Qol/fall 2025

.clang-format

@@ -0,0 +1,17 @@
+BasedOnStyle: Google
+UseTab: Never
+IndentWidth: 4
+TabWidth: 4
+ColumnLimit: 100
+AccessModifierOffset: -3
+IncludeBlocks: Regroup
+SortIncludes: true
+IncludeCategories:
+  - Regex: "^[^\"]*interface\\.(h|hpp)$"
+    Priority: 1
+  - Regex: "^<[^/]+\\.h>$"
+    Priority: 2
+  - Regex: "^<[a-zA-Z0-9_]+>$"
+    Priority: 3
+  - Regex: ".*"
+    Priority: 4

.devcontainer/devcontainer.json

@@ -19,14 +19,15 @@
 	"customizations": {
 		"vscode": {
 			"settings": {
-				// Use bash instead ofk sh
+				// Use bash instead of sh
 				"terminal.integrated.defaultProfile.linux": "bash"
 			},
 			"extensions": [
 				"ms-vscode.cpptools",
 				"twxs.cmake",
 				"me-dutour-mathieu.vscode-github-actions"
-			]
+			],
+      "C_Cpp.clang_format_style": "file"
 		}
 	}
 

CMakeLists.txt

@@ -44,13 +44,13 @@ SET(CMAKE_C_FLAGS "-D_GNU_SOURCE")
 #   eight_jobs requires more than 12GB RAM
 #   sixteen_jobs requires more than 16GB RAM (I don't know how much, since I only have 16GB)
 # Therefore we default to 4 jobs, so it doesn't crash anyone's laptop with 12GB ram.
-if (NOT DEFINED CMAKE_JOB_POOLS)
-    set_property(GLOBAL PROPERTY JOB_POOLS j=4)
-else()
-    message("Using user defined number of pools: ${CMAKE_JOB_POOLS}")
-endif()
-set(CMAKE_JOB_POOL_COMPILE j)
-set(CMAKE_JOB_POOL_LINK    j)
+# if (NOT DEFINED CMAKE_JOB_POOLS)
+#     set_property(GLOBAL PROPERTY JOB_POOLS j=4)
+# else()
+#     message("Using user defined number of pools: ${CMAKE_JOB_POOLS}")
+# endif()
+# set(CMAKE_JOB_POOL_COMPILE j)
+# set(CMAKE_JOB_POOL_LINK    j)
 
 project(obcpp VERSION 1.0)
 

deps/opencv/opencv.cmake

@@ -2,6 +2,7 @@ function(target_add_opencv target_name)
   # Use system OpenCV installation from PATH
   find_package(OpenCV REQUIRED)
 
-  include_directories(${OpenCV_INCLUDE_DIRS})
+  # Mark OpenCV headers as SYSTEM to suppress warnings from external library
+  include_directories(SYSTEM ${OpenCV_INCLUDE_DIRS})
   target_link_libraries(${target_name} PRIVATE ${OpenCV_LIBS})
 endfunction()

src/camera/interface.cpp

@@ -83,7 +83,9 @@ bool ImageData::saveToFile(std::string directory) const {
         std::filesystem::path json_filepath =
             save_dir / (std::to_string(this->TIMESTAMP) + std::string(".json"));
 
-        LOG_F(INFO, "Saving %s to %s", img_filepath, json_filepath);
+        LOG_F(INFO, "Saving %s to %s",
+              img_filepath.string().c_str(),
+              json_filepath.string().c_str());
         saveImageToFile(this->DATA, img_filepath);
         if (this->TELEMETRY.has_value()) {
             saveImageTelemetryToFile(this->TELEMETRY.value(), json_filepath);

src/network/gcs_routes.cpp

@@ -265,8 +265,9 @@ DEF_GCS_HANDLE(Get, camera, capture) {
         compressed_image = cv::imdecode(compressed_data, cv::IMREAD_COLOR);
 
         if (!compressed_image.empty()) {
-            LOG_F(INFO,
-                  "Compressed manual capture image from %d bytes to %d bytes (%.1f%% compression)",
+                LOG_F(INFO,
+                  "Compressed manual capture image from %zu bytes to %zu bytes "
+                  "(%.1f%% compression)",
                   image->DATA.total() * image->DATA.elemSize(), compressed_data.size(),
                   (1.0 - static_cast<double>(compressed_data.size()) /
                              (image->DATA.total() * image->DATA.elemSize())) *
@@ -393,7 +394,7 @@ DEF_GCS_HANDLE(Get, targets, all) {
             compressed_image = cv::imdecode(compressed_data, cv::IMREAD_COLOR);
 
             if (!compressed_image.empty()) {
-                LOG_F(INFO, "Compressed image from %d bytes to %d bytes (%.1f%% compression)",
+                LOG_F(INFO, "Compressed image from %zu bytes to %zu bytes (%.1f%% compression)",
                       run.annotatedImage.total() * run.annotatedImage.elemSize(),
                       compressed_data.size(),
                       (1.0 - static_cast<double>(compressed_data.size()) /

src/network/mavlink.cpp

@@ -174,16 +174,15 @@ MavlinkClient::MavlinkClient(OBCConfig config)
     });
 
     this->passthrough->subscribe_message(WIND_COV, [this](const mavlink_message_t& message) {
-        auto payload = message.payload64;
-        // LOG_F(INFO, "UNIX TIME: %lu", payload[0]);
+        // LOG_F(INFO, "UNIX TIME: %lu", message.payload64[0]);
 
         /*
             NOT TESTED - don't actually know where the data is in thie uint64_t[]
             TODO - test on actual pixhawk to make sure that the data makes sense
         */
-        this->data.wind.x = (payload[1] >> 56) & 0xFF;
-        this->data.wind.y = (payload[1] >> 48) & 0xFF;
-        this->data.wind.z = (payload[1] >> 40) & 0xFF;
+        this->data.wind.x = (message.payload64[1] >> 56) & 0xFF;
+        this->data.wind.y = (message.payload64[1] >> 48) & 0xFF;
+        this->data.wind.z = (message.payload64[1] >> 40) & 0xFF;
     });
     // this->telemetry->subscribe_attitude_euler(
     //     [this](mavsdk::Telemetry::EulerAngle attitude) {

src/ticks/fly_search.cpp

@@ -40,7 +40,7 @@ void FlySearchTick::init() {
         LOG_F(ERROR, "Failed to reset Mission");
     }
 
-    LOG_F(INFO, "Total Waypoint #: %d", this->state->getMav()->totalWaypoints());
+    LOG_F(INFO, "Total Waypoint #: %zu", this->state->getMav()->totalWaypoints());
 }
 
 Tick* FlySearchTick::tick() {
@@ -64,7 +64,7 @@ Tick* FlySearchTick::tick() {
     auto curr_waypoint = this->state->getMav()->curr_waypoint();
 
     if (this->curr_mission_item != curr_waypoint) {
-    LOG_F(INFO, "FlySearch Area reached (%d, %d)", this->curr_mission_item, curr_waypoint);
+    LOG_F(INFO, "FlySearch Area reached (%zu, %d)", this->curr_mission_item, curr_waypoint);
         for (int i = 0; i < this->state->config.pathing.coverage.hover.pictures_per_stop; i++) {
         auto photo = this->state->getCamera()->takePicture(500ms, this->state->getMav());
             if (state->config.camera.save_images_to_file) {

tests/integration/airdrop_approach.cpp

@@ -73,7 +73,7 @@ int main() {
 
     LOG_F(WARNING, "Running Approach");
     std::vector<XYZCoord> path = approach.run();
-    LOG_F(INFO, "Path size: %d", path.size());
+    LOG_F(INFO, "Path size: %zu", path.size());
 
     // files to put path_coordinates to
     file.open("pathing_output/approach_coords.txt");

tests/integration/coverage_pathing.cpp

@@ -73,7 +73,7 @@ int main() {
     LOG_F(WARNING, "Running Search");
     std::vector<XYZCoord> path = search.run();
     LOG_F(INFO, "Search Complete");
-    LOG_F(INFO, "Path size: %d", path.size());
+    LOG_F(INFO, "Path size: %zu", path.size());
 
     // files to put path_coordinates to
     file.open("pathing_output/coverage_coords.txt");

tests/integration/deviation_ranking.cpp

@@ -81,7 +81,7 @@ int main() {
 
     // get the path, put it into the file
     std::vector<XYZCoord> path = rrt.getPointsToGoal();
-    LOG_F(INFO, "Path size: %d", path.size());
+    LOG_F(INFO, "Path size: %zu", path.size());
     LOG_F(INFO, "Path length: %f", path.size() * state->config.pathing.dubins.point_separation);
 
     // files to put path_coordinates to

tests/integration/path_planning.cpp

@@ -103,7 +103,7 @@ int main() {
 
     // get the path, put it into the file
     std::vector<XYZCoord> path = rrt.getPointsToGoal();
-    LOG_F(INFO, "Path size: %d", path.size());
+    LOG_F(INFO, "Path size: %zu", path.size());
     LOG_F(INFO, "Path length: %f", path.size() * state->config.pathing.dubins.point_separation);
 
     // files to put path_coordinates to