diff --git a/backend/src/plugins/offboard/offboard_service_impl.h b/backend/src/plugins/offboard/offboard_service_impl.h index 463cda822b..1a9401b5bb 100644 --- a/backend/src/plugins/offboard/offboard_service_impl.h +++ b/backend/src/plugins/offboard/offboard_service_impl.h @@ -72,8 +72,8 @@ class OffboardServiceImpl final : public rpc::offboard::OffboardService::Service return grpc::Status::OK; } - static dronecode_sdk::Offboard::AttitudeRate translateRPCAttitudeRate( - const rpc::offboard::AttitudeRate &rpc_attitude_rate) + static dronecode_sdk::Offboard::AttitudeRate + translateRPCAttitudeRate(const rpc::offboard::AttitudeRate &rpc_attitude_rate) { dronecode_sdk::Offboard::AttitudeRate attitude_rate; @@ -90,16 +90,16 @@ class OffboardServiceImpl final : public rpc::offboard::OffboardService::Service rpc::offboard::SetPositionNedResponse * /* response */) override { if (request != nullptr) { - auto requested_position_ned_yaw = translateRPCPositionNEDYaw( - request->position_ned_yaw()); + auto requested_position_ned_yaw = + translateRPCPositionNEDYaw(request->position_ned_yaw()); _offboard.set_position_ned(requested_position_ned_yaw); } return grpc::Status::OK; } - static dronecode_sdk::Offboard::PositionNEDYaw translateRPCPositionNEDYaw( - const rpc::offboard::PositionNEDYaw &rpc_position_ned_yaw) + static dronecode_sdk::Offboard::PositionNEDYaw + translateRPCPositionNEDYaw(const rpc::offboard::PositionNEDYaw &rpc_position_ned_yaw) { dronecode_sdk::Offboard::PositionNEDYaw position_ned_yaw; @@ -116,8 +116,8 @@ class OffboardServiceImpl final : public rpc::offboard::OffboardService::Service rpc::offboard::SetVelocityBodyResponse * /* response */) override { if (request != nullptr) { - auto requested_velocity_body_yawspeed = translateRPCVelocityBodyYawspeed( - request->velocity_body_yawspeed()); + auto requested_velocity_body_yawspeed = + translateRPCVelocityBodyYawspeed(request->velocity_body_yawspeed()); _offboard.set_velocity_body(requested_velocity_body_yawspeed); } @@ -142,16 +142,16 @@ class OffboardServiceImpl final : public rpc::offboard::OffboardService::Service rpc::offboard::SetVelocityNedResponse * /* response */) override { if (request != nullptr) { - auto requested_velocity_ned_yaw = translateRPCVelocityNEDYaw( - request->velocity_ned_yaw()); + auto requested_velocity_ned_yaw = + translateRPCVelocityNEDYaw(request->velocity_ned_yaw()); _offboard.set_velocity_ned(requested_velocity_ned_yaw); } return grpc::Status::OK; } - static dronecode_sdk::Offboard::VelocityNEDYaw translateRPCVelocityNEDYaw( - const rpc::offboard::VelocityNEDYaw &rpc_velocity_ned_yaw) + static dronecode_sdk::Offboard::VelocityNEDYaw + translateRPCVelocityNEDYaw(const rpc::offboard::VelocityNEDYaw &rpc_velocity_ned_yaw) { dronecode_sdk::Offboard::VelocityNEDYaw velocity_ned_yaw; diff --git a/core/mavlink_parameters.cpp b/core/mavlink_parameters.cpp index 8ff1bb783f..eceed5e4f4 100644 --- a/core/mavlink_parameters.cpp +++ b/core/mavlink_parameters.cpp @@ -114,13 +114,14 @@ MAVLinkParameters::get_param(const std::string &name, ParamValue value_type, boo auto prom = std::promise>(); auto res = prom.get_future(); - get_param_async(name, - value_type, - [&prom](Result result, ParamValue value) { - prom.set_value(std::make_pair<>(result, value)); - }, - this, - extended); + get_param_async( + name, + value_type, + [&prom](Result result, ParamValue value) { + prom.set_value(std::make_pair<>(result, value)); + }, + this, + extended); return res.get(); } diff --git a/plugins/camera/camera_impl.cpp b/plugins/camera/camera_impl.cpp index f36eabe4e5..ab971a8b54 100644 --- a/plugins/camera/camera_impl.cpp +++ b/plugins/camera/camera_impl.cpp @@ -1259,25 +1259,26 @@ void CameraImpl::set_option_async(const std::string &setting_id, return; } - _parent->set_param_async(setting_id, - value, - [this, callback, setting_id, value](MAVLinkParameters::Result result) { - if (result == MAVLinkParameters::Result::SUCCESS) { - if (this->_camera_definition) { - _camera_definition->set_setting(setting_id, value); - refresh_params(); - } - if (callback) { - callback(Camera::Result::SUCCESS); - } - } else { - if (callback) { - callback(Camera::Result::ERROR); - } - } - }, - this, - true); + _parent->set_param_async( + setting_id, + value, + [this, callback, setting_id, value](MAVLinkParameters::Result result) { + if (result == MAVLinkParameters::Result::SUCCESS) { + if (this->_camera_definition) { + _camera_definition->set_setting(setting_id, value); + refresh_params(); + } + if (callback) { + callback(Camera::Result::SUCCESS); + } + } else { + if (callback) { + callback(Camera::Result::ERROR); + } + } + }, + this, + true); } Camera::Result CameraImpl::get_option(const std::string &setting_id, Camera::Option &option) @@ -1457,26 +1458,27 @@ void CameraImpl::refresh_params() const std::string ¶m_name = param.first; const MAVLinkParameters::ParamValue ¶m_value_type = param.second; const bool is_last = (count + 1 == params.size()); - _parent->get_param_async(param_name, - param_value_type, - [param_name, is_last, this](MAVLinkParameters::Result result, - MAVLinkParameters::ParamValue value) { - if (result != MAVLinkParameters::Result::SUCCESS) { - return; - } - // We need to check again by the time this callback runs - if (!this->_camera_definition) { - return; - } - this->_camera_definition->set_setting(param_name, value); - - if (is_last) { - notify_current_settings(); - notify_possible_setting_options(); - } - }, - this, - true); + _parent->get_param_async( + param_name, + param_value_type, + [param_name, is_last, this](MAVLinkParameters::Result result, + MAVLinkParameters::ParamValue value) { + if (result != MAVLinkParameters::Result::SUCCESS) { + return; + } + // We need to check again by the time this callback runs + if (!this->_camera_definition) { + return; + } + this->_camera_definition->set_setting(param_name, value); + + if (is_last) { + notify_current_settings(); + notify_possible_setting_options(); + } + }, + this, + true); ++count; } } diff --git a/plugins/follow_me/follow_me_impl.cpp b/plugins/follow_me/follow_me_impl.cpp index 39418f40e7..7c1eccae6e 100644 --- a/plugins/follow_me/follow_me_impl.cpp +++ b/plugins/follow_me/follow_me_impl.cpp @@ -34,35 +34,38 @@ void FollowMeImpl::deinit() void FollowMeImpl::enable() { - _parent->get_param_float_async("NAV_MIN_FT_HT", - [this](MAVLinkParameters::Result result, float value) { - if (result == MAVLinkParameters::Result::SUCCESS) { - _config.min_height_m = value; - } - }, - this); - _parent->get_param_float_async("NAV_FT_DST", - [this](MAVLinkParameters::Result result, float value) { - if (result == MAVLinkParameters::Result::SUCCESS) { - _config.follow_distance_m = value; - } - }, - this); - _parent->get_param_int_async("NAV_FT_FS", - [this](MAVLinkParameters::Result result, int32_t value) { - if (result == MAVLinkParameters::Result::SUCCESS) { - _config.follow_direction = - static_cast(value); - } - }, - this); - _parent->get_param_float_async("NAV_FT_RS", - [this](MAVLinkParameters::Result result, float value) { - if (result == MAVLinkParameters::Result::SUCCESS) { - _config.responsiveness = value; - } - }, - this); + _parent->get_param_float_async( + "NAV_MIN_FT_HT", + [this](MAVLinkParameters::Result result, float value) { + if (result == MAVLinkParameters::Result::SUCCESS) { + _config.min_height_m = value; + } + }, + this); + _parent->get_param_float_async( + "NAV_FT_DST", + [this](MAVLinkParameters::Result result, float value) { + if (result == MAVLinkParameters::Result::SUCCESS) { + _config.follow_distance_m = value; + } + }, + this); + _parent->get_param_int_async( + "NAV_FT_FS", + [this](MAVLinkParameters::Result result, int32_t value) { + if (result == MAVLinkParameters::Result::SUCCESS) { + _config.follow_direction = static_cast(value); + } + }, + this); + _parent->get_param_float_async( + "NAV_FT_RS", + [this](MAVLinkParameters::Result result, float value) { + if (result == MAVLinkParameters::Result::SUCCESS) { + _config.responsiveness = value; + } + }, + this); } void FollowMeImpl::disable() diff --git a/plugins/offboard/include/plugins/offboard/offboard.h b/plugins/offboard/include/plugins/offboard/offboard.h index 0c5a0695f5..574fb915c9 100644 --- a/plugins/offboard/include/plugins/offboard/offboard.h +++ b/plugins/offboard/include/plugins/offboard/offboard.h @@ -273,17 +273,17 @@ std::ostream &operator<<(std::ostream &str, Offboard::VelocityBodyYawspeed const &velocity_body_yawspeed); /** -* @brief Equal operator to compare two `Offboard::VelocityNEDYaw` objects. -* -* @return `true` if items are equal. -*/ + * @brief Equal operator to compare two `Offboard::VelocityNEDYaw` objects. + * + * @return `true` if items are equal. + */ bool operator==(const Offboard::VelocityNEDYaw &lhs, const Offboard::VelocityNEDYaw &rhs); /** -* @brief Stream operator to print information about a `Offboard::VelocityNEDYaw`. -* -* @return A reference to the stream. -*/ + * @brief Stream operator to print information about a `Offboard::VelocityNEDYaw`. + * + * @return A reference to the stream. + */ std::ostream &operator<<(std::ostream &str, Offboard::VelocityNEDYaw const &velocity_ned_yaw); } // namespace dronecode_sdk diff --git a/plugins/offboard/offboard.cpp b/plugins/offboard/offboard.cpp index 42fede2295..5a462ba91e 100644 --- a/plugins/offboard/offboard.cpp +++ b/plugins/offboard/offboard.cpp @@ -82,10 +82,8 @@ const char *Offboard::result_str(Result result) bool operator==(const Offboard::AttitudeRate &lhs, const Offboard::AttitudeRate &rhs) { - return lhs.roll_deg_s == rhs.roll_deg_s && - lhs.pitch_deg_s == rhs.pitch_deg_s && - lhs.yaw_deg_s == rhs.yaw_deg_s && - lhs.thrust_value == rhs.thrust_value; + return lhs.roll_deg_s == rhs.roll_deg_s && lhs.pitch_deg_s == rhs.pitch_deg_s && + lhs.yaw_deg_s == rhs.yaw_deg_s && lhs.thrust_value == rhs.thrust_value; } std::ostream &operator<<(std::ostream &str, Offboard::AttitudeRate const &attitude_rate) @@ -98,27 +96,22 @@ std::ostream &operator<<(std::ostream &str, Offboard::AttitudeRate const &attitu bool operator==(const Offboard::PositionNEDYaw &lhs, const Offboard::PositionNEDYaw &rhs) { - return lhs.north_m == rhs.north_m && - lhs.east_m == rhs.east_m && - lhs.down_m == rhs.down_m && + return lhs.north_m == rhs.north_m && lhs.east_m == rhs.east_m && lhs.down_m == rhs.down_m && lhs.yaw_deg == rhs.yaw_deg; } std::ostream &operator<<(std::ostream &str, Offboard::PositionNEDYaw const &position_ned_yaw) { return str << "[north_m: " << position_ned_yaw.north_m - << ", east_m: " << position_ned_yaw.east_m - << ", down_m: " << position_ned_yaw.down_m + << ", east_m: " << position_ned_yaw.east_m << ", down_m: " << position_ned_yaw.down_m << ", yaw_deg: " << position_ned_yaw.yaw_deg << "]"; } bool operator==(const Offboard::VelocityBodyYawspeed &lhs, const Offboard::VelocityBodyYawspeed &rhs) { - return lhs.forward_m_s == rhs.forward_m_s && - lhs.right_m_s == rhs.right_m_s && - lhs.down_m_s == rhs.down_m_s && - lhs.yawspeed_deg_s == rhs.yawspeed_deg_s; + return lhs.forward_m_s == rhs.forward_m_s && lhs.right_m_s == rhs.right_m_s && + lhs.down_m_s == rhs.down_m_s && lhs.yawspeed_deg_s == rhs.yawspeed_deg_s; } std::ostream &operator<<(std::ostream &str, @@ -132,10 +125,8 @@ std::ostream &operator<<(std::ostream &str, bool operator==(const Offboard::VelocityNEDYaw &lhs, const Offboard::VelocityNEDYaw &rhs) { - return lhs.north_m_s == rhs.north_m_s && - lhs.east_m_s == rhs.east_m_s && - lhs.down_m_s == rhs.down_m_s && - lhs.yaw_deg == rhs.yaw_deg; + return lhs.north_m_s == rhs.north_m_s && lhs.east_m_s == rhs.east_m_s && + lhs.down_m_s == rhs.down_m_s && lhs.yaw_deg == rhs.yaw_deg; } std::ostream &operator<<(std::ostream &str, Offboard::VelocityNEDYaw const &velocity_ned_yaw)