Merge branch 'feat/mavsdk_fix'

lagadic · Sep 19, 2023 · 07fcfb2 · 07fcfb2
2 parents 4480a32 + 968259e
commit 07fcfb2
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diff --git a/.drone.yml b/.drone.yml
@@ -0,0 +1,210 @@
+---
+kind: pipeline
+name: arm64_clang_cmake_opencv
+
+platform:
+  os: linux
+  arch: arm64
+
+steps:
+- name: Build and Test
+  image: ubuntu:18.04
+  environment:
+    CC: clang
+    CMAKE_FLAGS: '-DBUILD_DEMOS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_JAVA=OFF -DBUILD_MODULE_visp_java_bindings_generator=OFF -DBUILD_TUTORIALS=OFF'
+  commands:
+    - lscpu
+    - cat /proc/cpuinfo
+    - uname -m
+    - uname -r
+    - echo "CMAKE_FLAGS:= $CMAKE_FLAGS"
+    - export DEBIAN_FRONTEND=noninteractive
+    - apt-get update -y
+    # To overcome link error "cannot find -lgfortran", gfortran package needs to be installed
+    - apt-get install -y make $CC cmake git-core libopencv-dev libx11-dev libv4l-dev liblapack-dev libeigen3-dev gfortran
+    - $CC --version
+    - gfortran --version
+    - cd ..
+    - git clone --depth 1 https://github.com/lagadic/visp-images
+    - export VISP_INPUT_IMAGE_PATH=$(pwd)/visp-images
+    # build OpenBLAS from source, version in Bionic is 0.2.20+ds-4 (24 Jul 2017)
+    - git clone --depth 1 https://github.com/xianyi/OpenBLAS.git
+    - cd OpenBLAS
+    - mkdir install
+    - make -j$(nproc)
+    - make -j$(nproc) install PREFIX=$(pwd)/install
+    - export OpenBLAS_HOME=$(pwd)/install
+    - cd ../src
+    - mkdir build && cd build
+    - export CC=/usr/bin/clang
+    - export CXX=/usr/bin/clang++
+    - cmake $CMAKE_FLAGS ..
+    - make -j$(nproc)
+    - ctest -j$(nproc) --output-on-failure
+
+---
+kind: pipeline
+name: arm64_gcc_cmake_opencv
+
+platform:
+  os: linux
+  arch: arm64
+
+steps:
+- name: Build and Test
+  image: ubuntu:18.04
+  environment:
+    CC: gcc
+    CMAKE_FLAGS: '-DBUILD_DEMOS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_JAVA=OFF -DBUILD_MODULE_visp_java_bindings_generator=OFF -DBUILD_TUTORIALS=OFF -DDART_TESTING_TIMEOUT=2500'
+  commands:
+    - lscpu
+    - cat /proc/cpuinfo
+    - uname -m
+    - uname -r
+    - echo "CMAKE_FLAGS:= $CMAKE_FLAGS"
+    - export DEBIAN_FRONTEND=noninteractive
+    - apt-get update -y
+    # To overcome link error "cannot find -lgfortran", gfortran package needs to be installed
+    - apt-get install -y make $CC g++ cmake git-core libopencv-dev libx11-dev libv4l-dev liblapack-dev libeigen3-dev gfortran
+    - $CC --version
+    - gfortran --version
+    - cd ..
+    - git clone --depth 1 https://github.com/lagadic/visp-images
+    - export VISP_INPUT_IMAGE_PATH=$(pwd)/visp-images
+    # build OpenBLAS from source, version in Bionic is 0.2.20+ds-4 (24 Jul 2017)
+    - git clone --depth 1 https://github.com/xianyi/OpenBLAS.git
+    - cd OpenBLAS
+    - mkdir install
+    - make -j$(nproc)
+    - make -j$(nproc) install PREFIX=$(pwd)/install
+    - export OpenBLAS_HOME=$(pwd)/install
+    - cd ../src
+    - mkdir build && cd build
+    - cmake $CMAKE_FLAGS ..
+    - make -j$(nproc)
+    - ctest -j$(nproc) --output-on-failure
+
+---
+kind: pipeline
+name: arm64_gcc_cmake
+
+platform:
+  os: linux
+  arch: arm64
+
+steps:
+- name: Build and Test without OpenCV
+  image: ubuntu:18.04
+  environment:
+    CC: gcc
+    CMAKE_FLAGS: '-DBUILD_DEMOS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_JAVA=OFF -DBUILD_MODULE_visp_java_bindings_generator=OFF -DBUILD_TUTORIALS=OFF -DDART_TESTING_TIMEOUT=2500'
+  commands:
+    - lscpu
+    - cat /proc/cpuinfo
+    - uname -m
+    - uname -r
+    - echo "CMAKE_FLAGS:= $CMAKE_FLAGS"
+    - export DEBIAN_FRONTEND=noninteractive
+    - apt-get update -y
+    # To overcome link error "cannot find -lgfortran", gfortran package needs to be installed
+    - apt-get install -y make $CC g++ cmake git-core libx11-dev libv4l-dev liblapack-dev libeigen3-dev gfortran
+    - $CC --version
+    - gfortran --version
+    - cd ..
+    - git clone --depth 1 https://github.com/lagadic/visp-images
+    - export VISP_INPUT_IMAGE_PATH=$(pwd)/visp-images
+    # build OpenBLAS from source, version in Bionic is 0.2.20+ds-4 (24 Jul 2017)
+    - git clone --depth 1 https://github.com/xianyi/OpenBLAS.git
+    - cd OpenBLAS
+    - mkdir install
+    - make -j$(nproc)
+    - make -j$(nproc) install PREFIX=$(pwd)/install
+    - export OpenBLAS_HOME=$(pwd)/install
+    - cd ../src
+    - mkdir build && cd build
+    - cmake $CMAKE_FLAGS ..
+    - make -j$(nproc)
+    - ctest -j$(nproc) --output-on-failure
+
+# ---
+# kind: pipeline
+# name: arm32_gcc_cmake_opencv
+
+# platform:
+#   os: linux
+#   arch: arm
+
+# steps:
+# - name: Build and Test (32 bits)
+#   image: ubuntu:18.04
+#   environment:
+#     CC: gcc
+#     CMAKE_FLAGS: '-DBUILD_DEMOS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_JAVA=OFF -DBUILD_MODULE_visp_java_bindings_generator=OFF -DBUILD_TUTORIALS=OFF'
+#   commands:
+#     - lscpu
+#     - cat /proc/cpuinfo
+#     - uname -m
+#     - uname -r
+#     - echo "CMAKE_FLAGS:= $CMAKE_FLAGS"
+#     - export DEBIAN_FRONTEND=noninteractive
+#     - apt-get update -y
+#     # To overcome link error "cannot find -lgfortran", gfortran package needs to be installed
+#     - apt-get install -y make $CC g++ cmake git-core libopencv-dev libx11-dev libv4l-dev liblapack-dev libeigen3-dev gfortran
+#     - $CC --version
+#     - gfortran --version
+#     - cd ..
+#     - git clone --depth 1 https://github.com/lagadic/visp-images
+#     - export VISP_INPUT_IMAGE_PATH=$(pwd)/visp-images
+#     # build OpenBLAS from source, version in Bionic is 0.2.20+ds-4 (24 Jul 2017)
+#     - git clone --depth 1 https://github.com/xianyi/OpenBLAS.git
+#     - cd OpenBLAS
+#     - mkdir install
+#     - make -j$(nproc)
+#     - make -j$(nproc) install PREFIX=$(pwd)/install
+#     - export OpenBLAS_HOME=$(pwd)/install
+#     - cd ../src
+#     - mkdir build && cd build
+#     - cmake $CMAKE_FLAGS ..
+#     - make -j$(nproc)
+#     - ctest -j$(nproc) --output-on-failure
+
+# ---
+# kind: pipeline
+# name: arm32_gcc_cmake
+
+# platform:
+#   os: linux
+#   arch: arm
+
+# steps:
+# - name: Build and Test without OpenCV (32 bits)
+#   image: ubuntu:18.04
+#   environment:
+#     CC: gcc
+#     CMAKE_FLAGS: '-DBUILD_DEMOS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_JAVA=OFF -DBUILD_MODULE_visp_java_bindings_generator=OFF -DBUILD_TUTORIALS=OFF'
+#   commands:
+#     - lscpu
+#     - cat /proc/cpuinfo
+#     - uname -m
+#     - uname -r
+#     - echo "CMAKE_FLAGS:= $CMAKE_FLAGS"
+#     - export DEBIAN_FRONTEND=noninteractive
+#     - apt-get update -y
+#     # Here we don't have the link error "cannot find -lgfortran"
+#     - apt-get install -y make $CC g++ cmake git-core libx11-dev libv4l-dev liblapack-dev libeigen3-dev
+#     - $CC --version
+#     - cd ..
+#     - git clone --depth 1 https://github.com/lagadic/visp-images
+#     - export VISP_INPUT_IMAGE_PATH=$(pwd)/visp-images
+#     # build OpenBLAS from source, version in Bionic is 0.2.20+ds-4 (24 Jul 2017)
+#     - git clone --depth 1 https://github.com/xianyi/OpenBLAS.git
+#     - cd OpenBLAS
+#     - mkdir install
+#     - make -j$(nproc)
+#     - make -j$(nproc) install PREFIX=$(pwd)/install
+#     - export OpenBLAS_HOME=$(pwd)/install
+#     - cd ../src
+#     - mkdir build && cd build
+#     - cmake $CMAKE_FLAGS ..
+#     - make -j$(nproc)
+#     - ctest -j$(nproc) --output-on-failure
diff --git a/modules/robot/include/visp3/robot/vpRobotMavsdk.h b/modules/robot/include/visp3/robot/vpRobotMavsdk.h
@@ -105,7 +105,7 @@ class VISP_EXPORT vpRobotMavsdk
   void getPosition(vpHomogeneousMatrix &ned_M_frd) const;
   std::tuple<float, float> getHome() const;
   std::string getAddress() const;
-   bool isRunning() const;
+  bool isRunning() const;
   //@}
 
   //! \name Robot commands
@@ -124,9 +124,11 @@ class VISP_EXPORT vpRobotMavsdk
   bool setLateralSpeed(double body_frd_vy);
   bool setGPSGlobalOrigin(double latitude, double longitude, double altitude);
   void setPositioningIncertitude(float position_incertitude, float yaw_incertitude);
-  bool setPosition(float ned_north, float ned_east, float ned_down, float ned_yaw, bool blocking = true, int timeout_sec = 10);
+  bool setPosition(float ned_north, float ned_east, float ned_down, float ned_yaw, bool blocking = true,
+                   int timeout_sec = 10);
   bool setPosition(const vpHomogeneousMatrix &ned_M_frd, bool blocking = true, int timeout_sec = 10);
-  bool setPositionRelative(float ned_delta_north, float ned_delta_east, float ned_delta_down, float ned_delta_yaw, bool blocking = true, int timeout_sec = 10);
+  bool setPositionRelative(float ned_delta_north, float ned_delta_east, float ned_delta_down, float ned_delta_yaw,
+                           bool blocking = true, int timeout_sec = 10);
   bool setPositionRelative(const vpHomogeneousMatrix &delta_frd_M_frd, bool blocking = true, int timeout_sec = 10);
   bool setVelocity(const vpColVector &frd_vel_cmd);
   bool setVerticalSpeed(double body_frd_vz);
@@ -135,8 +137,8 @@ class VISP_EXPORT vpRobotMavsdk
   void setVerbose(bool verbose);
   bool stopMoving();
   bool takeControl();
-  bool takeOff(bool interactive = true, int timeout_sec = 10);
-  bool takeOff(bool interactive, double takeoff_altitude, int timeout_sec = 10);
+  bool takeOff(bool interactive = true, int timeout_sec = 10, bool use_gps = false);
+  bool takeOff(bool interactive, double takeoff_altitude, int timeout_sec = 10, bool use_gps = false);
   //@}
 
 private: