Merge pull request #663 from Pax1601/task-optimization

Task optimization

scripts/OlympusCommand.lua

@@ -914,7 +914,7 @@ function Olympus.setTask(groupName, taskOptions)
 	end
 end
 
--- Reset the dask of a group
+-- Reset the task of a group
 function Olympus.resetTask(groupName)
 	Olympus.debug("Olympus.resetTask " .. groupName, 2)
 	local group = Group.getByName(groupName)

src/core/include/aircraft.h

@@ -1,6 +1,8 @@
 #pragma once
 #include "airunit.h"
 
+#define AIRCRAFT_DEST_DIST_THR 2000	// Meters
+
 class Aircraft : public AirUnit
 {
 public:
@@ -11,6 +13,8 @@ public:
 	virtual void changeSpeed(string change);
 	virtual void changeAltitude(string change);
 
+	virtual double getDestinationReachedThreshold() { return AIRCRAFT_DEST_DIST_THR; }
+
 protected:
 	static json::value database;
 };

src/core/include/airunit.h

@@ -17,6 +17,7 @@ public:
 
 	virtual void changeSpeed(string change) = 0;
 	virtual void changeAltitude(string change) = 0;
+	virtual double getDestinationReachedThreshold() { return AIR_DEST_DIST_THR;  }
 	
 protected:
 	virtual void AIloop();

src/core/include/commands.h

@@ -124,10 +124,10 @@ public:
 		taskOptions(taskOptions),
 		category(category)
 	{ 
-		priority = CommandPriority::HIGH; 
+		priority = CommandPriority::MEDIUM; 
 	};
 	virtual string getString();
-	virtual unsigned int getLoad() { return 2; }
+	virtual unsigned int getLoad() { return 5; }
 
 private:
 	const string groupName;
@@ -196,7 +196,7 @@ public:
 		priority = immediate ? CommandPriority::IMMEDIATE : CommandPriority::LOW;
 	};
 	virtual string getString();
-	virtual unsigned int getLoad() { return immediate ? 1 : 30; }
+	virtual unsigned int getLoad() { return immediate ? 1 : 60; }
 
 private:
 	const string coalition;
@@ -220,7 +220,7 @@ public:
 		priority = immediate ? CommandPriority::IMMEDIATE : CommandPriority::LOW;
 	};
 	virtual string getString();
-	virtual unsigned int getLoad() { return immediate ? 1 : 30; }
+	virtual unsigned int getLoad() { return immediate ? 1 : 45; }
 
 private:
 	const string coalition;
@@ -245,7 +245,7 @@ public:
 		priority = immediate ? CommandPriority::IMMEDIATE : CommandPriority::LOW;
 	};
 	virtual string getString();
-	virtual unsigned int getLoad() { return immediate ? 1 : 30; }
+	virtual unsigned int getLoad() { return immediate ? 1 : 45; }
 
 private:
 	const string coalition;
@@ -289,7 +289,7 @@ public:
 		immediate = immediate;
 	};
 	virtual string getString();
-	virtual unsigned int getLoad() { return immediate? 1: 5; }
+	virtual unsigned int getLoad() { return immediate? 1: 30; }
 
 private:
 	const unsigned int ID;
@@ -310,7 +310,7 @@ public:
 		priority = CommandPriority::MEDIUM;
 	};
 	virtual string getString();
-	virtual unsigned int getLoad() { return 1; }
+	virtual unsigned int getLoad() { return 5; }
 
 private:
 	const string groupName;
@@ -328,7 +328,7 @@ public:
 		priority = CommandPriority::HIGH;
 	};
 	virtual string getString();
-	virtual unsigned int getLoad() { return 1; }
+	virtual unsigned int getLoad() { return 5; }
 
 private:
 	const string groupName;
@@ -346,7 +346,7 @@ public:
 		priority = CommandPriority::HIGH;
 	};
 	virtual string getString();
-	virtual unsigned int getLoad() { return 1; }
+	virtual unsigned int getLoad() { return 5; }
 
 private:
 	const string groupName;
@@ -379,7 +379,7 @@ public:
 		priority = CommandPriority::HIGH;
 	};
 	virtual string getString();
-	virtual unsigned int getLoad() { return 1; }
+	virtual unsigned int getLoad() { return 5; }
 
 private:
 	const string groupName;
@@ -401,7 +401,7 @@ public:
 		priority = CommandPriority::HIGH;
 	};
 	virtual string getString();
-	virtual unsigned int getLoad() { return 1; }
+	virtual unsigned int getLoad() { return 5; }
 
 private:
 	const string groupName;
@@ -421,7 +421,7 @@ public:
 		priority = CommandPriority::MEDIUM;
 	};
 	virtual string getString();
-	virtual unsigned int getLoad() { return 4; }
+	virtual unsigned int getLoad() { return 5; }
 
 private:
 	const Coords location;

src/core/include/helicopter.h

@@ -1,6 +1,8 @@
 #pragma once
 #include "airunit.h"
 
+#define HELICOPTER_DEST_DIST_THR 500	// Meters
+
 class Helicopter : public AirUnit
 {
 public:
@@ -11,6 +13,8 @@ public:
 	virtual void changeSpeed(string change);
 	virtual void changeAltitude(string change);
 
+	virtual double getDestinationReachedThreshold() { return HELICOPTER_DEST_DIST_THR; }
+
 protected:
 	static json::value database;
 };

src/core/include/scheduler.h

@@ -24,7 +24,7 @@ public:
 	void setEras(vector<string> newEras) { eras = newEras; }
 	void setCommandModeOptions(json::value newOptions);
 
-	int getFrameRate() { return frameRate; };
+	int getFrameRate() { return static_cast<int>(round(frameRate)); };
 	int getLoad();
 	bool getRestrictSpawns() { return restrictSpawns; }
 	bool getRestrictToCoalition() { return restrictToCoalition; }

src/core/include/unit.h

@@ -220,7 +220,7 @@ protected:
 	virtual void AIloop() = 0;
 
 	void appendString(stringstream& ss, const unsigned char& datumIndex, const string& datumValue) {
-		const unsigned short size = datumValue.size();
+		const unsigned short size = static_cast<unsigned short>(datumValue.size());
 		ss.write((const char*)&datumIndex, sizeof(unsigned char));
 		ss.write((const char*)&size, sizeof(unsigned short));
 		ss << datumValue;
@@ -245,7 +245,7 @@ protected:
 
 	template <typename T>
 	void appendVector(stringstream& ss, const unsigned char& datumIndex, vector<T>& datumValue) {
-		const unsigned short size = datumValue.size();
+		const unsigned short size = static_cast<unsigned short>(datumValue.size());
 		ss.write((const char*)&datumIndex, sizeof(unsigned char));
 		ss.write((const char*)&size, sizeof(unsigned short));
 
@@ -255,7 +255,7 @@ protected:
 
 	template <typename T>
 	void appendList(stringstream& ss, const unsigned char& datumIndex, list<T>& datumValue) {
-		const unsigned short size = datumValue.size();
+		const unsigned short size = static_cast<unsigned short>(datumValue.size());;
 		ss.write((const char*)&datumIndex, sizeof(unsigned char));
 		ss.write((const char*)&size, sizeof(unsigned short));
 

src/core/include/weapon.h

@@ -59,7 +59,7 @@ protected:
 
 	/********** Private methods **********/
 	void appendString(stringstream& ss, const unsigned char& datumIndex, const string& datumValue) {
-		const unsigned short size = datumValue.size();
+		const unsigned short size = static_cast<unsigned short>(datumValue.size());
 		ss.write((const char*)&datumIndex, sizeof(unsigned char));
 		ss.write((const char*)&size, sizeof(unsigned short));
 		ss << datumValue;

src/core/src/aircraft.cpp

@@ -34,7 +34,6 @@ Aircraft::Aircraft(json::value json, unsigned int ID) : AirUnit(json, ID)
 	setCategory("Aircraft");
 	setDesiredSpeed(knotsToMs(300));
 	setDesiredAltitude(ftToM(20000));
-	
 };
 
 void Aircraft::changeSpeed(string change)
@@ -48,11 +47,6 @@ void Aircraft::changeSpeed(string change)
 
 	if (getDesiredSpeed() < knotsToMs(50))
 		setDesiredSpeed(knotsToMs(50));
-
-	if (state == State::IDLE)
-		resetTask();
-	else
-		goToDestination();		/* Send the command to reach the destination */
 }
 
 void Aircraft::changeAltitude(string change)
@@ -69,14 +63,9 @@ void Aircraft::changeAltitude(string change)
 		if (getDesiredAltitude() > 5000)
 			setDesiredAltitude(getDesiredAltitude() + ftToM(2500));
 		else if (getDesiredAltitude() >= 0)
-				setDesiredAltitude(getDesiredAltitude() + ftToM(500));
+			setDesiredAltitude(getDesiredAltitude() + ftToM(500));
 	}
 
 	if (getDesiredAltitude() < 0)
 		setDesiredAltitude(0);
-
-	if (state == State::IDLE)
-		resetTask();
-	else 
-		goToDestination();		/* Send the command to reach the destination */
 }

src/core/src/airunit.cpp

@@ -146,12 +146,15 @@ void AirUnit::setState(unsigned char newState)
 		break;
 	}
 
-	resetTask();
+	setHasTask(false);
+	resetTaskFailedCounter();
 
 	log(unitName + " setting state from " + to_string(state) + " to " + to_string(newState));
 	state = newState;
 
 	triggerUpdate(DataIndex::state);
+
+	AIloop();
 }
 
 void AirUnit::AIloop()
@@ -218,7 +221,7 @@ void AirUnit::AIloop()
 					goToDestination(enrouteTask);
 			}
 			else {
-				if (isDestinationReached(AIR_DEST_DIST_THR)) {
+				if (isDestinationReached(getDestinationReachedThreshold())) {
 					if (updateActivePath(looping) && setActiveDestination())
 						goToDestination(enrouteTask);
 					else 

src/core/src/groundunit.cpp

@@ -104,7 +104,6 @@ void GroundUnit::setState(unsigned char newState)
 		setEnableTaskCheckFailed(true);
 		clearActivePath();
 		resetActiveDestination();
-		resetTask();
 		break;
 	}
 	case State::FIRE_AT_AREA: {
@@ -135,12 +134,15 @@ void GroundUnit::setState(unsigned char newState)
 		break;
 	}
 
-	resetTask();
+	setHasTask(false);
+	resetTaskFailedCounter();
 
 	log(unitName + " setting state from " + to_string(state) + " to " + to_string(newState));
 	state = newState;
 
 	triggerUpdate(DataIndex::state);
+
+	AIloop();
 }
 
 void GroundUnit::AIloop()
@@ -217,7 +219,7 @@ void GroundUnit::AIloop()
 	case State::SIMULATE_FIRE_FIGHT: {
 		setTask("Simulating fire fight");
 
-		if (internalCounter == 0 && targetPosition != Coords(NULL)) {
+		if (internalCounter == 0 && targetPosition != Coords(NULL) && scheduler->getLoad() == 0) {
 			/* Get the distance and bearing to the target */
 			Coords scatteredTargetPosition = targetPosition;
 			double distance;
@@ -257,7 +259,7 @@ void GroundUnit::AIloop()
 			}
 
 			/* Wait an amout of time depending on the shots intensity */
-			internalCounter = ((ShotsIntensity::HIGH - shotsIntensity) * shotsBaseInterval + 2) / FRAMERATE_TIME_INTERVAL;
+			internalCounter = static_cast<unsigned int>(((ShotsIntensity::HIGH - shotsIntensity) * shotsBaseInterval + 2) / FRAMERATE_TIME_INTERVAL);
 		}
 
 		if (targetPosition == Coords(NULL))
@@ -265,7 +267,7 @@ void GroundUnit::AIloop()
 
 		/* Fallback if something went wrong */
 		if (internalCounter == 0)
-			internalCounter = 20 / FRAMERATE_TIME_INTERVAL;
+			internalCounter = static_cast<unsigned int>(20 / FRAMERATE_TIME_INTERVAL);
 		internalCounter--;
 
 		break;
@@ -300,7 +302,7 @@ void GroundUnit::AIloop()
 		}
 
 		if (internalCounter == 0)
-			internalCounter = 20 / FRAMERATE_TIME_INTERVAL;
+			internalCounter = static_cast<unsigned int>(20 / FRAMERATE_TIME_INTERVAL);
 		internalCounter--;
 
 		break;
@@ -390,7 +392,7 @@ void GroundUnit::AIloop()
 						scheduler->appendCommand(command);
 						setHasTask(true);
 
-						internalCounter = (aimTime + (ShotsIntensity::HIGH - shotsIntensity) * shotsBaseInterval + 2) / FRAMERATE_TIME_INTERVAL;
+						internalCounter = static_cast<unsigned int>((aimTime + (ShotsIntensity::HIGH - shotsIntensity) * shotsBaseInterval + 2) / FRAMERATE_TIME_INTERVAL);
 					}
 					/* Else, do miss on purpose */
 					else {
@@ -412,13 +414,13 @@ void GroundUnit::AIloop()
 							scheduler->appendCommand(command);
 							setHasTask(true);
 							setTargetPosition(Coords(aimLat, aimLng, target->getPosition().alt));
-							internalCounter = (aimTime + (ShotsIntensity::HIGH - shotsIntensity) * shotsBaseInterval + 2) / FRAMERATE_TIME_INTERVAL;
+							internalCounter = static_cast<unsigned int>((aimTime + (ShotsIntensity::HIGH - shotsIntensity) * shotsBaseInterval + 2) / FRAMERATE_TIME_INTERVAL);
 						}
 						else if (distance < aimMethodRange) {
 							/* If the unit is closer than the aim method range, use the aim method range */
 							aimAtPoint(Coords(aimLat, aimLng, aimAlt));
 							setTargetPosition(Coords(aimLat, aimLng, target->getPosition().alt));
-							internalCounter = (aimTime + (ShotsIntensity::HIGH - shotsIntensity) * shotsBaseInterval + 2) / FRAMERATE_TIME_INTERVAL;
+							internalCounter = static_cast<unsigned int>((aimTime + (ShotsIntensity::HIGH - shotsIntensity) * shotsBaseInterval + 2) / FRAMERATE_TIME_INTERVAL);
 						}
 						else {
 							/* Else just wake the unit up with an impossible command */
@@ -431,7 +433,7 @@ void GroundUnit::AIloop()
 							setTargetPosition(Coords(NULL));
 
 							/* Don't wait too long before checking again */
-							internalCounter = 5 / FRAMERATE_TIME_INTERVAL;
+							internalCounter = static_cast<unsigned int>(5 / FRAMERATE_TIME_INTERVAL);
 						}
 					}
 					missOnPurposeTarget = target;
@@ -450,7 +452,7 @@ void GroundUnit::AIloop()
 					if (databaseEntry.has_number_field(L"alertnessTimeConstant"))
 						alertnessTimeConstant = databaseEntry[L"alertnessTimeConstant"].as_number().to_double();
 				}
-				internalCounter = (5 + RANDOM_ZERO_TO_ONE * alertnessTimeConstant * 0 /* TODO: remove to enable alertness again */) / FRAMERATE_TIME_INTERVAL;
+				internalCounter = static_cast<unsigned int>((5 + RANDOM_ZERO_TO_ONE * alertnessTimeConstant * 0 /* TODO: remove to enable alertness again */) / FRAMERATE_TIME_INTERVAL);
 				missOnPurposeTarget = nullptr;
 				setTargetPosition(Coords(NULL));
 			}

src/core/src/helicopter.cpp

@@ -41,33 +41,31 @@ void Helicopter::changeSpeed(string change)
 	if (change.compare("stop") == 0)
 		setState(State::IDLE);
 	else if (change.compare("slow") == 0)
-		desiredSpeed -= knotsToMs(10);
+		setDesiredSpeed(getDesiredSpeed() - knotsToMs(10));
 	else if (change.compare("fast") == 0)
-		desiredSpeed += knotsToMs(10);
-	if (desiredSpeed < 0)
-		desiredSpeed = 0;
+		setDesiredSpeed(getDesiredSpeed() + knotsToMs(10));
 
-	goToDestination();		/* Send the command to reach the destination */
+	if (getDesiredSpeed() < knotsToMs(0))
+		setDesiredSpeed(knotsToMs(0));
 }
 
 void Helicopter::changeAltitude(string change)
 {
 	if (change.compare("descend") == 0)
 	{
-		if (desiredAltitude > 100)
-			desiredAltitude -= ftToM(100);
-		else if (desiredAltitude > 0)
-			desiredAltitude -= ftToM(10);
+		if (getDesiredAltitude() > 100)
+			setDesiredAltitude(getDesiredAltitude() - ftToM(100));
+		else if (getDesiredAltitude() > 0)
+			setDesiredAltitude(getDesiredAltitude() - ftToM(10));
 	}
 	else if (change.compare("climb") == 0)
 	{
-		if (desiredAltitude > 100)
-			desiredAltitude += ftToM(100);
-		else if (desiredAltitude >= 0)
-			desiredAltitude += ftToM(10);
+		if (getDesiredAltitude() > 100)
+			setDesiredAltitude(getDesiredAltitude() + ftToM(100));
+		else if (getDesiredAltitude() >= 0)
+			setDesiredAltitude(getDesiredAltitude() + ftToM(10));
 	}
-	if (desiredAltitude < 0)
-		desiredAltitude = 0;
 
-	goToDestination();		/* Send the command to reach the destination */
-}
+	if (getDesiredAltitude() < 0)
+		setDesiredAltitude(0);
+}

src/core/src/navyunit.cpp

@@ -93,34 +93,33 @@ void NavyUnit::setState(unsigned char newState)
 		setEnableTaskCheckFailed(true);
 		clearActivePath();
 		resetActiveDestination();
-		resetTask();
 		break;
 	}
 	case State::FIRE_AT_AREA: {
 		setEnableTaskCheckFailed(true);
 		clearActivePath();
 		resetActiveDestination();
-		resetTask();
 		break;
 	}
 	case State::SIMULATE_FIRE_FIGHT: {
 		setEnableTaskCheckFailed(true);
 		clearActivePath();
 		resetActiveDestination();
-		resetTask();
 		break;
 	}
 	default:
 		break;
 	}
 
-	if (newState != state)
-		resetTask();
+	setHasTask(false);
+	resetTaskFailedCounter();
 
 	log(unitName + " setting state from " + to_string(state) + " to " + to_string(newState));
 	state = newState;
 
 	triggerUpdate(DataIndex::state);
+
+	AIloop();
 }
 
 void NavyUnit::AIloop()
@@ -188,15 +187,9 @@ void NavyUnit::AIloop()
 	case State::SIMULATE_FIRE_FIGHT: {
 		setTask("Simulating fire fight");
 
-		if (!getHasTask()) {
-			std::ostringstream taskSS;
-			taskSS.precision(10);
+		// TODO 
 
-			taskSS << "{id = 'FireAtPoint', lat = " << targetPosition.lat << ", lng = " << targetPosition.lng << ", radius = 1}";
-			Command* command = dynamic_cast<Command*>(new SetTask(groupName, taskSS.str(), [this]() { this->setHasTaskAssigned(true); }));
-			scheduler->appendCommand(command);
-			setHasTask(true);
-		}
+		setState(State::IDLE);
 	}
 	default:
 		break;

src/core/src/scheduler.cpp

@@ -56,7 +56,13 @@ void Scheduler::execute(lua_State* L)
 					log("Error executing command " + commandString);
 				else
 					log("Command '" + commandString + "' executed correctly, current load " + to_string(getLoad()));
-				load = command->getLoad();
+			
+				/* Adjust the load depending on the fps */
+				double fpsMultiplier = 20;
+				if (getFrameRate() + 3 > 0)
+					fpsMultiplier = static_cast<unsigned int>(max(1, 60 / (getFrameRate() + 3))); /* Multiplier between 1 and 20 */
+
+				load = static_cast<unsigned int>(command->getLoad() * fpsMultiplier);
 				commands.remove(command);
 				executedCommandsHashes.push_back(command->getHash());
 				command->executeCallback(); /* Execute the command callback (this is a lambda function that can be used to execute a function when the command is run) */
@@ -82,7 +88,7 @@ void Scheduler::setCommandModeOptions(json::value value) {
 			setRedSpawnPoints(value[L"spawnPoints"][L"red"].as_number().to_int32());
 	}
 	if (value.has_array_field(L"eras")) {
-		int length = value[L"eras"].as_array().size();
+		int length = static_cast<int>(value[L"eras"].as_array().size());
 		vector<string> newEras;
 		for (int idx = 0; idx < length; idx++)
 			newEras.push_back(to_string(value[L"eras"].as_array().at(idx)));
@@ -132,6 +138,8 @@ bool Scheduler::checkSpawnPoints(int spawnPoints, string coalition)
 			return false;
 		}
 	}
+
+	return false;
 }
 
 void Scheduler::handleRequest(string key, json::value value, string username, json::value& answer)
@@ -254,7 +262,7 @@ void Scheduler::handleRequest(string key, json::value value, string username, js
 	{
 		unsigned int ID = value[L"ID"].as_integer();
 		unitsManager->acquireControl(ID);
-		unsigned int leaderID = value[L"targetID"].as_double();
+		unsigned int leaderID = value[L"targetID"].as_integer();
 		double offsetX = value[L"offsetX"].as_double();
 		double offsetY = value[L"offsetY"].as_double();
 		double offsetZ = value[L"offsetZ"].as_double();

src/core/src/server.cpp

@@ -89,7 +89,7 @@ void Server::handle_get(http_request request)
                 try {
                     time = stoull((*(query.find(L"time"))).second);
                 }
-                catch (const std::exception& e) {
+                catch (...) {
                     time = 0;
                 }
             }

src/core/src/unit.cpp

@@ -430,7 +430,11 @@ void Unit::resetTask()
 void Unit::setFormationOffset(Offset newFormationOffset)
 {
 	formationOffset = newFormationOffset;
-	resetTask();
+	
+	/* Apply the change */
+	setHasTask(false);
+	resetTaskFailedCounter();
+	AIloop();
 
 	triggerUpdate(DataIndex::formationOffset);
 }
@@ -519,7 +523,11 @@ void Unit::setIsActiveTanker(bool newIsActiveTanker)
 {
 	if (isActiveTanker != newIsActiveTanker) {
 		isActiveTanker = newIsActiveTanker;
-		resetTask();
+		
+		/* Apply the change */
+		setHasTask(false);
+		resetTaskFailedCounter();
+		AIloop();
 
 		triggerUpdate(DataIndex::isActiveTanker);
 	}
@@ -529,7 +537,11 @@ void Unit::setIsActiveAWACS(bool newIsActiveAWACS)
 {
 	if (isActiveAWACS != newIsActiveAWACS) {
 		isActiveAWACS = newIsActiveAWACS;
-		resetTask();
+		
+		/* Apply the change */
+		setHasTask(false);
+		resetTaskFailedCounter();
+		AIloop();
 
 		triggerUpdate(DataIndex::isActiveAWACS);
 	}
@@ -644,10 +656,11 @@ void Unit::setDesiredSpeed(double newDesiredSpeed)
 {
 	if (desiredSpeed != newDesiredSpeed) {
 		desiredSpeed = newDesiredSpeed;
-		if (state == State::IDLE)
-			resetTask();
-		else
-			goToDestination();		/* Send the command to reach the destination */
+		
+		/* Apply the change */
+		setHasTask(false);
+		resetTaskFailedCounter();
+		AIloop();
 
 		triggerUpdate(DataIndex::desiredSpeed);
 	}
@@ -657,10 +670,11 @@ void Unit::setDesiredAltitude(double newDesiredAltitude)
 {
 	if (desiredAltitude != newDesiredAltitude) {
 		desiredAltitude = newDesiredAltitude;
-		if (state == State::IDLE)
-			resetTask();
-		else
-			goToDestination();		/* Send the command to reach the destination */
+
+		/* Apply the change */
+		setHasTask(false);
+		resetTaskFailedCounter();
+		AIloop();
 
 		triggerUpdate(DataIndex::desiredAltitude);
 	}
@@ -670,10 +684,11 @@ void Unit::setDesiredSpeedType(string newDesiredSpeedType)
 {
 	if (desiredSpeedType != (newDesiredSpeedType.compare("GS") == 0)) {
 		desiredSpeedType = newDesiredSpeedType.compare("GS") == 0;
-		if (state == State::IDLE)
-			resetTask();
-		else
-			goToDestination();		/* Send the command to reach the destination */
+
+		/* Apply the change */
+		setHasTask(false);
+		resetTaskFailedCounter();
+		AIloop();
 
 		triggerUpdate(DataIndex::desiredSpeedType);
 	}
@@ -683,10 +698,11 @@ void Unit::setDesiredAltitudeType(string newDesiredAltitudeType)
 {
 	if (desiredAltitudeType != (newDesiredAltitudeType.compare("AGL") == 0)) {
 		desiredAltitudeType = newDesiredAltitudeType.compare("AGL") == 0;
-		if (state == State::IDLE)
-			resetTask();
-		else
-			goToDestination();		/* Send the command to reach the destination */
+		
+		/* Apply the change */
+		setHasTask(false);
+		resetTaskFailedCounter();
+		AIloop();
 
 		triggerUpdate(DataIndex::desiredAltitudeType);
 	}

src/dcstools/src/dcstools.cpp

@@ -82,7 +82,7 @@ void getAllUnits(lua_State* L, map<unsigned int, json::value>& unitJSONs)
         lua_pushnil(L);
         while (lua_next(L, 2) != 0)
         {
-            unsigned int ID = lua_tonumber(L, -2);
+            unsigned int ID = static_cast<unsigned int>(lua_tonumber(L, -2));
             if (unitJSONs.find(ID) == unitJSONs.end())
                 unitJSONs[ID] = json::value::object();
             luaTableToJSON(L, -1, unitJSONs[ID]);

third-party/base64/include/base64.hpp

@@ -18,7 +18,7 @@ namespace base64 {
 		uint32_t bit_stream = 0;
 		const std::string base64_chars = get_base64_chars();
 		std::string encoded;
-		encoded.reserve(ceil(4.0 / 3.0 * size));
+		encoded.reserve(static_cast<unsigned long>(ceil(4.0 / 3.0 * size)));
 		int offset = 0;
 		for (unsigned int idx = 0; idx < size; idx++) {
 			unsigned char c = data[idx];
@@ -63,7 +63,7 @@ namespace base64 {
 			auto num_val = base64_chars.find(c);
 			if (num_val != std::string::npos) {
 				offset = 18 - counter % 4 * 6;
-				bit_stream += num_val << offset;
+				bit_stream += static_cast<uint32_t>(num_val << offset);
 				if (offset == 12) {
 					decoded += static_cast<char>(bit_stream >> 16 & 0xff);
 				}