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Fix -Wextra in RT non-componentized code #3344

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Merged
andypugh merged 1 commit into from
Mar 2, 2025
Merged

Fix -Wextra in RT non-componentized code #3344

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4 changes: 4 additions & 0 deletions src/emc/kinematics/5axiskins.c
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Expand Up @@ -101,6 +101,8 @@ static int fiveaxis_KinematicsForward(const double *joints,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
(void)fflags;
(void)iflags;
PmCartesian r = s2r(*(haldata->pivot_length) + joints[JW],
joints[JC],
180.0 - joints[JB]);
Expand All @@ -126,6 +128,8 @@ static int fiveaxis_KinematicsInverse(const EmcPose * pos,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags)
{
(void)iflags;
(void)fflags;
PmCartesian r = s2r(*(haldata->pivot_length) + pos->w,
pos->c,
180.0 - pos->b);
Expand Down
4 changes: 4 additions & 0 deletions src/emc/kinematics/corexykins.c
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Expand Up @@ -22,6 +22,8 @@ int kinematicsForward(const double *joints
,const KINEMATICS_FORWARD_FLAGS *fflags
,KINEMATICS_INVERSE_FLAGS *iflags
) {
(void)fflags;
(void)iflags;
pos->tran.x = 0.5 * (joints[0] + joints[1]);
pos->tran.y = 0.5 * (joints[0] - joints[1]);
pos->tran.z = joints[2];
Expand All @@ -40,6 +42,8 @@ int kinematicsInverse(const EmcPose *pos
,const KINEMATICS_INVERSE_FLAGS *iflags
,KINEMATICS_FORWARD_FLAGS *fflags
) {
(void)iflags;
(void)fflags;
joints[0] = pos->tran.x + pos->tran.y;
joints[1] = pos->tran.x - pos->tran.y;
joints[2] = pos->tran.z;
Expand Down
1 change: 1 addition & 0 deletions src/emc/kinematics/cubic.c
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Expand Up @@ -88,6 +88,7 @@ static double interpolateAccel(CUBIC_COEFF coeff, double t)
*/
static double interpolateJerk(CUBIC_COEFF coeff, double t)
{
(void)t;
return 6.0 * coeff.a;
}

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7 changes: 6 additions & 1 deletion src/emc/kinematics/genhexkins.c
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Expand Up @@ -329,6 +329,8 @@ static int genhexKinematicsForward(const double * joints,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
(void)fflags;
(void)iflags;
PmCartesian aw;
PmCartesian InvKinStrutVect,InvKinStrutVectUnit;
PmCartesian q_trans, RMatrix_a, RMatrix_a_cross_Strut;
Expand All @@ -345,7 +347,7 @@ static int genhexKinematicsForward(const double * joints,

int iterate = 1;
int i;
int iteration = 0;
unsigned iteration = 0;

genhex_read_hal_pins();

Expand Down Expand Up @@ -491,6 +493,8 @@ static int genhexKinematicsInverse(const EmcPose * pos,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags)
{
(void)iflags;
(void)fflags;

PmCartesian aw, temp;
PmCartesian InvKinStrutVect, InvKinStrutVectUnit;
Expand Down Expand Up @@ -541,6 +545,7 @@ int genhexKinematicsSetup(const int comp_id,
const char* coordinates,
kparms* kp)
{
(void)coordinates;
int i,res=0;

haldata = hal_malloc(sizeof(struct haldata));
Expand Down
2 changes: 1 addition & 1 deletion src/emc/kinematics/kinematics.h
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Expand Up @@ -165,7 +165,7 @@ extern int kinematicsSwitch(int switchkins_type);

#define KINS_NOT_SWITCHABLE \
extern int kinematicsSwitchable() {return 0;} \
extern int kinematicsSwitch(int switchkins_type) {return 0;} \
extern int kinematicsSwitch(int switchkins_type) { (void)switchkins_type; return 0;} \
EXPORT_SYMBOL(kinematicsSwitchable); \
EXPORT_SYMBOL(kinematicsSwitch);

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5 changes: 5 additions & 0 deletions src/emc/kinematics/kins_util.c
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Expand Up @@ -283,6 +283,7 @@ int identityKinematicsSetup(const int comp_id,
const char* coordinates,
kparms* kp)
{
(void)comp_id;
int axis_idx_for_jno[EMCMOT_MAX_JOINTS];
int jno;
int show=0;
Expand Down Expand Up @@ -330,6 +331,8 @@ int identityKinematicsForward(const double *joints,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
(void)fflags;
(void)iflags;
if (!identity_kinematics_initialized) {
rtapi_print_msg(RTAPI_MSG_ERR,
"identityKinematicsForward: not initialized\n");
Expand All @@ -346,6 +349,8 @@ int identityKinematicsInverse(const EmcPose * pos,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags)
{
(void)iflags;
(void)fflags;
if (!identity_kinematics_initialized) {
rtapi_print_msg(RTAPI_MSG_ERR,
"identityKinematicsInverse: not initialized\n");
Expand Down
4 changes: 4 additions & 0 deletions src/emc/kinematics/lineardeltakins.c
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Expand Up @@ -32,13 +32,17 @@ int kinematicsForward(const double * joints,
EmcPose * pos,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags) {
(void)fflags;
(void)iflags;
set_geometry(*haldata->r, *haldata->l);
return kinematics_forward(joints, pos);
}

int kinematicsInverse(const EmcPose *pos, double *joints,
const KINEMATICS_INVERSE_FLAGS *iflags,
KINEMATICS_FORWARD_FLAGS *fflags) {
(void)iflags;
(void)fflags;
set_geometry(*haldata->r, *haldata->l);
return kinematics_inverse(pos, joints);
}
Expand Down
4 changes: 4 additions & 0 deletions src/emc/kinematics/maxkins.c
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Expand Up @@ -39,6 +39,8 @@ int kinematicsForward(const double *joints,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
(void)fflags;
(void)iflags;
// B correction
double zb = (*(haldata->pivot_length) + joints[8]) * cos(d2r(joints[4]));
double xb = (*(haldata->pivot_length) + joints[8]) * sin(d2r(joints[4]));
Expand Down Expand Up @@ -72,6 +74,8 @@ int kinematicsInverse(const EmcPose * pos,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags)
{
(void)iflags;
(void)fflags;
// B correction
double zb = (*(haldata->pivot_length) + pos->w) * cos(d2r(pos->b));
double xb = (*(haldata->pivot_length) + pos->w) * sin(d2r(pos->b));
Expand Down
6 changes: 5 additions & 1 deletion src/emc/kinematics/pentakins.c
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Expand Up @@ -242,6 +242,8 @@ int kinematicsForward(const double * joints,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
(void)fflags;
(void)iflags;

// PmCartesian aw;
// PmCartesian InvKinStrutVect,InvKinStrutVectUnit;
Expand All @@ -260,7 +262,7 @@ int kinematicsForward(const double * joints,

int iterate = 1;
int i, j;
int iteration = 0;
unsigned iteration = 0;

pentakins_read_hal_pins();

Expand Down Expand Up @@ -372,6 +374,8 @@ int kinematicsInverse(const EmcPose * pos,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags)
{
(void)iflags;
(void)fflags;

double coord[NUM_STRUTS];

Expand Down
2 changes: 2 additions & 0 deletions src/emc/kinematics/pumakins.c
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Expand Up @@ -40,6 +40,7 @@ static int pumaKinematicsForward(const double * joint,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
(void)fflags;
double s1, s2, s3, s4, s5, s6;
double c1, c2, c3, c4, c5, c6;
double s23;
Expand Down Expand Up @@ -328,6 +329,7 @@ int pumaKinematicsSetup(const int comp_id,
const char* coordinates,
kparms* kp)
{
(void)coordinates;
int res=0;

haldata = hal_malloc(sizeof(*haldata));
Expand Down
4 changes: 4 additions & 0 deletions src/emc/kinematics/rosekins.c
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Expand Up @@ -44,6 +44,8 @@ int kinematicsForward(const double *joints,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
(void)fflags;
(void)iflags;
double radius,z,theta;

radius = joints[0];
Expand All @@ -68,6 +70,8 @@ int kinematicsInverse(const EmcPose * pos,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags)
{
(void)iflags;
(void)fflags;
// There is a potential problem when accumulating bigtheta -- loss of
// precision based on size of mantissa -- but in practice, it is probably ok

Expand Down
4 changes: 4 additions & 0 deletions src/emc/kinematics/rotarydeltakins.c
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Expand Up @@ -36,13 +36,17 @@ int kinematicsForward(const double * joints,
EmcPose * pos,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags) {
(void)fflags;
(void)iflags;
set_geometry(*haldata->pfr, *haldata->tl, *haldata->sl, *haldata->fr);
return kinematics_forward(joints, pos);
}

int kinematicsInverse(const EmcPose *pos, double *joints,
const KINEMATICS_INVERSE_FLAGS *iflags,
KINEMATICS_FORWARD_FLAGS *fflags) {
(void)iflags;
(void)fflags;
set_geometry(*haldata->pfr, *haldata->tl, *haldata->sl, *haldata->fr);
return kinematics_inverse(pos, joints);
}
Expand Down
4 changes: 4 additions & 0 deletions src/emc/kinematics/rotatekins.c
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Expand Up @@ -20,6 +20,8 @@ int kinematicsForward(const double *joints,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
(void)fflags;
(void)iflags;
double c_rad = -joints[5]*M_PI/180;
pos->tran.x = joints[0] * cos(c_rad) - joints[1] * sin(c_rad);
pos->tran.y = joints[0] * sin(c_rad) + joints[1] * cos(c_rad);
Expand All @@ -39,6 +41,8 @@ int kinematicsInverse(const EmcPose * pos,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags)
{
(void)iflags;
(void)fflags;
double c_rad = pos->c*M_PI/180;
joints[0] = pos->tran.x * cos(c_rad) - pos->tran.y * sin(c_rad);
joints[1] = pos->tran.x * sin(c_rad) + pos->tran.y * cos(c_rad);
Expand Down
2 changes: 2 additions & 0 deletions src/emc/kinematics/scarakins.c
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Expand Up @@ -77,6 +77,7 @@ int scaraKinematicsForward(const double * joint,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
(void)fflags;
double a0, a1, a3;
double x, y, z, c;

Expand Down Expand Up @@ -181,6 +182,7 @@ static int scaraKinematicsSetup(const int comp_id,
const char* coordinates,
kparms* kp)
{
(void)coordinates;
int res=0;

haldata = hal_malloc(sizeof(*haldata));
Expand Down
4 changes: 4 additions & 0 deletions src/emc/kinematics/scorbot-kins.c
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Expand Up @@ -79,6 +79,8 @@ int kinematicsForward(
const KINEMATICS_FORWARD_FLAGS *fflags,
KINEMATICS_INVERSE_FLAGS *iflags
) {
(void)fflags;
(void)iflags;
EmcPose j1_vector; // the vector from j0 ("base") to joint 1 ("shoulder", end of link 0)
EmcPose j2_vector; // the vector from j1 ("shoulder") to joint 2 ("elbow", end of link 1)
EmcPose j3_vector; // the vector from j2 ("elbow") to joint 3 ("wrist", end of link 2)
Expand Down Expand Up @@ -136,6 +138,8 @@ int kinematicsInverse(
const KINEMATICS_INVERSE_FLAGS *iflags,
KINEMATICS_FORWARD_FLAGS *fflags
) {
(void)iflags;
(void)fflags;
// EmcPose j1_cart;
double distance_to_cp, distance_to_center;
double r_j1, z_j1; // (r_j1, z_j1) is the location of J1 in the RZ plane
Expand Down
2 changes: 2 additions & 0 deletions src/emc/kinematics/tripodkins.c
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Expand Up @@ -128,6 +128,7 @@ int kinematicsForward(const double * joints,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
(void)iflags;
#define AD (joints[0])
#define BD (joints[1])
#define CD (joints[2])
Expand Down Expand Up @@ -184,6 +185,7 @@ int kinematicsInverse(const EmcPose * pos,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags)
{
(void)iflags;
#define AD (joints[0])
#define BD (joints[1])
#define CD (joints[2])
Expand Down
8 changes: 8 additions & 0 deletions src/emc/kinematics/trtfuncs.c
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Expand Up @@ -153,6 +153,8 @@ int xyzacKinematicsForward(const double *joints,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
(void)fflags;
(void)iflags;
double x_rot_point = *(haldata->x_rot_point);
double y_rot_point = *(haldata->y_rot_point);
double z_rot_point = *(haldata->z_rot_point);
Expand Down Expand Up @@ -199,6 +201,8 @@ int xyzacKinematicsInverse(const EmcPose * pos,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags)
{
(void)iflags;
(void)fflags;
double x_rot_point = *(haldata->x_rot_point);
double y_rot_point = *(haldata->y_rot_point);
double z_rot_point = *(haldata->z_rot_point);
Expand Down Expand Up @@ -257,6 +261,8 @@ int xyzbcKinematicsForward(const double *joints,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
(void)fflags;
(void)iflags;
// Note: 'principal' joints are used
double x_rot_point = *(haldata->x_rot_point);
double y_rot_point = *(haldata->y_rot_point);
Expand Down Expand Up @@ -303,6 +309,8 @@ int xyzbcKinematicsInverse(const EmcPose * pos,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags)
{
(void)iflags;
(void)fflags;
double x_rot_point = *(haldata->x_rot_point);
double y_rot_point = *(haldata->y_rot_point);
double z_rot_point = *(haldata->z_rot_point);
Expand Down
1 change: 1 addition & 0 deletions src/emc/motion/command.c
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Expand Up @@ -386,6 +386,7 @@ STATIC int is_feed_type(int motion_type)
*/
void emcmotCommandHandler_locked(void *arg, long servo_period)
{
(void)arg;
int joint_num, spindle_num;
int n,s0,s1;
emcmot_joint_t *joint;
Expand Down
3 changes: 2 additions & 1 deletion src/emc/motion/control.c
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Expand Up @@ -206,6 +206,7 @@ static void handle_kinematicsSwitch(void);
*/
void emcmotController(void *arg, long period)
{
(void)arg;
static int do_once = 1;
if (do_once) {
pcmd_p[0] = &(emcmotStatus->carte_pos_cmd.tran.x);
Expand Down Expand Up @@ -236,7 +237,7 @@ void emcmotController(void *arg, long period)
/* calculate servo period as a double - period is in integer nsec */
servo_period = period * 0.000000001;

if(period != last_period) {
if(period != (long)last_period) {
emcmotSetCycleTime(period);
last_period = period;
}
Expand Down
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