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Following issue lagadic#1274 stop to use VISP_CXX_STANDARD to check c…
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…++ standard

- The reason is that even if ViSP is build with the required standard, when
  used as a 3rparty the user can explicitly downgrade the standard.
  Since VISP_CXX_STANDARD was used in ViSP headers, the standard set in VISP_CXX_STANDARD
  and the one used by the compiler may differ.
- The change consists in always using the live standard provided by the compiler
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@fspindle
fspindle committed Nov 16, 2023
1 parent ef4e876 commit 09f4141
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Showing 28 changed files with 466 additions and 403 deletions.
8 changes: 4 additions & 4 deletions example/servo-afma6/servoAfma6MegaposePBVS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -77,8 +77,8 @@
#include <visp3/core/vpImageFilter.h>
#include <visp3/io/vpVideoWriter.h>


#if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_17) && \
// Check if std:c++17 or higher
#if defined(VISP_HAVE_REALSENSE2) && ((__cplusplus >= 201703L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201703L))) && \
(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && defined(VISP_HAVE_AFMA6) && defined(VISP_HAVE_MODULE_DNN_TRACKER)

#include <optional>
Expand Down Expand Up @@ -455,8 +455,8 @@ int main()
#if !defined(VISP_HAVE_REALSENSE2)
std::cout << "Install librealsense-2.x" << std::endl;
#endif
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_17)
std::cout << "Build ViSP with c++11 or higher compiler flag (cmake -DUSE_CXX_STANDARD=17)." << std::endl;
#if !((__cplusplus >= 201703L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201703L)))
std::cout << "Build ViSP with c++17 or higher compiler flag (cmake -DUSE_CXX_STANDARD=17)." << std::endl;
#endif
#if !defined(VISP_HAVE_AFMA6)
std::cout << "ViSP is not built with Afma-6 robot support..." << std::endl;
Expand Down
138 changes: 77 additions & 61 deletions example/servo-pixhawk/sendMocapToPixhawk.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,8 @@

#include <visp3/core/vpConfig.h>

#if defined(VISP_HAVE_MAVSDK) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_17) && \
// Check if std:c++17 or higher
#if defined(VISP_HAVE_MAVSDK) && ((__cplusplus >= 201703L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201703L))) && \
(defined(VISP_HAVE_QUALISYS) || defined(VISP_HAVE_VICON))

#include <chrono>
Expand Down Expand Up @@ -92,7 +93,8 @@ bool mocap_sdk_loop(std::mutex &lock, bool qualisys, bool opt_verbose, bool opt_
std::cout << "ERROR : Qualisys not found.";
return false;
#endif
} else {
}
else {
#ifdef VISP_HAVE_VICON
mocap = std::make_shared<vpMocapVicon>();
#else
Expand Down Expand Up @@ -120,19 +122,21 @@ bool mocap_sdk_loop(std::mutex &lock, bool qualisys, bool opt_verbose, bool opt_
if (!mocap->getBodiesPose(body_poses_enu_M_flu, opt_all_bodies)) {
g_quit = true;
}
} else {
}
else {
vpHomogeneousMatrix enu_M_flu;
if (!mocap->getSpecificBodyPose(opt_onlyBody, enu_M_flu)) {
g_quit = true;
} else {
}
else {
body_poses_enu_M_flu[opt_onlyBody] = enu_M_flu;
}
}

lock.lock();
internal_mavlink_failure = mavlink_failure;
current_body_poses_enu_M_flu =
body_poses_enu_M_flu; // Now we send directly the poses in the ENU global reference frame.
body_poses_enu_M_flu; // Now we send directly the poses in the ENU global reference frame.
lock.unlock();
}
return true;
Expand All @@ -148,7 +152,7 @@ int top(const std::string &connection_info, std::map<std::string, vpHomogeneousM
bool internal_mocap_failure = false;
const double fps = 100;

vpRobotMavsdk drone{connection_info};
vpRobotMavsdk drone { connection_info };

while (!g_quit && !internal_mocap_failure) {
double t = vpTime::measureTimeMs();
Expand Down Expand Up @@ -176,44 +180,44 @@ int top(const std::string &connection_info, std::map<std::string, vpHomogeneousM
void usage(char *argv[], int error)
{
std::cout << "SYNOPSIS" << std::endl
<< " " << argv[0] << " [--only-body <name>] [-ob]"
<< " [--mocap-system <qualisys>/<vicon>] [-ms <q>/<v>]"
<< " [--device <device port>] [-d]"
<< " [--server-address <server address>] [-sa]"
<< " [--verbose] [-v]"
<< " [--help] [-h]" << std::endl
<< std::endl;
<< " " << argv[0] << " [--only-body <name>] [-ob]"
<< " [--mocap-system <qualisys>/<vicon>] [-ms <q>/<v>]"
<< " [--device <device port>] [-d]"
<< " [--server-address <server address>] [-sa]"
<< " [--verbose] [-v]"
<< " [--help] [-h]" << std::endl
<< std::endl;
std::cout << "DESCRIPTION" << std::endl
<< "MANDATORY PARAMETERS :" << std::endl
<< " --only-body <name>" << std::endl
<< " Name of the specific body you want to be displayed." << std::endl
<< std::endl
<< "OPTIONAL PARAMETERS (DEFAULT VALUES)" << std::endl
<< " --mocap-system, -ms" << std::endl
<< " Specify the name of the mocap system : 'qualisys' / 'q' or 'vicon'/ 'v'." << std::endl
<< " Default: Qualisys mode." << std::endl
<< std::endl
<< " --device <device port>, -d" << std::endl
<< " String giving us all the informations necessary for connection." << std::endl
<< " Default: serial:///dev/ttyUSB0 ." << std::endl
<< " UDP example: udp://192.168.30.111:14540 (udp://IP:Port) ." << std::endl
<< std::endl
<< " --server-address <address>, -sa" << std::endl
<< " Mocap server address." << std::endl
<< " Default for Qualisys: 192.168.34.42 ." << std::endl
<< " Default for Vicon: 192.168.34.1 ." << std::endl
<< std::endl
<< " --verbose, -v" << std::endl
<< " Enable verbose mode." << std::endl
<< std::endl
<< " --help, -h" << std::endl
<< " Print this helper message." << std::endl
<< std::endl;
<< "MANDATORY PARAMETERS :" << std::endl
<< " --only-body <name>" << std::endl
<< " Name of the specific body you want to be displayed." << std::endl
<< std::endl
<< "OPTIONAL PARAMETERS (DEFAULT VALUES)" << std::endl
<< " --mocap-system, -ms" << std::endl
<< " Specify the name of the mocap system : 'qualisys' / 'q' or 'vicon'/ 'v'." << std::endl
<< " Default: Qualisys mode." << std::endl
<< std::endl
<< " --device <device port>, -d" << std::endl
<< " String giving us all the informations necessary for connection." << std::endl
<< " Default: serial:///dev/ttyUSB0 ." << std::endl
<< " UDP example: udp://192.168.30.111:14540 (udp://IP:Port) ." << std::endl
<< std::endl
<< " --server-address <address>, -sa" << std::endl
<< " Mocap server address." << std::endl
<< " Default for Qualisys: 192.168.34.42 ." << std::endl
<< " Default for Vicon: 192.168.34.1 ." << std::endl
<< std::endl
<< " --verbose, -v" << std::endl
<< " Enable verbose mode." << std::endl
<< std::endl
<< " --help, -h" << std::endl
<< " Print this helper message." << std::endl
<< std::endl;

if (error) {
std::cout << "Error" << std::endl
<< " "
<< "Unsupported parameter " << argv[error] << std::endl;
<< " "
<< "Unsupported parameter " << argv[error] << std::endl;
}
}

Expand All @@ -230,31 +234,40 @@ void parse_commandline(int argc, char **argv, bool &qualisys, std::string &conne
if (std::string(argv[i]) == "--only-body" || std::string(argv[i]) == "-ob") {
only_body = std::string(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--mocap-system" || std::string(argv[i]) == "-ms") {
}
else if (std::string(argv[i]) == "--mocap-system" || std::string(argv[i]) == "-ms") {
std::string mode = std::string(argv[i + 1]);
if (mode == "qualisys" || mode == "q") {
qualisys = true;
} else if (mode == "vicon" || mode == "v") {
}
else if (mode == "vicon" || mode == "v") {
qualisys = false;
} else {
}
else {
std::cout << "ERROR : System not recognized, exiting." << std::endl;
throw EXIT_FAILURE;
}
i++;
} else if (std::string(argv[i]) == "--device" || std::string(argv[i]) == "-d") {
}
else if (std::string(argv[i]) == "--device" || std::string(argv[i]) == "-d") {
connection_info = std::string(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--server-address" || std::string(argv[i]) == "-sa") {
}
else if (std::string(argv[i]) == "--server-address" || std::string(argv[i]) == "-sa") {
server_address = std::string(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--all-bodies") {
}
else if (std::string(argv[i]) == "--all-bodies") {
all_bodies = true;
} else if (std::string(argv[i]) == "--verbose" || std::string(argv[i]) == "-v") {
}
else if (std::string(argv[i]) == "--verbose" || std::string(argv[i]) == "-v") {
verbose = true;
} else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
usage(argv, 0);
throw EXIT_SUCCESS;
} else {
}
else {
usage(argv, i);
throw EXIT_FAILURE;
}
Expand Down Expand Up @@ -289,7 +302,8 @@ int main(int argc, char **argv)

if (opt_qualisys && opt_serverAddress == "") {
opt_serverAddress = "192.168.30.42";
} else if (!opt_qualisys && opt_serverAddress == "") {
}
else if (!opt_qualisys && opt_serverAddress == "") {
opt_serverAddress = "192.168.30.1";
}

Expand All @@ -304,8 +318,8 @@ int main(int argc, char **argv)
bool mavlink_failure = false;
std::thread mocap_thread([&lock, &opt_qualisys, &opt_verbose, &opt_all_bodies, &opt_serverAddress, &opt_onlyBody,
&current_body_poses_enu_M_flu, &mocap_failure, &mavlink_failure]() {
mocap_sdk_loop(lock, opt_qualisys, opt_verbose, opt_all_bodies, opt_serverAddress, opt_onlyBody,
current_body_poses_enu_M_flu, mocap_failure, mavlink_failure);
mocap_sdk_loop(lock, opt_qualisys, opt_verbose, opt_all_bodies, opt_serverAddress, opt_onlyBody,
current_body_poses_enu_M_flu, mocap_failure, mavlink_failure);
});
if (mocap_failure) {
std::cout << "Mocap connexion failure. Check mocap server IP address" << std::endl;
Expand All @@ -318,7 +332,8 @@ int main(int argc, char **argv)
try {
int result = top(opt_connectionInfo, current_body_poses_enu_M_flu, lock, mocap_failure);
return result;
} catch (int error) {
}
catch (int error) {
fprintf(stderr, "mavlink_control threw exception %i \n", error);
lock.lock();
mavlink_failure = true;
Expand All @@ -331,7 +346,8 @@ int main(int argc, char **argv)
mavlink_thread.join();
if (mocap_failure) {
return EXIT_FAILURE;
} else {
}
else {
return EXIT_SUCCESS;
}
}
Expand All @@ -342,18 +358,18 @@ int main()
{
#ifndef VISP_HAVE_MAVSDK
std::cout << "\nThis example requires mavsdk library. You should install it, configure and rebuid ViSP.\n"
<< std::endl;
<< std::endl;
#endif
#if !(defined(VISP_HAVE_QUALISYS) || defined(VISP_HAVE_VICON))
std::cout << "\nThis example requires data from a Qualisys or Vicon mocap system. You should install it, configure "
"and rebuid ViSP.\n"
<< std::endl;
"and rebuid ViSP.\n"
<< std::endl;
#endif
#if !(VISP_CXX_STANDARD >= VISP_CXX_STANDARD_17)
#if !((__cplusplus >= 201703L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201703L)))
std::cout
<< "\nThis example requires at least cxx17. You should enable cxx17 during ViSP configuration with cmake and "
"rebuild ViSP.\n"
<< std::endl;
<< "\nThis example requires at least cxx17. You should enable cxx17 during ViSP configuration with cmake and "
"rebuild ViSP.\n"
<< std::endl;
#endif
return EXIT_SUCCESS;
}
Expand Down
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