update mavlink

nervosys · Mar 22, 2024 · 399a1b2 · 399a1b2
1 parent 21d8f98
commit 399a1b2
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Showing 52 changed files with 199 additions and 194 deletions.
diff --git a/AutonomyLib/include/vehicles/car/firmwares/ardurover/ArduRoverApi.hpp b/AutonomyLib/include/vehicles/car/firmwares/ardurover/ArduRoverApi.hpp
@@ -116,7 +116,7 @@ class ArduRoverApi : public CarApiBase {
                                   connection_info_.local_host_ip.c_str(), ip_.c_str()),
                    Utils::kLogLevelInfo);
 
-        udp_socket_ = std::make_unique<mavlinkcom::UdpSocket>();
+        udp_socket_ = std::make_unique<mavlink_comm::UdpSocket>();
         udp_socket_->bind(connection_info_.local_host_ip, connection_info_.control_port_local);
     }
 
@@ -273,7 +273,7 @@ class ArduRoverApi : public CarApiBase {
 
     AutonomySimSettings::MavLinkConnectionInfo connection_info_;
 
-    std::unique_ptr<mavlinkcom::UdpSocket> udp_socket_;
+    std::unique_ptr<mavlink_comm::UdpSocket> udp_socket_;
 
     uint16_t port_;
     std::string ip_;

diff --git a/AutonomyLib/include/vehicles/multirotor/firmwares/arducopter/ArduCopterApi.hpp b/AutonomyLib/include/vehicles/multirotor/firmwares/arducopter/ArduCopterApi.hpp
@@ -272,7 +272,7 @@ class ArduCopterApi : public MultirotorApiBase {
                                   connection_info_.local_host_ip.c_str(), ip_.c_str()),
                    Utils::kLogLevelInfo);
 
-        udp_socket_ = std::make_unique<mavlinkcom::UdpSocket>();
+        udp_socket_ = std::make_unique<mavlink_comm::UdpSocket>();
         udp_socket_->bind(connection_info_.local_host_ip, connection_info_.control_port_local);
     }
 
@@ -447,7 +447,7 @@ class ArduCopterApi : public MultirotorApiBase {
         uint16_t pwm[kArduCopterRotorControlCount];
     };
 
-    std::unique_ptr<mavlinkcom::UdpSocket> udp_socket_;
+    std::unique_ptr<mavlink_comm::UdpSocket> udp_socket_;
 
     AutonomySimSettings::MavLinkConnectionInfo connection_info_;
     uint16_t port_;

diff --git a/AutonomyLib/include/vehicles/multirotor/firmwares/mavlink/ArduCopterSoloApi.hpp b/AutonomyLib/include/vehicles/multirotor/firmwares/mavlink/ArduCopterSoloApi.hpp
@@ -111,12 +111,12 @@ class ArduCopterSoloApi : public MavLinkMultirotorApi {
                                       ip.c_str()),
                        Utils::kLogLevelInfo);
 
-            udpSocket_ = mavlinkcom::AdHocConnection::connectLocalUdp("ArduCopterSoloConnector", ip,
-                                                                      connection_info_.control_port_local);
-            mavlinkcom::AdHocMessageHandler handler = [this](std::shared_ptr<mavlinkcom::AdHocConnection> connection,
-                                                             const std::vector<uint8_t> &msg) {
-                this->rotorPowerMessageHandler(connection, msg);
-            };
+            udpSocket_ = mavlink_comm::AdHocConnection::connectLocalUdp("ArduCopterSoloConnector", ip,
+                                                                        connection_info_.control_port_local);
+            mavlink_comm::AdHocMessageHandler handler =
+                [this](std::shared_ptr<mavlink_comm::AdHocConnection> connection, const std::vector<uint8_t> &msg) {
+                    this->rotorPowerMessageHandler(connection, msg);
+                };
 
             rotorSubscriptionId_ = udpSocket_->subscribe(handler);
         }
@@ -155,7 +155,7 @@ class ArduCopterSoloApi : public MavLinkMultirotorApi {
         uint16_t speed, direction, turbulance;
     };
 
-    std::shared_ptr<mavlinkcom::AdHocConnection> udpSocket_;
+    std::shared_ptr<mavlink_comm::AdHocConnection> udpSocket_;
     int rotorSubscriptionId_;
 
     virtual void normalizeRotorControls() {
@@ -165,7 +165,7 @@ class ArduCopterSoloApi : public MavLinkMultirotorApi {
         }
     }
 
-    void rotorPowerMessageHandler(std::shared_ptr<mavlinkcom::AdHocConnection> connection,
+    void rotorPowerMessageHandler(std::shared_ptr<mavlink_comm::AdHocConnection> connection,
                                   const std::vector<uint8_t> &msg) {
         if (msg.size() != sizeof(RotorControlMessage)) {
             Utils::log("Got rotor control message of size " + std::to_string(msg.size()) +

diff --git a/AutonomyLib/include/vehicles/multirotor/firmwares/mavlink/MavLinkMultirotorApi.hpp b/AutonomyLib/include/vehicles/multirotor/firmwares/mavlink/MavLinkMultirotorApi.hpp
diff --git a/MavLinkCom/MavLinkComGenerator/MavLinkGenerator.cs b/MavLinkCom/MavLinkComGenerator/MavLinkGenerator.cs
@@ -34,15 +34,15 @@ public void GenerateMessages(MavLink definitions, string outputDirectory)
                     header.WriteLine("#include <string>");
                     header.WriteLine("#include \"MavLinkMessageBase.hpp\"");
                     header.WriteLine("");
-                    header.WriteLine("namespace mavlinkcom");
+                    header.WriteLine("namespace mavlink_comm");
                     header.WriteLine("{");
                     header.WriteLine("");
 
                     impl.WriteLine("// Copyright (c) Microsoft Corporation. All rights reserved.");
                     impl.WriteLine("// Licensed under the MIT License.");
                     impl.WriteLine("#include \"MavLinkMessages.hpp\""); ;
                     impl.WriteLine("#include <sstream>");
-                    impl.WriteLine("using namespace mavlinkcom;");
+                    impl.WriteLine("using namespace mavlink_comm;");
                     impl.WriteLine("");
 
                     GenerateEnums();
@@ -435,7 +435,7 @@ private void GenerateMessages()
                     {
                         impl.Write(" << float_tostring(this->{0})", field.name);
                     }
-                    else 
+                    else
                     {
                         impl.Write(" << this->{0}", field.name);
                     }
@@ -483,7 +483,7 @@ public void GenerateDecodeMethod()
             impl.WriteLine("}");
         }
 
-        public Tuple<string,int> ParseArrayType(string type)
+        public Tuple<string, int> ParseArrayType(string type)
         {
             int i = type.IndexOf('[');
             int k = type.IndexOf(']', i);

diff --git a/MavLinkCom/MavLinkMoCap/MavlinkMoCap.cpp b/MavLinkCom/MavLinkMoCap/MavlinkMoCap.cpp
@@ -12,7 +12,7 @@
 #include <chrono>
 #include <thread>
 
-using namespace mavlinkcom;
+using namespace mavlink_comm;
 
 void CheckResult(NPRESULT result) {
     if (result != NPRESULT_SUCCESS) {

diff --git a/MavLinkCom/MavLinkTest/Commands.cpp b/MavLinkCom/MavLinkTest/Commands.cpp
@@ -12,7 +12,7 @@
 
 using namespace std::filesystem;
 using namespace mavlink_utils;
-using namespace mavlinkcom;
+using namespace mavlink_comm;
 
 static std::vector<Command *> const *all_commands_;
 std::vector<Command *> const *Command::getAllCommand() { return all_commands_; }

diff --git a/MavLinkCom/MavLinkTest/Commands.h b/MavLinkCom/MavLinkTest/Commands.h
@@ -17,7 +17,7 @@
 #include <string>
 #include <vector>
 
-using namespace mavlinkcom;
+using namespace mavlink_comm;
 
 // from main.cpp
 void DebugOutput(const char *message, ...);

diff --git a/MavLinkCom/MavLinkTest/UnitTests.cpp b/MavLinkCom/MavLinkTest/UnitTests.cpp
@@ -21,7 +21,7 @@ STRICT_MODE_ON
 #include <iostream>
 
 using namespace mavlink_utils;
-using namespace mavlinkcom;
+using namespace mavlink_comm;
 
 extern std::string replaceAll(std::string s, char toFind, char toReplace);
 

diff --git a/MavLinkCom/MavLinkTest/UnitTests.h b/MavLinkCom/MavLinkTest/UnitTests.h
@@ -21,7 +21,7 @@ class UnitTests {
 
   private:
     void RunTest(const std::string &name, TestHandler handler);
-    void VerifyFile(mavlinkcom::MavLinkFtpClient &ftp, const std::string &dir, const std::string &name, bool exists,
+    void VerifyFile(mavlink_comm::MavLinkFtpClient &ftp, const std::string &dir, const std::string &name, bool exists,
                     bool isdir);
     ImageServer *server_;
     std::string com_port_;

diff --git a/MavLinkCom/MavLinkTest/main.cpp b/MavLinkCom/MavLinkTest/main.cpp
@@ -48,7 +48,7 @@ typedef mavlink_utils::Utils Utils;
 typedef mavlink_utils::FileSystem FileSystem;
 typedef unsigned int uint;
 
-using namespace mavlinkcom;
+using namespace mavlink_comm;
 
 struct FlagName {
   public:
@@ -1123,8 +1123,8 @@ void connectSitl(std::shared_ptr<MavLinkVehicle> mavLinkVehicle) {
     // need a retry loop here because we don't know how quickly px4 will start accepting these connections...
     for (int retries = 60; retries >= 0; retries--) {
         try {
-            auto gcsConnection = mavlinkcom::MavLinkConnection::connectRemoteUdp("gcs", localEndPoint.addr,
-                                                                                 sitlEndPoint.addr, sitlEndPoint.port);
+            auto gcsConnection = mavlink_comm::MavLinkConnection::connectRemoteUdp(
+                "gcs", localEndPoint.addr, sitlEndPoint.addr, sitlEndPoint.port);
             mavLinkVehicle->connect(gcsConnection);
         } catch (std::exception &) {
             std::this_thread::sleep_for(std::chrono::seconds(1));
@@ -1151,7 +1151,7 @@ bool setupDrone() {
     if (sitl) {
         // then we need 2 mavlink channels, one for sending/receiving HIL_* messages and the other
         // for controlling the drone.
-        hilNode = std::make_shared<mavlinkcom::MavLinkNode>(sim_sysid, sim_compid);
+        hilNode = std::make_shared<mavlink_comm::MavLinkNode>(sim_sysid, sim_compid);
         hilNode->connect(droneConnection);
         hilNode->startHeartbeat();
 

diff --git a/MavLinkCom/README.md b/MavLinkCom/README.md
@@ -1,3 +1,3 @@
 # Welcome to MavLinkCom
 
-This page has moved [here](https://github.com/nervosys/AutonomySim/blob/master/docs/mavlinkcom.md).
+This page has moved [here](https://github.com/nervosys/AutonomySim/blob/master/docs/mavlink_comm.md).
diff --git a/MavLinkCom/common/utils/Utils.hpp b/MavLinkCom/common/utils/Utils.hpp
@@ -7,6 +7,7 @@
 #include "MavLinkDebugLog.hpp"
 #include "StrictMode.hpp"
 #include "type_utils.hpp"
+
 #include <array>
 #include <chrono>
 #include <cstdarg>
@@ -115,7 +116,7 @@ class Utils {
     static constexpr int kLogLevelWarn = -1;
     static constexpr int kLogLevelError = -2;
     static void log(std::string message, int level = kLogLevelInfo) {
-        mavlinkcom::MavLinkDebugLog::getSetLogger()->log(level, message);
+        mavlink_comm::MavLinkDebugLog::getSetLogger()->log(level, message);
     }
 
     template <typename T> static int sign(T val) { return T(0) < val ? 1 : (T(0) > val ? -1 : 0); }

diff --git a/MavLinkCom/common/utils/type_utils.hpp b/MavLinkCom/common/utils/type_utils.hpp
@@ -8,9 +8,11 @@
 #include <valarray>
 
 namespace mavlink_utils {
+
 namespace type_utils {
 // from: https://raw.githubusercontent.com/louisdx/cxx-prettyprint/master/prettyprint.hpp
 // also see https://gist.github.com/louisdx/1076849
+
 namespace detail {
 // SFINAE type trait to detect whether T::const_iterator exists.
 

diff --git a/MavLinkCom/include/AdHocConnection.hpp b/MavLinkCom/include/AdHocConnection.hpp
@@ -20,7 +20,7 @@ namespace mavlinkcom_impl {
 class AdHocConnectionImpl;
 }
 
-namespace mavlinkcom {
+namespace mavlink_comm {
 
 class AdHocConnection;
 
@@ -78,6 +78,6 @@ class AdHocConnection : public std::enable_shared_from_this<AdHocConnection> {
     friend class MavLinkNode;
     friend class mavlinkcom_impl::AdHocConnectionImpl;
 };
-} // namespace mavlinkcom
+} // namespace mavlink_comm
 
 #endif
diff --git a/MavLinkCom/include/AsyncResult.hpp b/MavLinkCom/include/AsyncResult.hpp
@@ -11,7 +11,7 @@
 #include <memory>
 #include <string>
 
-namespace mavlinkcom {
+namespace mavlink_comm {
 
 template <class T> class AsyncResultState {
   public:
@@ -123,6 +123,6 @@ template <class T> class AsyncResult {
 
     std::shared_ptr<AsyncResultState<T>> state_;
 };
-} // namespace mavlinkcom
+} // namespace mavlink_comm
 
 #endif
diff --git a/MavLinkCom/include/MavLinkConnection.hpp b/MavLinkCom/include/MavLinkConnection.hpp
@@ -27,7 +27,7 @@ class MavLinkTcpServerImpl;
 class MavLinkNodeImpl;
 } // namespace mavlinkcom_impl
 
-namespace mavlinkcom {
+namespace mavlink_comm {
 
 class MavLinkConnection;
 class MavLinkNode;
@@ -161,6 +161,6 @@ class MavLinkConnection : public std::enable_shared_from_this<MavLinkConnection>
     friend class mavlinkcom_impl::MavLinkConnectionImpl;
     friend class mavlinkcom_impl::MavLinkTcpServerImpl;
 };
-} // namespace mavlinkcom
+} // namespace mavlink_comm
 
 #endif
diff --git a/MavLinkCom/include/MavLinkDebugLog.hpp b/MavLinkCom/include/MavLinkDebugLog.hpp
@@ -7,7 +7,7 @@
 #include <iostream>
 #include <string>
 
-namespace mavlinkcom {
+namespace mavlink_comm {
 
 class MavLinkDebugLog {
   public:
@@ -32,6 +32,6 @@ class MavLinkDebugLog {
 
     virtual ~MavLinkDebugLog() = default;
 };
-} // namespace mavlinkcom
+} // namespace mavlink_comm
 
 #endif
diff --git a/MavLinkCom/include/MavLinkFtpClient.hpp b/MavLinkCom/include/MavLinkFtpClient.hpp
@@ -14,7 +14,7 @@ namespace mavlinkcom_impl {
 class MavLinkFtpClientImpl;
 }
 
-namespace mavlinkcom {
+namespace mavlink_comm {
 
 struct MavLinkFileInfo {
   public:
@@ -52,6 +52,6 @@ class MavLinkFtpClient : public MavLinkNode {
 
     void cancel(); // cancel any pending operation.
 };
-} // namespace mavlinkcom
+} // namespace mavlink_comm
 
 #endif
diff --git a/MavLinkCom/include/MavLinkLog.hpp b/MavLinkCom/include/MavLinkLog.hpp
@@ -12,12 +12,12 @@
 
 #define MAVLINK_STX_MAVLINK1 0xFE // marker for old protocol
 
-namespace mavlinkcom {
+namespace mavlink_comm {
 
 // This abstract class defines the interface for logging MavLinkMessages.
 class MavLinkLog {
   public:
-    virtual void write(const mavlinkcom::MavLinkMessage &msg, uint64_t timestamp = 0) = 0;
+    virtual void write(const mavlink_comm::MavLinkMessage &msg, uint64_t timestamp = 0) = 0;
     virtual ~MavLinkLog() = default;
 };
 
@@ -37,10 +37,10 @@ class MavLinkFileLog : public MavLinkLog {
     void openForReading(const std::string &filename);
     void openForWriting(const std::string &filename, bool json = false);
     void close();
-    virtual void write(const mavlinkcom::MavLinkMessage &msg, uint64_t timestamp = 0) override;
-    bool read(mavlinkcom::MavLinkMessage &msg, uint64_t &timestamp);
+    virtual void write(const mavlink_comm::MavLinkMessage &msg, uint64_t timestamp = 0) override;
+    bool read(mavlink_comm::MavLinkMessage &msg, uint64_t &timestamp);
     static uint64_t getTimeStamp();
 };
-} // namespace mavlinkcom
+} // namespace mavlink_comm
 
 #endif
diff --git a/MavLinkCom/include/MavLinkMessageBase.hpp b/MavLinkCom/include/MavLinkMessageBase.hpp
@@ -14,7 +14,7 @@ class MavLinkConnectionImpl;
 class MavLinkNodeImpl;
 } // namespace mavlinkcom_impl
 
-namespace mavlinkcom {
+namespace mavlink_comm {
 class MavLinkConnection;
 
 #define PayloadSize ((255 + 2 + 7) / 8)
@@ -180,6 +180,6 @@ class MavLinkTelemetry : public MavLinkMessageBase {
     virtual int pack(char *buffer) const;
     virtual int unpack(const char *buffer);
 };
-} // namespace mavlinkcom
+} // namespace mavlink_comm
 
 #endif
diff --git a/MavLinkCom/include/MavLinkMessages.hpp b/MavLinkCom/include/MavLinkMessages.hpp
@@ -7,7 +7,7 @@
 #include <stdint.h>
 #include <string>
 
-namespace mavlinkcom {
+namespace mavlink_comm {
 
 enum class MavLinkMessageIds {
     MAVLINK_MSG_ID_HEARTBEAT = 0,
@@ -10679,6 +10679,6 @@ class MavCmdUser5 : public MavLinkCommand {
     virtual void pack();
     virtual void unpack();
 };
-} // namespace mavlinkcom
+} // namespace mavlink_comm
 
 #endif
diff --git a/MavLinkCom/include/MavLinkNode.hpp b/MavLinkCom/include/MavLinkNode.hpp
@@ -15,7 +15,7 @@ namespace mavlinkcom_impl {
 class MavLinkNodeImpl;
 }
 
-namespace mavlinkcom {
+namespace mavlink_comm {
 
 struct MavLinkParameter {
   public:
@@ -105,6 +105,6 @@ class MavLinkNode {
   protected:
     std::unique_ptr<mavlinkcom_impl::MavLinkNodeImpl> pImpl;
 };
-} // namespace mavlinkcom
+} // namespace mavlink_comm
 
 #endif