Fix some more deprecations and warnings

examples/fly_multiple_drones/fly_multiple_drones.cpp

@@ -115,7 +115,7 @@ int main(int argc, char* argv[])
         }
     }
 
-    std::atomic<unsigned> num_systems_discovered{0};
+    std::atomic<size_t> num_systems_discovered{0};
 
     std::cout << "Waiting to discover system..." << std::endl;
     mavsdk.subscribe_on_change([&mavsdk, &num_systems_discovered]() {

examples/multiple_drones/multiple_drones.cpp

@@ -18,7 +18,7 @@ using namespace mavsdk;
 using namespace std::this_thread;
 using namespace std::chrono;
 
-static void takeoff_and_land(System& system);
+static void takeoff_and_land(std::shared_ptr<System> system);
 
 #define ERROR_CONSOLE_TEXT "\033[31m" // Turn text on console red
 #define TELEMETRY_CONSOLE_TEXT "\033[34m" // Turn text on console blue
@@ -34,7 +34,7 @@ int main(int argc, char* argv[])
 
     Mavsdk mavsdk;
 
-    int total_udp_ports = argc - 1;
+    size_t total_udp_ports = argc - 1;
 
     // the loop below adds the number of ports the sdk monitors.
     for (int i = 1; i < argc; ++i) {
@@ -46,7 +46,7 @@ int main(int argc, char* argv[])
         }
     }
 
-    std::atomic<signed> num_systems_discovered{0};
+    std::atomic<size_t> num_systems_discovered{0};
 
     std::cout << "Waiting to discover system..." << std::endl;
     mavsdk.subscribe_on_change([&mavsdk, &num_systems_discovered]() {
@@ -70,8 +70,7 @@ int main(int argc, char* argv[])
 
     std::vector<std::thread> threads;
 
-    for (auto uuid : mavsdk.system_uuids()) {
-        System& system = mavsdk.system(uuid);
+    for (auto system : mavsdk.systems()) {
         std::thread t(&takeoff_and_land, std::ref(system));
         threads.push_back(std::move(t));
     }
@@ -82,7 +81,7 @@ int main(int argc, char* argv[])
     return 0;
 }
 
-void takeoff_and_land(System& system)
+void takeoff_and_land(std::shared_ptr<System> system)
 {
     auto telemetry = std::make_shared<Telemetry>(system);
     auto action = std::make_shared<Action>(system);

examples/takeoff_land/takeoff_and_land.cpp

@@ -81,7 +81,7 @@ int main(int argc, char** argv)
 
     // Register a callback so we get told when components (camera, gimbal) etc
     // are found.
-    system.register_component_discovered_callback(component_discovered);
+    system->register_component_discovered_callback(component_discovered);
 
     auto telemetry = std::make_shared<Telemetry>(system);
     auto action = std::make_shared<Action>(system);

examples/transition_vtol_fixed_wing/transition_vtol_fixed_wing.cpp

@@ -38,7 +38,7 @@ int main(int argc, char** argv)
     }
 
     // We need an autopilot connected to start.
-    while (!mavsdk.systems().at(0).has_autopilot()) {
+    while (!mavsdk.systems().at(0)->has_autopilot()) {
         sleep_for(seconds(1));
         std::cout << "Waiting for system to connect." << std::endl;
     }

src/integration_tests/mission_transfer_lossy.cpp

@@ -13,7 +13,7 @@ static void set_link_lossy(std::shared_ptr<MavlinkPassthrough> mavlink_passthrou
 static std::vector<Mission::MissionItem> create_mission_items();
 static bool should_keep_message(const mavlink_message_t& message);
 
-static std::atomic<unsigned> _lossy_counter{0};
+static std::atomic<size_t> _lossy_counter{0};
 
 TEST_F(SitlTest, MissionTransferLossy)
 {

src/integration_tests/system_multi_components.cpp

@@ -36,8 +36,6 @@ TEST(SitlTestMultiple, SystemMultipleComponents)
     std::cout << "We've nothing to do until we've some system to talk to. Lets sleep!\n";
     sleep_for(seconds(3));
 
-    auto uuids = mavsdk.system_uuids();
-
     for (auto system : mavsdk.systems()) {
         std::cout << "We found a System with UUID: " << system->get_uuid() << '\n';
 

src/integration_tests/telemetry_async.cpp

@@ -59,25 +59,18 @@ static bool _received_actuator_output_status = false;
 
 TEST_F(SitlTest, TelemetryAsync)
 {
-    Mavsdk dc;
+    Mavsdk mavsdk;
 
-    ConnectionResult ret = dc.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_udp_connection();
+    ASSERT_EQ(ret, ConnectionResult::Success);
 
     std::this_thread::sleep_for(std::chrono::seconds(3));
 
-    std::vector<uint64_t> uuids = dc.system_uuids();
-
-    for (auto it = uuids.begin(); it != uuids.end(); ++it) {
-        std::cout << "found system with UUID: " << *it << std::endl;
-    }
-
-    ASSERT_EQ(uuids.size(), 1);
-
-    uint64_t uuid = uuids.at(0);
-
-    ASSERT_EQ(ret, ConnectionResult::Success);
+    const auto systems = mavsdk.systems();
+    ASSERT_EQ(systems.size(), 1);
+    const auto system = systems.at(0);
 
-    System& system = dc.system(uuid);
+    std::cout << "Found system with UUID: " << system->get_uuid() << std::endl;
 
     auto telemetry = std::make_shared<Telemetry>(system);
 

src/plugins/camera/camera_impl.cpp

@@ -164,7 +164,7 @@ void CameraImpl::manual_disable()
     _camera_found = false;
 }
 
-Camera::Result CameraImpl::select_camera(unsigned id)
+Camera::Result CameraImpl::select_camera(const size_t id)
 {
     static constexpr std::size_t MAX_SUPPORTED_ID = 5;
 

src/plugins/camera/camera_impl.h

@@ -20,7 +20,7 @@ class CameraImpl : public PluginImplBase {
     void enable() override;
     void disable() override;
 
-    Camera::Result select_camera(unsigned id);
+    Camera::Result select_camera(size_t id);
 
     Camera::Result take_photo();
 
@@ -168,7 +168,7 @@ class CameraImpl : public PluginImplBase {
 
     std::unique_ptr<CameraDefinition> _camera_definition{};
 
-    std::atomic<unsigned> _camera_id{0};
+    std::atomic<size_t> _camera_id{0};
     std::atomic<bool> _camera_found{false};
 
     struct {