitTests.cpp" />
   </ItemGroup>
   <ItemGroup>
-    <ClCompile Include="AirLibUnitTests.cpp" />
-    <ClCompile Include="stdafx.cpp">
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">Create</PrecompiledHeader>
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">Create</PrecompiledHeader>
-      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
-    </ClCompile>
+    <ProjectReference Include="..\AirLib\AirLib.vcxproj">
+      <Project>{4bfb7231-077a-4671-bd21-d3ade3ea36e7}</Project>
+    </ProjectReference>
+    <ProjectReference Include="..\MavLinkCom\MavLinkCom.vcxproj">
+      <Project>{8510c7a4-bf63-41d2-94f6-d8731d137a5a}</Project>
+    </ProjectReference>
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="TestVehicles.hpp" />
   </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Label="ExtensionTargets">

diff --git a/AirLibUnitTests/AirLibUnitTests.vcxproj.filters b/AirLibUnitTests/AirLibUnitTests.vcxproj.filters
@@ -18,19 +18,13 @@
     <Text Include="ReadMe.txt" />
   </ItemGroup>
   <ItemGroup>
-    <ClInclude Include="stdafx.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="targetver.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-  </ItemGroup>
-  <ItemGroup>
-    <ClCompile Include="stdafx.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="AirLibUnitTests.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
   </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="TestVehicles.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+  </ItemGroup>
 </Project>
diff --git a/AirLibUnitTests/TestVehicles.hpp b/AirLibUnitTests/TestVehicles.hpp
@@ -0,0 +1,37 @@
+
+#ifndef msr_AirLibUnitTests_TestVehicles_hpp
+#define msr_AirLibUnitTests_TestVehicles_hpp
+
+#include <chrono>
+#include <cassert>
+#include "vehicles/configs/PX4ConfigCreator.hpp"
+#include "vehicles/configs/RosFlightQuadX.hpp"
+
+using namespace msr::airlib;
+
+class TestVehicles
+{
+public:
+	void Run() {
+
+		// try the RosFlightQuadX.
+		RosFlightQuadX rosFlight;
+		rosFlight.initialize();
+
+		// Test PX4 based drones
+		std::unique_ptr<MultiRotorParams> params = PX4ConfigCreator::createConfig("Pixhawk");	
+		params->initialize();
+
+		DroneControllerBase* controller = params->getController();
+		assert(controller != nullptr);
+
+		controller->start();
+		std::this_thread::sleep_for(std::chrono::milliseconds(10));
+		controller->stop();
+
+
+		return;
+	}
+};
+
+#endif
diff --git a/AirLibUnitTests/stdafx.cpp b/AirLibUnitTests/stdafx.cpp
diff --git a/AirLibUnitTests/stdafx.h b/AirLibUnitTests/stdafx.h
diff --git a/AirLibUnitTests/targetver.h b/AirLibUnitTests/targetver.h
diff --git a/DroneShell/DroneShell.vcxproj b/DroneShell/DroneShell.vcxproj
@@ -96,7 +96,7 @@
       <WarningLevel>Level3</WarningLevel>
       <Optimization>Disabled</Optimization>
       <PreprocessorDefinitions>WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <AdditionalIncludeDirectories>$(ProjectDir)..\AirLib\deps\rpclib\include;include;$(EIGEN_ROOT)\Eigen3;$(BOOST_ROOT);$(ProjectDir)..\AirLib\include</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>$(ProjectDir)..\AirLib\deps\rpclib\include;include;$(EIGEN_ROOT)\Eigen3;$(ProjectDir)..\AirLib\include</AdditionalIncludeDirectories>
       <TreatWarningAsError>true</TreatWarningAsError>
       <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
     </ClCompile>
@@ -114,7 +114,7 @@
       <WarningLevel>Level4</WarningLevel>
       <Optimization>Disabled</Optimization>
       <PreprocessorDefinitions>_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <AdditionalIncludeDirectories>$(ProjectDir)..\AirLib\deps\rpclib\include;include;$(EIGEN_ROOT)\Eigen3;$(BOOST_ROOT);$(ProjectDir)..\AirLib\include</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>$(ProjectDir)..\AirLib\deps\rpclib\include;include;$(EIGEN_ROOT)\Eigen3;$(ProjectDir)..\AirLib\include</AdditionalIncludeDirectories>
       <TreatWarningAsError>true</TreatWarningAsError>
       <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
       <DisableSpecificWarnings>4100;4505;4820;4464;4514;4710;4571;%(DisableSpecificWarnings)</DisableSpecificWarnings>
@@ -135,7 +135,7 @@
       <FunctionLevelLinking>true</FunctionLevelLinking>
       <IntrinsicFunctions>true</IntrinsicFunctions>
       <PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <AdditionalIncludeDirectories>$(ProjectDir)..\AirLib\deps\rpclib\include;include;$(EIGEN_ROOT)\Eigen3;$(BOOST_ROOT);$(ProjectDir)..\AirLib\include</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>$(ProjectDir)..\AirLib\deps\rpclib\include;include;$(EIGEN_ROOT)\Eigen3;$(ProjectDir)..\AirLib\include</AdditionalIncludeDirectories>
       <TreatWarningAsError>true</TreatWarningAsError>
       <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
     </ClCompile>
@@ -157,7 +157,7 @@
       <FunctionLevelLinking>true</FunctionLevelLinking>
       <IntrinsicFunctions>true</IntrinsicFunctions>
       <PreprocessorDefinitions>NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <AdditionalIncludeDirectories>$(ProjectDir)..\AirLib\deps\rpclib\include;include;$(EIGEN_ROOT)\Eigen3;$(BOOST_ROOT);$(ProjectDir)..\AirLib\include</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>$(ProjectDir)..\AirLib\deps\rpclib\include;include;$(EIGEN_ROOT)\Eigen3;$(ProjectDir)..\AirLib\include</AdditionalIncludeDirectories>
       <TreatWarningAsError>true</TreatWarningAsError>
       <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
     </ClCompile>