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Type conversions fixes (#901)

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* Fix type conversions

Signed-off-by: Monika Idzik <monika.idzik@apex.ai>

* Add static_casts

Signed-off-by: Monika Idzik <monika.idzik@apex.ai>

* Address PR comments

Signed-off-by: Monika Idzik <monika.idzik@apex.ai>

* Remove one time use variable

Signed-off-by: Monika Idzik <monika.idzik@apex.ai>
This commit is contained in:
monidzik 2019-11-22 19:23:55 +01:00 • committed by Dirk Thomas
parent b1dc6f36b9
commit 88a342db29
9 changed files with 37 additions and 33 deletions
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32
rclcpp/src/rclcpp/duration.cpp
View file

@ -55,7 +55,8 @@ Duration::Duration(const Duration & rhs)
Duration::Duration(
const builtin_interfaces::msg::Duration & duration_msg)
{
rcl_duration_.nanoseconds = RCL_S_TO_NS(static_cast<uint64_t>(duration_msg.sec));
rcl_duration_.nanoseconds =
static_cast<rcl_duration_value_t>(RCL_S_TO_NS(duration_msg.sec));
rcl_duration_.nanoseconds += duration_msg.nanosec;
}
@ -122,15 +123,15 @@ Duration::operator>(const rclcpp::Duration & rhs) const
void
bounds_check_duration_sum(int64_t lhsns, int64_t rhsns, uint64_t max)
{
auto abs_lhs = (uint64_t)std::abs(lhsns);
auto abs_rhs = (uint64_t)std::abs(rhsns);
auto abs_lhs = static_cast<uint64_t>(std::abs(lhsns));
auto abs_rhs = static_cast<uint64_t>(std::abs(rhsns));
if (lhsns > 0 && rhsns > 0) {
if (abs_lhs + abs_rhs > (uint64_t) max) {
if (abs_lhs + abs_rhs > max) {
throw std::overflow_error("addition leads to int64_t overflow");
}
} else if (lhsns < 0 && rhsns < 0) {
if (abs_lhs + abs_rhs > (uint64_t) max) {
if (abs_lhs + abs_rhs > max) {
throw std::underflow_error("addition leads to int64_t underflow");
}
}
@ -150,15 +151,15 @@ Duration::operator+(const rclcpp::Duration & rhs) const
void
bounds_check_duration_difference(int64_t lhsns, int64_t rhsns, uint64_t max)
{
auto abs_lhs = (uint64_t)std::abs(lhsns);
auto abs_rhs = (uint64_t)std::abs(rhsns);
auto abs_lhs = static_cast<uint64_t>(std::abs(lhsns));
auto abs_rhs = static_cast<uint64_t>(std::abs(rhsns));
if (lhsns > 0 && rhsns < 0) {
if (abs_lhs + abs_rhs > (uint64_t) max) {
if (abs_lhs + abs_rhs > max) {
throw std::overflow_error("duration subtraction leads to int64_t overflow");
}
} else if (lhsns < 0 && rhsns > 0) {
if (abs_lhs + abs_rhs > (uint64_t) max) {
if (abs_lhs + abs_rhs > max) {
throw std::underflow_error("duration subtraction leads to int64_t underflow");
}
}
@ -181,8 +182,9 @@ bounds_check_duration_scale(int64_t dns, double scale, uint64_t max)
{
auto abs_dns = static_cast<uint64_t>(std::abs(dns));
auto abs_scale = std::abs(scale);
if (abs_scale > 1.0 && abs_dns > static_cast<uint64_t>(max / abs_scale)) {
if (abs_scale > 1.0 &&
abs_dns > static_cast<uint64_t>(static_cast<long double>(max) / static_cast<long double>(abs_scale)))
{
if ((dns > 0 && scale > 0) || (dns < 0 && scale < 0)) {
throw std::overflow_error("duration scaling leads to int64_t overflow");
} else {
@ -201,7 +203,9 @@ Duration::operator*(double scale) const
this->rcl_duration_.nanoseconds,
scale,
std::numeric_limits<rcl_duration_value_t>::max());
return Duration(static_cast<rcl_duration_value_t>(rcl_duration_.nanoseconds * scale));
long double scale_ld = static_cast<long double>(scale);
return Duration(static_cast<rcl_duration_value_t>(
static_cast<long double>(rcl_duration_.nanoseconds) * scale_ld));
}
rcl_duration_value_t
@ -228,8 +232,8 @@ Duration::to_rmw_time() const
// reuse conversion logic from msg creation
builtin_interfaces::msg::Duration msg = *this;
rmw_time_t result;
result.sec = msg.sec;
result.nsec = msg.nanosec;
result.sec = static_cast<uint64_t>(msg.sec);
result.nsec = static_cast<uint64_t>(msg.nanosec);
return result;
}

2
rclcpp/src/rclcpp/parameter_client.cpp
View file

@ -152,7 +152,7 @@ AsyncParametersClient::get_parameters(
auto & pvalues = cb_f.get()->values;
for (auto & pvalue : pvalues) {
auto i = &pvalue - &pvalues[0];
auto i = static_cast<size_t>(&pvalue - &pvalues[0]);
rcl_interfaces::msg::Parameter parameter;
parameter.name = request->names[i];
parameter.value = pvalue;

2
rclcpp/src/rclcpp/parameter_value.cpp
View file

@ -154,7 +154,7 @@ ParameterValue::ParameterValue(const int64_t int_value)
ParameterValue::ParameterValue(const float double_value)
{
value_.double_value = double_value;
value_.double_value = static_cast<double>(double_value);
value_.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
}

4
rclcpp/src/rclcpp/utilities.cpp
View file

@ -103,9 +103,9 @@ remove_ros_arguments(int argc, char const * const argv[])
throw exceptions::RCLError(base_exc, "");
}
std::vector<std::string> return_arguments(nonros_argc);
std::vector<std::string> return_arguments(static_cast<size_t>(nonros_argc));
for (int ii = 0; ii < nonros_argc; ++ii) {
for (size_t ii = 0; ii < static_cast<size_t>(nonros_argc); ++ii) {
return_arguments[ii] = std::string(nonros_argv[ii]);
}

6
rclcpp/test/test_duration.cpp
View file

@ -47,15 +47,15 @@ TEST(TestDuration, operators) {
EXPECT_FALSE(young == old);
rclcpp::Duration add = old + young;
EXPECT_EQ(add.nanoseconds(), (rcl_duration_value_t)(old.nanoseconds() + young.nanoseconds()));
EXPECT_EQ(add.nanoseconds(), old.nanoseconds() + young.nanoseconds());
EXPECT_EQ(add, old + young);
rclcpp::Duration sub = young - old;
EXPECT_EQ(sub.nanoseconds(), (rcl_duration_value_t)(young.nanoseconds() - old.nanoseconds()));
EXPECT_EQ(sub.nanoseconds(), young.nanoseconds() - old.nanoseconds());
EXPECT_EQ(sub, young - old);
rclcpp::Duration scale = old * 3;
EXPECT_EQ(scale.nanoseconds(), (rcl_duration_value_t)(old.nanoseconds() * 3));
EXPECT_EQ(scale.nanoseconds(), old.nanoseconds() * 3);
rclcpp::Duration time = rclcpp::Duration(0, 0);
rclcpp::Duration copy_constructor_duration(time);

2
rclcpp/test/test_time.cpp
View file

@ -123,7 +123,7 @@ TEST(TestTime, operators) {
EXPECT_TRUE(young != old);
rclcpp::Duration sub = young - old;
EXPECT_EQ(sub.nanoseconds(), (rcl_duration_value_t)(young.nanoseconds() - old.nanoseconds()));
EXPECT_EQ(sub.nanoseconds(), (young.nanoseconds() - old.nanoseconds()));
EXPECT_EQ(sub, young - old);
rclcpp::Time young_changed(young);

18
rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp
View file

@ -224,7 +224,7 @@ public:
resp->success = false;
return;
}
transition_id = rcl_transition->id;
transition_id = static_cast<std::uint8_t>(rcl_transition->id);
}
node_interfaces::LifecycleNodeInterface::CallbackReturn cb_return_code;
@ -289,11 +289,11 @@ public:
for (uint8_t i = 0; i < state_machine_.current_state->valid_transition_size; ++i) {
auto rcl_transition = state_machine_.current_state->valid_transitions[i];
lifecycle_msgs::msg::TransitionDescription trans_desc;
trans_desc.transition.id = rcl_transition.id;
trans_desc.transition.id = static_cast<uint8_t>(rcl_transition.id);
trans_desc.transition.label = rcl_transition.label;
trans_desc.start_state.id = rcl_transition.start->id;
trans_desc.start_state.id = static_cast<uint8_t>(rcl_transition.start->id);
trans_desc.start_state.label = rcl_transition.start->label;
trans_desc.goal_state.id = rcl_transition.goal->id;
trans_desc.goal_state.id = static_cast<uint8_t>(rcl_transition.goal->id);
trans_desc.goal_state.label = rcl_transition.goal->label;
resp->available_transitions.push_back(trans_desc);
}
@ -315,11 +315,11 @@ public:
for (uint8_t i = 0; i < state_machine_.transition_map.transitions_size; ++i) {
auto rcl_transition = state_machine_.transition_map.transitions[i];
lifecycle_msgs::msg::TransitionDescription trans_desc;
trans_desc.transition.id = rcl_transition.id;
trans_desc.transition.id = static_cast<uint8_t>(rcl_transition.id);
trans_desc.transition.label = rcl_transition.label;
trans_desc.start_state.id = rcl_transition.start->id;
trans_desc.start_state.id = static_cast<uint8_t>(rcl_transition.start->id);
trans_desc.start_state.label = rcl_transition.start->label;
trans_desc.goal_state.id = rcl_transition.goal->id;
trans_desc.goal_state.id = static_cast<uint8_t>(rcl_transition.goal->id);
trans_desc.goal_state.label = rcl_transition.goal->label;
resp->available_transitions.push_back(trans_desc);
}
@ -434,7 +434,7 @@ public:
// in case no callback was attached, we forward directly
auto cb_success = node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
auto it = cb_map_.find(cb_id);
auto it = cb_map_.find(static_cast<uint8_t>(cb_id));
if (it != cb_map_.end()) {
auto callback = it->second;
try {
@ -460,7 +460,7 @@ public:
auto transition =
rcl_lifecycle_get_transition_by_label(state_machine_.current_state, transition_label);
if (transition) {
change_state(transition->id, cb_return_code);
change_state(static_cast<uint8_t>(transition->id), cb_return_code);
}
return get_current_state();
}

2
rclcpp_lifecycle/src/state.cpp
View file

@ -130,7 +130,7 @@ State::id() const
if (!state_handle_) {
throw std::runtime_error("Error in state! Internal state_handle is NULL.");
}
return state_handle_->id;
return static_cast<uint8_t>(state_handle_->id);
}
std::string

2
rclcpp_lifecycle/src/transition.cpp
View file

@ -213,7 +213,7 @@ Transition::id() const
if (!transition_handle_) {
throw std::runtime_error("internal transition_handle is null");
}
return transition_handle_->id;
return static_cast<uint8_t>(transition_handle_->id);
}
std::string