From 87ba72365a0f2993a1282c78961775892378b6b0 Mon Sep 17 00:00:00 2001
From: Patrick Roncagliolo <ronca.pat@gmail.com>
Date: Tue, 16 Apr 2024 11:33:34 +0200
Subject: [PATCH] Add compiler flags (#19)

Add some explicit casts & remove some variable name shadowing
---
 CMakeLists.txt                             | 2 ++
 src/NavMsgOccupancyGrid_CvMat.cpp          | 6 ++++--
 src/SensorMsgPointCloud2_PCLPointCloud.cpp | 8 ++++----
 3 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index be52d36..2d9fdc0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,6 +3,8 @@ project(native_adapters)
 
 set(CMAKE_CXX_STANDARD 17)
 
+add_compile_options(-Wall -Wextra -Wpedantic -Wconversion -Wdouble-promotion -Wfloat-equal -Wshadow)
+
 find_package(std_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
diff --git a/src/NavMsgOccupancyGrid_CvMat.cpp b/src/NavMsgOccupancyGrid_CvMat.cpp
index e7ce6ce..0a7105f 100644
--- a/src/NavMsgOccupancyGrid_CvMat.cpp
+++ b/src/NavMsgOccupancyGrid_CvMat.cpp
@@ -50,7 +50,8 @@ void rclcpp::TypeAdapter<StampedOccupancyGrid_CV,
   destination.data.resize(source.mat.rows * source.mat.cols);
   for (int y = 0; y < source.mat.rows; ++y) {
     for (int x = 0; x < source.mat.cols; ++x) {
-      destination.data[y * source.mat.cols + x] = source.mat.at<uint8_t>(y, x) - 1;
+      destination.data[y * source.mat.cols + x] =
+        static_cast<int8_t>(source.mat.at<uint8_t>(y, x) - 1);
     }
   }
   destination.header = source.header;
@@ -67,7 +68,8 @@ void rclcpp::TypeAdapter<StampedOccupancyGrid_CV, nav_msgs::msg::OccupancyGrid>:
     cv::Mat(source.info.height, source.info.width, CV_MAKETYPE(cv::DataType<uint8_t>::type, 1));
   for (unsigned int y = 0; y < source.info.height; ++y) {
     for (unsigned int x = 0; x < source.info.width; ++x) {
-      destination.mat.at<uint8_t>(y, x) = source.data[y * source.info.width + x] + 1;
+      destination.mat.at<uint8_t>(y, x) =
+        static_cast<uint8_t>(source.data[y * source.info.width + x] + 1);
     }
   }
   destination.header = source.header;
diff --git a/src/SensorMsgPointCloud2_PCLPointCloud.cpp b/src/SensorMsgPointCloud2_PCLPointCloud.cpp
index 900239a..3560abf 100644
--- a/src/SensorMsgPointCloud2_PCLPointCloud.cpp
+++ b/src/SensorMsgPointCloud2_PCLPointCloud.cpp
@@ -35,20 +35,20 @@ StampedPointCloud_PCL & StampedPointCloud_PCL::operator=(const StampedPointCloud
 
 uint32_t StampedPointCloud_PCL::width() const
 {
-  return std::visit([](auto && cloud) {return cloud.width;}, cloud);
+  return std::visit([](auto && _cloud) {return _cloud.width;}, cloud);
 }
 
 
 uint32_t StampedPointCloud_PCL::height() const
 {
-  return std::visit([](auto && cloud) {return cloud.height;}, cloud);
+  return std::visit([](auto && _cloud) {return _cloud.height;}, cloud);
 }
 
 bool StampedPointCloud_PCL::has_colors() const
 {
   return std::visit(
-    [](auto && cloud) {
-      using T = typename std::decay_t<decltype(cloud)>::PointType;
+    [](auto && _cloud) {
+      using T = typename std::decay_t<decltype(_cloud)>::PointType;
       return pcl::traits::has_color_v<T>;
     }, cloud);
 }