some changes to build the package with -Wpedantic and -Werror on gcc4.8

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));
         }
     };
-};
+}

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;
-    
+
 }
 

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)

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))

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>

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);
+        }
     }
 
 

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)