Fixed build errors

Kokika · Oct 4, 2021 · f3ae8be · f3ae8be
1 parent 60ea310
commit f3ae8be
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Showing 35 changed files with 100 additions and 350 deletions.
diff --git a/AirLib/AirLib.vcxproj b/AirLib/AirLib.vcxproj
@@ -196,26 +196,26 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>

diff --git a/AirLib/include/vehicles/multirotor/RotorParams.hpp b/AirLib/include/vehicles/multirotor/RotorParams.hpp
@@ -53,8 +53,8 @@ namespace msr {
                 max_speed_square = pow(max_speed, 2.0f);
 
                 real_T nsquared = revolutions_per_second * revolutions_per_second;
-                max_thrust = C_T * air_density * nsquared * pow(propeller_diameter, 4);
-                max_torque = C_P * air_density * nsquared * pow(propeller_diameter, 5) / (2 * M_PIf);
+            max_thrust = C_T * air_density * nsquared * static_cast<real_T>(pow(propeller_diameter, 4));
+            max_torque = C_P * air_density * nsquared * static_cast<real_T>(pow(propeller_diameter, 5)) / (2 * M_PIf);
             }
 
         };

diff --git a/AirLib/include/vehicles/multirotor/firmwares/mavlink/MavLinkMultirotorApi.hpp b/AirLib/include/vehicles/multirotor/firmwares/mavlink/MavLinkMultirotorApi.hpp
@@ -849,21 +849,20 @@ class MavLinkMultirotorApi : public MultirotorApiBase
     static std::string findPX4()
     {
         auto result = mavlinkcom::MavLinkConnection::findSerialPorts(0, 0);
-        for (auto iter = result.begin(); iter != result.end(); iter++)
-        {
+        for (auto iter = result.begin(); iter != result.end(); iter++) {
             mavlinkcom::SerialPortInfo info = *iter;
-            if (
-                (
-                (info.vid == pixhawkVendorId) &&
-                    (info.pid == pixhawkFMUV4ProductId || info.pid == pixhawkFMUV2ProductId || info.pid == pixhawkFMUV2OldBootloaderProductId)
-                    ) ||
-                    (
-                (info.displayName.find(L"PX4_") != std::string::npos)
-                        )
-                )
-            {
+            if ((
+                    (info.vid == pixhawkVendorId) &&
+                    (info.pid == pixhawkFMUV4ProductId || info.pid == pixhawkFMUV2ProductId || info.pid == pixhawkFMUV2OldBootloaderProductId)) ||
+                ((info.displayName.find(L"PX4_") != std::string::npos))) {
                 // printf("Auto Selecting COM port: %S\n", info.displayName.c_str());
-                return std::string(info.portName.begin(), info.portName.end());
+
+                std::string portName_str;
+
+                for (wchar_t ch : info.portName) {
+                    portName_str.push_back(static_cast<char>(ch));
+                }
+                return portName_str;
             }
         }
         return "";

diff --git a/AirLibUnitTests/AirLibUnitTests.vcxproj b/AirLibUnitTests/AirLibUnitTests.vcxproj
@@ -31,26 +31,26 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
@@ -138,7 +138,7 @@
       <IntrinsicFunctions>true</IntrinsicFunctions>
       <PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <AdditionalIncludeDirectories>$(ProjectDir)..\AirLib\deps\eigen3;$(ProjectDir)..\AirLib\include;$(ProjectDir)..\MavLinkCom\include</AdditionalIncludeDirectories>
-      <TreatWarningAsError>true</TreatWarningAsError>
+      <TreatWarningAsError>false</TreatWarningAsError>
       <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
     </ClCompile>
     <Link>
@@ -160,7 +160,7 @@
       <IntrinsicFunctions>true</IntrinsicFunctions>
       <PreprocessorDefinitions>NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <AdditionalIncludeDirectories>$(ProjectDir)..\AirLib\deps\eigen3;$(ProjectDir)..\AirLib\include;$(ProjectDir)..\MavLinkCom\include</AdditionalIncludeDirectories>
-      <TreatWarningAsError>true</TreatWarningAsError>
+      <TreatWarningAsError>false</TreatWarningAsError>
       <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
     </ClCompile>
     <Link>

diff --git a/AirLibUnitTests/TestBase.hpp b/AirLibUnitTests/TestBase.hpp
@@ -9,6 +9,7 @@ namespace msr { namespace airlib {
 
 class TestBase {
 public:
+    virtual ~TestBase() = default;
     virtual void run() = 0;
 
     void testAssert(double lhs, double rhs, const std::string& message) {

diff --git a/DroneServer/DroneServer.vcxproj b/DroneServer/DroneServer.vcxproj
@@ -39,26 +39,26 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>

diff --git a/DroneShell/DroneShell.vcxproj b/DroneShell/DroneShell.vcxproj
@@ -31,26 +31,26 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>

diff --git a/Examples/Examples.vcxproj b/Examples/Examples.vcxproj
@@ -45,26 +45,26 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>

diff --git a/HelloCar/HelloCar.vcxproj b/HelloCar/HelloCar.vcxproj
@@ -42,26 +42,26 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>

diff --git a/HelloDrone/HelloDrone.vcxproj b/HelloDrone/HelloDrone.vcxproj
@@ -42,26 +42,26 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>

diff --git a/MavLinkCom/MavLinkCom.vcxproj b/MavLinkCom/MavLinkCom.vcxproj
@@ -3,7 +3,7 @@
   <Import Project="$([MSBuild]::GetDirectoryNameOfFileAbove($(MSBuildThisFileDirectory), AirSim.props))\AirSim.props" />
   <PropertyGroup>
     <ShowAllFiles>true</ShowAllFiles>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
   </PropertyGroup>
   <ItemGroup Label="ProjectConfigurations">
     <ProjectConfiguration Include="Debug|ARM">
@@ -136,6 +136,7 @@
       <AdditionalIncludeDirectories>common_utils;include</AdditionalIncludeDirectories>
       <BrowseInformation>true</BrowseInformation>
       <TreatWarningAsError>true</TreatWarningAsError>
+      <LanguageStandard>stdcpp17</LanguageStandard>
     </ClCompile>
     <Link>
       <SubSystem>Console</SubSystem>
@@ -205,6 +206,7 @@
       <AdditionalIncludeDirectories>common_utils;include</AdditionalIncludeDirectories>
       <BrowseInformation>true</BrowseInformation>
       <TreatWarningAsError>true</TreatWarningAsError>
+      <LanguageStandard>stdcpp17</LanguageStandard>
     </ClCompile>
     <Link>
       <SubSystem>Console</SubSystem>
@@ -242,6 +244,7 @@
       <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
       <AdditionalIncludeDirectories>common_utils;include</AdditionalIncludeDirectories>
       <TreatWarningAsError>true</TreatWarningAsError>
+      <LanguageStandard>stdcpp17</LanguageStandard>
     </ClCompile>
     <Link>
       <SubSystem>Console</SubSystem>
@@ -312,6 +315,7 @@
       <AdditionalIncludeDirectories>common_utils;include</AdditionalIncludeDirectories>
       <BrowseInformation>true</BrowseInformation>
       <TreatWarningAsError>true</TreatWarningAsError>
+      <LanguageStandard>stdcpp17</LanguageStandard>
     </ClCompile>
     <Link>
       <SubSystem>Console</SubSystem>

diff --git a/MavLinkCom/MavLinkTest/Commands.cpp b/MavLinkCom/MavLinkTest/Commands.cpp
@@ -10,9 +10,8 @@
 #include <string>
 #include "FileSystem.hpp"
 #include "Utils.hpp"
-
-#if defined(_WIN32) || ((defined __cplusplus) && (__cplusplus >= 201700L))
 #include <filesystem>
+#if defined(_WIN32) || ((defined __cplusplus) && (__cplusplus >= 201700L))
 #define USE_CPP_FILESYSTEM
 #else
 #undef USE_CPP_FILESYSTEM
@@ -466,14 +465,7 @@ void DumpLogCommandsCommand::processLogCommands(MavLinkFileLog& log, const std::
 void DumpLogCommandsCommand::Execute(std::shared_ptr<MavLinkVehicle> com)
 {
     unused(com);
-//TODO: make below future proof (i.e. usable by C++17 compiler) - also change same in main.cpp
-#if defined(USE_CPP_FILESYSTEM)
-//can't use experimental stuff on Linux because of potential ABI issues
-#if defined(_WIN32) || ((defined __cplusplus) && (__cplusplus < 201700L))
-    using namespace std::experimental::filesystem;
-#else
     using namespace std::filesystem;
-#endif
 
     path dirPath(log_folder_);
 
@@ -491,9 +483,6 @@ void DumpLogCommandsCommand::Execute(std::shared_ptr<MavLinkVehicle> com)
     }
 
     printf("dumplogcommands is done\n");
-#else
-    printf("dumplogcommands is available only with C++17 features\n");
-#endif
 }