Fix small warnings

include/usb_cam/usb_cam.hpp

@@ -145,8 +145,6 @@ class UsbCam
   bool close_device(void);
   bool open_device(void);
   bool grab_image();
-  bool is_capturing_;
-
 
   rclcpp::Clock::SharedPtr clock_;
   std::string camera_dev_;
@@ -165,6 +163,7 @@ class UsbCam
   int avframe_rgb_size_;
   struct SwsContext * video_sws_;
   camera_image_t * image_;
+  bool is_capturing_;
 };
 
 }  // namespace usb_cam

include/usb_cam/usb_cam_utils.hpp

@@ -67,7 +67,7 @@ void monotonicToRealTime(const timespec & monotonic_time, timespec & real_time)
   }
 }
 
-static int xioctl(int fd, int request, void * arg)
+inline int xioctl(int fd, int request, void * arg)
 {
   int r;
 
@@ -245,7 +245,7 @@ const int clipping_table_offset = 128;
 /** Clip a value to the range 0<val<255. For speed this is done using an
  * array, so can only cope with numbers in the range -128<val<383.
  */
-static unsigned char CLIPVALUE(int val)
+inline unsigned char CLIPVALUE(int val)
 {
   // Old method (if)
   /*   val = val < 0 ? 0 : val; */
@@ -276,7 +276,7 @@ static unsigned char CLIPVALUE(int val)
  * [ B ]   [  1.0   2.041   0.002 ] [ V ]
  *
  */
-static bool YUV2RGB(
+inline bool YUV2RGB(
   const unsigned char y, const unsigned char u, const unsigned char v,
   unsigned char * r, unsigned char * g, unsigned char * b)
 {
@@ -326,7 +326,7 @@ bool uyvy2rgb(char * YUV, char * RGB, int NumPixels)
   return true;
 }
 
-static bool mono102mono8(char * RAW, char * MONO, int NumPixels)
+inline bool mono102mono8(char * RAW, char * MONO, int NumPixels)
 {
   int i, j;
   for (i = 0, j = 0; i < (NumPixels << 1); i += 2, j += 1) {
@@ -336,7 +336,7 @@ static bool mono102mono8(char * RAW, char * MONO, int NumPixels)
   return true;
 }
 
-static bool yuyv2rgb(char * YUV, char * RGB, int NumPixels)
+inline bool yuyv2rgb(char * YUV, char * RGB, int NumPixels)
 {
   int i, j;
   unsigned char y0, y1, u, v;

src/usb_cam.cpp

@@ -119,11 +119,11 @@ int UsbCam::init_mjpeg_decoder(int image_width, int image_height)
   return 1;
 }
 
-bool UsbCam::mjpeg2rgb(char * MJPEG, int len, char * RGB, int NumPixels)
+bool UsbCam::mjpeg2rgb(char * MJPEG, int len, char * RGB, int /* NumPixels */)
 {
   // RCLCPP_INFO_STREAM(
   //   rclcpp::get_logger("usb_cam"),
-  //     "mjpeg2rgb " << len << ", image 0x" << std::hex << (unsigned long int)RGB \
+  //     "mjpeg2rgb " << len << ", image 0x" << std::hex << (unsigned long int)RGB
   //     << std::dec << " " << NumPixels << ", avframe_rgb_size_ " << avframe_rgb_size_);
   int got_picture;
 
@@ -169,7 +169,7 @@ bool UsbCam::mjpeg2rgb(char * MJPEG, int len, char * RGB, int NumPixels)
 
   // TODO(lucasw) why does the image need to be scaled?  Does it also convert formats?
   // RCLCPP_INFO_STREAM(
-  //   rclcpp::get_logger("usb_cam"), "sw scaler " << xsize << " " << ysize << " " \
+  //   rclcpp::get_logger("usb_cam"), "sw scaler " << xsize << " " << ysize << " "
   //     << avcodec_context_->pix_fmt << ", linesize " << avframe_rgb_->linesize);
   #if 1
   avcodec_context_->pix_fmt = pix_fmt_backup;
@@ -735,7 +735,7 @@ bool UsbCam::init_device(int image_width, int image_height, int framerate)
   RCLCPP_INFO_STREAM(
     rclcpp::get_logger("usb_cam"),
     "Capability flag: 0x" << std::hex << stream_params.parm.capture.capability << std::dec);
-  if (!stream_params.parm.capture.capability & V4L2_CAP_TIMEPERFRAME) {
+  if (!(stream_params.parm.capture.capability & V4L2_CAP_TIMEPERFRAME)) {
     RCLCPP_ERROR(rclcpp::get_logger("usb_cam"), "V4L2_CAP_TIMEPERFRAME not supported");
   }
 
@@ -1080,6 +1080,7 @@ bool UsbCam::set_v4l_parameter(const std::string & param, const std::string & va
   } else {
     RCLCPP_WARN(rclcpp::get_logger("usb_cam"), "usb_cam_node could not run '%s'", cmd.c_str());
   }
+  return true;
 }
 
 UsbCam::io_method UsbCam::io_method_from_string(const std::string & str)

src/usb_cam_node.cpp

@@ -175,7 +175,7 @@ void UsbCamNode::get_params()
     } else if (parameter.get_name() == "video_device") {
       video_device_name_ = parameter.value_to_string();
     } else {
-      RCLCPP_WARN(this->get_logger(), "Invalid parameter name: %s", parameter.get_name());
+      RCLCPP_WARN(this->get_logger(), "Invalid parameter name: %s", parameter.get_name().c_str());
     }
   }
 }