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Code style update #107

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Code style update #107

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a693461
CmakeList: add some compile options
khancyr Jul 31, 2024
b76b5d8
ArduPilotPlugin.hh: remove unexisting forward declaration
khancyr Jul 31, 2024
ab89928
ArduPilotPlugin.hh: make class final to make clang-tidy happy
khancyr Jul 31, 2024
4acd2eb
ArduPilotPlugin.hh: make destructor default and final to make clang-t…
khancyr Jul 31, 2024
097e629
ArduPilotPlugin.hh: sdf::ElementPtr can be access as const reference
khancyr Jul 31, 2024
00aa219
ArduPilotPlugin.cc: make Control destructor default
khancyr Jul 31, 2024
1e1e837
ArduPilotPlugin.cc: fix static member access from instance
khancyr Jul 31, 2024
8293db4
ArduPilotPlugin.cc: fix ranges variable shadowing
khancyr Jul 31, 2024
46c5d46
ArduPilotPlugin.cc: fix fcu_frame_count implict cast
khancyr Jul 31, 2024
e53c3e2
ArduPilotPlugin.cc: fix unused parameter
khancyr Jul 31, 2024
b2c5158
ArduPilotPlugin.cc: fix implicit fallthrough
khancyr Jul 31, 2024
60b979b
ArduPilotPlugin.cc: fix implicast
khancyr Jul 31, 2024
2c61274
ArduPilotPlugin.cc: fix pkt_frame_count implicit cast
khancyr Jul 31, 2024
b5537b7
ArduPilotPlugin.cc: comment unused variables
khancyr Jul 31, 2024
145bde5
ArduPilotPlugin.cc: zero init variable (clang-tidy check)
khancyr Jul 31, 2024
2e2c252
GstCameraPlugin: fix unused parameter
khancyr Jul 31, 2024
66bd3ee
GstCameraPlugin: correct cast and nullptr usage
khancyr Jul 31, 2024
68362da
CMakeList: Correct compile flags for clang
khancyr Aug 5, 2024
9f09242
ArduPilotPlugin: fix implicit conversion changes signedness: 'int' to…
khancyr Aug 5, 2024
60bc962
ArduPilotPlugin: use ranged base loop
khancyr Aug 5, 2024
4af5cea
ArduPilotPlugin: used lambda instead of bind
khancyr Aug 5, 2024
c5f1916
ArduPilotPlugin: use make_shared to create object
khancyr Aug 5, 2024
8d6727e
ArduPilotPlugin: use std::move to get OnMessageWrapper callback
khancyr Aug 5, 2024
551c0aa
ArduPilotPlugin: fix initial value and import
khancyr Aug 5, 2024
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32 changes: 32 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,10 @@ find_package(OpenCV REQUIRED)

pkg_check_modules(GST REQUIRED gstreamer-1.0 gstreamer-app-1.0)

# Make external include directories system includes to suppress warnings.
include_directories(SYSTEM ${RapidJSON_INCLUDE_DIRS})
include_directories(SYSTEM ${OpenCV_INCLUDE_DIRS})
include_directories(SYSTEM ${GST_INCLUDE_DIRS})

# --------------------------------------------------------------------------- #
# Build plugin.
Expand Down Expand Up @@ -113,6 +117,34 @@ target_link_libraries(GstCameraPlugin PRIVATE
${GST_LINK_LIBRARIES}
)

# Retrieve the list of current targets
get_property(current_targets DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY BUILDSYSTEM_TARGETS)
# Filter out targets that end with _uninstall
list(FILTER current_targets EXCLUDE REGEX "uninstall$")

# Apply compile options to each target, cannot use global compile options as gazebo don't comply with them
foreach(target ${current_targets})
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
target_compile_options(${target} PRIVATE -Wall -Wextra -Wpedantic)
target_compile_options(${target} PRIVATE -Wshadow -Wformat)
target_compile_options(${target} PRIVATE -Wcast-align -Woverloaded-virtual)
target_compile_options(${target} PRIVATE -Wnull-dereference)
target_compile_options(${target} PRIVATE -Wconversion)
target_compile_options(${target} PRIVATE -Wmissing-declarations -Wmissing-include-dirs -Wredundant-decls)
target_compile_options(${target} PRIVATE -Wcast-qual -Wctor-dtor-privacy -Wdisabled-optimization -Wformat=2 -Wsign-promo -Wswitch -Wundef)
target_compile_options(${target} PRIVATE -Wold-style-cast)
target_compile_options(${target} PRIVATE -Werror)
target_compile_options(${target} PRIVATE -Werror=return-type)
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
target_compile_options(${target} PRIVATE -Wuseless-cast )
target_compile_options(${target} PRIVATE -Wduplicated-cond -Wduplicated-branches -Wlogical-op -Wstrict-null-sentinel)
endif()

target_compile_options(${target} PRIVATE -ffunction-sections -fdata-sections)
target_link_options(${target} PRIVATE -Wl,--gc-sections)
endif()
endforeach()

# --------------------------------------------------------------------------- #
# Install.

Expand Down
17 changes: 8 additions & 9 deletions include/ArduPilotPlugin.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,6 @@ struct servo_packet_32 {
};

// Forward declare private data class
class ArduPilotSocketPrivate;
class ArduPilotPluginPrivate;

/// \brief Interface ArduPilot from ardupilot stack
Expand Down Expand Up @@ -86,7 +85,7 @@ class ArduPilotPluginPrivate;
/// controller synchronization
/// <have_32_channels> set true if 32 channels are enabled
///
class GZ_SIM_VISIBLE ArduPilotPlugin:
class GZ_SIM_VISIBLE ArduPilotPlugin final:
public gz::sim::System,
public gz::sim::ISystemConfigure,
public gz::sim::ISystemPostUpdate,
Expand All @@ -97,7 +96,7 @@ class GZ_SIM_VISIBLE ArduPilotPlugin:
public: ArduPilotPlugin();

/// \brief Destructor.
public: ~ArduPilotPlugin();
public: ~ArduPilotPlugin() final = default;
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Probably not a problem here, but there can be some nasty side effects in shared libraries when defining virtual methods inline in headers. What happens is that each DLL using the header creates a copy of the destructor, so it is undefined which particular one gets called. Worse, a DLL unloading can destroy objects that are still supposed to be in scope. Biggest issue is with templates and base classes, but I now avoid this after being burned. Was a problem in the core Gazebo libraries for some time - now corrected.


public: void Reset(const UpdateInfo &_info,
EntityComponentManager &_ecm) final;
Expand All @@ -120,27 +119,27 @@ class GZ_SIM_VISIBLE ArduPilotPlugin:

/// \brief Load control channels
private: void LoadControlChannels(
sdf::ElementPtr _sdf,
const sdf::ElementPtr& _sdf,
gz::sim::EntityComponentManager &_ecm);

/// \brief Load IMU sensors
private: void LoadImuSensors(
sdf::ElementPtr _sdf,
const sdf::ElementPtr &_sdf,
gz::sim::EntityComponentManager &_ecm);

/// \brief Load GPS sensors
private: void LoadGpsSensors(
sdf::ElementPtr _sdf,
const sdf::ElementPtr &_sdf,
gz::sim::EntityComponentManager &_ecm);

/// \brief Load range sensors
private: void LoadRangeSensors(
sdf::ElementPtr _sdf,
const sdf::ElementPtr &_sdf,
gz::sim::EntityComponentManager &_ecm);

/// \brief Load wind sensors
private: void LoadWindSensors(
sdf::ElementPtr _sdf,
const sdf::ElementPtr &_sdf,
gz::sim::EntityComponentManager &_ecm);

/// \brief Update the control surfaces controllers.
Expand Down Expand Up @@ -173,7 +172,7 @@ class GZ_SIM_VISIBLE ArduPilotPlugin:
private: void SendState() const;

/// \brief Initialise flight dynamics model socket
private: bool InitSockets(sdf::ElementPtr _sdf) const;
private: bool InitSockets(const sdf::ElementPtr& _sdf) const;

/// \brief Private data pointer.
private: std::unique_ptr<ArduPilotPluginPrivate> dataPtr;
Expand Down
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