ros-visualization · rhaschke · Apr 27, 2020 · Apr 26, 2020 · Apr 26, 2020 · Apr 26, 2020
diff --git a/.clang-tidy b/.clang-tidy
@@ -0,0 +1,47 @@
+---
+Checks:          '-*,
+                  llvm-namespace-comment,
+                  modernize-redundant-void-arg,
+                  modernize-use-nullptr,
+                  modernize-use-default,
+                  modernize-use-override,
+                  readability-named-parameter,
+                  readability-redundant-smartptr-get,
+                  readability-redundant-string-cstr,
+                  readability-simplify-boolean-expr,
+                  readability-container-size-empty,
+                  '
+HeaderFilterRegex: ''
+AnalyzeTemporaryDtors: false
+CheckOptions:
+  - key:             llvm-namespace-comment.ShortNamespaceLines
+    value:           '10'
+  - key:             llvm-namespace-comment.SpacesBeforeComments
+    value:           '2'
+  - key:             readability-braces-around-statements.ShortStatementLines
+    value:           '2'
+  # type names
+  - key:             readability-identifier-naming.ClassCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.EnumCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.UnionCase
+    value:           CamelCase
+  # method names
+  - key:             readability-identifier-naming.MethodCase
+    value:           camelBack
+  # variable names
+  - key:             readability-identifier-naming.VariableCase
+    value:           lower_case
+  - key:             readability-identifier-naming.ClassMemberSuffix
+    value:           '_'
+  # const static or global variables are UPPER_CASE
+  - key:             readability-identifier-naming.EnumConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.StaticConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.ClassConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.GlobalVariableCase
+    value:           UPPER_CASE
+...
diff --git a/.travis.yml b/.travis.yml
@@ -1,21 +1,26 @@
 # This config file for Travis CI utilizes https://github.com/ros-planning/moveit_ci/ package.
-sudo: required
+os: linux
 dist: xenial  # distro used by Travis, moveit_ci uses the docker image's distro
 services:
   - docker
 language: cpp
 cache: ccache
 compiler: gcc
 
+notifications:
+  email: true
+
 env:
   global:
     - ROS_DISTRO=melodic
     - ROS_REPO=ros
+    - CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-strict-aliasing -Wno-sign-compare"
     - WARNINGS_OK=true
     - ABI_BASE_URL=https://ni.www.techfak.uni-bielefeld.de/abicheck/rviz-${ROS_DISTRO}.tar.gz
-  matrix:
+
+  jobs:
     - TEST=catkin_lint
-    - TEST=abi
+    - TEST=abi,clang-tidy-fix
 
 before_script:
   - git clone -q --depth=1 https://github.com/ros-planning/moveit_ci.git .moveit_ci

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -233,7 +233,8 @@ include_directories(SYSTEM
   ${urdfdom_headers_INCLUDE_DIRS}
 )
 #catkin_lint: ignore_once external_directory
-include_directories(src ${EXPORT_HEADER_DIR} ${catkin_INCLUDE_DIRS})
+include_directories(src ${EXPORT_HEADER_DIR})
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 
 #### If gtk ends up being the best way to get the correct window
 #### position under X11, this is how to compile it in.

diff --git a/src/rviz/add_display_dialog.cpp b/src/rviz/add_display_dialog.cpp
@@ -129,7 +129,7 @@ void getPluginGroups( const QMap<QString, QString> &datatype_plugins,
 
     if ( datatype_plugins.contains( datatype ) )
     {
-      if ( groups->size() == 0 ||
+      if ( groups->empty() ||
            !isSubtopic(groups->back().base_topic.toStdString(),
                        topic.toStdString()) )
       {
@@ -282,7 +282,7 @@ void AddDisplayDialog::onTopicSelected( SelectionData *data )
 
 void AddDisplayDialog::updateDisplay()
 {
-  SelectionData *data = NULL;
+  SelectionData *data = nullptr;
   if ( tab_widget_->currentIndex() == topic_tab_ )
   {
     data = &topic_data_;
@@ -373,7 +373,7 @@ void DisplayTypeTree::onCurrentItemChanged(QTreeWidgetItem *curr,
 {
   // If display is selected, populate selection data.  Otherwise, clear data.
   SelectionData sd;
-  if ( curr->parent() != NULL )
+  if ( curr->parent() != nullptr )
   {
     // Leave topic and datatype blank
     sd.whats_this = curr->whatsThis( 0 );
@@ -477,7 +477,7 @@ void TopicDisplayWidget::onCurrentItemChanged( QTreeWidgetItem* curr )
     sd.display_name = curr->text( 0 );
 
     QComboBox *combo = qobject_cast<QComboBox*>( tree_->itemWidget( curr, 1 ) );
-    if ( combo != NULL )
+    if ( combo != nullptr )
     {
       QString combo_text = combo->currentText();
       if ( combo_text != "raw" )
@@ -622,4 +622,4 @@ QTreeWidgetItem* TopicDisplayWidget::insertItem( const QString &topic,
   return current;
 }
 
-} // rviz
+}  // namespace rviz
diff --git a/src/rviz/config.cpp b/src/rviz/config.cpp
@@ -62,7 +62,7 @@ class Config::Node
 Config::Node::Node()
   : type_( Empty )
 {
-  data_.map = NULL;
+  data_.map = nullptr;
 }
 
 Config::Node::~Node()
@@ -80,7 +80,7 @@ void Config::Node::deleteData()
   default:
     break;
   }
-  data_.map = NULL;
+  data_.map = nullptr;
 }
 
 void Config::Node::setType( Config::Type new_type )
@@ -201,7 +201,7 @@ Config Config::mapMakeChild( const QString& key )
 
 Config Config::mapGetChild( const QString& key ) const
 {
-  if( node_.get() == NULL || node_->type_ != Map )
+  if( node_.get() == nullptr || node_->type_ != Map )
   {
     return invalidConfig();
   }
@@ -292,15 +292,15 @@ bool Config::mapGetString( const QString& key, QString *value_out ) const
 
 void Config::makeValid()
 {
-  if( node_.get() == NULL )
+  if( node_.get() == nullptr )
   {
     node_.reset( new Node() );
   }
 }
 
 bool Config::isValid() const
 {
-  return node_.get() != NULL;
+  return node_.get() != nullptr;
 }
 
 void Config::setValue( const QVariant& value )
@@ -347,7 +347,7 @@ Config::MapIterator Config::mapIterator() const
   // Create a new (invalid) iterator.
   Config::MapIterator iter;
 
-  if( node_.get() == NULL || node_->type_ != Map )
+  if( node_.get() == nullptr || node_->type_ != Map )
   {
     // Force the node to be invalid, since this node does not have a map.
     iter.node_.reset();
@@ -367,7 +367,7 @@ Config::MapIterator::MapIterator()
 
 void Config::MapIterator::advance()
 {
-  if( node_.get() == NULL || node_->type_ != Config::Map )
+  if( node_.get() == nullptr || node_->type_ != Config::Map )
   {
     iterator_valid_ = false;
     return;
@@ -385,7 +385,7 @@ void Config::MapIterator::advance()
 
 bool Config::MapIterator::isValid()
 {
-  if( node_.get() == NULL || node_->type_ != Config::Map )
+  if( node_.get() == nullptr || node_->type_ != Config::Map )
   {
     iterator_valid_ = false;
     return false;
@@ -402,7 +402,7 @@ bool Config::MapIterator::isValid()
 
 void Config::MapIterator::start()
 {
-  if( node_.get() == NULL || node_->type_ != Config::Map )
+  if( node_.get() == nullptr || node_->type_ != Config::Map )
   {
     iterator_valid_ = false;
     return;
@@ -413,7 +413,7 @@ void Config::MapIterator::start()
 
 QString Config::MapIterator::currentKey()
 {
-  if( node_.get() == NULL || node_->type_ != Config::Map || !iterator_valid_ )
+  if( node_.get() == nullptr || node_->type_ != Config::Map || !iterator_valid_ )
   {
     iterator_valid_ = false;
     return QString();
@@ -423,7 +423,7 @@ QString Config::MapIterator::currentKey()
 
 Config Config::MapIterator::currentChild()
 {
-  if( node_.get() == NULL || node_->type_ != Config::Map || !iterator_valid_ )
+  if( node_.get() == nullptr || node_->type_ != Config::Map || !iterator_valid_ )
   {
     iterator_valid_ = false;
     return Config();

diff --git a/src/rviz/default_plugin/axes_display.cpp b/src/rviz/default_plugin/axes_display.cpp
@@ -29,20 +29,9 @@
 
 #include <boost/bind.hpp>
 
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-W#warnings"
-# endif
-#endif
-
 #include <OgreSceneNode.h>
 #include <OgreSceneManager.h>
 
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
 #include "rviz/display_context.h"
 #include "rviz/frame_manager.h"
 #include "rviz/ogre_helpers/axes.h"
@@ -56,11 +45,11 @@ namespace rviz
 
 AxesDisplay::AxesDisplay()
   : Display()
-  , axes_( 0 )
+  , axes_( nullptr )
 {
   frame_property_ = new TfFrameProperty( "Reference Frame", TfFrameProperty::FIXED_FRAME_STRING,
                                          "The TF frame these axes will use for their origin.",
-                                         this, NULL, true );
+                                         this, nullptr, true );
 
   length_property_ = new FloatProperty( "Length", 1.0,
                                         "Length of each axis, in meters.",
@@ -82,7 +71,7 @@ void AxesDisplay::onInitialize()
 {
   frame_property_->setFrameManager( context_->getFrameManager() );
 
-  axes_ = new Axes( scene_manager_, 0, length_property_->getFloat(), radius_property_->getFloat() );
+  axes_ = new Axes( scene_manager_, nullptr, length_property_->getFloat(), radius_property_->getFloat() );
   axes_->getSceneNode()->setVisible( isEnabled() );
 }
 

diff --git a/src/rviz/default_plugin/camera_display.cpp b/src/rviz/default_plugin/camera_display.cpp
@@ -29,13 +29,6 @@
 
 #include <boost/bind.hpp>
 
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-W#warnings"
-# endif
-#endif
-
 #include <OgreManualObject.h>
 #include <OgreMaterialManager.h>
 #include <OgreRectangle2D.h>
@@ -48,10 +41,6 @@
 #include <OgreTechnique.h>
 #include <OgreCamera.h>
 
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
 #include <tf2_ros/message_filter.h>
 
 #include "rviz/bit_allocator.h"
@@ -92,7 +81,7 @@ bool validateFloats(const sensor_msgs::CameraInfo& msg)
 CameraDisplay::CameraDisplay()
   : ImageDisplayBase()
   , texture_()
-  , render_panel_( 0 )
+  , render_panel_( nullptr )
   , caminfo_ok_( false )
   , force_render_( false )
 {

diff --git a/src/rviz/default_plugin/covariance_visual.cpp b/src/rviz/default_plugin/covariance_visual.cpp
@@ -193,7 +193,7 @@ void radianScaleToMetricScaleBounded(Ogre::Real & radian_scale, float max_degree
 }
 
 
-}
+}  // namespace
 
 const float CovarianceVisual::max_degrees = 89.0;
 
@@ -292,10 +292,7 @@ void CovarianceVisual::setCovariance( const geometry_msgs::PoseWithCovariance& p
       }
   }
 
-  if(pose.covariance[14] <= 0 && pose.covariance[21] <= 0 && pose.covariance[28] <= 0 )
-    pose_2d_ = true;
-  else
-    pose_2d_ = false;
+  pose_2d_ = pose.covariance[14] <= 0 && pose.covariance[21] <= 0 && pose.covariance[28] <= 0;
 
   updateOrientationVisibility();
 

diff --git a/src/rviz/default_plugin/depth_cloud_mld.cpp b/src/rviz/default_plugin/depth_cloud_mld.cpp
@@ -181,9 +181,9 @@ template<typename T>
     sensor_msgs::PointCloud2Ptr cloud_msg = initPointCloud();
     cloud_msg->data.resize(height * width * cloud_msg->point_step);
 
-    uint32_t* color_img_ptr = 0;
+    uint32_t* color_img_ptr = nullptr;
 
-    if (rgba_color_raw.size())
+    if (!rgba_color_raw.empty())
       color_img_ptr = &rgba_color_raw[0];
 
     ////////////////////////////////////////////////
@@ -258,9 +258,9 @@ template<typename T>
     sensor_msgs::PointCloud2Ptr cloud_msg = initPointCloud();
     cloud_msg->data.resize(height * width * cloud_msg->point_step * 2);
 
-    uint32_t* color_img_ptr = 0;
+    uint32_t* color_img_ptr = nullptr;
 
-    if (rgba_color_raw.size())
+    if (!rgba_color_raw.empty())
       color_img_ptr = &rgba_color_raw[0];
 
     ////////////////////////////////////////////////
@@ -581,4 +581,4 @@ void MultiLayerDepth::finalizingPointCloud(sensor_msgs::PointCloud2Ptr& point_cl
   point_cloud->row_step = point_cloud->point_step * point_cloud->width;
 }
 
-}
+}  // namespace rviz
diff --git a/src/rviz/default_plugin/effort_display.cpp b/src/rviz/default_plugin/effort_display.cpp
@@ -61,7 +61,7 @@ namespace rviz
         M_JointInfo::iterator it = joints_.find( joint );
         if ( it == joints_.end() )
             {
-                return NULL;
+                return nullptr;
             }
 
         return it->second;

diff --git a/src/rviz/default_plugin/grid_cells_display.cpp b/src/rviz/default_plugin/grid_cells_display.cpp
@@ -28,26 +28,11 @@
  */
 
 #include <boost/bind.hpp>
-
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wpedantic"
-# ifdef __clang__
-#  pragma clang diagnostic ignored "-Wdeprecated-register"
-# endif
-# pragma GCC diagnostic ignored "-Woverloaded-virtual"
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-#endif
-
 #include <OgreSceneNode.h>
 #include <OgreSceneManager.h>
 #include <OgreManualObject.h>
 #include <OgreBillboardSet.h>
 
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
-
 #include "rviz/frame_manager.h"
 #include "rviz/ogre_helpers/arrow.h"
 #include "rviz/ogre_helpers/point_cloud.h"