enable more warnings for C compiling and fix them

rcl/CMakeLists.txt

@@ -13,6 +13,7 @@ include_directories(include)
 
 if(NOT WIN32)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra")
 endif()
 
 set(${PROJECT_NAME}_sources

rcl/src/rcl/guard_condition.c

@@ -113,8 +113,7 @@ rcl_guard_condition_fini(rcl_guard_condition_t * guard_condition, rcl_node_t * n
 rcl_guard_condition_options_t
 rcl_guard_condition_get_default_options()
 {
-  static rcl_guard_condition_options_t default_options = {0};
-  // Must set the allocator after because it is not a compile time constant.
+  static rcl_guard_condition_options_t default_options;
   default_options.allocator = rcl_get_default_allocator();
   return default_options;
 }

rcl/src/rcl/rcl.c

@@ -26,7 +26,7 @@ extern "C"
 #include "rcl/error_handling.h"
 
 static atomic_bool __rcl_is_initialized = ATOMIC_VAR_INIT(false);
-static rcl_allocator_t __rcl_allocator = {0};
+static rcl_allocator_t __rcl_allocator;
 static int __rcl_argc = 0;
 static char ** __rcl_argv = NULL;
 static atomic_uint_least64_t __rcl_instance_id = ATOMIC_VAR_INIT(0);
@@ -36,7 +36,7 @@ static void
 __clean_up_init()
 {
   if (__rcl_argv) {
-    size_t i;
+    int i;
     for (i = 0; i < __rcl_argc; ++i) {
       if (__rcl_argv[i]) {
         // Use the old allocator.
@@ -69,9 +69,14 @@ rcl_init(int argc, char ** argv, rcl_allocator_t allocator)
     RCL_SET_ERROR_MSG("rcl_init called while already initialized");
     return RCL_RET_ALREADY_INIT;
   }
+  // There is a race condition between the time __rcl_is_initialized is set true,
+  // and when the allocator is set, in which rcl_shutdown() could get rcl_ok() as
+  // true and try to use the allocator, but it isn't set yet...
+  // A very unlikely race condition, but it is possile I think.
+  // I've documented that rcl_init() and rcl_shutdown() are not thread-safe with each other.
+  __rcl_allocator = allocator;  // Set the new allocator.
   // TODO(wjwwood): Remove rcl specific command line arguments.
   // For now just copy the argc and argv.
-  __rcl_allocator = allocator;  // Set the new allocator.
   __rcl_argc = argc;
   __rcl_argv = (char **)__rcl_allocator.allocate(sizeof(char *) * argc, __rcl_allocator.state);
   if (!__rcl_argv) {
@@ -80,7 +85,7 @@ rcl_init(int argc, char ** argv, rcl_allocator_t allocator)
     goto fail;
   }
   memset(__rcl_argv, 0, sizeof(char **) * argc);
-  size_t i;
+  int i;
   for (i = 0; i < argc; ++i) {
     __rcl_argv[i] = (char *)__rcl_allocator.allocate(strlen(argv[i]), __rcl_allocator.state);
     memcpy(__rcl_argv[i], argv[i], strlen(argv[i]));

rcl/src/rcl/subscription.c

@@ -137,7 +137,7 @@ rcl_take(
   rmw_message_info_t * message_info_local = message_info ? message_info : &dummy_message_info;
   // Call rmw_take_with_info.
   rmw_ret_t ret =
-    rmw_take_with_info(subscription->impl->rmw_handle, ros_message, taken, message_info);
+    rmw_take_with_info(subscription->impl->rmw_handle, ros_message, taken, message_info_local);
   if (ret != RMW_RET_OK) {
     RCL_SET_ERROR_MSG(rmw_get_error_string_safe());
     return RCL_RET_ERROR;

rcl/src/rcl/wait.c

@@ -42,7 +42,15 @@ typedef struct rcl_wait_set_impl_t
 rcl_wait_set_t
 rcl_get_zero_initialized_wait_set()
 {
-  static rcl_wait_set_t null_wait_set = {0};
+  static rcl_wait_set_t null_wait_set = {
+    .subscriptions = NULL,
+    .size_of_subscriptions = 0,
+    .guard_conditions = NULL,
+    .size_of_guard_conditions = 0,
+    .timers = NULL,
+    .size_of_timers = 0,
+    .impl = NULL,
+  };
   return null_wait_set;
 }