diff --git a/controller_interface/CMakeLists.txt b/controller_interface/CMakeLists.txt index 62dbad2381..4d5454430f 100644 --- a/controller_interface/CMakeLists.txt +++ b/controller_interface/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.5) project(controller_interface) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wconversion) + add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow) endif() find_package(ament_cmake REQUIRED) diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt index cb4150c17d..d8d8fd232a 100644 --- a/controller_manager/CMakeLists.txt +++ b/controller_manager/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.5) project(controller_manager) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wconversion) + add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow) endif() set(THIS_PACKAGE_INCLUDE_DEPENDS diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp index 6d8bae1f28..1624b47c2d 100644 --- a/controller_manager/src/controller_manager.cpp +++ b/controller_manager/src/controller_manager.cpp @@ -444,6 +444,8 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript // BEGIN: Keep old functionality on for backwards compatibility std::vector activate_components_on_start = std::vector({}); get_parameter("activate_components_on_start", activate_components_on_start); + rclcpp_lifecycle::State active_state( + State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE); if (!activate_components_on_start.empty()) { RCLCPP_WARN( @@ -451,8 +453,6 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript "[Deprecated]: Parameter 'activate_components_on_start' is deprecated. " "Components are activated per default. Don't use this parameters in combination with the new " "'hardware_components_initial_state' parameter structure."); - rclcpp_lifecycle::State active_state( - State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE); for (const auto & component : activate_components_on_start) { resource_manager_->set_component_state(component, active_state); @@ -464,8 +464,6 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript // activate all other components for (const auto & [component, state] : components_to_activate) { - rclcpp_lifecycle::State active_state( - State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE); if ( resource_manager_->set_component_state(component, active_state) == hardware_interface::return_type::ERROR) @@ -988,7 +986,7 @@ controller_interface::return_type ControllerManager::switch_controller( auto controller_it = std::find_if( controllers.begin(), controllers.end(), std::bind(controller_name_compare, std::placeholders::_1, *ctrl_it)); - controller_interface::return_type ret = controller_interface::return_type::OK; + controller_interface::return_type status = controller_interface::return_type::OK; // if controller is not inactive then do not do any following-controllers checks if (!is_controller_inactive(controller_it->c)) @@ -998,14 +996,14 @@ controller_interface::return_type ControllerManager::switch_controller( "Controller with name '%s' is not inactive so its following " "controllers do not have to be checked, because it cannot be activated.", controller_it->info.name.c_str()); - ret = controller_interface::return_type::ERROR; + status = controller_interface::return_type::ERROR; } else { - ret = check_following_controllers_for_activate(controllers, strictness, controller_it); + status = check_following_controllers_for_activate(controllers, strictness, controller_it); } - if (ret != controller_interface::return_type::OK) + if (status != controller_interface::return_type::OK) { RCLCPP_WARN( get_logger(), @@ -1039,7 +1037,7 @@ controller_interface::return_type ControllerManager::switch_controller( auto controller_it = std::find_if( controllers.begin(), controllers.end(), std::bind(controller_name_compare, std::placeholders::_1, *ctrl_it)); - controller_interface::return_type ret = controller_interface::return_type::OK; + controller_interface::return_type status = controller_interface::return_type::OK; // if controller is not active then skip preceding-controllers checks if (!is_controller_active(controller_it->c)) @@ -1047,14 +1045,14 @@ controller_interface::return_type ControllerManager::switch_controller( RCLCPP_WARN( get_logger(), "Controller with name '%s' can not be deactivated since it is not active.", controller_it->info.name.c_str()); - ret = controller_interface::return_type::ERROR; + status = controller_interface::return_type::ERROR; } else { - ret = check_preceeding_controllers_for_deactivate(controllers, strictness, controller_it); + status = check_preceeding_controllers_for_deactivate(controllers, strictness, controller_it); } - if (ret != controller_interface::return_type::OK) + if (status != controller_interface::return_type::OK) { RCLCPP_WARN( get_logger(), @@ -1135,11 +1133,11 @@ controller_interface::return_type ControllerManager::switch_controller( // check for double stop if (!is_active && in_deactivate_list) { - auto ret = handle_conflict( + auto conflict_status = handle_conflict( "Could not deactivate controller '" + controller.info.name + "' since it is not active"); - if (ret != controller_interface::return_type::OK) + if (conflict_status != controller_interface::return_type::OK) { - return ret; + return conflict_status; } in_deactivate_list = false; deactivate_request_.erase(deactivate_list_it); @@ -1148,11 +1146,11 @@ controller_interface::return_type ControllerManager::switch_controller( // check for doubled activation if (is_active && !in_deactivate_list && in_activate_list) { - auto ret = handle_conflict( + auto conflict_status = handle_conflict( "Could not activate controller '" + controller.info.name + "' since it is already active"); - if (ret != controller_interface::return_type::OK) + if (conflict_status != controller_interface::return_type::OK) { - return ret; + return conflict_status; } in_activate_list = false; activate_request_.erase(activate_list_it); @@ -1161,21 +1159,21 @@ controller_interface::return_type ControllerManager::switch_controller( // check for illegal activation of an unconfigured/finalized controller if (!is_inactive && !in_deactivate_list && in_activate_list) { - auto ret = handle_conflict( + auto conflict_status = handle_conflict( "Could not activate controller '" + controller.info.name + "' since it is not in inactive state"); - if (ret != controller_interface::return_type::OK) + if (conflict_status != controller_interface::return_type::OK) { - return ret; + return conflict_status; } in_activate_list = false; activate_request_.erase(activate_list_it); } const auto extract_interfaces_for_controller = - [this](const ControllerSpec controller, std::vector & request_interface_list) + [this](const ControllerSpec ctrl, std::vector & request_interface_list) { - auto command_interface_config = controller.c->command_interface_configuration(); + auto command_interface_config = ctrl.c->command_interface_configuration(); std::vector command_interface_names = {}; if (command_interface_config.type == controller_interface::interface_configuration_type::ALL) { @@ -1775,8 +1773,8 @@ void ControllerManager::reload_controller_libraries_service_cb( loaded_controllers = get_controller_names(); { // lock controllers - std::lock_guard guard(rt_controllers_wrapper_.controllers_lock_); - for (const auto & controller : rt_controllers_wrapper_.get_updated_list(guard)) + std::lock_guard ctrl_guard(rt_controllers_wrapper_.controllers_lock_); + for (const auto & controller : rt_controllers_wrapper_.get_updated_list(ctrl_guard)) { if (is_controller_active(*controller.c)) { diff --git a/hardware_interface/CMakeLists.txt b/hardware_interface/CMakeLists.txt index d4091d63c9..404fd23101 100644 --- a/hardware_interface/CMakeLists.txt +++ b/hardware_interface/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.5) project(hardware_interface) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wconversion) + add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow) endif() set(THIS_PACKAGE_INCLUDE_DEPENDS diff --git a/hardware_interface/src/mock_components/generic_system.cpp b/hardware_interface/src/mock_components/generic_system.cpp index 3d10f16b5a..fb91961d60 100644 --- a/hardware_interface/src/mock_components/generic_system.cpp +++ b/hardware_interface/src/mock_components/generic_system.cpp @@ -594,12 +594,12 @@ return_type GenericSystem::read(const rclcpp::Time & /*time*/, const rclcpp::Dur } else { - for (size_t j = 0; j < joint_states_[POSITION_INTERFACE_INDEX].size(); ++j) + for (size_t k = 0; k < joint_states_[POSITION_INTERFACE_INDEX].size(); ++k) { - if (!std::isnan(joint_commands_[POSITION_INTERFACE_INDEX][j])) + if (!std::isnan(joint_commands_[POSITION_INTERFACE_INDEX][k])) { - joint_states_[POSITION_INTERFACE_INDEX][j] = // apply offset to positions only - joint_commands_[POSITION_INTERFACE_INDEX][j] + + joint_states_[POSITION_INTERFACE_INDEX][k] = // apply offset to positions only + joint_commands_[POSITION_INTERFACE_INDEX][k] + (custom_interface_with_following_offset_.empty() ? position_state_following_offset_ : 0.0); } diff --git a/hardware_interface_testing/test/test_resource_manager.cpp b/hardware_interface_testing/test/test_resource_manager.cpp index 90129f9f64..1157aa74e3 100644 --- a/hardware_interface_testing/test/test_resource_manager.cpp +++ b/hardware_interface_testing/test/test_resource_manager.cpp @@ -232,21 +232,23 @@ TEST_F(ResourceManagerTest, resource_claiming) // Activate components to get all interfaces available activate_components(rm); - const auto command_interface = "joint1/position"; - EXPECT_TRUE(rm.command_interface_is_available(command_interface)); - EXPECT_FALSE(rm.command_interface_is_claimed(command_interface)); - { - auto position_command_interface = rm.claim_command_interface(command_interface); - EXPECT_TRUE(rm.command_interface_is_available(command_interface)); - EXPECT_TRUE(rm.command_interface_is_claimed(command_interface)); + const auto key = "joint1/position"; + EXPECT_TRUE(rm.command_interface_is_available(key)); + EXPECT_FALSE(rm.command_interface_is_claimed(key)); + { - EXPECT_ANY_THROW(rm.claim_command_interface(command_interface)); - EXPECT_TRUE(rm.command_interface_is_available(command_interface)); + auto position_command_interface = rm.claim_command_interface(key); + EXPECT_TRUE(rm.command_interface_is_available(key)); + EXPECT_TRUE(rm.command_interface_is_claimed(key)); + { + EXPECT_ANY_THROW(rm.claim_command_interface(key)); + EXPECT_TRUE(rm.command_interface_is_available(key)); + } } + EXPECT_TRUE(rm.command_interface_is_available(key)); + EXPECT_FALSE(rm.command_interface_is_claimed(key)); } - EXPECT_TRUE(rm.command_interface_is_available(command_interface)); - EXPECT_FALSE(rm.command_interface_is_claimed(command_interface)); // command interfaces can only be claimed once for (const auto & interface_key : diff --git a/joint_limits/CMakeLists.txt b/joint_limits/CMakeLists.txt index 52f2044e19..f67ce32fc1 100644 --- a/joint_limits/CMakeLists.txt +++ b/joint_limits/CMakeLists.txt @@ -5,6 +5,9 @@ project(joint_limits) if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 14) endif() +if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") + add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow) +endif() if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wconversion) diff --git a/transmission_interface/CMakeLists.txt b/transmission_interface/CMakeLists.txt index a2cf4d7884..9e8e1e87eb 100644 --- a/transmission_interface/CMakeLists.txt +++ b/transmission_interface/CMakeLists.txt @@ -2,7 +2,10 @@ cmake_minimum_required(VERSION 3.5) project(transmission_interface) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Wconversion) +add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type + # deactivating this, because of issue in upstream class_loader_imp.hpp + # -Werror=shadow +) endif() set(THIS_PACKAGE_INCLUDE_DEPENDS