From 2e552b51e3333d6e2c6186defe8b8a15ad370f9d Mon Sep 17 00:00:00 2001
From: Agustin Alba Chicar <ag.albachicar@gmail.com>
Date: Wed, 27 Dec 2023 20:38:36 +0100
Subject: [PATCH] Fixes some compilation warnings. (#196)

Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
---
 andino_firmware/src/app.cpp   |  5 +++--
 andino_firmware/src/pcint.cpp |  2 +-
 andino_firmware/src/pcint.h   |  2 ++
 andino_firmware/src/pid.h     | 27 +++++++++++++--------------
 4 files changed, 19 insertions(+), 17 deletions(-)

diff --git a/andino_firmware/src/app.cpp b/andino_firmware/src/app.cpp
index 7917c59a..faf41ef7 100644
--- a/andino_firmware/src/app.cpp
+++ b/andino_firmware/src/app.cpp
@@ -296,15 +296,16 @@ void App::cmd_set_motors_pwm(const char* arg1, const char* arg2) {
 }
 
 void App::cmd_set_pid_tuning_gains(const char* arg1, const char*) {
+  static constexpr int kSizePidArgs{4};
   int i = 0;
   char arg[20];
   char* str;
-  int pid_args[4];
+  int pid_args[kSizePidArgs]{0, 0, 0, 0};
 
   // Example: "u 30:20:10:50".
   strcpy(arg, arg1);
   char* p = arg;
-  while ((str = strtok_r(p, ":", &p)) != NULL) {
+  while ((str = strtok_r(p, ":", &p)) != NULL && i < kSizePidArgs) {
     pid_args[i] = atoi(str);
     i++;
   }
diff --git a/andino_firmware/src/pcint.cpp b/andino_firmware/src/pcint.cpp
index 37bd7d93..ebc17b03 100644
--- a/andino_firmware/src/pcint.cpp
+++ b/andino_firmware/src/pcint.cpp
@@ -70,7 +70,7 @@ void PCInt::attach_interrupt(uint8_t pin, InterruptCallback callback) {
   *(kPortToPCMask[port]) |= bit_mask;
 
   // Set corresponding bit in the Pin Change Interrupt Control register.
-  PCICR |= 0x01 << port;
+  PCICR |= static_cast<uint8_t>(0x01 << port);
 
   // Set callback function.
   g_callbacks[port] = callback;
diff --git a/andino_firmware/src/pcint.h b/andino_firmware/src/pcint.h
index 9d3c9210..27e4f891 100644
--- a/andino_firmware/src/pcint.h
+++ b/andino_firmware/src/pcint.h
@@ -49,6 +49,8 @@ class PCInt {
   static void attach_interrupt(uint8_t pin, InterruptCallback callback);
 
  private:
+  PCInt() = delete;
+
   /// Map between ports and Pin Change Mask registers.
   static constexpr volatile uint8_t* kPortToPCMask[]{&PCMSK0, &PCMSK1, &PCMSK2};
 };
diff --git a/andino_firmware/src/pid.h b/andino_firmware/src/pid.h
index c78898e7..768f8cb7 100644
--- a/andino_firmware/src/pid.h
+++ b/andino_firmware/src/pid.h
@@ -48,8 +48,7 @@ class PID {
         ki_(ki),
         ko_(ko),
         output_min_(output_min),
-        output_max_(output_max),
-        enabled_(false) {}
+        output_max_(output_max) {}
 
   /// @brief Resets the PID controller.
   ///
@@ -82,32 +81,32 @@ class PID {
 
  private:
   /// Tuning proportional gain.
-  int kp_;
+  int kp_{0};
   /// Tuning derivative gain.
-  int kd_;
+  int kd_{0};
   /// Tuning integral gain.
-  int ki_;
+  int ki_{0};
   /// Tuning output gain.
-  int ko_;
+  int ko_{0};
 
   /// Output minimum limit.
-  int output_min_;
+  int output_min_{0};
   /// Output maximum limit.
-  int output_max_;
+  int output_max_{0};
 
   /// True if the PID is enabled, false otherwise.
-  bool enabled_;
+  bool enabled_{false};
 
   /// Setpoint value.
-  int setpoint_;
+  int setpoint_{0};
   /// Accumulated integral term.
-  int integral_term_;
+  int integral_term_{0};
   /// Last received encoder value.
-  long last_encoder_count_;
+  long last_encoder_count_{0};
   /// Last computed input value.
-  int last_input_;
+  int last_input_{0};
   /// Last computed output value.
-  long last_output_;
+  long last_output_{0};
 };
 
 }  // namespace andino