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APMRover2: Use c++ cast

This commit is contained in:
Pierre Kancir 2017-03-30 16:07:24 +02:00 committed by Grant Morphett
parent 1a246851fc
commit b634fe548d
12 changed files with 76 additions and 79 deletions
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2
APMrover2/APMrover2.cpp
View File

@ -338,7 +338,7 @@ void Rover::one_second_loop(void)
// write perf data every 20s
if (counter % 10 == 0) {
if (scheduler.debug() != 0) {
hal.console->printf("G_Dt_max=%lu\n", (unsigned long)G_Dt_max);
hal.console->printf("G_Dt_max=%lu\n", static_cast<uint64_t>(G_Dt_max));
}
if (should_log(MASK_LOG_PM)) {
Log_Write_Performance();

17
APMrover2/GCS_Mavlink.cpp
View File

@ -100,7 +100,7 @@ void Rover::send_extended_status1(mavlink_channel_t chan)
control_sensors_present,
control_sensors_enabled,
control_sensors_health,
(uint16_t)(scheduler.load_average(20000) * 1000),
static_cast<uint16_t>(scheduler.load_average(20000) * 1000), // WRONG float to uint16_t
battery.voltage() * 1000, // mV
battery_current, // in 10mA units
battery_remaining, // in %
@ -179,8 +179,7 @@ void Rover::send_vfr_hud(mavlink_channel_t chan)
gps.ground_speed(),
ahrs.groundspeed(),
(ahrs.yaw_sensor / 100) % 360,
(uint16_t)(100 * fabsf(SRV_Channels::get_output_norm(SRV_Channel::k_throttle))),
current_loc.alt / 100.0,
static_cast<uint16_t>(100 * fabsf(SRV_Channels::get_output_norm(SRV_Channel::k_throttle))), // WRONG float to uint16
0);
}
@ -281,7 +280,7 @@ void Rover::send_current_waypoint(mavlink_channel_t chan)
uint32_t GCS_MAVLINK_Rover::telem_delay() const
{
return (uint32_t)(rover.g.telem_delay);
return static_cast<uint32_t>(rover.g.telem_delay);
}
// try to send a message, return false if it won't fit in the serial tx buffer
@ -948,7 +947,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
}
case MAV_CMD_DO_SET_MODE:
switch ((uint16_t)packet.param1) {
switch (static_cast<uint16_t>(packet.param1)) {
case MAV_MODE_MANUAL_ARMED:
case MAV_MODE_MANUAL_DISARMED:
rover.set_mode(MANUAL);
@ -1068,9 +1067,9 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
GCS_MAVLINK::send_home_all(new_home_loc);
result = MAV_RESULT_ACCEPTED;
rover.gcs_send_text_fmt(MAV_SEVERITY_INFO, "Set HOME to %.6f %.6f at %um",
(double)(new_home_loc.lat * 1.0e-7f),
(double)(new_home_loc.lng * 1.0e-7f),
(uint32_t)(new_home_loc.alt * 0.01f));
static_cast<double>(new_home_loc.lat * 1.0e-7f),
static_cast<double>(new_home_loc.lng * 1.0e-7f),
static_cast<uint32_t>(new_home_loc.alt * 0.01f)); // WRONG FLoat to uint32
}
break;
}
@ -1588,7 +1587,7 @@ void Rover::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
char str[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN] {};
va_list arg_list;
va_start(arg_list, fmt);
hal.util->vsnprintf((char *)str, sizeof(str), fmt, arg_list);
hal.util->vsnprintf(reinterpret_cast<char *>(str), sizeof(str), fmt, arg_list);
va_end(arg_list);
gcs().send_statustext(severity, 0xFF, str);
notify.send_text(str);

24
APMrover2/Log.cpp
View File

@ -72,13 +72,13 @@ int8_t Rover::dump_log(uint8_t argc, const Menu::arg *argv)
cliSerial->printf("dumping all\n");
Log_Read(0, 1, 0);
return(-1);
} else if ((argc != 2) || ((uint16_t)dump_log_num > DataFlash.get_num_logs())) {
} else if ((argc != 2) || (static_cast<uint16_t>(dump_log_num) > DataFlash.get_num_logs())) {
cliSerial->printf("bad log number\n");
return(-1);
}
DataFlash.get_log_boundaries(dump_log_num, dump_log_start, dump_log_end);
Log_Read((uint16_t)dump_log_num, dump_log_start, dump_log_end);
Log_Read(static_cast<uint16_t>(dump_log_num), dump_log_start, dump_log_end);
return 0;
}
@ -266,11 +266,11 @@ void Rover::Log_Write_Nav_Tuning()
struct log_Nav_Tuning pkt = {
LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG),
time_us : AP_HAL::micros64(),
yaw : (uint16_t)ahrs.yaw_sensor,
yaw : static_cast<uint16_t>(ahrs.yaw_sensor), // int32 to uint16
wp_distance : wp_distance,
target_bearing_cd : (uint16_t)nav_controller->target_bearing_cd(),
nav_bearing_cd : (uint16_t)nav_controller->nav_bearing_cd(),
throttle : (int8_t)(100 * SRV_Channels::get_output_norm(SRV_Channel::k_throttle)),
target_bearing_cd : static_cast<uint16_t>(nav_controller->target_bearing_cd()), // int32 to uint16
nav_bearing_cd : static_cast<uint16_t>(nav_controller->nav_bearing_cd()), // int32 to uint16
throttle : static_cast<int8_t>((100 * SRV_Channels::get_output_norm(SRV_Channel::k_throttle))), // wrong float to int8
xtrack_error : nav_controller->crosstrack_error()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
@ -322,13 +322,13 @@ void Rover::Log_Write_Sonar()
LOG_PACKET_HEADER_INIT(LOG_SONAR_MSG),
time_us : AP_HAL::micros64(),
lateral_accel : lateral_acceleration,
sonar1_distance : (uint16_t)sonar.distance_cm(0),
sonar2_distance : (uint16_t)sonar.distance_cm(1),
sonar1_distance : sonar.distance_cm(0),
sonar2_distance : sonar.distance_cm(1),
detected_count : obstacle.detected_count,
turn_angle : (int8_t)obstacle.turn_angle,
turn_angle : static_cast<int8_t>(obstacle.turn_angle), // WRONG float to int8
turn_time : turn_time,
ground_speed : (uint16_t)(ground_speed*100),
throttle : (int8_t)(100 * SRV_Channels::get_output_norm(SRV_Channel::k_throttle))
ground_speed : static_cast<uint16_t>(ground_speed * 100), // WRONT float to uint16
throttle : static_cast<int8_t>((100 * SRV_Channels::get_output_norm(SRV_Channel::k_throttle))) //WRONG float to int8
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -486,7 +486,7 @@ void Rover::Log_Read(uint16_t list_entry, uint16_t start_page, uint16_t end_page
{
cliSerial->printf("\n" FIRMWARE_STRING
"\nFree RAM: %u\n",
(unsigned)hal.util->available_memory());
static_cast<uint32_t>(hal.util->available_memory()));
cliSerial->printf("%s\n", HAL_BOARD_NAME);

4
APMrover2/Parameters.cpp
View File

@ -617,9 +617,7 @@ void Rover::load_parameters(void)
Parameters::k_param_rc_13_old, Parameters::k_param_rc_14_old };
const uint16_t old_aux_chan_mask = 0x3FFA;
SRV_Channels::upgrade_parameters(old_rc_keys, old_aux_chan_mask, &rcmap);
cliSerial->printf("load_all took %luus\n", micros() - before);
cliSerial->printf("load_all took %luus\n", static_cast<uint64_t>(micros() - before));
// set a more reasonable default NAVL1_PERIOD for rovers
L1_controller.set_default_period(NAVL1_PERIOD);
}

2
APMrover2/Steering.cpp
View File

@ -56,7 +56,7 @@ bool Rover::auto_check_trigger(void) {
if (!is_zero(g.auto_kickstart)) {
float xaccel = ins.get_accel().x;
if (xaccel >= g.auto_kickstart) {
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Triggered AUTO xaccel=%.1f", (double)xaccel);
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Triggered AUTO xaccel=%.1f", static_cast<double>(xaccel));
auto_triggered = true;
return true;
}

24
APMrover2/commands_logic.cpp
View File

@ -260,8 +260,8 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
// Check if this is the first time we have reached the waypoint
if (!previously_reached_wp) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached waypoint #%i. Loiter for %i seconds",
(unsigned)cmd.index,
(unsigned)loiter_duration);
static_cast<uint32_t>(cmd.index),
static_cast<uint32_t>(loiter_duration));
// record the current time i.e. start timer
loiter_start_time = millis();
previously_reached_wp = true;
@ -275,8 +275,8 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
}
} else {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached waypoint #%i. Distance %um",
(unsigned)cmd.index,
(unsigned)get_distance(current_loc, next_WP));
static_cast<uint32_t>(cmd.index),
static_cast<uint32_t>(get_distance(current_loc, next_WP))); // WRONG float to uint32
}
// set loiter_duration to 0 so we know we aren't or have finished loitering
loiter_duration = 0;
@ -295,8 +295,8 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
// Check if this is the first time we have reached the waypoint even though we have gone past it
if (!previously_reached_wp) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached waypoint #%i. Loiter for %i seconds",
(unsigned)cmd.index,
(unsigned)loiter_duration);
static_cast<uint32_t>(cmd.index),
static_cast<uint32_t>(loiter_duration));
// record the current time i.e. start timer
loiter_start_time = millis();
previously_reached_wp = true;
@ -308,8 +308,8 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
if ((uint32_t)distance_past_wp != (uint32_t)dist_to_wp) {
distance_past_wp = dist_to_wp;
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Passed waypoint #%i. Distance %um",
(unsigned)cmd.index,
(unsigned)distance_past_wp);
static_cast<uint32_t>(cmd.index),
static_cast<uint32_t>(distance_past_wp)); // WRONG float to uint32
}
// Check if we need to loiter at this waypoint
@ -337,7 +337,7 @@ bool Rover::verify_RTL()
// have we gone past the waypoint?
if (location_passed_point(current_loc, prev_WP, next_WP)) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached destination. Distance away %um",
(unsigned)get_distance(current_loc, next_WP));
static_cast<uint32_t>(get_distance(current_loc, next_WP))); // WRONG float to uint32
rtl_complete = true;
return true;
}
@ -396,7 +396,7 @@ void Rover::nav_set_yaw_speed()
void Rover::do_wait_delay(const AP_Mission::Mission_Command& cmd)
{
condition_start = millis();
condition_value = cmd.content.delay.seconds * 1000; // convert seconds to milliseconds
condition_value = static_cast<int32_t>(cmd.content.delay.seconds * 1000); // convert seconds to milliseconds
}
void Rover::do_within_distance(const AP_Mission::Mission_Command& cmd)
@ -410,7 +410,7 @@ void Rover::do_within_distance(const AP_Mission::Mission_Command& cmd)
bool Rover::verify_wait_delay()
{
if ((uint32_t)(millis() - condition_start) > (uint32_t)condition_value) {
if (static_cast<uint32_t>(millis() - condition_start) > static_cast<uint32_t>(condition_value)) {
condition_value = 0;
return true;
}
@ -434,7 +434,7 @@ void Rover::do_change_speed(const AP_Mission::Mission_Command& cmd)
{
if (cmd.content.speed.target_ms > 0) {
g.speed_cruise.set(cmd.content.speed.target_ms);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Cruise speed: %.1f m/s", (double)g.speed_cruise.get());
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Cruise speed: %.1f m/s", static_cast<double>(g.speed_cruise.get()));
}
if (cmd.content.speed.throttle_pct > 0 && cmd.content.speed.throttle_pct <= 100) {

2
APMrover2/control_modes.cpp
View File

@ -118,7 +118,7 @@ void Rover::read_trim_switch()
// save command
if (mission.add_cmd(cmd)) {
hal.console->printf("Learning waypoint %u", (unsigned) mission.num_commands());
hal.console->printf("Learning waypoint %u", static_cast<uint32_t>(mission.num_commands()));
}
break;
}

2
APMrover2/failsafe.cpp
View File

@ -38,7 +38,7 @@ void Rover::failsafe_check()
}
if (in_failsafe && tnow - last_timestamp > 20000 &&
channel_throttle->read() >= (uint16_t)g.fs_throttle_value) {
channel_throttle->read() >= static_cast<uint16_t>(g.fs_throttle_value)) {
// pass RC inputs to outputs every 20ms
last_timestamp = tnow;
hal.rcin->clear_overrides();

2
APMrover2/radio.cpp
View File

@ -188,7 +188,7 @@ void Rover::control_failsafe(uint16_t pwm)
if (rc_override_active) {
failsafe_trigger(FAILSAFE_EVENT_RC, (millis() - failsafe.rc_override_timer) > 1500);
} else if (g.fs_throttle_enabled) {
bool failed = pwm < (uint16_t)g.fs_throttle_value;
bool failed = pwm < static_cast<uint16_t>(g.fs_throttle_value);
if (AP_HAL::millis() - failsafe.last_valid_rc_ms > 2000) {
failed = true;
}

14
APMrover2/sensors.cpp
View File

@ -65,26 +65,26 @@ void Rover::read_sonars(void)
// we have two sonars
obstacle.sonar1_distance_cm = sonar.distance_cm(0);
obstacle.sonar2_distance_cm = sonar.distance_cm(1);
if (obstacle.sonar1_distance_cm < (uint16_t)g.sonar_trigger_cm &&
obstacle.sonar1_distance_cm < (uint16_t)obstacle.sonar2_distance_cm) {
if (obstacle.sonar1_distance_cm < static_cast<uint16_t>(g.sonar_trigger_cm) &&
obstacle.sonar1_distance_cm < static_cast<uint16_t>(obstacle.sonar2_distance_cm)) {
// we have an object on the left
if (obstacle.detected_count < 127) {
obstacle.detected_count++;
}
if (obstacle.detected_count == g.sonar_debounce) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Sonar1 obstacle %u cm",
(unsigned)obstacle.sonar1_distance_cm);
static_cast<uint32_t>(obstacle.sonar1_distance_cm));
}
obstacle.detected_time_ms = AP_HAL::millis();
obstacle.turn_angle = g.sonar_turn_angle;
} else if (obstacle.sonar2_distance_cm < (uint16_t)g.sonar_trigger_cm) {
} else if (obstacle.sonar2_distance_cm < static_cast<uint16_t>(g.sonar_trigger_cm)) {
// we have an object on the right
if (obstacle.detected_count < 127) {
obstacle.detected_count++;
}
if (obstacle.detected_count == g.sonar_debounce) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Sonar2 obstacle %u cm",
(unsigned)obstacle.sonar2_distance_cm);
static_cast<uint32_t>(obstacle.sonar2_distance_cm));
}
obstacle.detected_time_ms = AP_HAL::millis();
obstacle.turn_angle = -g.sonar_turn_angle;
@ -93,14 +93,14 @@ void Rover::read_sonars(void)
// we have a single sonar
obstacle.sonar1_distance_cm = sonar.distance_cm(0);
obstacle.sonar2_distance_cm = 0;
if (obstacle.sonar1_distance_cm < (uint16_t)g.sonar_trigger_cm) {
if (obstacle.sonar1_distance_cm < static_cast<uint16_t>(g.sonar_trigger_cm)) {
// obstacle detected in front
if (obstacle.detected_count < 127) {
obstacle.detected_count++;
}
if (obstacle.detected_count == g.sonar_debounce) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Sonar obstacle %u cm",
(unsigned)obstacle.sonar1_distance_cm);
static_cast<uint32_t>(obstacle.sonar1_distance_cm));
}
obstacle.detected_time_ms = AP_HAL::millis();
obstacle.turn_angle = g.sonar_turn_angle;

4
APMrover2/system.cpp
View File

@ -387,7 +387,7 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, bool on)
control_mode != RTL &&
control_mode != HOLD) {
failsafe.triggered = failsafe.bits;
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Failsafe trigger 0x%x", (unsigned)failsafe.triggered);
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Failsafe trigger 0x%x", static_cast<uint32_t>(failsafe.triggered));
switch (g.fs_action) {
case 0:
break;
@ -467,7 +467,7 @@ void Rover::print_mode(AP_HAL::BetterStream *port, uint8_t mode)
port->printf("RTL");
break;
default:
port->printf("Mode(%u)", (unsigned)mode);
port->printf("Mode(%u)", static_cast<uint32_t>(mode));
break;
}
}

58
APMrover2/test.cpp
View File

@ -146,8 +146,8 @@ int8_t Rover::test_wp(uint8_t argc, const Menu::arg *argv)
{
delay(1000);
cliSerial->printf("%u waypoints\n", (unsigned)mission.num_commands());
cliSerial->printf("Hit radius: %f\n", (double)g.waypoint_radius.get());
cliSerial->printf("%u waypoints\n", static_cast<uint32_t>(mission.num_commands()));
cliSerial->printf("Hit radius: %f\n", static_cast<double>(g.waypoint_radius.get()));
for (uint8_t i = 0; i < mission.num_commands(); i++) {
AP_Mission::Mission_Command temp_cmd;
@ -162,13 +162,13 @@ int8_t Rover::test_wp(uint8_t argc, const Menu::arg *argv)
void Rover::test_wp_print(const AP_Mission::Mission_Command& cmd)
{
cliSerial->printf("command #: %d id:%d options:%d p1:%d p2:%ld p3:%ld p4:%ld \n",
(int)cmd.index,
(int)cmd.id,
(int)cmd.content.location.options,
(int)cmd.p1,
(long)cmd.content.location.alt,
(long)cmd.content.location.lat,
(long)cmd.content.location.lng);
static_cast<int32_t>(cmd.index),
static_cast<int32_t>(cmd.id),
static_cast<int32_t>(cmd.content.location.options),
static_cast<int32_t>(cmd.p1),
static_cast<int64_t>(cmd.content.location.alt),
static_cast<int64_t>(cmd.content.location.lat),
static_cast<int64_t>(cmd.content.location.lng));
}
int8_t Rover::test_modeswitch(uint8_t argc, const Menu::arg *argv)
@ -222,10 +222,10 @@ int8_t Rover::test_gps(uint8_t argc, const Menu::arg *argv)
last_message_time_ms = gps.last_message_time_ms();
const Location &loc = gps.location();
cliSerial->printf("Lat: %ld, Lon %ld, Alt: %ldm, #sats: %d\n",
(long)loc.lat,
(long)loc.lng,
(long)loc.alt/100,
(int)gps.num_sats());
static_cast<int64_t>(loc.lat),
static_cast<int64_t>(loc.lng),
static_cast<int64_t>(loc.alt/100),
static_cast<int32_t>(gps.num_sats()));
} else {
cliSerial->printf(".");
}
@ -267,11 +267,11 @@ int8_t Rover::test_ins(uint8_t argc, const Menu::arg *argv)
Vector3f gyros = ins.get_gyro();
Vector3f accels = ins.get_accel();
cliSerial->printf("r:%4d p:%4d y:%3d g=(%5.1f %5.1f %5.1f) a=(%5.1f %5.1f %5.1f)\n",
(int)ahrs.roll_sensor / 100,
(int)ahrs.pitch_sensor / 100,
(uint16_t)ahrs.yaw_sensor / 100,
(double)gyros.x, (double)gyros.y, (double)gyros.z,
(double)accels.x, (double)accels.y, (double)accels.z);
static_cast<int32_t>(ahrs.roll_sensor / 100),
static_cast<int32_t>(ahrs.pitch_sensor / 100),
static_cast<uint16_t>(ahrs.yaw_sensor / 100),
static_cast<double>(gyros.x), static_cast<double>(gyros.y), static_cast<double>(gyros.z),
static_cast<double>(accels.x), static_cast<double>(accels.y), static_cast<double>(accels.z));
if (cliSerial->available() > 0) {
return (0);
}
@ -336,9 +336,9 @@ int8_t Rover::test_mag(uint8_t argc, const Menu::arg *argv)
const Vector3f mag_ofs = compass.get_offsets();
const Vector3f mag = compass.get_field();
cliSerial->printf("Heading: %f, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n",
(double)(wrap_360_cd(ToDeg(heading) * 100)) /100,
(double)mag.x, (double)mag.y, (double)mag.z,
(double)mag_ofs.x, (double)mag_ofs.y, (double)mag_ofs.z);
static_cast<double>((wrap_360_cd(ToDeg(heading) * 100)) /100),
static_cast<double>(mag.x), static_cast<double>(mag.y), static_cast<double>(mag.z),
static_cast<double>(mag_ofs.x), static_cast<double>(mag_ofs.y), static_cast<double>(mag_ofs.z));
} else {
cliSerial->printf("compass not healthy\n");
}
@ -408,14 +408,14 @@ int8_t Rover::test_sonar(uint8_t argc, const Menu::arg *argv)
if (now - last_print >= 200) {
cliSerial->printf("sonar1 dist=%.1f:%.1fcm volt1=%.2f:%.2f sonar2 dist=%.1f:%.1fcm volt2=%.2f:%.2f\n",
(double)sonar_dist_cm_min,
(double)sonar_dist_cm_max,
(double)voltage_min,
(double)voltage_max,
(double)sonar2_dist_cm_min,
(double)sonar2_dist_cm_max,
(double)voltage2_min,
(double)voltage2_max);
static_cast<double>(sonar_dist_cm_min),
static_cast<double>(sonar_dist_cm_max),
static_cast<double>(voltage_min),
static_cast<double>(voltage_max),
static_cast<double>(sonar2_dist_cm_min),
static_cast<double>(sonar2_dist_cm_max),
static_cast<double>(voltage2_min),
static_cast<double>(voltage2_max));
voltage_min = voltage_max = 0.0f;
voltage2_min = voltage2_max = 0.0f;
sonar_dist_cm_min = sonar_dist_cm_max = 0.0f;