Merge branch 'develop'

3rdparty/CMakeLists.txt

@@ -89,10 +89,12 @@ endif()
 # Build RPLIDAR?
 # ----------------------------------
 if(CMAKE_MRPT_HAS_ROBOPEAK_LIDAR)
-	set(RPLIDAR_ROOT ${MRPT_SOURCE_DIR}/3rdparty/rplidar_sdk/sdk/sdk/)
+	set(RPLIDAR_ROOT ${MRPT_SOURCE_DIR}/3rdparty/rplidar_sdk/sdk/)
 	set(SRCS_LIST
 		${RPLIDAR_ROOT}/src/*.cpp
 		${RPLIDAR_ROOT}/src/hal/*.cpp
+		${RPLIDAR_ROOT}/src/dataunpacker/*.cpp
+		${RPLIDAR_ROOT}/src/dataunpacker/unpacker/*.cpp
 		${RPLIDAR_ROOT}/include/*.h
 	)
 	if (WIN32)

3rdparty/xspublic/.clang-format

@@ -0,0 +1,3 @@
+DisableFormat: true
+SortIncludes: Never
+

3rdparty/xspublic/xscontroller/broadcastdevice.cpp

@@ -83,8 +83,8 @@ class BroadcastForwardFunc {
 class ForwardConstFunc : public BroadcastForwardFunc {
 public:
 	typedef bool (XsDevice::*FuncType)() const;
-	inline ForwardConstFunc (BroadcastDevice* bc, FuncType func)
-		: BroadcastForwardFunc(bc), m_func(func) {}
+	inline ForwardConstFunc (const BroadcastDevice* bc, FuncType func)
+		: BroadcastForwardFunc(const_cast<BroadcastDevice*>(bc)), m_func(func) {}
 	virtual bool call(XsDevice* device) { return (device->*m_func)(); }
 private:
 	FuncType m_func;
@@ -95,8 +95,8 @@ template <typename Arg1>
 class ForwardConstFunc1Arg : public BroadcastForwardFunc {
 public:
 	typedef bool (XsDevice::*FuncType)(Arg1) const;
-	inline ForwardConstFunc1Arg (BroadcastDevice* bc, FuncType func, Arg1 arg1)
-		: BroadcastForwardFunc(bc), m_func(func), m_arg1(arg1) {}
+	inline ForwardConstFunc1Arg (const BroadcastDevice* bc, FuncType func, Arg1 arg1)
+		: BroadcastForwardFunc(const_cast<BroadcastDevice*>(bc)), m_func(func), m_arg1(arg1) {}
 	virtual bool call(XsDevice* device) { return (device->*m_func)(m_arg1); }
 private:
 	FuncType m_func;
@@ -321,17 +321,17 @@ bool BroadcastDevice::abortFlushing()
 
 bool BroadcastDevice::isMeasuring() const
 {
-	return ForwardConstFunc(const_cast<BroadcastDevice* const>(this), &XsDevice::isMeasuring)();
+	return ForwardConstFunc(const_cast<const BroadcastDevice*>(this), &XsDevice::isMeasuring)();
 }
 
 bool BroadcastDevice::isRecording() const
 {
-	return ForwardConstFunc(const_cast<BroadcastDevice* const>(this), &XsDevice::isRecording)();
+	return ForwardConstFunc(const_cast<const BroadcastDevice*>(this), &XsDevice::isRecording)();
 }
 
 bool BroadcastDevice::isReadingFromFile() const
 {
-	return ForwardConstFunc(const_cast<BroadcastDevice* const>(this), &XsDevice::isReadingFromFile)();
+	return ForwardConstFunc(const_cast<const BroadcastDevice*>(this), &XsDevice::isReadingFromFile)();
 }
 
 bool BroadcastDevice::gotoConfig()

3rdparty/xspublic/xscontroller/enumexpanders.cpp

@@ -60,10 +60,14 @@ JLENUMEXPANDER(XsConnectivityState,
 	JLENUMCASE(XCS_Unknown)
 )
 
-static void forceEnumExpanderInclusion()
+namespace 
+{
+[[maybe_unused]] void forceEnumExpanderInclusion()
 {
 	volatile bool blah = false;
+	(void)blah;
 	JLWRITEG("blah" << XDS_Initial << blah);
 	JLWRITEG("blah" << XOP_Unknown << blah);
 	JLWRITEG("blah" << XCS_File << blah);
 }
+}

3rdparty/xspublic/xscontroller/mti6x0device.cpp

@@ -88,9 +88,9 @@ MtiBaseDevice::BaseFrequencyResult Mti6X0Device::getBaseFrequencyInternal(XsData
 		return result;
 	}
 
-	auto baseFreq = [&](XsDataIdentifier dataType)
+	auto baseFreq = [&](XsDataIdentifier data_type)
 	{
-		switch (dataType & XDI_TypeMask)
+		switch (data_type & XDI_TypeMask)
 		{
 		case XDI_None:					return 400;
 		case XDI_TimestampGroup:		return XDI_MAX_FREQUENCY_VAL;

3rdparty/xspublic/xscontroller/mti7device.cpp

@@ -76,9 +76,9 @@ MtiBaseDevice::BaseFrequencyResult Mti7Device::getBaseFrequencyInternal(XsDataId
 		return result;
 	}
 
-	auto baseFreq = [&](XsDataIdentifier dataType)
+	auto baseFreq = [&](XsDataIdentifier data_type)
 	{
-		switch (dataType & XDI_TypeMask)
+		switch (data_type & XDI_TypeMask)
 		{
 		case XDI_None:					return 100;
 		case XDI_TimestampGroup:		return XDI_MAX_FREQUENCY_VAL;
@@ -93,7 +93,7 @@ MtiBaseDevice::BaseFrequencyResult Mti7Device::getBaseFrequencyInternal(XsDataId
 		case XDI_PressureGroup:			return 50;
 		case XDI_GnssGroup:
 		{
-			if ((dataType & XDI_FullTypeMask) == XDI_GnssPvtData)
+			if ((data_type & XDI_FullTypeMask) == XDI_GnssPvtData)
 				return 4;
 			return 0;
 		}

3rdparty/xspublic/xscontroller/mtigdevice.cpp

@@ -108,12 +108,12 @@ MtiBaseDevice::BaseFrequencyResult MtigDevice::getBaseFrequencyInternal(XsDataId
 		return result;
 	}
 
-	auto baseFreq = [&](XsDataIdentifier dataType)
+	auto baseFreq = [&](XsDataIdentifier data_type)
 	{
 		XsVersion const legacyFwVersion(MTMK4_700_LEGACY_FW_VERSION_MAJOR, MTMK4_700_LEGACY_FW_VERSION_MINOR, MTMK4_700_LEGACY_FW_VERSION_REVISION);
 		bool const isLegacyFirmware = (firmwareVersion() <= legacyFwVersion);
 
-		switch (dataType & XDI_TypeMask)
+		switch (data_type & XDI_TypeMask)
 		{
 		case XDI_None:					return 2000;
 		case XDI_TimestampGroup:		return XDI_MAX_FREQUENCY_VAL;

3rdparty/xspublic/xscontroller/mtix00device.cpp

@@ -105,9 +105,9 @@ MtiBaseDevice::BaseFrequencyResult MtiX00Device::getBaseFrequencyInternal(XsData
 		return result;
 	}
 
-	auto baseFreq = [&](XsDataIdentifier dataType)
+	auto baseFreq = [&](XsDataIdentifier data_type)
 	{
-		switch (dataType & XDI_TypeMask)
+		switch (data_type & XDI_TypeMask)
 		{
 		case XDI_None:					return 2000;
 		case XDI_TimestampGroup:		return XDI_MAX_FREQUENCY_VAL;

3rdparty/xspublic/xscontroller/mtix0device.cpp

@@ -105,9 +105,9 @@ MtiBaseDevice::BaseFrequencyResult MtiX0Device::getBaseFrequencyInternal(XsDataI
 		return result;
 	}
 
-	auto baseFreq = [&](XsDataIdentifier dataType)
+	auto baseFreq = [&](XsDataIdentifier data_type)
 	{
-		switch (dataType & XDI_TypeMask)
+		switch (data_type & XDI_TypeMask)
 		{
 		case XDI_None:					return 2000;
 		case XDI_TimestampGroup:		return XDI_MAX_FREQUENCY_VAL;

3rdparty/xspublic/xscontroller/mtixdevice.cpp

@@ -82,9 +82,9 @@ MtiBaseDevice::BaseFrequencyResult MtiXDevice::getBaseFrequencyInternal(XsDataId
 		return result;
 	}
 
-	auto baseFreq = [&](XsDataIdentifier dataType)
+	auto baseFreq = [&](XsDataIdentifier data_type)
 	{
-		switch (dataType & XDI_TypeMask)
+		switch (data_type & XDI_TypeMask)
 		{
 		case XDI_None:					return 100;
 		case XDI_TimestampGroup:		return XDI_MAX_FREQUENCY_VAL;

3rdparty/xspublic/xscontroller/serialcommunicator.cpp

@@ -130,8 +130,8 @@ XsResultValue SerialCommunicator::gotoConfig(bool detectRs485)
 		while (true)
 		{
 			std::shared_ptr<ReplyObject> reply2 = addReplyObject(XMID_GotoConfigAck);
-			XsMessage rcv = reply2->message(100);
-			if (rcv.getMessageId() != XMID_GotoConfigAck)
+			XsMessage rcv2 = reply2->message(100);
+			if (rcv2.getMessageId() != XMID_GotoConfigAck)
 				break;
 		}
 

3rdparty/xspublic/xscontroller/serialinterface.cpp

@@ -590,10 +590,10 @@ XsResultValue SerialInterface::readData(XsFilePos maxLength, XsByteArray& data)
 	}
 	else
 	{
-		int err = errno;
+		int err2 = errno;
 
 		data.clear();
-		switch (err)
+		switch (err2)
 		{
 		case EAGAIN:
 #if defined(EWOULDBLOCK) && EWOULDBLOCK != EAGAIN

3rdparty/xspublic/xscontroller/xsdevice_def.cpp

@@ -499,9 +499,9 @@ XsOutputConfiguration XsDevice::findConfiguration(XsDataIdentifier dataType) con
 
 	XsOutputConfigurationArray cfg = outputConfiguration();
 	auto item = std::find_if(cfg.begin(), cfg.end(),
-		[&](const XsOutputConfiguration &cfg)
+		[&](const XsOutputConfiguration &cfg2)
 		{
-			return (cfg.m_dataIdentifier & mask) == dataType;
+			return (cfg2.m_dataIdentifier & mask) == dataType;
 		}
 
 	);

3rdparty/xspublic/xscontroller/xsdeviceconfiguration.c

@@ -155,8 +155,8 @@ void XsDeviceConfiguration_readFromMessage(XsDeviceConfiguration* thisPtr, const
 	for (i = 0; i < nDevs; ++i)
 	{
 		thisPtr->m_deviceInfo[i].m_deviceId = XsMessage_getDataLong(msg, 98+i*20);
-		XsDeviceId deviceId = {thisPtr->m_deviceInfo[i].m_deviceId, XSDEVICEID_PRODUCT_CODE_INIT, 0, 0};
-		if (XsDeviceId_isLegacyDeviceId(&deviceId))
+		XsDeviceId deviceId2 = {thisPtr->m_deviceInfo[i].m_deviceId, XSDEVICEID_PRODUCT_CODE_INIT, 0, 0};
+		if (XsDeviceId_isLegacyDeviceId(&deviceId2))
 		{
 			thisPtr->m_deviceInfo[i].m_deviceId = (uint32_t)XsMessage_getDataLong(msg, 98+i*20);
 			memcpy(thisPtr->m_deviceInfo[i].m_reserved, XsMessage_getDataBuffer(msg, 102 + i * 20), 8);
@@ -214,8 +214,8 @@ void XsDeviceConfiguration_writeToMessage(const XsDeviceConfiguration* thisPtr,
 
 	for (i = 0; i < thisPtr->m_numberOfDevices; ++i)
 	{
-		XsDeviceId deviceId = {thisPtr->m_deviceInfo[i].m_deviceId, XSDEVICEID_PRODUCT_CODE_INIT, 0, 0};
-		if (XsDeviceId_isLegacyDeviceId(&deviceId))
+		XsDeviceId deviceId2 = {thisPtr->m_deviceInfo[i].m_deviceId, XSDEVICEID_PRODUCT_CODE_INIT, 0, 0};
+		if (XsDeviceId_isLegacyDeviceId(&deviceId2))
 		{
 			XsMessage_setDataLong (msg, (uint32_t)thisPtr->m_deviceInfo[i].m_deviceId, 98+i*20);
 			XsMessage_setDataBuffer(msg, thisPtr->m_masterInfo.m_reserved1, 8, 102+i*20);

3rdparty/xspublic/xstypes/xstime.c

@@ -40,7 +40,7 @@
 #	include <windows.h>
 #	define snprintf _snprintf
 #else
-#	include <errno.h>
+//#	include <errno.h>
 #	include <unistd.h>
 #	include <sys/time.h>
 #	include <pthread.h>
@@ -201,7 +201,8 @@ void XsTime_getDateAsString(char* dest, const struct tm* date)
 
 	year = dt.tm_year + 1900;
 	month = dt.tm_mon + 1;
-	snprintf(dest, 9, "%04d%02d%02d", year, month, dt.tm_mday);
+	volatile int dst_size = 9; // JLBC: just to supress truncation warning
+	snprintf(dest, dst_size, "%04d%02d%02d", year, month, dt.tm_mday);
 }
 
 /*! \brief Retrieves the time as binary
@@ -220,7 +221,8 @@ void XsTime_getTimeAsString(char* dest, const struct tm* date)
 	else
 		XsTime_getDateTime(&dt);
 
-	snprintf(dest, 8, "%02d%02d%02d%02d", dt.tm_hour, dt.tm_min, dt.tm_sec, 0);
+	volatile int dst_size = 8; // JLBC: just to supress truncation warning
+	snprintf(dest, dst_size, "%02d%02d%02d%02d", dt.tm_hour, dt.tm_min, dt.tm_sec, 0);
 }
 
 /*! \brief Retrieves the date as wstring representation

CMakeLists.txt

@@ -46,7 +46,7 @@ endif()
 
 
 if ((NOT IS_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/nanogui/include")
-    OR (NOT IS_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/rplidar_sdk/sdk/sdk")
+    OR (NOT IS_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/rplidar_sdk/sdk/src")
    )
   message(FATAL_ERROR "git submodules missing! "
     "You probably did not clone the project with --recursive. It is possible to recover "

apps/DifOdometry-Camera/DifOdometry_Camera.cpp

@@ -301,7 +301,9 @@ void CDifodoCamera::initializeScene()
 
 	// User-interface information
 	img::CImage img_legend;
-	img_legend.loadFromXPM(legend_xpm);
+	bool loadOk = img_legend.loadFromXPM(legend_xpm);
+	ASSERT_(loadOk);
+
 	Viewport::Ptr legend = scene->createViewport("legend");
 	legend->setViewportPosition(20, 20, 350, 201);
 	legend->setImageView(img_legend);

apps/DifOdometry-Datasets/DifOdometry_Datasets.cpp

@@ -268,7 +268,9 @@ void CDifodoDatasets::initializeScene()
 
 	// User-interface information
 	CImage img_legend;
-	img_legend.loadFromXPM(legend_xpm);
+	bool loadOk = img_legend.loadFromXPM(legend_xpm);
+	ASSERT_(loadOk);
+
 	Viewport::Ptr legend = scene->createViewport("legend");
 	legend->setViewportPosition(20, 20, 332, 164);
 	legend->setImageView(img_legend);

apps/RawLogViewer/CFormPlayVideo.cpp

@@ -1082,7 +1082,8 @@ void CFormPlayVideo::saveCamImage(int n)
 
 		string fil = string(dialog.GetPath().mb_str());
 
-		o->image.saveToFile(fil);
+		bool savedOk = o->image.saveToFile(fil);
+		ASSERT_(savedOk);
 	}
 	else if (IS_CLASS(*displayedImgs[n], CObservationStereoImages))
 	{
@@ -1124,7 +1125,8 @@ void CFormPlayVideo::saveCamImage(int n)
 		CImage& im =
 			(n == 2 ? o->imageDisparity
 					: (n == 1 ? o->imageRight : o->imageLeft));
-		im.saveToFile(fil);
+		bool savedOk = im.saveToFile(fil);
+		ASSERT_(savedOk);
 	}
 
 	WX_END_TRY

apps/RawLogViewer/main_convert_ops.cpp

@@ -598,7 +598,9 @@ void xRawLogViewerFrame::OnMenuConvertExternallyStored(wxCommandEvent& event)
 						string fileName = format(
 							"img_stereo_%u_left_%05u.%s", k, imgSaved,
 							imgFileExtension.c_str());
-						obsSt->imageLeft.saveToFile(outDir + fileName);
+						bool savedOk =
+							obsSt->imageLeft.saveToFile(outDir + fileName);
+						ASSERT_(savedOk);
 						obsSt->imageLeft.setExternalStorage(fileName);
 
 						imgSaved++;
@@ -607,7 +609,9 @@ void xRawLogViewerFrame::OnMenuConvertExternallyStored(wxCommandEvent& event)
 						fileName = format(
 							"img_stereo_%u_right_%05u.%s", k, imgSaved,
 							imgFileExtension.c_str());
-						obsSt->imageRight.saveToFile(outDir + fileName);
+						savedOk =
+							obsSt->imageRight.saveToFile(outDir + fileName);
+						ASSERT_(savedOk);
 						obsSt->imageRight.setExternalStorage(fileName);
 
 						imgSaved++;
@@ -623,7 +627,9 @@ void xRawLogViewerFrame::OnMenuConvertExternallyStored(wxCommandEvent& event)
 						string fileName = format(
 							"img_monocular_%u_%05u.%s", k, imgSaved,
 							imgFileExtension.c_str());
-						obsIm->image.saveToFile(outDir + fileName);
+						bool savedOk =
+							obsIm->image.saveToFile(outDir + fileName);
+						ASSERT_(savedOk);
 						obsIm->image.setExternalStorage(fileName);
 
 						imgSaved++;