Add few warning compiler options to error (backport #1181) (#1816)

* Add few warning compiler options to error (#1181) * add conversion, unused-but-set-variable, and return-type warnings to error * add shadow variables to error and their fixes for code compilation * apply the same flags to controller interface package * apply the same flags and their fixes to hardware_interface package * apply the same compiler options to the rest of the packages * Deactivate compiler warning for class_loader --------- Co-authored-by: Sai Kishor Kothakota <[email protected]> Co-authored-by: Christoph Froehlich <[email protected]>
ros-controls · Oct 27, 2024 · 03bf04b · 03bf04b
1 parent 24fcfe7
commit 03bf04b
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Showing 8 changed files with 50 additions and 44 deletions.
diff --git 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
@@ -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
@@ -444,15 +444,15 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
   // BEGIN: Keep old functionality on for backwards compatibility
   std::vector<std::string> activate_components_on_start = std::vector<std::string>({});
   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(
       get_logger(),
       "[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(),
@@ -1039,22 +1037,22 @@ 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))
     {
       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<std::string> & request_interface_list)
+      [this](const ControllerSpec ctrl, std::vector<std::string> & request_interface_list)
     {
-      auto command_interface_config = controller.c->command_interface_configuration();
+      auto command_interface_config = ctrl.c->command_interface_configuration();
       std::vector<std::string> 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<std::recursive_mutex> guard(rt_controllers_wrapper_.controllers_lock_);
-    for (const auto & controller : rt_controllers_wrapper_.get_updated_list(guard))
+    std::lock_guard<std::recursive_mutex> 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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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