Merge pull request #100 from traclabs/hotfix/fix-compiler-warnings

Fix compiler warnings on clang (Fix #103)

Author: EzraBrooks

ros_trick/ros_src/trick_ros2_control/include/trick_ros2_control/trick_system.hpp

@@ -23,7 +23,7 @@
 #include "rclcpp/macros.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "realtime_tools/realtime_buffer.h"
+#include "realtime_tools/realtime_buffer.hpp"
 #include "trick_ros2_control/socket.hpp"
 #include "trick_ros2_control/utils.hpp"
 #include "trick_ros2_control/visibility_control.h"

ros_trick/ros_src/trick_ros2_control/include/trick_ros2_control/utils.hpp

@@ -24,7 +24,7 @@ double trick_string_convert(const std::string& str)
   return num;
 }
 
-std::vector<std::string> trick_split_response(std::string& str, const char delim)
+std::vector<std::string> trick_split_response(std::string& str, const char /*delim*/)
 {
   std::stringstream ss(str);
   std::string s;
@@ -44,7 +44,7 @@ std::vector<double> trick_response_convert(std::string& response)
   {
     return result;
   }
-  for (int i = 1; i < responseSplit.size(); i++)
+  for (size_t i = 1; i < responseSplit.size(); i++)
   {
     result.push_back(trick_string_convert(responseSplit[i]));
   }

ros_trick/ros_src/trick_ros2_control/src/socket.cpp

@@ -81,8 +81,8 @@ std::string Socket::receive()
   }
 
   std::string string_buffer = std::string(carry_on_buffer_) + std::string(buffer);
-  int last_newline_idx = string_buffer.rfind(trick_delimiter_, string_buffer.size() - 1);
-  int second_last_newline_idx = string_buffer.rfind(trick_delimiter_, string_buffer.size() - 2);
+  auto last_newline_idx = string_buffer.rfind(trick_delimiter_, string_buffer.size() - 1);
+  auto second_last_newline_idx = string_buffer.rfind(trick_delimiter_, string_buffer.size() - 2);
 
   // it means that we can clear carry on buffer
   if (last_newline_idx == string_buffer.size() - 1)

ros_trick/ros_src/trick_ros2_control/src/trick_system.cpp

@@ -82,7 +82,7 @@ hardware_interface::CallbackReturn TrickSystem::on_configure(const rclcpp_lifecy
   {
     std::string err = "could not connect to Trick server on host: " + trick_hostname_ +
                       " and port: " + std::to_string(trick_server_port_);
-    RCLCPP_FATAL(rclcpp::get_logger("TrickSystem"), err.c_str());
+    RCLCPP_FATAL(rclcpp::get_logger("TrickSystem"), "%s", err.c_str());
     return hardware_interface::CallbackReturn::ERROR;
   }
 
@@ -235,12 +235,12 @@ hardware_interface::return_type TrickSystem::read(const rclcpp::Time& /*time*/,
   {
     RCLCPP_FATAL(rclcpp::get_logger("TrickSystem"),
                  "size of data received from trick does not match number of "
-                 "declared state variables. Expected: %d. "
-                 "Got: %d",
+                 "declared state variables. Expected: %zu. "
+                 "Got: %zu",
                  trick_state_variables_.size(), raw_doubles_from_trick.size());
     return hardware_interface::return_type::OK;
   }
-  for (int i = 0; i < raw_doubles_from_trick.size(); ++i)
+  for (size_t i = 0; i < raw_doubles_from_trick.size(); ++i)
   {
     double value_from_trick = raw_doubles_from_trick[i];
     double* const target_state_variable_ptr_ = trick_state_variables_[i].data_ptr;