From 7da684117cafa2117ceeb4d20ddec2565bebc10a Mon Sep 17 00:00:00 2001 From: Audrow Nash Date: Tue, 22 Sep 2020 11:37:47 -0700 Subject: [PATCH 1/7] Enable basic warnings Signed-off-by: Audrow Nash --- CMakeLists.txt | 3 +++ urdf_parser/test/memtest.cpp | 1 + 2 files changed, 4 insertions(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index 06779d25..1000d2d0 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -41,6 +41,9 @@ find_package(urdfdom_headers 1.0 REQUIRED) if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 14) endif() +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() find_package(console_bridge_vendor REQUIRED) # Provides console_bridge 0.4.0 on platforms without it. find_package(console_bridge REQUIRED) diff --git a/urdf_parser/test/memtest.cpp b/urdf_parser/test/memtest.cpp index d835eb3d..557107b1 100644 --- a/urdf_parser/test/memtest.cpp +++ b/urdf_parser/test/memtest.cpp @@ -3,6 +3,7 @@ #include int main(int argc, char** argv){ + (void) argc; while (true){ std::string xml_string; std::fstream xml_file(argv[1], std::fstream::in); From 15fea177682e79633e7ad3ab05056506c277fd84 Mon Sep 17 00:00:00 2001 From: Audrow Nash Date: Tue, 22 Sep 2020 14:56:41 -0700 Subject: [PATCH 2/7] Handle input arguments and return in main function Signed-off-by: Audrow Nash --- urdf_parser/test/memtest.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/urdf_parser/test/memtest.cpp b/urdf_parser/test/memtest.cpp index 557107b1..86d231ea 100644 --- a/urdf_parser/test/memtest.cpp +++ b/urdf_parser/test/memtest.cpp @@ -3,7 +3,10 @@ #include int main(int argc, char** argv){ - (void) argc; + if (argc != 2) { + fprintf(stderr, "Usage: %s \n", argv[0]); + return 1; + } while (true){ std::string xml_string; std::fstream xml_file(argv[1], std::fstream::in); @@ -18,4 +21,5 @@ int main(int argc, char** argv){ urdf::parseURDF(xml_string); } + return 0; } From 26ab3ee84397bb361e54847b965d5b099f4aa548 Mon Sep 17 00:00:00 2001 From: Audrow Nash Date: Thu, 24 Sep 2020 14:09:00 -0700 Subject: [PATCH 3/7] Set default C compiler Signed-off-by: Audrow Nash --- CMakeLists.txt | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index 1000d2d0..5bab8593 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -37,10 +37,16 @@ find_package(TinyXML REQUIRED) find_package(urdfdom_headers 1.0 REQUIRED) +# Default to C11 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 11) +endif() + # Default to C++14 if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 14) endif() + if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) endif() From c2c5b67df677221af6a8a0b3bc8cbbda48650e53 Mon Sep 17 00:00:00 2001 From: Audrow Nash Date: Thu, 24 Sep 2020 15:31:54 -0700 Subject: [PATCH 4/7] Add extern "C" around console_bridge/console.h include Signed-off-by: Audrow Nash --- urdf_parser/src/joint.cpp | 2 ++ urdf_parser/src/link.cpp | 2 ++ urdf_parser/src/model.cpp | 2 ++ urdf_parser/src/pose.cpp | 2 ++ urdf_parser/src/twist.cpp | 2 ++ urdf_parser/src/urdf_model_state.cpp | 2 ++ urdf_parser/src/world.cpp | 2 ++ 7 files changed, 14 insertions(+) diff --git a/urdf_parser/src/joint.cpp b/urdf_parser/src/joint.cpp index 07cbeae1..feb45c81 100644 --- a/urdf_parser/src/joint.cpp +++ b/urdf_parser/src/joint.cpp @@ -38,7 +38,9 @@ #include #include #include +extern "C" { #include +} #include #include diff --git a/urdf_parser/src/link.cpp b/urdf_parser/src/link.cpp index 0e8b8c30..70113b3f 100644 --- a/urdf_parser/src/link.cpp +++ b/urdf_parser/src/link.cpp @@ -43,7 +43,9 @@ #include #include #include +extern "C" { #include +} namespace urdf{ diff --git a/urdf_parser/src/model.cpp b/urdf_parser/src/model.cpp index a905f89e..1c7bab03 100644 --- a/urdf_parser/src/model.cpp +++ b/urdf_parser/src/model.cpp @@ -36,7 +36,9 @@ #include #include "urdf_parser/urdf_parser.h" +extern "C" { #include +} #include namespace urdf{ diff --git a/urdf_parser/src/pose.cpp b/urdf_parser/src/pose.cpp index 56bedd48..ea593d54 100644 --- a/urdf_parser/src/pose.cpp +++ b/urdf_parser/src/pose.cpp @@ -39,7 +39,9 @@ #include #include #include +extern "C" { #include +} #include #include diff --git a/urdf_parser/src/twist.cpp b/urdf_parser/src/twist.cpp index 694fc914..ba3193a7 100644 --- a/urdf_parser/src/twist.cpp +++ b/urdf_parser/src/twist.cpp @@ -40,7 +40,9 @@ #include #include #include +extern "C" { #include +} namespace urdf{ diff --git a/urdf_parser/src/urdf_model_state.cpp b/urdf_parser/src/urdf_model_state.cpp index 447d4ff6..5cabb532 100644 --- a/urdf_parser/src/urdf_model_state.cpp +++ b/urdf_parser/src/urdf_model_state.cpp @@ -43,7 +43,9 @@ #include #include #include +extern "C" { #include +} #include namespace urdf{ diff --git a/urdf_parser/src/world.cpp b/urdf_parser/src/world.cpp index ce09c1c3..d0763185 100644 --- a/urdf_parser/src/world.cpp +++ b/urdf_parser/src/world.cpp @@ -42,7 +42,9 @@ #include #include #include +extern "C" { #include +} namespace urdf{ From c0501fd0ddbcb1bf7f7b224d1c454f81d10d9ed9 Mon Sep 17 00:00:00 2001 From: Audrow Nash Date: Thu, 24 Sep 2020 15:52:03 -0700 Subject: [PATCH 5/7] Revert "Add extern "C" around console_bridge/console.h include" This reverts commit 9a4d55d7c3f9dd3c5190eb920094773199f838b0. --- urdf_parser/src/joint.cpp | 2 -- urdf_parser/src/link.cpp | 2 -- urdf_parser/src/model.cpp | 2 -- urdf_parser/src/pose.cpp | 2 -- urdf_parser/src/twist.cpp | 2 -- urdf_parser/src/urdf_model_state.cpp | 2 -- urdf_parser/src/world.cpp | 2 -- 7 files changed, 14 deletions(-) diff --git a/urdf_parser/src/joint.cpp b/urdf_parser/src/joint.cpp index feb45c81..07cbeae1 100644 --- a/urdf_parser/src/joint.cpp +++ b/urdf_parser/src/joint.cpp @@ -38,9 +38,7 @@ #include #include #include -extern "C" { #include -} #include #include diff --git a/urdf_parser/src/link.cpp b/urdf_parser/src/link.cpp index 70113b3f..0e8b8c30 100644 --- a/urdf_parser/src/link.cpp +++ b/urdf_parser/src/link.cpp @@ -43,9 +43,7 @@ #include #include #include -extern "C" { #include -} namespace urdf{ diff --git a/urdf_parser/src/model.cpp b/urdf_parser/src/model.cpp index 1c7bab03..a905f89e 100644 --- a/urdf_parser/src/model.cpp +++ b/urdf_parser/src/model.cpp @@ -36,9 +36,7 @@ #include #include "urdf_parser/urdf_parser.h" -extern "C" { #include -} #include namespace urdf{ diff --git a/urdf_parser/src/pose.cpp b/urdf_parser/src/pose.cpp index ea593d54..56bedd48 100644 --- a/urdf_parser/src/pose.cpp +++ b/urdf_parser/src/pose.cpp @@ -39,9 +39,7 @@ #include #include #include -extern "C" { #include -} #include #include diff --git a/urdf_parser/src/twist.cpp b/urdf_parser/src/twist.cpp index ba3193a7..694fc914 100644 --- a/urdf_parser/src/twist.cpp +++ b/urdf_parser/src/twist.cpp @@ -40,9 +40,7 @@ #include #include #include -extern "C" { #include -} namespace urdf{ diff --git a/urdf_parser/src/urdf_model_state.cpp b/urdf_parser/src/urdf_model_state.cpp index 5cabb532..447d4ff6 100644 --- a/urdf_parser/src/urdf_model_state.cpp +++ b/urdf_parser/src/urdf_model_state.cpp @@ -43,9 +43,7 @@ #include #include #include -extern "C" { #include -} #include namespace urdf{ diff --git a/urdf_parser/src/world.cpp b/urdf_parser/src/world.cpp index d0763185..ce09c1c3 100644 --- a/urdf_parser/src/world.cpp +++ b/urdf_parser/src/world.cpp @@ -42,9 +42,7 @@ #include #include #include -extern "C" { #include -} namespace urdf{ From c67038ac1d92095898161ed3923330ec3defe384 Mon Sep 17 00:00:00 2001 From: Audrow Nash Date: Thu, 24 Sep 2020 15:52:14 -0700 Subject: [PATCH 6/7] Revert "Set default C compiler" This reverts commit 542110fa7328d441349606922bb620e987abb0d7. --- CMakeLists.txt | 6 ------ 1 file changed, 6 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 5bab8593..1000d2d0 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -37,16 +37,10 @@ find_package(TinyXML REQUIRED) find_package(urdfdom_headers 1.0 REQUIRED) -# Default to C11 -if(NOT CMAKE_C_STANDARD) - set(CMAKE_C_STANDARD 11) -endif() - # Default to C++14 if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 14) endif() - if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) endif() From 40188c7271050b4586118f63ef70face68ecb97a Mon Sep 17 00:00:00 2001 From: Chris Lalancette Date: Tue, 20 Oct 2020 21:55:45 +0000 Subject: [PATCH 7/7] Use SYSTEM for the include directories in urdfdom. Signed-off-by: Chris Lalancette --- urdf_parser/CMakeLists.txt | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt index 00315412..d230d534 100644 --- a/urdf_parser/CMakeLists.txt +++ b/urdf_parser/CMakeLists.txt @@ -4,7 +4,7 @@ add_library(urdfdom_world SHARED src/link.cpp src/joint.cpp src/world.cpp) -target_include_directories(urdfdom_world PUBLIC +target_include_directories(urdfdom_world SYSTEM PUBLIC ${TinyXML_INCLUDE_DIRS} "$" "$") @@ -19,7 +19,7 @@ add_library(urdfdom_model SHARED src/model.cpp src/link.cpp src/joint.cpp) -target_include_directories(urdfdom_model PUBLIC +target_include_directories(urdfdom_model SYSTEM PUBLIC ${TinyXML_INCLUDE_DIRS} "$" "$") @@ -30,7 +30,7 @@ target_link_libraries(urdfdom_model PUBLIC set_target_properties(urdfdom_model PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VERSION}) add_library(urdfdom_sensor SHARED src/urdf_sensor.cpp) -target_include_directories(urdfdom_sensor PUBLIC +target_include_directories(urdfdom_sensor SYSTEM PUBLIC ${TinyXML_INCLUDE_DIRS} "$" "$") @@ -44,7 +44,7 @@ set_target_properties(urdfdom_sensor PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VER add_library(urdfdom_model_state SHARED src/urdf_model_state.cpp src/twist.cpp) -target_include_directories(urdfdom_model_state PUBLIC +target_include_directories(urdfdom_model_state SYSTEM PUBLIC ${TinyXML_INCLUDE_DIRS} "$" "$")