Fix clang compilation errors (#119)

**Public-Facing Changes** None **Description** - Fix clang compilation errors - [x] ROS2 - [x] ROS1 Fixes #118
foxglove · Dec 19, 2022 · eca7a5c · eca7a5c
1 parent 8fccb98
commit eca7a5c
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Showing 5 changed files with 20 additions and 16 deletions.
diff --git a/foxglove_bridge_base/include/foxglove_bridge/websocket_client.hpp b/foxglove_bridge_base/include/foxglove_bridge/websocket_client.hpp
@@ -16,6 +16,13 @@
 
 namespace foxglove {
 
+inline void to_json(nlohmann::json& j, const ClientAdvertisement& p) {
+  j = nlohmann::json{{"id", p.channelId},
+                     {"topic", p.topic},
+                     {"encoding", p.encoding},
+                     {"schemaName", p.schemaName}};
+}
+
 using TextMessageHandler = std::function<void(const std::string&)>;
 using BinaryMessageHandler = std::function<void(const uint8_t*, size_t)>;
 using OpCode = websocketpp::frame::opcode::value;
@@ -197,11 +204,4 @@ class Client : public ClientInterface {
   BinaryMessageHandler _binaryMessageHandler;
 };
 
-inline void to_json(nlohmann::json& j, const ClientAdvertisement& p) {
-  j = nlohmann::json{{"id", p.channelId},
-                     {"topic", p.topic},
-                     {"encoding", p.encoding},
-                     {"schemaName", p.schemaName}};
-}
-
 }  // namespace foxglove
diff --git a/foxglove_bridge_base/include/foxglove_bridge/websocket_server.hpp b/foxglove_bridge_base/include/foxglove_bridge/websocket_server.hpp
@@ -34,7 +34,7 @@ static const websocketpp::log::level RECOVERABLE = websocketpp::log::elevel::rer
 constexpr uint32_t Integer(const std::string_view str) {
   uint32_t result = 0x811C9DC5;  // FNV-1a 32-bit algorithm
   for (char c : str) {
-    result = (c ^ result) * 0x01000193;
+    result = (static_cast<uint32_t>(c) ^ result) * 0x01000193;
   }
   return result;
 }
@@ -127,6 +127,7 @@ class ServerInterface {
   using ClientMessageHandler = std::function<void(const ClientMessage&, ConnHandle)>;
 
 public:
+  virtual ~ServerInterface() {}
   virtual void start(const std::string& host, uint16_t port) = 0;
   virtual void stop() = 0;
 
@@ -700,9 +701,9 @@ inline void Server<ServerConfiguration>::handleTextMessage(ConnHandle hdl, const
 template <typename ServerConfiguration>
 inline void Server<ServerConfiguration>::handleBinaryMessage(ConnHandle hdl, const uint8_t* msg,
                                                              size_t length) {
-  const uint64_t timestamp = std::chrono::duration_cast<std::chrono::nanoseconds>(
-                               std::chrono::high_resolution_clock::now().time_since_epoch())
-                               .count();
+  const auto timestamp = std::chrono::duration_cast<std::chrono::nanoseconds>(
+                           std::chrono::high_resolution_clock::now().time_since_epoch())
+                           .count();
 
   if (length < 1) {
     sendStatus(hdl, StatusLevel::Error, "Received an empty binary message");
@@ -737,8 +738,12 @@ inline void Server<ServerConfiguration>::handleBinaryMessage(ConnHandle hdl, con
       if (_clientMessageHandler) {
         const auto& advertisement = channelIt->second;
         const uint32_t sequence = 0;
-        const ClientMessage clientMessage{timestamp,     timestamp, sequence,
-                                          advertisement, length,    msg};
+        const ClientMessage clientMessage{static_cast<uint64_t>(timestamp),
+                                          static_cast<uint64_t>(timestamp),
+                                          sequence,
+                                          advertisement,
+                                          length,
+                                          msg};
         _clientMessageHandler(clientMessage, hdl);
       }
     } break;

diff --git a/ros2_foxglove_bridge/src/ros2_foxglove_bridge.cpp b/ros2_foxglove_bridge/src/ros2_foxglove_bridge.cpp
@@ -153,7 +153,7 @@ class FoxgloveBridge : public rclcpp::Node {
       this->set_parameter(rclcpp::Parameter{"port", listeningPort});
     }
 
-    _maxQosDepth = this->get_parameter("max_qos_depth").as_int();
+    _maxQosDepth = static_cast<size_t>(this->get_parameter("max_qos_depth").as_int());
 
     // Start the thread polling for rosgraph changes
     _rosgraphPollThread =

diff --git a/ros2_foxglove_bridge/src/ros2_foxglove_bridge_node.cpp b/ros2_foxglove_bridge/src/ros2_foxglove_bridge_node.cpp
@@ -25,7 +25,6 @@ int main(int argc, char* argv[]) {
 
   rclcpp_components::ComponentManager componentManager(executor, "ComponentManager");
   const auto componentResources = componentManager.get_component_resources("foxglove_bridge");
-  RCLCPP_INFO(componentManager.get_logger(), std::to_string(numThreads).c_str());
 
   if (componentResources.empty()) {
     RCLCPP_INFO(componentManager.get_logger(), "No loadable resources found");

diff --git a/ros2_foxglove_bridge/tests/smoke_test.cpp b/ros2_foxglove_bridge/tests/smoke_test.cpp
@@ -85,7 +85,7 @@ TEST(SmokeTest, testPublishing) {
   auto msgFuture = msgPromise.get_future();
   auto node = rclcpp::Node::make_shared("tester");
   auto sub = node->create_subscription<std_msgs::msg::String>(
-    advertisement.topic, 10, [&msgPromise, &node](const std_msgs::msg::String::SharedPtr msg) {
+    advertisement.topic, 10, [&msgPromise](const std_msgs::msg::String::SharedPtr msg) {
       msgPromise.set_value(msg->data);
     });
   rclcpp::executors::SingleThreadedExecutor executor;