Chore/flatten environment

CMakeLists.txt

@@ -184,7 +184,7 @@ if(CPPLINT)
     # also don't check for runtime/references since Google's public style guidelines are behind https://github.com/cpplint/cpplint/issues/148
     --exclude=../include/udp_squared
     --exclude=../src/utilities/base64.cpp
-    --filter=-legal,-readability/todo,-build/c++11,-runtime/references
+    --filter=-legal,-readability/todo,-build/c++11,-build/c++17,-runtime/references
     --linelength=100
     --recursive
     ../src

include/network/serialize.hpp

@@ -8,19 +8,19 @@
 */
 
 namespace serialh {
-    template <typename T>
-    void serialize(T* response, boost::asio::streambuf* buf) {
-        std::ostream os(buf);
-        boost::archive::binary_oarchive oa(os);
-        oa << *response;
-    }
+template <typename T>
+void serialize(T* response, boost::asio::streambuf* buf) {
+    std::ostream os(buf);
+    boost::archive::binary_oarchive oa(os);
+    oa << *response;
+}
 
-    template <typename T>
-    void deserialize(T* response, boost::asio::streambuf* buf) {
-        std::istream is(buf);
-        boost::archive::binary_iarchive ia(is);
-        ia >> *response;
-    }
+template <typename T>
+void deserialize(T* response, boost::asio::streambuf* buf) {
+    std::istream is(buf);
+    boost::archive::binary_iarchive ia(is);
+    ia >> *response;
+}
 }  // namespace serialh
 
 #endif  // INCLUDE_NETWORK_SERIALIZE_HPP_

include/network/udp_client.hpp

@@ -8,7 +8,7 @@
 #include <boost/asio.hpp>
 #include <opencv2/opencv.hpp>
 #include <loguru.hpp>
-#include "rpi_connection.hpp"
+#include "network/rpi_connection.hpp"
 
 namespace asio = boost::asio;
 

include/pathing/static.hpp

@@ -241,7 +241,6 @@ class ForwardCoveragePathing {
                                  // between search lines)
     const RRTPoint start;        // start location (doesn't have to be near polygon)
     const Environment airspace;  // information aobut the airspace
-    const Dubins dubins;         // dubins object to generate paths
     const AirdropCoverageConfig config;
 };
 
@@ -288,7 +287,6 @@ class AirdropApproachPathing {
     const XYZCoord goal;
     const RRTPoint start;
     const Environment airspace;
-    const Dubins dubins;
     const OBCConfig config;
 
     XYZCoord wind;

include/pathing/tree.hpp

@@ -104,7 +104,7 @@ class RRTNode {
 
 class RRTTree {
  public:
-    RRTTree(RRTPoint root_point, Environment airspace, Dubins dubins);
+    RRTTree(RRTPoint root_point, Environment airspace);
     ~RRTTree();
 
     /**
@@ -284,7 +284,6 @@ class RRTTree {
     std::shared_ptr<RRTNode> root;
     std::shared_ptr<RRTNode> current_head;
     Environment airspace;
-    Dubins dubins;
     int tree_size;
 
     /**

include/utilities/http.hpp

@@ -33,8 +33,8 @@ constexpr const char* HTTP_STATUS_TO_STRING(HTTPStatus status) {
 }
 
 namespace mime {
-    const char json[] = "application/json";
-    const char plaintext[] = "text/plain";
+const char json[] = "application/json";
+const char plaintext[] = "text/plain";
 }
 
 #endif  // INCLUDE_UTILITIES_HTTP_HPP_

src/camera/interface.cpp

@@ -1,8 +1,11 @@
 #include "camera/interface.hpp"
 
 #include <filesystem>
+#include <memory>
 #include <optional>
 #include <ostream>
+#include <string>
+#include <vector>
 
 #include <loguru.hpp>
 #include "nlohmann/json.hpp"

src/camera/mock.cpp

@@ -3,10 +3,13 @@
 #include <httplib.h>
 
 #include <chrono>
-#include <thread>
-#include <optional>
 #include <deque>
 #include <filesystem>
+#include <iostream>
+#include <memory>
+#include <optional>
+#include <thread>
+#include <vector>
 
 #include <loguru.hpp>
 #include "nlohmann/json.hpp"

src/camera/rpi.cpp

@@ -1,9 +1,11 @@
 #include <chrono>
-#include <thread>
+#include <deque>
+#include <memory>
 #include <optional>
 #include <string>
+#include <thread>
+#include <utility>
 #include <vector>
-#include <deque>
 
 #include <nlohmann/json.hpp>
 #include <opencv2/opencv.hpp>

src/core/mission_parameters.cpp

@@ -5,8 +5,10 @@
 #include <mutex>
 #include <optional>
 #include <shared_mutex>
+#include <string>
 #include <tuple>
 #include <unordered_map>
+#include <vector>
 
 #include "pathing/cartesian.hpp"
 #include "protos/obc.pb.h"

src/core/mission_state.cpp

@@ -2,6 +2,8 @@
 
 #include <memory>
 #include <mutex>
+#include <string>
+#include <unordered_set>
 #include <nlohmann/json.hpp>
 
 #include "camera/interface.hpp"

src/core/obc.cpp

@@ -1,8 +1,9 @@
-#include <memory>
-#include <thread>
 #include <chrono>
 #include <cstdint>
 #include <future>
+#include <memory>
+#include <string>
+#include <thread>
 
 #include "camera/rpi.hpp"
 #include "camera/mock.hpp"

src/cv/aggregator.cpp

@@ -1,6 +1,11 @@
 #include "cv/aggregator.hpp"
 
 #include <exception>
+#include <map>
+#include <memory>
+#include <queue>
+#include <utility>
+#include <vector>
 
 #include "utilities/constants.hpp"
 #include "utilities/lockptr.hpp"

src/cv/clustering.cpp

@@ -1,5 +1,6 @@
-#include <vector>
 #include <algorithm>
+#include <utility>
+#include <vector>
 #include "protos/obc.pb.h"
 #include "cv/localization.hpp"
 #include "cv/clustering.hpp"

src/cv/hdr.cpp

@@ -1,5 +1,8 @@
 #include "cv/hdr.hpp"
 
+#include <string>
+#include <vector>
+
 std::vector<cv::Mat> generate_test_images() {
     std::vector<cv::Mat> img_list;
     std::vector<cv::Scalar> colors = {