Fix build warnings

mitchellspryn · Feb 14, 2019 · 39e1b4f · 39e1b4f
1 parent c95a3d9
commit 39e1b4f
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Showing 10 changed files with 29 additions and 21 deletions.
diff --git a/AirLib/include/api/RpcLibAdapatorsBase.hpp b/AirLib/include/api/RpcLibAdapatorsBase.hpp
@@ -514,7 +514,7 @@ class RpcLibAdapatorsBase {
     };
 
     struct SensorReadings {
-        std::map<std::string, std::map<std::string, float> > readings;
+        std::map<std::string, std::map<std::string, double> > readings;
 
         MSGPACK_DEFINE_MAP(readings);
 

diff --git a/AirLib/include/api/RpcLibClientBase.hpp b/AirLib/include/api/RpcLibClientBase.hpp
@@ -10,6 +10,8 @@
 #include "physics/Kinematics.hpp"
 #include "physics/Environment.hpp"
 
+#include <map>
+
 namespace msr { namespace airlib {
 
 //common methods for RCP clients of different vehicles
@@ -47,7 +49,7 @@ class RpcLibClientBase {
     int simGetSegmentationObjectID(const std::string& mesh_name) const;
     void simPrintLogMessage(const std::string& message, std::string message_param = "", unsigned char severity = 0);
 
-    std::map<std::string, std::map<std::string, float> > readSensors(const std::string vehicle_name = "");
+    std::map<std::string, std::map<std::string, double> > readSensors(const std::string vehicle_name = "");
     msr::airlib::RayCastResponse simRayCast(const msr::airlib::RayCastRequest request, const std::string vehicle_name = "");
     void simSetDrawableShapes(const msr::airlib::DrawableShapeRequest request, const std::string vehicle_name = "");
 

diff --git a/AirLib/include/sensors/SensorBase.hpp b/AirLib/include/sensors/SensorBase.hpp
@@ -10,6 +10,7 @@
 #include "physics/Environment.hpp"
 #include "physics/Kinematics.hpp"
 
+#include <map>
 
 namespace msr { namespace airlib {
 
@@ -60,9 +61,9 @@ class SensorBase : public UpdatableObject  {
         return attach_link_name_;
     }
 
-    virtual const std::map<std::string, float> read() const
+    virtual const std::map<std::string, double> read() const
     {
-        return std::map<std::string, float>();
+        return std::map<std::string, double>();
     }
 
     virtual ~SensorBase() = default;

diff --git a/AirLib/include/sensors/SensorCollection.hpp b/AirLib/include/sensors/SensorCollection.hpp
@@ -5,6 +5,7 @@
 #define msr_airlib_SensorCollection_hpp
 
 #include <unordered_map>
+#include <map>
 #include "sensors/SensorBase.hpp"
 #include "common/UpdatableContainer.hpp"
 #include "common/Common.hpp"
@@ -76,7 +77,7 @@ class SensorCollection : UpdatableObject {
             return 0;
         }
         else {
-            return it->second.size();
+            return static_cast<uint>(it->second.size());
         }
     }
 
@@ -133,12 +134,12 @@ class SensorCollection : UpdatableObject {
 
     //*** End: UpdatableState implementation ***//
 
-    virtual std::map<std::string, std::map<std::string, float> > getReadings() const
+    virtual std::map<std::string, std::map<std::string, double> > getReadings() const
     {
-        std::map<std::string, std::map<std::string, float> > readings;
+        std::map<std::string, std::map<std::string, double> > readings;
         for (auto &kvp : this->sensors_)
         {
-            std::map<std::string, float> reading;
+            std::map<std::string, double> reading;
             std::string sensor_name = kvp.first;
             for (auto iter = kvp.second.get()->begin(); iter != kvp.second.get()->end(); ++iter)
             {

diff --git a/AirLib/include/sensors/barometer/BarometerBase.hpp b/AirLib/include/sensors/barometer/BarometerBase.hpp
@@ -34,9 +34,9 @@ class BarometerBase  : public SensorBase {
         reporter.writeValue("Baro-Prs", output_.pressure);
     }
 
-    virtual const std::map<std::string, float> read() const override
+    virtual const std::map<std::string, double> read() const override
     {
-        std::map<std::string, float> values;
+        std::map<std::string, double> values;
         auto& output = this->getOutput();
 
         values["Baro-Alt"] = output.altitude;

diff --git a/AirLib/include/sensors/distance/DistanceBase.hpp b/AirLib/include/sensors/distance/DistanceBase.hpp
@@ -34,10 +34,9 @@ class DistanceBase  : public SensorBase {
         reporter.writeValue("Dist-Curr", output_.distance);
     }
 
-    virtual const std::map<std::string, float> read() const override
+    virtual const std::map<std::string, double> read() const override
     {
-        std::map<std::string, float> values;
-        auto& output = this->getOutput();
+        std::map<std::string, double> values;
 
         values["Dist-Curr"] = output_.distance;
         values["Max-Distance"] = output_.max_distance;

diff --git a/AirLib/include/sensors/gps/GpsBase.hpp b/AirLib/include/sensors/gps/GpsBase.hpp
@@ -107,9 +107,9 @@ class GpsBase  : public SensorBase {
         reporter.writeValue("GPS-Epv", output_.gnss.epv);
     }
 
-    virtual const std::map<std::string, float> read() const override
+    virtual const std::map<std::string, double> read() const override
     {
-        std::map<std::string, float> values;
+        std::map<std::string, double> values;
         auto& output = this->getOutput();
 
         values["GPS-Loc-latitude"] = output.gnss.geo_point.latitude;
@@ -121,7 +121,12 @@ class GpsBase  : public SensorBase {
         values["GPS-Eph"] = output.gnss.eph;
         values["GPS-Epv"] = output.gnss.epv;
         values["GPS-fix-type"] = output.gnss.fix_type;
-        values["GPS-time-utc"] = output.gnss.time_utc;
+
+        // Marshall bits into double
+        double marshalled_time;
+        memcpy(&marshalled_time, &output.gnss.time_utc, sizeof(output.gnss.time_utc));
+        values["GPS-time-utc"] = marshalled_time;
+
         values["GPS-IsValid"] = output.is_valid ? 1.0f : 0.0f;
 
         return values;

diff --git a/AirLib/include/sensors/imu/ImuBase.hpp b/AirLib/include/sensors/imu/ImuBase.hpp
@@ -35,10 +35,10 @@ class ImuBase  : public SensorBase {
         reporter.writeValue("IMU-Lin", output_.linear_acceleration);
     }
 
-    virtual const std::map<std::string, float> read() const override
+    virtual const std::map<std::string, double> read() const override
     {
         auto output = this->getOutput();
-        std::map<std::string, float> values;
+        std::map<std::string, double> values;
         values["IMU-Ang-pitch"] = output.angular_velocity.x();
         values["IMU-Ang-roll"] = output.angular_velocity.y();
         values["IMU-Ang-yaw"] = output.angular_velocity.z();

diff --git a/AirLib/include/sensors/magnetometer/MagnetometerBase.hpp b/AirLib/include/sensors/magnetometer/MagnetometerBase.hpp
@@ -32,9 +32,9 @@ class MagnetometerBase  : public SensorBase {
         reporter.writeValue("Mag-Vec", output_.magnetic_field_body);
     }
 
-    virtual const std::map<std::string, float> read() const override
+    virtual const std::map<std::string, double> read() const override
     {
-        std::map<std::string, float> values;
+        std::map<std::string, double> values;
         auto& output = this->getOutput();
 
         values["Mag-Vec-x"] = output.magnetic_field_body.x();

diff --git a/AirLib/src/api/RpcLibClientBase.cpp b/AirLib/src/api/RpcLibClientBase.cpp
@@ -217,7 +217,7 @@ void RpcLibClientBase::simPrintLogMessage(const std::string& message, std::strin
     pimpl_->client.call("simPrintLogMessage", message, message_param, severity);
 }
 
-std::map<std::string, std::map<std::string, float> > RpcLibClientBase::readSensors(const std::string vehicle_name)
+std::map<std::string, std::map<std::string, double> > RpcLibClientBase::readSensors(const std::string vehicle_name)
 {
     return pimpl_->client.call("readSensors", vehicle_name).as<msr::airlib_rpclib::RpcLibAdapatorsBase::SensorReadings>().readings;
 }