Merge branch 'develop' into follow_me

CMakeLists.txt

@@ -160,6 +160,11 @@ target_link_libraries(dronecore
     ${curl_lib}
     tinyxml2
 )
+if (MSVC)
+    target_link_libraries(dronecore
+        ws2_32
+    )
+endif()
 
 # cmake should check for C++11
 set_property(TARGET dronecore PROPERTY CXX_STANDARD 11)

appveyor.yml

@@ -61,6 +61,48 @@ build_script:
     ) else (
       cmake --build . --target install --config Release
     )
+  - cd ..
+  - cd example\takeoff_land
+  - md build
+  - cd build
+  - cmake ..  -G "Visual Studio 15 2017 Win64"
+  - if "%configuration%"=="Debug" (
+      cmake --build . --config Debug
+    ) else (
+      cmake --build . --config Release
+    )
+  - cd ..\..\..
+  - cd example\fly_mission
+  - md build
+  - cd build
+  - cmake ..  -G "Visual Studio 15 2017 Win64"
+  - if "%configuration%"=="Debug" (
+      cmake --build . --config Debug
+    ) else (
+      cmake --build . --config Release
+    )
+  - cd ..\..\..
+  - cd example\offboard_velocity
+  - md build
+  - cd build
+  - cmake ..  -G "Visual Studio 15 2017 Win64"
+  - if "%configuration%"=="Debug" (
+      cmake --build . --config Debug
+    ) else (
+      cmake --build . --config Release
+    )
+  - cd ..\..\..
+  - cd example\transition_vtol_fixed_wing
+  - md build
+  - cd build
+  - cmake ..  -G "Visual Studio 15 2017 Win64"
+  - if "%configuration%"=="Debug" (
+      cmake --build . --config Debug
+    ) else (
+      cmake --build . --config Release
+    )
+  - cd ..\..\..
+
 
 test: on
 

core/tcp_connection.cpp

@@ -7,7 +7,10 @@
 #include <arpa/inet.h>
 #include <errno.h>
 #include <unistd.h> // for close()
+#else
+#pragma comment(lib, "Ws2_32.lib") // Without this, Ws2_32.lib is not included in static library.
 #endif
+
 #include <cassert>
 
 #ifndef WINDOWS

core/udp_connection.cpp

@@ -12,6 +12,7 @@
 #include <winsock2.h>
 #include <Ws2tcpip.h> // For InetPton
 #undef SOCKET_ERROR // conflicts with ConnectionResult::SOCKET_ERROR
+#pragma comment(lib, "Ws2_32.lib") // Without this, Ws2_32.lib is not included in static library.
 #endif
 
 #include <cassert>

example/fly_mission/CMakeLists.txt

@@ -6,6 +6,8 @@ if(NOT MSVC)
     add_definitions("-std=c++11 -Wall -Wextra -Werror")
 else()
     add_definitions("-std=c++11 -WX -W2")
+    include_directories(${CMAKE_SOURCE_DIR}/../../install/include)
+    link_directories(${CMAKE_SOURCE_DIR}/../../install/lib)
 endif()
 
 add_executable(fly_mission

example/offboard_velocity/CMakeLists.txt

@@ -6,6 +6,9 @@ if(NOT MSVC)
     add_definitions("-std=c++11 -Wall -Wextra -Werror")
 else()
     add_definitions("-std=c++11 -WX -W2")
+    add_definitions("-D_USE_MATH_DEFINES") # For M_PI
+    include_directories(${CMAKE_SOURCE_DIR}/../../install/include)
+    link_directories(${CMAKE_SOURCE_DIR}/../../install/lib)
 endif()
 
 add_executable(offboard

example/takeoff_land/CMakeLists.txt

@@ -6,6 +6,8 @@ if(NOT MSVC)
     add_definitions("-std=c++11 -Wall -Wextra -Werror")
 else()
     add_definitions("-std=c++11 -WX -W2")
+    include_directories(${CMAKE_SOURCE_DIR}/../../install/include)
+    link_directories(${CMAKE_SOURCE_DIR}/../../install/lib)
 endif()
 
 add_executable(takeoff_and_land
@@ -15,3 +17,4 @@ add_executable(takeoff_and_land
 target_link_libraries(takeoff_and_land
     dronecore
 )
+

example/transition_vtol_fixed_wing/CMakeLists.txt

@@ -6,6 +6,8 @@ if(NOT MSVC)
     add_definitions("-std=c++11 -Wall -Wextra -Werror")
 else()
     add_definitions("-std=c++11 -WX -W2")
+    include_directories(${CMAKE_SOURCE_DIR}/../../install/include)
+    link_directories(${CMAKE_SOURCE_DIR}/../../install/lib)
 endif()
 
 add_executable(transition_vtol_fixed_wing

grpc/python_client/CMakeLists.txt

@@ -5,6 +5,7 @@ include(FindPythonInterp REQUIRED)
 add_custom_target(pydronecore ALL)
 
 set(plugins_dir ${CMAKE_SOURCE_DIR}/grpc/server/plugins)
+set(plugins_list action mission telemetry)
 
 if(${PYTHONINTERP_FOUND})
     set(proto_dir ${CMAKE_SOURCE_DIR}/grpc/proto)
@@ -27,7 +28,7 @@ if(${PYTHONINTERP_FOUND})
                 -I ${plugins_dir}/${plugin}
                 --python_out=.
                 --grpc_python_out=.
-                ${plugins_dir}${plugin}/${plugin}.proto
+                ${plugins_dir}/${plugin}/${plugin}.proto
             DEPENDS ${plugins_dir}/${plugin}/${plugin}.proto
     )
     endforeach()

grpc/python_client/async_client.py

@@ -10,6 +10,8 @@
 import action_pb2_grpc
 import telemetry_pb2 as dc_telemetry
 import telemetry_pb2_grpc
+from google.protobuf import empty_pb2
+import threading
 
 class Colors:
     BLUE = "\033[34m"
@@ -21,8 +23,7 @@ def wait_until(status):
 
 def print_altitude(telemetry_stub, stop):
     for i, position in enumerate(
-        telemetry_stub.TelemetryPositionSubscription(
-            dc_telemetry.TelemetryEmpty())):
+        telemetry_stub.TelemetryPositionSubscription(empty_pb2.Empty())):
         # Position updates with SITL are too fast, we skip 9/10.
         if i % 10 == 0:
             print(Colors.BLUE, end="")
@@ -43,27 +44,27 @@ def run():
     t = threading.Thread(target=print_altitude, args=(telemetry_stub, t_stop))
     t.start()
 
-    arm_result = stub.Arm.future(dc.Empty())
+    arm_result = action_stub.Arm.future(empty_pb2.Empty())
     arm_result = wait_until(arm_result)
-    if arm_result.result == dc.ActionResult.Result_SUCCESS:
+    if arm_result.result == dc_action.ActionResult.SUCCESS:
         print("arming ok")
     else:
         print("arming failed: " + arm_result.result_str)
 
     time.sleep(2)
 
-    takeoff_result = stub.TakeOff.future(dc.Empty())
+    takeoff_result = action_stub.TakeOff.future(empty_pb2.Empty())
     takeoff_result = wait_until(takeoff_result)
-    if takeoff_result.result == dc.ActionResult.Result_SUCCESS:
+    if takeoff_result.result == dc_action.ActionResult.SUCCESS:
         print("takeoff ok")
     else:
         print("takeoff failed: " + takeoff_result.result_str)
 
     time.sleep(5)
 
-    land_result = stub.Land.future(dc.Empty())
+    land_result = action_stub.Land.future(empty_pb2.Empty())
     land_result = wait_until(land_result)
-    if land_result.result == dc.ActionResult.Result_SUCCESS:
+    if land_result.result == dc_action.ActionResult.SUCCESS:
         print("landing ok")
     else:
         print("landing failed: " + land_result.result_str)

grpc/python_client/fly_mission.py

@@ -12,6 +12,7 @@
 import action_pb2_grpc
 import mission_pb2 as dc_mission
 import mission_pb2_grpc
+from google.protobuf import empty_pb2
 
 
 thread_status = True
@@ -33,73 +34,73 @@ def run():
 
     mission_items = []
 
-    mission_items.append(dc.MissionItem(
+    mission_items.append(dc_mission.MissionItem(
         latitude_deg=47.398170327054473,
         longitude_deg=8.5456490218639658,
         relative_altitude_m=10,
         speed_m_s=5,
         is_fly_through=False,
         gimbal_pitch_deg=20,
         gimbal_yaw_deg=60,
-        camera_action=dc.MissionItem.CameraAction_NONE))
+        camera_action=dc_mission.MissionItem.NONE))
 
-    mission_items.append(dc.MissionItem(
+    mission_items.append(dc_mission.MissionItem(
         latitude_deg=47.398241338125118,
         longitude_deg=8.5455360114574432,
         relative_altitude_m=10,
         speed_m_s=2,
         is_fly_through=True,
         gimbal_pitch_deg=0,
         gimbal_yaw_deg=-60,
-        camera_action=dc.MissionItem.CameraAction_TAKE_PHOTO))
+        camera_action=dc_mission.MissionItem.TAKE_PHOTO))
 
-    mission_items.append(dc.MissionItem(
+    mission_items.append(dc_mission.MissionItem(
         latitude_deg=47.398139363821485,
         longitude_deg=8.5453846156597137,
         relative_altitude_m=10,
         speed_m_s=5,
         is_fly_through=True,
         gimbal_pitch_deg=-45,
         gimbal_yaw_deg=0,
-        camera_action=dc.MissionItem.CameraAction_START_VIDEO))
+        camera_action=dc_mission.MissionItem.START_VIDEO))
 
-    mission_items.append(dc.MissionItem(
+    mission_items.append(dc_mission.MissionItem(
         latitude_deg=47.398058617228855,
         longitude_deg=8.5454618036746979,
         relative_altitude_m=10,
         speed_m_s=2,
         is_fly_through=False,
         gimbal_pitch_deg=-90,
         gimbal_yaw_deg=30,
-        camera_action=dc.MissionItem.CameraAction_STOP_VIDEO))
+        camera_action=dc_mission.MissionItem.STOP_VIDEO))
 
-    mission_items.append(dc.MissionItem(
+    mission_items.append(dc_mission.MissionItem(
         latitude_deg=47.398100366082858,
         longitude_deg=8.5456969141960144,
         relative_altitude_m=10,
         speed_m_s=5,
         is_fly_through=False,
         gimbal_pitch_deg=-45,
         gimbal_yaw_deg=-30,
-        camera_action=dc.MissionItem.CameraAction_START_PHOTO_INTERVAL))
+        camera_action=dc_mission.MissionItem.START_PHOTO_INTERVAL))
 
-    mission_items.append(dc.MissionItem(
+    mission_items.append(dc_mission.MissionItem(
         latitude_deg=47.398001890458097,
         longitude_deg=8.5455576181411743,
         relative_altitude_m=10,
         speed_m_s=5,
         is_fly_through=False,
         gimbal_pitch_deg=0,
         gimbal_yaw_deg=0,
-        camera_action=dc.MissionItem.CameraAction_STOP_PHOTO_INTERVAL))
+        camera_action=dc_mission.MissionItem.STOP_PHOTO_INTERVAL))
 
-    mission_stub.SendMission(dc.Mission(mission_items=mission_items))
+    mission_stub.SendMission(dc_mission.Mission(mission_items=mission_items))
     time.sleep(1)
 
-    action_stub.Arm(dc.Empty())
+    action_stub.Arm(empty_pb2.Empty())
     time.sleep(1)
 
-    future_status = mission_stub.StartMission.future(dc_mission.MissionEmpty())
+    future_status = mission_stub.StartMission.future(empty_pb2.Empty())
     t = Thread(target=wait_func, args=(future_status,))
     t.start()
 

grpc/python_client/sync_client.py

@@ -7,30 +7,31 @@
 #import dronecore_pb2_grpc
 import action_pb2 as dc_action
 import action_pb2_grpc
+from google.protobuf import empty_pb2
 
 def run():
     channel = grpc.insecure_channel('0.0.0.0:50051')
 #    stub = dronecore_pb2_grpc.DroneCoreRPCStub(channel)
-	action_stub = action_pb2_grpc.ActionRPCStub(channel)
+    action_stub = action_pb2_grpc.ActionRPCStub(channel)
 
-    arm_result = action_stub.Arm(dc.Empty())
-    if arm_result.result == dc.ActionResult.SUCCESS:
+    arm_result = action_stub.Arm(empty_pb2.Empty())
+    if arm_result.result == dc_action.ActionResult.SUCCESS:
         print("arming ok")
     else:
         print("arming failed: " + arm_result.result_str)
 
     time.sleep(2)
 
-    takeoff_result = action_stub.TakeOff(dc.Empty())
-    if takeoff_result.result == dc.ActionResult.SUCCESS:
+    takeoff_result = action_stub.TakeOff(empty_pb2.Empty())
+    if takeoff_result.result == dc_action.ActionResult.SUCCESS:
         print("takeoff ok")
     else:
         print("takeoff failed: " + takeoff_result.result_str)
 
     time.sleep(5)
 
-    land_result = action_stub.Land(dc.Empty())
-    if land_result.result == dc.ActionResult.SUCCESS:
+    land_result = action_stub.Land(empty_pb2.Empty())
+    if land_result.result == dc_action.ActionResult.SUCCESS:
         print("landing ok")
     else:
         print("landing failed: " + land_result.result_str)