diff --git a/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/DebugDrawerTestApp.h b/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/DebugDrawerTestApp.h
index 47686c9267c33184bacc2e70e1ee19c3b66e48cb..12e4ec491be5d23ec49568a1ec8a948120795960 100644
--- a/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/DebugDrawerTestApp.h
+++ b/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/DebugDrawerTestApp.h
@@ -32,7 +32,7 @@ namespace armarx
{
void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
{
- registry->addObject( Component::create<DebugDrawerTest>(properties) );
+ registry->addObject(Component::create<DebugDrawerTest>(properties));
}
};
-};
+}
diff --git a/source/RobotAPI/components/units/ATINetFTUnit.cpp b/source/RobotAPI/components/units/ATINetFTUnit.cpp
index baaf4339ae23c8265142eb3a70302f8e3277a8a6..fe6f98e5e2ef7e4fb2d986b04ee1e784d03dd211 100644
--- a/source/RobotAPI/components/units/ATINetFTUnit.cpp
+++ b/source/RobotAPI/components/units/ATINetFTUnit.cpp
@@ -47,14 +47,14 @@ void ATINetFTUnit::onConnectComponent()
* Read ATINetFT hostname and port from properties
* std::string receiverHostName("192.168.1.1:49152");
*/
-
+
std::string ATINetFTReceiverHostName = getProperty<std::string>("ATINetFTReceiveHostName").getValue();
std::string captureName = getProperty<std::string>("CaptureName").getValue();
ARMARX_INFO << "Capture Name " << captureName;
size_t pos = captureName.find("0");
- captureNamePrefix = captureName.substr(0,pos);
+ captureNamePrefix = captureName.substr(0, pos);
ARMARX_INFO << "Capture Name Prefix " << captureNamePrefix;
- std::string captureNameSuffix = captureName.substr(pos,captureName.size());
+ std::string captureNameSuffix = captureName.substr(pos, captureName.size());
ARMARX_INFO << "Capture Name Suffix " << captureNameSuffix;
nPaddingZeros = captureNameSuffix.size();
captureNumber = std::stoi(captureNameSuffix);
@@ -65,7 +65,7 @@ void ATINetFTUnit::onConnectComponent()
recordingStopped = true;
recordingCompleted = true;
recordingStarted = false;
-
+
/*
* Connect to ATINetFT
*/
@@ -94,7 +94,7 @@ void ATINetFTUnit::onConnectComponent()
void ATINetFTUnit::onDisconnectComponent()
{
ARMARX_IMPORTANT << "Disconnecting from ATINetFT" << flush;
-
+
}
@@ -105,27 +105,27 @@ void ATINetFTUnit::onExitComponent()
void ATINetFTUnit::periodicExec()
{
- if (recordingStarted)
-
-
+ if (recordingStarted)
+
+
{
-
- float ftdata[ftDataSize];
- char receivePacketContent[receivePacketSize];
-
- if (!receivePacket(receivePacketContent))
+ //ISO C++ forbids variable length array [-Werror=vla] => use a vector (the array will be on the heap anyways)
+ std::vector<float> ftdata(ftDataSize);
+ std::vector<char> receivePacketContent(receivePacketSize);
+
+ if (!receivePacket(receivePacketContent.data()))
+ {
+ ARMARX_INFO << "recvfrom() failed :";
+ }
+ else
{
- ARMARX_INFO << "recvfrom() failed :";
- }
- else
- {
- convertToFTValues(receivePacketContent, ftdata, ftDataSize);
- writeFTValuesToFile(ftdata, ftDataSize);
- sampleIndex++;
- }
-
+ convertToFTValues(receivePacketContent.data(), ftdata.data(), ftDataSize);
+ writeFTValuesToFile(ftdata.data(), ftDataSize);
+ sampleIndex++;
+ }
+
}
-
+
}
PropertyDefinitionsPtr ATINetFTUnit::createPropertyDefinitions()
@@ -139,19 +139,20 @@ void ATINetFTUnit::startRecording(const std::string& customName, const Ice::Curr
if (remoteTriggerEnabled)
{
if (recordingCompleted)
- {
- int bpSize = sendPacketSize;
- char bytePacket[bpSize];
- *(uint16_t*)&bytePacket[0] = htons(0x1234); /* standard header. */
- *(uint16_t*)&bytePacket[2] = htons(2); /* per table 9.1 in Net F/T user manual. */
- *(uint32_t*)&bytePacket[4] = htonl(0); /* see section 9.1 in Net F/T user manual. */
- recordingStarted = sendPacket(bytePacket,bpSize);
-
+ {
+ int bpSize = sendPacketSize;
+ //ISO C++ forbids variable length array [-Werror=vla] => use a vector (the array will be on the heap anyways)
+ std::vector<char> bytePacket(bpSize);
+ *(uint16_t*)&bytePacket[0] = htons(0x1234); /* standard header. */
+ *(uint16_t*)&bytePacket[2] = htons(2); /* per table 9.1 in Net F/T user manual. */
+ *(uint32_t*)&bytePacket[4] = htonl(0); /* see section 9.1 in Net F/T user manual. */
+ recordingStarted = sendPacket(bytePacket.data(), bpSize);
+
if (recordingStarted)
- {
+ {
recordingStopped = false;
recordingCompleted = false;
- //TODO build filename captureNamePrefic+customName
+ //TODO build filename captureNamePrefic+customName
recordingFile.open(captureNamePrefix);
sampleIndex = 0;
}
@@ -164,131 +165,138 @@ void ATINetFTUnit::stopRecording(const Ice::Current& c)
if (remoteTriggerEnabled)
{
int bpSize = 8;
- char bytePacket[bpSize];
- *(uint16_t*)&bytePacket[0] = htons(0x1234); /* standard header. */
- *(uint16_t*)&bytePacket[2] = htons(0); /* per table 9.1 in Net F/T user manual. */
- *(uint32_t*)&bytePacket[4] = htonl(0); /* see section 9.1 in Net F/T user manual. */
+ //ISO C++ forbids variable length array [-Werror=vla] => use a vector (the array will be on the heap anyways)
+ std::vector<char> bytePacket(bpSize);
+ *(uint16_t*)&bytePacket[0] = htons(0x1234); /* standard header. */
+ *(uint16_t*)&bytePacket[2] = htons(0); /* per table 9.1 in Net F/T user manual. */
+ *(uint32_t*)&bytePacket[4] = htonl(0); /* see section 9.1 in Net F/T user manual. */
- recordingStopped = sendPacket(bytePacket,bpSize);
+ recordingStopped = sendPacket(bytePacket.data(), bpSize);
if (recordingStopped)
{
- recordingFile.close();
- recordingStarted = false;
- }
-
+ recordingFile.close();
+ recordingStarted = false;
+ }
+
}
}
-bool ATINetFTUnit::sendPacket(char *bytePacket, int bpSize)
+bool ATINetFTUnit::sendPacket(char* bytePacket, int bpSize)
{
if (remoteTriggerEnabled)
{
- if(sendto(senderSocket, bytePacket, bpSize, 0, (struct sockaddr *)&receiveHostAddr, sizeof(receiveHostAddr))!= bpSize) {
-
- return false;
+ if (sendto(senderSocket, bytePacket, bpSize, 0, (struct sockaddr*)&receiveHostAddr, sizeof(receiveHostAddr)) != bpSize)
+ {
+
+ return false;
}
return true;
}
return false;
}
-bool ATINetFTUnit::receivePacket(char *receiveBuf)
+bool ATINetFTUnit::receivePacket(char* receiveBuf)
{
-
- int test = sizeof(receiveHostAddr);
-
- int receiveint = recvfrom(senderSocket, receiveBuf, receivePacketSize, 0, ( struct sockaddr *) &receiveHostAddr, ((socklen_t*)&test));
-
- if (receiveint < 0)
+
+ int test = sizeof(receiveHostAddr);
+
+ int receiveint = recvfrom(senderSocket, receiveBuf, receivePacketSize, 0, (struct sockaddr*) &receiveHostAddr, ((socklen_t*)&test));
+
+ if (receiveint < 0)
{
-
- return false;
+
+ return false;
}
-
- return true;
+
+ return true;
}
-void ATINetFTUnit::convertToFTValues(char *receiveBuf, float *ftdata, int ftdataSize)
+void ATINetFTUnit::convertToFTValues(char* receiveBuf, float* ftdata, int ftdataSize)
{
- uint32_t rdt_sequence = ntohl(*(uint32_t*)&receiveBuf[0]);
- uint32_t ft_sequence = ntohl(*(uint32_t*)&receiveBuf[4]);
- uint32_t status = ntohl(*(uint32_t*)&receiveBuf[8]);
-
- for( int i = 0; i < ftdataSize; i++ ) {
- ftdata[i] = float(int32_t(ntohl(*(uint32_t*)&receiveBuf[12 + i * 4])))/ 1000000.0f;
- }
+ //uint32_t rdt_sequence = ntohl(*(uint32_t*)&receiveBuf[0]); //was an unused variable
+ //uint32_t ft_sequence = ntohl(*(uint32_t*)&receiveBuf[4]); //was an unused variable
+ //uint32_t status = ntohl(*(uint32_t*)&receiveBuf[8]); //was an unused variable
+
+ for (int i = 0; i < ftdataSize; i++)
+ {
+ ftdata[i] = float(int32_t(ntohl(*(uint32_t*)&receiveBuf[12 + i * 4]))) / 1000000.0f;
+ }
}
-void ATINetFTUnit::writeFTValuesToFile(float *ftdata, int ftdataSize)
+void ATINetFTUnit::writeFTValuesToFile(float* ftdata, int ftdataSize)
{
- recordingFile << sampleIndex << " ";
- for (int i = 0; i < ftdataSize; i++)
- recordingFile << ftdata[i] << " ";
- recordingFile << "\n";
+ recordingFile << sampleIndex << " ";
+ for (int i = 0; i < ftdataSize; i++)
+ {
+ recordingFile << ftdata[i] << " ";
+ }
+ recordingFile << "\n";
}
void ATINetFTUnit::establishATINetFTReceiveHostConnection(std::string receiverHostName)
{
- remoteTriggerEnabled = false;
+ remoteTriggerEnabled = false;
//Construct the server sockaddr_ structure
memset(&senderHostAddr, 0, sizeof(senderHostAddr));
- senderHostAddr.sin_family=AF_INET;
- senderHostAddr.sin_addr.s_addr=htonl(INADDR_ANY);
- senderHostAddr.sin_port=htons(0);
+ senderHostAddr.sin_family = AF_INET;
+ senderHostAddr.sin_addr.s_addr = htonl(INADDR_ANY);
+ senderHostAddr.sin_port = htons(0);
//Create the socket
- if((senderSocket=socket(AF_INET, SOCK_DGRAM, 0))<0) {
+ if ((senderSocket = socket(AF_INET, SOCK_DGRAM, 0)) < 0)
+ {
return;
}
-
- if(bind(senderSocket,( struct sockaddr *) &senderHostAddr, sizeof(senderHostAddr))<0) {
+
+ if (bind(senderSocket, (struct sockaddr*) &senderHostAddr, sizeof(senderHostAddr)) < 0)
+ {
return;
}
-
- //Construct the server sockaddr_ structure
+
+ //Construct the server sockaddr_ structure
memset(&receiveHostAddr, 0, sizeof(receiveHostAddr));
size_t pos = receiverHostName.find(":");
std::string hostname = receiverHostName.substr(0, pos);
- std::string hostport = receiverHostName.substr(pos+1, receiverHostName.size());
+ std::string hostport = receiverHostName.substr(pos + 1, receiverHostName.size());
- struct hostent *he;
- struct in_addr **addr_list;
+ struct hostent* he;
+ struct in_addr** addr_list;
int i;
- if ( (he = gethostbyname( hostname.c_str() ) ) == NULL)
+ if ((he = gethostbyname(hostname.c_str())) == NULL)
{
- // get the host info
- herror("gethostbyname");
- return;
+ // get the host info
+ herror("gethostbyname");
+ return;
}
- addr_list = (struct in_addr **) he->h_addr_list;
+ addr_list = (struct in_addr**) he->h_addr_list;
- for(i = 0; addr_list[i] != NULL; i++)
+ for (i = 0; addr_list[i] != NULL; i++)
{
char ip[100];
- //Return the first one;
- strcpy(ip , inet_ntoa(*addr_list[i]) );
+ //Return the first one;
+ strcpy(ip , inet_ntoa(*addr_list[i]));
- inet_pton(AF_INET,ip,&receiveHostAddr.sin_addr.s_addr);
+ inet_pton(AF_INET, ip, &receiveHostAddr.sin_addr.s_addr);
- receiveHostAddr.sin_port=htons(atoi(hostport.c_str()));
+ receiveHostAddr.sin_port = htons(atoi(hostport.c_str()));
remoteTriggerEnabled = true;
- ARMARX_INFO << "Connection established to " << hostname << ":"<< hostport;
- //if((receiverSocket=socket(AF_INET, SOCK_DGRAM, 0))<0) {
- // return;
- //}
- //if(bind(receiverSocket,( struct sockaddr *) &receiveHostAddr, sizeof(receiveHostAddr))<0) {
- // return;
- //}
+ ARMARX_INFO << "Connection established to " << hostname << ":" << hostport;
+ //if((receiverSocket=socket(AF_INET, SOCK_DGRAM, 0))<0) {
+ // return;
+ //}
+ //if(bind(receiverSocket,( struct sockaddr *) &receiveHostAddr, sizeof(receiveHostAddr))<0) {
+ // return;
+ //}
return;
}
return;
-
+
}
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.cpp b/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.cpp
index 4e4c9a1717c29d4f9622e302e6c8bb3405b80fd4..e365c63864dbb67a9d0f3784600a1085da283a9b 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.cpp
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.cpp
@@ -15,9 +15,9 @@
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
- * @package
- * @author
- * @date
+ * @package
+ * @author
+ * @date
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -40,9 +40,7 @@ TactileSensor::~TactileSensor()
tac_matrix_info_t TactileSensor::getMatrixInformation()
{
- unsigned char payload[0];
-
- Response response = interface->submitCmd(0x30, payload, sizeof(payload), false);
+ Response response = interface->submitCmd(0x30, nullptr, 0, false);
response.ensureMinLength(12);
response.ensureSuccess();
@@ -162,8 +160,7 @@ void TactileSensor::stopPeriodicFrameAcquisition(void)
{
while (1)
{
- unsigned char payload[0];
- interface->fireAndForgetCmd(0x22, payload, sizeof(payload), false);
+ interface->fireAndForgetCmd(0x22, nullptr, 0, false);
int waitCount = 10;
while (waitCount > 0)
@@ -221,8 +218,7 @@ void TactileSensor::setThreshold(short threshold)
}
unsigned short TactileSensor::getThreshold()
{
- unsigned char payload[0];
- Response response = interface->submitCmd(0x35, payload, sizeof(payload), false);
+ Response response = interface->submitCmd(0x35, nullptr, 0, false);
response.ensureMinLength(2);
response.ensureSuccess();
return response.getShort(2);
@@ -246,8 +242,7 @@ unsigned char TactileSensor::getFrontEndGain()
* Get the currently set analog front-end gain value. The gain is as an integer value ranging from 0 to
* 255, where 0 is the most insensitive (lowest gain) and 255 is the most sensitive (highest gain) setting.
*/
- unsigned char payload[0];
- Response response = interface->submitCmd(0x37, payload, sizeof(payload), false);
+ Response response = interface->submitCmd(0x37, nullptr, 0, false);
response.ensureMinLength(3);
response.ensureSuccess();
unsigned char gain = response.getByte(2);
@@ -258,8 +253,7 @@ std::string TactileSensor::getSensorType()
/*
* Return a string containing the sensor type.
*/
- unsigned char payload[0];
- Response response = interface->submitCmd(0x38, payload, sizeof(payload), false);
+ Response response = interface->submitCmd(0x38, nullptr, 0, false);
response.ensureMinLength(2);
response.ensureSuccess();
std::string type = std::string((char*)response.data.data() + 2, response.len - 2);
@@ -267,16 +261,14 @@ std::string TactileSensor::getSensorType()
}
float TactileSensor::readDeviceTemperature()
{
- unsigned char payload[0];
- Response response = interface->submitCmd(0x46, payload, sizeof(payload), false);
+ Response response = interface->submitCmd(0x46, nullptr, 0, false);
response.ensureMinLength(2);
short value = (short)response.getShort(2);
return value * 0.1f;
}
tac_system_information_t TactileSensor::getSystemInformation()
{
- unsigned char payload[0];
- Response response = interface->submitCmd(0x50, payload, sizeof(payload), false);
+ Response response = interface->submitCmd(0x50, nullptr, 0, false);
response.ensureMinLength(9);
response.ensureSuccess();
tac_system_information_t si;
@@ -304,8 +296,7 @@ void TactileSensor::setDeviceTag(string tag)
}
string TactileSensor::getDeviceTag()
{
- unsigned char payload[0];
- Response response = interface->submitCmd(0x52, payload, sizeof(payload), false);
+ Response response = interface->submitCmd(0x52, nullptr, 0, false);
response.ensureMinLength(2);
response.ensureSuccess();
std::string tag = std::string((char*)response.data.data() + 2, response.len - 2);
@@ -314,8 +305,7 @@ string TactileSensor::getDeviceTag()
bool TactileSensor::tryGetDeviceTag(string& tag)
{
- unsigned char payload[0];
- Response response = interface->submitCmd(0x52, payload, sizeof(payload), false);
+ Response response = interface->submitCmd(0x52, nullptr, 0, false);
response.ensureMinLength(2);
if (response.status == E_NOT_AVAILABLE)
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
index 4bcb989e705ceb248bfeebc0d64d4584af2cd86a..719e3786375d1347bc953d9a0c53c424ed852c05 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
@@ -28,6 +28,9 @@
#include <ArmarXCore/observers/variant/DataFieldIdentifier.h>
#include <ArmarXCore/observers/exceptions/local/InvalidChannelException.h>
+//ignore errors about extra ; from qwt
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wpedantic"
#include <qwt_plot.h>
#include <qwt_plot_curve.h>
#include <qwt_plot_panner.h>
@@ -38,6 +41,7 @@
#include <qwt_series_data.h>
#include <qwt_thermo.h>
#include <qwt_scale_draw.h>
+#pragma GCC diagnostic pop
//QT
#include <QTimer>
@@ -699,7 +703,7 @@ namespace armarx
// ARMARX_IMPORTANT << id;
auto dict = JSONObject::ConvertToBasicVariantMap(json, var);
- for (const auto& e : dict)
+ for (const auto & e : dict)
{
std::string key = id + "." + e.first;
// ARMARX_INFO << key << ": " << *VariantPtr::dynamicCast(e.second);
@@ -743,7 +747,7 @@ namespace armarx
{
logstream << (time - logStartTime).toMilliSecondsDouble() << ",";
- for (auto& channel : selectedChannels)
+ for (auto & channel : selectedChannels)
{
logstream << dataMaptoAppend.at(channel.toStdString())->Variant::getOutputValueOnly();
if (!selectedChannels.endsWith(channel))
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
index 06dadfba4cf4fa44f79267852a424ff8449a266d..abfb4320194d1304ba88bca04481c76df37882ec 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
@@ -23,7 +23,11 @@
#ifndef ARMARXPLOTTER_H
#define ARMARXPLOTTER_H
+//ignore errors about extra ; from qwt
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wpedantic"
#include "ui_ArmarXPlotter.h"
+#pragma GCC diagnostic pop
// ArmarX
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
diff --git a/source/RobotAPI/libraries/core/LinkedPose.h b/source/RobotAPI/libraries/core/LinkedPose.h
index c424c0127affd9c73e9d829c1ed81dbf7a7a5046..410da0aac406b34390ac5f06abc921fbb0c47cd5 100644
--- a/source/RobotAPI/libraries/core/LinkedPose.h
+++ b/source/RobotAPI/libraries/core/LinkedPose.h
@@ -46,6 +46,11 @@ namespace armarx
// variant types
const VariantTypeId LinkedPose = Variant::addTypeName("::armarx::LinkedPoseBase");
const VariantTypeId LinkedDirection = Variant::addTypeName("::armarx::LinkedDirectionBase");
+ inline void suppressWarningUnusedVariableForLinkedPoseAndDirection()
+ {
+ ARMARX_DEBUG_S << VAROUT(LinkedPose);
+ ARMARX_DEBUG_S << VAROUT(LinkedDirection);
+ }
}
diff --git a/source/RobotAPI/libraries/core/math/Trigonometry.h b/source/RobotAPI/libraries/core/math/Trigonometry.h
index e3abce2577e76102633b216ea6777bba47716ef5..2bfa53108b6a5a564b06f10bfff9e83dccacdee7 100644
--- a/source/RobotAPI/libraries/core/math/Trigonometry.h
+++ b/source/RobotAPI/libraries/core/math/Trigonometry.h
@@ -38,7 +38,7 @@ namespace armarx
}
static double Deg2RadD(const double angle)
{
- return angle / 180.0d * M_PI;
+ return angle / 180.0 * M_PI;
}
static float Rad2DegF(const float rad)
{
@@ -46,7 +46,7 @@ namespace armarx
}
static double Rad2DegD(const float rad)
{
- return rad / M_PI * 180.0d;
+ return rad / M_PI * 180.0;
}
static double GetAngleFromVectorXY(const Eigen::Vector3f& vector)