Add warnings

Signed-off-by: Audrow Nash <[email protected]>

Author: audrow

rclcpp_action/CMakeLists.txt

@@ -13,7 +13,10 @@ 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 -Wnon-virtual-dtor -Woverloaded-virtual)
+  add_compile_options(
+    -Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual
+    -Wformat=2 -Wconversion -Wshadow -Wsign-conversion -Wcast-qual
+  )
 endif()
 
 set(${PROJECT_NAME}_SRCS

rclcpp_action/include/rclcpp_action/server.hpp

@@ -377,31 +377,31 @@ class Server : public ServerBase, public std::enable_shared_from_this<Server<Act
     std::weak_ptr<Server<ActionT>> weak_this = this->shared_from_this();
 
     std::function<void(const GoalUUID &, std::shared_ptr<void>)> on_terminal_state =
-      [weak_this](const GoalUUID & uuid, std::shared_ptr<void> result_message)
+      [weak_this](const GoalUUID & goal_uuid, std::shared_ptr<void> result_message)
       {
         std::shared_ptr<Server<ActionT>> shared_this = weak_this.lock();
         if (!shared_this) {
           return;
         }
         // Send result message to anyone that asked
-        shared_this->publish_result(uuid, result_message);
+        shared_this->publish_result(goal_uuid, result_message);
         // Publish a status message any time a goal handle changes state
         shared_this->publish_status();
         // notify base so it can recalculate the expired goal timer
         shared_this->notify_goal_terminal_state();
         // Delete data now (ServerBase and rcl_action_server_t keep data until goal handle expires)
         std::lock_guard<std::mutex> lock(shared_this->goal_handles_mutex_);
-        shared_this->goal_handles_.erase(uuid);
+        shared_this->goal_handles_.erase(goal_uuid);
       };
 
     std::function<void(const GoalUUID &)> on_executing =
-      [weak_this](const GoalUUID & uuid)
+      [weak_this](const GoalUUID & goal_uuid)
       {
         std::shared_ptr<Server<ActionT>> shared_this = weak_this.lock();
         if (!shared_this) {
           return;
         }
-        (void)uuid;
+        (void)goal_uuid;
         // Publish a status message any time a goal handle changes state
         shared_this->publish_status();
       };

rclcpp_action/test/test_client.cpp

@@ -132,7 +132,7 @@ class TestClient : public ::testing::Test
             feedback_message.feedback.sequence.push_back(1);
             feedback_publisher->publish(feedback_message);
             client_executor.spin_once();
-            for (int i = 1; i < goal_request->goal.order; ++i) {
+            for (uint32_t i = 1; i < static_cast<uint32_t>(goal_request->goal.order); ++i) {
               feedback_message.feedback.sequence.push_back(
                 feedback_message.feedback.sequence[i] +
                 feedback_message.feedback.sequence[i - 1]);

rclcpp_action/test/test_types.cpp

@@ -25,12 +25,12 @@ TEST(TestActionTypes, goal_uuid_to_string) {
   EXPECT_STREQ("0123456789abcdef", rclcpp_action::to_string(goal_id).c_str());
 
   for (uint8_t i = 0; i < UUID_SIZE; ++i) {
-    goal_id[i] = 16u + i;
+    goal_id[i] = static_cast<uint8_t>(16u + i);
   }
   EXPECT_STREQ("101112131415161718191a1b1c1d1e1f", rclcpp_action::to_string(goal_id).c_str());
 
   for (uint8_t i = 0; i < UUID_SIZE; ++i) {
-    goal_id[i] = std::numeric_limits<uint8_t>::max() - i;
+    goal_id[i] = static_cast<uint8_t>(std::numeric_limits<uint8_t>::max() - i);
   }
   EXPECT_STREQ("fffefdfcfbfaf9f8f7f6f5f4f3f2f1f0", rclcpp_action::to_string(goal_id).c_str());
 }