multiple_drones: some minor improvements

mavlink · Feb 20, 2019 · dcc2e10 · dcc2e10
1 parent decd541
commit dcc2e10
Showing 1 changed file with 13 additions and 18 deletions.
diff --git a/example/multiple_drones/multiple_drones.cpp b/example/multiple_drones/multiple_drones.cpp
@@ -8,28 +8,27 @@
 #include <dronecode_sdk/dronecode_sdk.h>
 #include <dronecode_sdk/plugins/action/action.h>
 #include <dronecode_sdk/plugins/telemetry/telemetry.h>
-#include <chrono>
 #include <cstdint>
 #include <iostream>
 #include <thread>
+#include <chrono>
 
 using namespace dronecode_sdk;
+
 using namespace std::this_thread;
 using namespace std::chrono;
 
-static void takeoff_land(System &system);
+static void takeoff_and_land(System &system);
 
 #define ERROR_CONSOLE_TEXT "\033[31m" // Turn text on console red
 #define TELEMETRY_CONSOLE_TEXT "\033[34m" // Turn text on console blue
 #define NORMAL_CONSOLE_TEXT "\033[0m" // Restore normal console colour
 
-int main(int argc,
-         char **argv) // The input looks like this ./multiple_drones udp://:14540 udp://:14541
+int main(int argc, char *argv[])
 {
     if (argc == 1) {
-        std::cout << ERROR_CONSOLE_TEXT << "Please specify connection" << NORMAL_CONSOLE_TEXT
+        std::cerr << ERROR_CONSOLE_TEXT << "Please specify connection" << NORMAL_CONSOLE_TEXT
                   << std::endl;
-        ;
         return 1;
     }
 
@@ -39,10 +38,9 @@ int main(int argc,
     for (int i = 1; i < argc; ++i) {
         ConnectionResult connection_result = dc.add_any_connection(argv[i]);
         if (connection_result != ConnectionResult::SUCCESS) {
-            std::cout << ERROR_CONSOLE_TEXT
+            std::cerr << ERROR_CONSOLE_TEXT
                       << "Connection error: " << connection_result_str(connection_result)
                       << NORMAL_CONSOLE_TEXT << std::endl;
-            ;
             return 1;
         }
     }
@@ -60,7 +58,7 @@ int main(int argc,
     sleep_for(seconds(2));
 
     if (!discovered_system) {
-        std::cout << ERROR_CONSOLE_TEXT << "No system found, exiting." << NORMAL_CONSOLE_TEXT
+        std::cerr << ERROR_CONSOLE_TEXT << "No system found, exiting." << NORMAL_CONSOLE_TEXT
                   << std::endl;
         return 1;
     }
@@ -69,7 +67,7 @@ int main(int argc,
 
     for (auto uuid : dc.system_uuids()) {
         System &system = dc.system(uuid);
-        std::thread t(&takeoff_land, std::ref(system));
+        std::thread t(&takeoff_and_land, std::ref(system));
         threads.push_back(std::move(t));
     }
 
@@ -79,7 +77,7 @@ int main(int argc,
     return 0;
 }
 
-void takeoff_land(System &system)
+void takeoff_and_land(System &system)
 {
     auto telemetry = std::make_shared<Telemetry>(system);
     auto action = std::make_shared<Action>(system);
@@ -88,7 +86,7 @@ void takeoff_land(System &system)
     const Telemetry::Result set_rate_result = telemetry->set_rate_position(1.0);
 
     if (set_rate_result != Telemetry::Result::SUCCESS) {
-        std::cout << ERROR_CONSOLE_TEXT
+        std::cerr << ERROR_CONSOLE_TEXT
                   << "Setting rate failed:" << Telemetry::result_str(set_rate_result)
                   << NORMAL_CONSOLE_TEXT << std::endl;
         return;
@@ -113,18 +111,16 @@ void takeoff_land(System &system)
     const Action::Result arm_result = action->arm();
 
     if (arm_result != Action::Result::SUCCESS) {
-        std::cout << ERROR_CONSOLE_TEXT << "Arming failed:" << Action::result_str(arm_result)
+        std::cerr << ERROR_CONSOLE_TEXT << "Arming failed:" << Action::result_str(arm_result)
                   << NORMAL_CONSOLE_TEXT << std::endl;
-        // return ;
     }
 
     // Take off
     std::cout << "Taking off..." << std::endl;
     const Action::Result takeoff_result = action->takeoff();
     if (takeoff_result != Action::Result::SUCCESS) {
-        std::cout << ERROR_CONSOLE_TEXT << "Takeoff failed:" << Action::result_str(takeoff_result)
+        std::cerr << ERROR_CONSOLE_TEXT << "Takeoff failed:" << Action::result_str(takeoff_result)
                   << NORMAL_CONSOLE_TEXT << std::endl;
-        // return ;
     }
 
     // Let it hover for a bit before landing again.
@@ -133,9 +129,8 @@ void takeoff_land(System &system)
     std::cout << "Landing..." << std::endl;
     const Action::Result land_result = action->land();
     if (land_result != Action::Result::SUCCESS) {
-        std::cout << ERROR_CONSOLE_TEXT << "Land failed:" << Action::result_str(land_result)
+        std::cerr << ERROR_CONSOLE_TEXT << "Land failed:" << Action::result_str(land_result)
                   << NORMAL_CONSOLE_TEXT << std::endl;
-        // return ;
     }
 
     // Check if vehicle is still in air