Add -Werror and add "unsed" attributes

huskyroboticsteam · Jan 20, 2024 · c8cf70a · c8cf70a
1 parent 285cfa4
commit c8cf70a
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Showing 5 changed files with 27 additions and 21 deletions.
diff --git a/src/CAN/FakeCANBoard.cpp b/src/CAN/FakeCANBoard.cpp
@@ -20,7 +20,8 @@ using namespace std::chrono_literals;
 using can::motor::motormode_t;
 using namespace robot::types;
 
-enum class TestMode {
+enum class TestMode
+{
 	ModeSet,
 	PWM,
 	PID,
@@ -160,11 +161,13 @@ int main() {
 			robot::types::datatime_t currTime = robot::types::dataclock::now();
 
 			// get y data: set point (target vel * time since set velocity call) + initial pos
-			double setPoint = (targetVel * util::durationToSec(currTime - startTime)) +
-							  initialMotorPos.getData();
+			__attribute__((unused)) double setPoint =
+				(targetVel * util::durationToSec(currTime - startTime)) +
+				initialMotorPos.getData();
 
 			// get y data: motor position
-			robot::types::DataPoint<int32_t> motorPos = motor->getMotorPos();
+			__attribute__((unused)) robot::types::DataPoint<int32_t> motorPos =
+				motor->getMotorPos();
 
 			// check if time is up
 			double elapsedTime = util::durationToSec(currTime - startTime);
@@ -224,7 +227,8 @@ int main() {
 					can::deviceid_t id = std::make_pair(can::devicegroup_t::motor, serial);
 					can::addDeviceTelemetryCallback(
 						id, can::telemtype_t::limit_switch,
-						[](can::deviceid_t id, can::telemtype_t telemType,
+						[](can::deviceid_t id,
+						   __attribute__((unused)) can::telemtype_t telemType,
 						   DataPoint<can::telemetry_t> data) {
 							std::cout << "Motor Limit: serial=" << std::hex
 									  << static_cast<int>(id.second)

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -354,10 +354,10 @@ if (WORLD_INTERFACE STREQUAL "REAL")
 endif()
 
 add_compile_options(
-  -Wno-dev
   -Wall
   -Wextra
-  # -Wconversion
+  -Wno-deprecated-copy
+  -Werror
 )
 
 add_subdirectory(ar)

diff --git a/src/ar/ARTester.cpp b/src/ar/ARTester.cpp
@@ -1,6 +1,6 @@
 #include "../camera/Camera.h"
-#include "../camera/CameraParams.h"
 #include "../camera/CameraConfig.h"
+#include "../camera/CameraParams.h"
 #include "Detector.h"
 
 #include <chrono>
@@ -109,7 +109,7 @@ int main(int argc, char* argv[]) {
 	cam_config.release();
 
 	cv::Mat frame;
-	uint32_t fnum = 0;
+	__attribute__((unused)) uint32_t fnum = 0;
 
 	std::cout << "Opening camera..." << std::endl;
 	bool open_success = false;

diff --git a/src/camera/CameraParams.cpp b/src/camera/CameraParams.cpp
@@ -1,17 +1,17 @@
 #include "CameraParams.h"
-#include "../../src/camera/CameraConfig.h"
 
 #include "../../src/Constants.h"
-#include <opencv2/core.hpp>
+#include "../../src/camera/CameraConfig.h"
 
 #include <vector>
 
+#include <opencv2/core.hpp>
+
 namespace cam {
 
 ////////////// CONSTRUCTORS //////////////
 
-CameraParams::CameraParams() {
-}
+CameraParams::CameraParams() {}
 
 void CameraParams::init(const cv::Mat& camera_matrix, const cv::Mat& dist_coeff,
 						cv::Size image_size) {
@@ -66,11 +66,11 @@ cv::Size CameraParams::getImageSize() const {
 	return _image_size;
 }
 
-std::vector<double> CameraParams::getIntrinsicList(){
+std::vector<double> CameraParams::getIntrinsicList() {
 	std::vector<double> intrinsic_list1D;
-	for (int i = 0; i < 3; i++){
-		for (int j = 0; j < 3; j++){
-			double x = _camera_matrix.at<double>(i,j);
+	for (int i = 0; i < 3; i++) {
+		for (int j = 0; j < 3; j++) {
+			double x = _camera_matrix.at<double>(i, j);
 			intrinsic_list1D.push_back(x);
 		}
 	}
@@ -99,15 +99,17 @@ void CameraParams::writeToFileStorage(cv::FileStorage& file_storage) const {
 	file_storage << "}";
 }
 
-void read(const cv::FileNode& node, cam::CameraParams& params, const cam::CameraParams& default_value) {
+void read(const cv::FileNode& node, cam::CameraParams& params,
+		  const cam::CameraParams& default_value) {
 	if (node.empty()) {
 		params = default_value;
 	} else {
 		params.readFromFileNode(node);
 	}
 }
 
-void write(cv::FileStorage& fs, const std::string& name, const cam::CameraParams& params) {
+void write(cv::FileStorage& fs, __attribute__((unused)) const std::string& name,
+		   const cam::CameraParams& params) {
 	params.writeToFileStorage(fs);
 }
 

diff --git a/src/network/MissionControlProtocol.cpp b/src/network/MissionControlProtocol.cpp
@@ -228,8 +228,8 @@ static bool validateJointPositionRequest(const json& j) {
 static void handleJointPositionRequest(const json& j) {
 	// TODO: ignore this message if we are in autonomous mode.
 	std::string motor = j["joint"];
-	double position_deg = j["position"];
-	int32_t position_mdeg = std::round(position_deg * 1000);
+	__attribute__((unused)) double position_deg = j["position"];
+	__attribute__((unused)) int32_t position_mdeg = std::round(position_deg * 1000);
 	// TODO: actually implement joint position requests
 	// setMotorPos(motor, position_mdeg);
 }