Clean build on Linux using GCC 6

AirLib/include/common/EarthUtils.hpp

@@ -54,8 +54,8 @@ class EarthUtils {
         }
 
         /* round down to nearest sampling resolution */
-        int min_lat = (int)(latitude / MAG_SAMPLING_RES) * MAG_SAMPLING_RES;
-        int min_lon = (int)(longitude / MAG_SAMPLING_RES) * MAG_SAMPLING_RES;
+        int min_lat = static_cast<int>(latitude / MAG_SAMPLING_RES) * MAG_SAMPLING_RES;
+        int min_lon = static_cast<int>(longitude / MAG_SAMPLING_RES) * MAG_SAMPLING_RES;
 
         /* for the rare case of hitting the bounds exactly
         * the rounding logic wouldn't fit, so enforce it.
@@ -67,15 +67,15 @@ class EarthUtils {
         }
 
         if (latitude >= MAG_SAMPLING_MAX_LAT) {
-            min_lat = (int)(latitude / MAG_SAMPLING_RES) * MAG_SAMPLING_RES - MAG_SAMPLING_RES;
+            min_lat =  static_cast<int>(latitude / MAG_SAMPLING_RES) * MAG_SAMPLING_RES - MAG_SAMPLING_RES;
         }
 
         if (longitude <= MAG_SAMPLING_MIN_LON) {
             min_lon = MAG_SAMPLING_MIN_LON;
         }
 
         if (longitude >= MAG_SAMPLING_MAX_LON) {
-            min_lon = (int)(longitude / MAG_SAMPLING_RES) * MAG_SAMPLING_RES - MAG_SAMPLING_RES;
+            min_lon =  static_cast<int>(longitude / MAG_SAMPLING_RES) * MAG_SAMPLING_RES - MAG_SAMPLING_RES;
         }
 
         /* find index of nearest low sampling point */

AirLib/include/common/common_utils/StrictMode.hpp

@@ -18,15 +18,16 @@
 #ifdef __GNUC__
 #define STRICT_MODE_OFF                                           \
     _Pragma("GCC diagnostic push")                                  \
-    _Pragma("GCC diagnostic ignored \"-Wreturn-type\"")             \
+    _Pragma("GCC diagnostic ignored \"-Wctor-dtor-privacy\"")        \
     _Pragma("GCC diagnostic ignored \"-Wdelete-non-virtual-dtor\"") \
-    _Pragma("GCC diagnostic ignored \"-Wunused-parameter\"")        \
-    _Pragma("GCC diagnostic ignored \"-pedantic\"")                 \    
-    _Pragma("GCC diagnostic ignored \"-Wshadow\"")                  \
+    _Pragma("GCC diagnostic ignored \"-Wmissing-field-initializers\"") \
     _Pragma("GCC diagnostic ignored \"-Wold-style-cast\"")          \
+    _Pragma("GCC diagnostic ignored \"-Wredundant-decls\"")         \
+    _Pragma("GCC diagnostic ignored \"-Wreturn-type\"")             \
+    _Pragma("GCC diagnostic ignored \"-Wshadow\"")                  \
     _Pragma("GCC diagnostic ignored \"-Wswitch-default\"")          \
-    _Pragma("GCC diagnostic ignored \"-Wmissing-field-initializers\"") \
-    _Pragma("GCC diagnostic ignored \"-Wredundant-decls\"")	
+    _Pragma("GCC diagnostic ignored \"-Wundef\"")                   \
+    _Pragma("GCC diagnostic ignored \"-Wunused-parameter\"")
 
 /* Addition options that can be enabled 
     _Pragma("GCC diagnostic ignored \"-Wpedantic\"")                \

AirLib/include/common/common_utils/Utils.hpp

@@ -24,6 +24,9 @@
 
 #include "type_utils.hpp"
 
+#ifndef _WIN32
+#include <limits.h> // needed for CHAR_BIT used below
+#endif
 
 //Stubs for C++17 optional type
 #if (defined __cplusplus) && (__cplusplus >= 201700L)
@@ -42,15 +45,15 @@ using std::experimental::optional;
 #include <cmath>
 
 #ifndef M_PIf
-#define M_PIf ((float)3.1415926535897932384626433832795028841972)
+#define M_PIf static_cast<float>(3.1415926535897932384626433832795028841972)
 #endif
 
 #ifndef M_PI
-#define M_PI ((double)3.1415926535897932384626433832795028841972)
+#define M_PI static_cast<double>(3.1415926535897932384626433832795028841972)
 #endif
 
 #ifndef M_PIl
-#define M_PIl ((long double)3.1415926535897932384626433832795028841972)
+#define M_PIl static_cast<long double>(3.1415926535897932384626433832795028841972)
 #endif
 
 #define EARTH_RADIUS (6378137.0f)

AirLib/include/control/Settings.h

@@ -1,6 +1,11 @@
 #pragma once
 #include <string>
+
+#include "common/common_utils/Utils.hpp"
+STRICT_MODE_OFF
+// this json library is not strict clean
 #include "common/common_utils/json.hpp"
+STRICT_MODE_ON
 
 namespace msr {
 	namespace airlib {

AirLib/src/control/RpcLibClient.cpp

@@ -129,7 +129,7 @@ bool RpcLibClient::hover()
 bool RpcLibClient::setSafety(SafetyEval::SafetyViolationType enable_reasons, float obs_clearance, SafetyEval::ObsAvoidanceStrategy obs_startegy,
     float obs_avoidance_vel, const Vector3r& origin, float xy_length, float max_z, float min_z)
 {
-    return pimpl_->client.call("setSafety", (uint) enable_reasons, obs_clearance, obs_startegy,
+    return pimpl_->client.call("setSafety", static_cast<uint>(enable_reasons), obs_clearance, obs_startegy,
         obs_avoidance_vel, RpcLibAdapators::Vector3r(origin), xy_length, max_z, min_z).as<bool>();
 }
 

DroneShell/src/main.cpp

@@ -21,7 +21,7 @@ namespace msr { namespace airlib {
 
 struct CommandContext {
 public:
-    RpcLibClient& client;
+    RpcLibClient client;
     AsyncTasker tasker;
 };
 
@@ -991,9 +991,7 @@ int main(int argc, const char *argv[]) {
         return -1;
     }
 
-    RpcLibClient client(server_address);
-
-    CommandContext command_context{ client };
+    CommandContext command_context{ /*RpcClient*/{server_address}, /*AsyncTasker*/ {} };
 
     command_context.tasker.setErrorHandler([](std::exception& e) {
         try {

MavLinkCom/MavLinkCom.vcxproj.filters

@@ -192,7 +192,9 @@
     <ClInclude Include="src\serial_com\UdpServer.hpp">
       <Filter>serial_com</Filter>
     </ClInclude>
-    <ClInclude Include="common_utils\StrictMode.hpp" />
+    <ClInclude Include="common_utils\StrictMode.hpp">
+      <Filter>common_utils</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <Filter Include="Mavlink">

MavLinkCom/common_utils/StrictMode.hpp

@@ -18,22 +18,23 @@
 #ifdef __GNUC__
 #define STRICT_MODE_OFF                                           \
     _Pragma("GCC diagnostic push")                                  \
-    _Pragma("GCC diagnostic ignored \"-Wreturn-type\"")             \
+    _Pragma("GCC diagnostic ignored \"-Wctor-dtor-privacy\"")        \
     _Pragma("GCC diagnostic ignored \"-Wdelete-non-virtual-dtor\"") \
-    _Pragma("GCC diagnostic ignored \"-Wunused-parameter\"")        \
-    _Pragma("GCC diagnostic ignored \"-pedantic\"")                 \    
-_Pragma("GCC diagnostic ignored \"-Wshadow\"")                  \
-_Pragma("GCC diagnostic ignored \"-Wold-style-cast\"")          \
-_Pragma("GCC diagnostic ignored \"-Wswitch-default\"")          \
-_Pragma("GCC diagnostic ignored \"-Wmissing-field-initializers\"") \
-_Pragma("GCC diagnostic ignored \"-Wredundant-decls\"")	
+    _Pragma("GCC diagnostic ignored \"-Wmissing-field-initializers\"") \
+    _Pragma("GCC diagnostic ignored \"-Wold-style-cast\"")          \
+    _Pragma("GCC diagnostic ignored \"-Wredundant-decls\"")         \
+    _Pragma("GCC diagnostic ignored \"-Wreturn-type\"")             \
+    _Pragma("GCC diagnostic ignored \"-Wshadow\"")                  \
+    _Pragma("GCC diagnostic ignored \"-Wswitch-default\"")          \
+    _Pragma("GCC diagnostic ignored \"-Wundef\"")                   \
+    _Pragma("GCC diagnostic ignored \"-Wunused-parameter\"")
 
 /* Addition options that can be enabled 
-_Pragma("GCC diagnostic ignored \"-Wpedantic\"")                \
-_Pragma("GCC diagnostic ignored \"-Wformat=\"")                 \
-_Pragma("GCC diagnostic ignored \"-Werror\"")                   \
-_Pragma("GCC diagnostic ignored \"-Werror=\"")                  \
-_Pragma("GCC diagnostic ignored \"-Wunused-variable\"")         \
+    _Pragma("GCC diagnostic ignored \"-Wpedantic\"")                \
+    _Pragma("GCC diagnostic ignored \"-Wformat=\"")                 \
+    _Pragma("GCC diagnostic ignored \"-Werror\"")                   \
+    _Pragma("GCC diagnostic ignored \"-Werror=\"")                  \
+    _Pragma("GCC diagnostic ignored \"-Wunused-variable\"")         \
 */
 
 #define STRICT_MODE_ON                                            \

MavLinkCom/common_utils/Utils.hpp

@@ -20,6 +20,9 @@
 #include "type_utils.hpp"
 #include <limits>
 
+#ifndef _WIN32
+#include <limits.h> // needed for CHAR_BIT used below
+#endif
 
 //Stubs for C++17 optional type
 #if (defined __cplusplus) && (__cplusplus >= 201700L)
@@ -38,15 +41,15 @@ using std::experimental::optional;
 #include <cmath>
 
 #ifndef M_PIf
-#define M_PIf ((float)3.1415926535897932384626433832795028841972)
+#define M_PIf static_cast<float>(3.1415926535897932384626433832795028841972)
 #endif
 
 #ifndef M_PI
-#define M_PI ((double)3.1415926535897932384626433832795028841972)
+#define M_PI static_cast<double>(3.1415926535897932384626433832795028841972)
 #endif
 
 #ifndef M_PIl
-#define M_PIl ((long double)3.1415926535897932384626433832795028841972)
+#define M_PIl static_cast<long double>(3.1415926535897932384626433832795028841972)
 #endif
 
 #define EARTH_RADIUS (6378137.0f)

MavLinkCom/src/MavLinkMessageBase.cpp

@@ -34,55 +34,81 @@ void MavLinkMessageBase::pack_int8_t(char* buffer, const int8_t* field, int offs
 }
 void MavLinkMessageBase::pack_int16_t(char* buffer, const int16_t* field, int offset) const
 {
+	STRICT_MODE_OFF
 	_mav_put_int16_t(buffer, offset, *field);
+	STRICT_MODE_ON
 }
 void MavLinkMessageBase::pack_uint16_t(char* buffer, const uint16_t* field, int offset) const
 {
+	STRICT_MODE_OFF
 	_mav_put_uint16_t(buffer, offset, *field);
+	STRICT_MODE_ON
 }
 void MavLinkMessageBase::pack_uint32_t(char* buffer, const uint32_t* field, int offset) const
 {
+	STRICT_MODE_OFF
 	_mav_put_uint32_t(buffer, offset, *field);
+	STRICT_MODE_ON
 }
 void MavLinkMessageBase::pack_int32_t(char* buffer, const int32_t* field, int offset) const
 {
+	STRICT_MODE_OFF
 	_mav_put_int32_t(buffer, offset, *field);
+	STRICT_MODE_ON
 }
 void MavLinkMessageBase::pack_uint64_t(char* buffer, const uint64_t* field, int offset) const
 {
+	STRICT_MODE_OFF
 	_mav_put_uint64_t(buffer, offset, *field);
+	STRICT_MODE_ON
 }
 void MavLinkMessageBase::pack_int64_t(char* buffer, const int64_t* field, int offset) const
 {
+	STRICT_MODE_OFF
 	_mav_put_int64_t(buffer, offset, *field);
+	STRICT_MODE_ON
 }
 void MavLinkMessageBase::pack_float(char* buffer, const float* field, int offset) const
 {
+	STRICT_MODE_OFF
 	_mav_put_float(buffer, offset, *field);
+	STRICT_MODE_ON
 }
 void MavLinkMessageBase::pack_char_array(int len, char* buffer, const char* field, int offset) const
 {
+	STRICT_MODE_OFF
 	_mav_put_char_array(buffer, offset, field, len);
+	STRICT_MODE_ON
 }
 void MavLinkMessageBase::pack_uint8_t_array(int len, char* buffer, const uint8_t* field, int offset) const
 {
+	STRICT_MODE_OFF
 	_mav_put_uint8_t_array(buffer, offset, field, len);
+	STRICT_MODE_ON
 }
 void MavLinkMessageBase::pack_int8_t_array(int len, char* buffer, const int8_t* field, int offset) const
 {
+	STRICT_MODE_OFF
 	_mav_put_int8_t_array(buffer, offset, field, len);
+	STRICT_MODE_ON
 }
 void MavLinkMessageBase::pack_uint16_t_array(int len, char* buffer, const uint16_t* field, int offset) const
 {
+	STRICT_MODE_OFF
 	_mav_put_uint16_t_array(buffer, offset, field, len);
+	STRICT_MODE_ON
 }
 void MavLinkMessageBase::pack_int16_t_array(int len, char* buffer, const int16_t* field, int offset) const
 {
+	STRICT_MODE_OFF
 	_mav_put_int16_t_array(buffer, offset, field, len);
+	STRICT_MODE_ON
 }
 void MavLinkMessageBase::pack_float_array(int len, char* buffer, const float* field, int offset) const
 {
+	STRICT_MODE_OFF
 	_mav_put_float_array(buffer, offset, field, len);
+	STRICT_MODE_ON
 }
 
 

MavLinkCom/src/impl/MavLinkConnectionImpl.cpp

@@ -187,8 +187,12 @@ void MavLinkConnectionImpl::sendMessage(const MavLinkMessageBase& msg)
 #if MAVLINK_CRC_EXTRA
 	crc_accumulate(crc_extra, &m.checksum);
 #endif
+
+	// these macros use old style cast.
+	STRICT_MODE_OFF
 	mavlink_ck_a(&m) = (uint8_t)(m.checksum & 0xFF);
 	mavlink_ck_b(&m) = (uint8_t)(m.checksum >> 8);
+	STRICT_MODE_ON
 
 	// send the message, now that it is ready
 	sendMessage(reinterpret_cast<const MavLinkMessage&>(m));

MavLinkCom/src/impl/MavLinkFtpClientImpl.cpp

@@ -207,7 +207,7 @@ void MavLinkFtpClientImpl::runStateMachine()
 			std::lock_guard<std::mutex> guard(mutex_);
 			after = messages_;
 			if (messages_ > 0) {
-				rate = (double)total_time_.count() / (double)messages_;
+				rate = static_cast<double>(total_time_.count()) / static_cast<double>(messages_);
 				if (progress_ != nullptr)
 				{
 					progress_->average_rate = rate;

MavLinkCom/src/impl/MavLinkVideoStreamImpl.cpp

@@ -86,6 +86,8 @@ void MavLinkVideoClientImpl::handleMessage(std::shared_ptr<MavLinkConnection> co
 		}
 		break;
 	}
+	default:
+		break;
 	}
 }
 
@@ -141,6 +143,8 @@ void MavLinkVideoServerImpl::handleMessage(std::shared_ptr<MavLinkConnection> co
 			break;
 		}
 	}
+	default:
+		break;
 	}
 }