fix lint & mavlink url not working

include/core/obc.hpp

@@ -9,7 +9,7 @@
 #include "core/mission_state.hpp"
 #include "network/gcs.hpp"
 #include "network/mavlink.hpp"
-#include "utilities/OBCConfig.hpp"
+#include "utilities/obc_config.hpp"
 
 /*
  *  The highest level class for the entire OBC
@@ -29,7 +29,7 @@ class OBC {
     std::thread connectMavThread;
     std::thread connectAirdropThread;
 
-    void connectMavlink(const char* mavlink_url);
+    void connectMavlink(std::string mavlink_url);
     void connectAirdrop();
 };
 

include/network/mavlink.hpp

@@ -29,7 +29,7 @@ class MavlinkClient {
      * example:
      *   MavlinkClient("tcp://192.168.65.254:5762")
      */ 
-    explicit MavlinkClient(const char* link);
+    explicit MavlinkClient(std::string link);
 
     /*
      * BLOCKING. Continues to try to upload the mission based on the passed through MissionConfig

include/utilities/obc_config.hpp

@@ -0,0 +1,19 @@
+#ifndef INCLUDE_UTILITIES_OBC_CONFIG_HPP_
+#define INCLUDE_UTILITIES_OBC_CONFIG_HPP_
+
+#include <string>
+
+struct OBCConfig {
+    std::string network_mavlink_connect;
+    int network_gcs_port;
+
+    // Load user specified config json, or make a new one
+    OBCConfig(int argc, char* argv[]);
+
+ private:
+    const std::string configsPath = "/workspaces/obcpp/configs/";
+
+    void makeDefault();
+};
+
+#endif  // INCLUDE_UTILITIES_OBC_CONFIG_HPP_

src/core/obc.cpp

@@ -12,17 +12,15 @@
 #include "network/mavlink.hpp"
 #include "network/airdrop_client.hpp"
 #include "utilities/logging.hpp"
+#include "utilities/obc_config.hpp"
 extern "C" {
     #include "network/airdrop_sockets.h"
 }
 
 // TODO: allow specifying config filename
 OBC::OBC(OBCConfig config) {
-    const char* mavlink_url= config.network_mavlink_connect.c_str();
     int gcs_port = config.network_gcs_port;
 
-    LOG_F(INFO, mavlink_url);
-
     this->state = std::make_shared<MissionState>();
     this->state->setTick(new MissionPrepTick(this->state));
 
@@ -31,7 +29,8 @@ OBC::OBC(OBCConfig config) {
     // Don't need to look at these futures at all because the connect functions
     // will set the global mission state themselves when connected, which everything
     // else can check.
-    this->connectMavThread = std::thread([this, mavlink_url]{this->connectMavlink(mavlink_url);});
+    this->connectMavThread = std::thread([this, config]
+        {this->connectMavlink(config.network_mavlink_connect);});
     this->connectAirdropThread = std::thread([this]{this->connectAirdrop();});
 }
 
@@ -42,7 +41,7 @@ void OBC::run() {
     }
 }
 
-void OBC::connectMavlink(const char* mavlink_url) {
+void OBC::connectMavlink(std::string mavlink_url) {
     loguru::set_thread_name("mav connect");
 
     // TODO: pull mav ip from config file

src/main.cpp

@@ -7,20 +7,15 @@ extern "C" {
 #include "core/obc.hpp"
 #include "utilities/constants.hpp"
 #include "utilities/logging.hpp"
-#include "utilities/OBCConfig.hpp"
+#include "utilities/obc_config.hpp"
 
 
 int main(int argc, char* argv[]) {
+    OBCConfig config(argc, argv);
+
     // TODO: pull logging folder from config
     initLogging("/workspaces/obcpp/logs", true, argc, argv);
 
-    // START: My Code 
-    LOG_F(INFO, "HEEEELLLLLOOOOOOOOO");
-    OBCConfig config(argc, argv);
-    // END: My Code
-
-    // In future, load configs, perhaps command line parameters, and pass
-    // into the obc object
     OBC obc(config);
     obc.run();
 }

src/network/mavlink.cpp

@@ -18,14 +18,14 @@
 #include "utilities/logging.hpp"
 #include "core/mission_state.hpp"
 
-MavlinkClient::MavlinkClient(const char* link) {
-    LOG_F(INFO, "Connecting to Mav at %s", link);
+MavlinkClient::MavlinkClient(std::string link) {
+    LOG_F(INFO, "Connecting to Mav at %s", link.c_str());
 
     while (true) {
         LOG_F(INFO, "Attempting to add mav connection...");
         const auto conn_result = this->mavsdk.add_any_connection(link);
         if (conn_result == mavsdk::ConnectionResult::Success) {
-            LOG_F(INFO, "Mavlink connection successfully established at %s", link);
+            LOG_F(INFO, "Mavlink connection successfully established at %s", link.c_str());
             break;
         }
 

src/pathing/tree.cpp

@@ -8,6 +8,7 @@
 #include "pathing/environment.hpp"
 #include "utilities/datatypes.hpp"
 #include "utilities/rng.hpp"
+#include "utilities/logging.hpp"
 
 RRTNode::RRTNode(const RRTPoint& point, double cost, double path_length,
                  const std::vector<XYZCoord> path)
@@ -363,7 +364,7 @@ void RRTTree::RRTStar(RRTNode* sample, double rewire_radius) {
 
 void RRTTree::setCurrentHead(RRTNode* goal) {
     if (goal == nullptr) {
-        std::cout << "FAILURE: Goal is not in the tree\n" << std::endl;
+        LOG_F(ERROR, "FAILURE: Goal is not in the tree");
         return;
     }
 

src/utilities/CMakeLists.txt

@@ -4,7 +4,7 @@ SET(FILES
     common.cpp
     datatypes.cpp
     logging.cpp
-    OBCConfig.cpp
+    obc_config.cpp
     rng.cpp
 )
 

src/utilities/obc_config.cpp

@@ -0,0 +1,41 @@
+#include "utilities/obc_config.hpp"
+
+#include <fstream>
+#include <stdexcept>
+#include <string>
+
+#include "nlohmann/json.hpp"
+
+using json = nlohmann::json;
+
+
+OBCConfig::OBCConfig(int argc, char* argv[]) {
+    // If config-json name is passed in
+    if (argc > 1) {
+        // Load in json file
+        std::ifstream configStream(configsPath + std::string(argv[1]));
+        if (!configStream.is_open()) {
+            throw std::invalid_argument("Invalid config-json name");
+        }
+        json configs = json::parse(configStream);
+
+        // Set configs
+        this->network_mavlink_connect = configs["network"]["mavlink"]["connect"];
+        this->network_gcs_port = configs["network"]["gcs"]["port"];
+    } else {
+        makeDefault();  // Detect if there is already a default-config.json?
+    }
+}
+
+void OBCConfig::makeDefault() {
+    // Set configs
+    this->network_mavlink_connect = "tcp://172.17.0.1:5760";
+    this->network_gcs_port = 5010;
+
+    // Create default configs
+    json configs;
+    configs["network"]["mavlink"]["connect"] = this->network_mavlink_connect;
+    configs["network"]["gcs"]["port"] = this->network_gcs_port;
+    std::ofstream configFile(configsPath + "default-config.json");
+    configFile << configs.dump(4);  // Dump to file with 4 space indents
+}