diff --git a/CMakeLists.txt b/CMakeLists.txt
index a4d3075786da3ac7b8cc95f74bd80933fc8ef49a..7dc1566bc1604d4dc336a159f0698b7fa69d85c0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -175,7 +175,7 @@ check_include_file_cxx("opencv2/cudastereo.hpp" HAVE_OPENCVCUDA)
find_program(CPPCHECK_FOUND cppcheck)
if (CPPCHECK_FOUND)
message(STATUS "Found cppcheck: will perform source checks")
- set(CMAKE_CXX_CPPCHECK "cppcheck" "-D__align__(A)" "-DCUDARTAPI" "--enable=warning,performance,style" "--inline-suppr" "--std=c++11" "--suppress=*:*catch.hpp" "--suppress=*:*elas*" "--suppress=*:*nanogui*" "--suppress=*:*json.hpp" "--quiet")
+ set(CMAKE_CXX_CPPCHECK "cppcheck" "-D__align__(A)" "-DCUDARTAPI" "--enable=warning,performance,style" "--inline-suppr" "--std=c++14" "--suppress=*:*catch.hpp" "--suppress=*:*elas*" "--suppress=*:*nanogui*" "--suppress=*:*json.hpp" "--quiet")
endif()
# include_directories(${PROJECT_SOURCE_DIR}/common/cpp/include)
diff --git a/applications/calibration/src/common.hpp b/applications/calibration/src/common.hpp
index 274698b32b51ae9b741b94e25b492ab059637e37..80d31f1452b40069c312a650425598e82f976f33 100644
--- a/applications/calibration/src/common.hpp
+++ b/applications/calibration/src/common.hpp
@@ -90,7 +90,7 @@ public:
*/
class CalibrationChessboard : Calibration {
public:
- CalibrationChessboard(const std::map<std::string, std::string> &opt);
+ explicit CalibrationChessboard(const std::map<std::string, std::string> &opt);
void objectPoints(std::vector<cv::Vec3f> &out);
bool findPoints(cv::Mat &in, std::vector<cv::Vec2f> &out);
void drawPoints(cv::Mat &img, const std::vector<cv::Vec2f> &points);
diff --git a/components/common/cpp/include/ftl/timer.hpp b/components/common/cpp/include/ftl/timer.hpp
index dad98a704dd127c23b961bd7429da14253399db3..97776c2c3ee9bcbb62b8d81909d87a7dc43ecd28 100644
--- a/components/common/cpp/include/ftl/timer.hpp
+++ b/components/common/cpp/include/ftl/timer.hpp
@@ -29,7 +29,9 @@ enum timerlevel_t {
* a destructor, for example.
*/
struct TimerHandle {
- const int id = -1;
+ TimerHandle() : id_(-1) {}
+ explicit TimerHandle(int i) : id_(i) {}
+ TimerHandle(const TimerHandle &t) : id_(t.id()) {}
/**
* Cancel the timer job. If currently executing it will block and wait for
@@ -52,7 +54,12 @@ struct TimerHandle {
/**
* Allow copy assignment.
*/
- TimerHandle &operator=(const TimerHandle &h) { const_cast<int&>(id) = h.id; return *this; }
+ TimerHandle &operator=(const TimerHandle &h) { id_ = h.id(); return *this; }
+
+ inline int id() const { return id_; }
+
+ private:
+ int id_;
};
int64_t get_time();
diff --git a/components/common/cpp/src/timer.cpp b/components/common/cpp/src/timer.cpp
index d6d8441c65e401a021ceb68dc3fbf0eea0cfc4df..252c51b8360c83756496fd8761ad7e017c394b06 100644
--- a/components/common/cpp/src/timer.cpp
+++ b/components/common/cpp/src/timer.cpp
@@ -105,12 +105,12 @@ void ftl::timer::setClockAdjustment(int64_t ms) {
}
const TimerHandle ftl::timer::add(timerlevel_t l, const std::function<bool(int64_t ts)> &f) {
- if (l < 0 || l >= kTimerMAXLEVEL) return {-1};
+ if (l < 0 || l >= kTimerMAXLEVEL) return {};
UNIQUE_LOCK(mtx, lk);
int newid = last_id++;
jobs[l].push_back({newid, f, false, false, 0, 0, "NoName"});
- return {newid};
+ return TimerHandle(newid);
}
static void removeJob(int id) {
@@ -217,7 +217,7 @@ void ftl::timer::reset() {
// ===== TimerHandle ===========================================================
void ftl::timer::TimerHandle::cancel() const {
- removeJob(id);
+ removeJob(id());
}
void ftl::timer::TimerHandle::pause() const {
diff --git a/components/common/cpp/test/timer_unit.cpp b/components/common/cpp/test/timer_unit.cpp
index c1d6776299969bb55fe3d9b9c9a91bd3d35430d6..6cdea157e9228b920ce2220c0122c8dcad9cf76e 100644
--- a/components/common/cpp/test/timer_unit.cpp
+++ b/components/common/cpp/test/timer_unit.cpp
@@ -22,7 +22,7 @@ TEST_CASE( "Timer::add() High Precision Accuracy" ) {
return true;
});
- REQUIRE( (rc.id >= 0) );
+ REQUIRE( (rc.id() >= 0) );
ftl::timer::start(true);
REQUIRE( didrun == true );
@@ -40,7 +40,7 @@ TEST_CASE( "Timer::add() High Precision Accuracy" ) {
return true;
});
- REQUIRE( (rc.id >= 0) );
+ REQUIRE( (rc.id() >= 0) );
ftl::timer::start(true);
REQUIRE( didrun == true );
@@ -57,7 +57,7 @@ TEST_CASE( "Timer::add() High Precision Accuracy" ) {
return true;
});
- REQUIRE( (rc.id >= 0) );
+ REQUIRE( (rc.id() >= 0) );
ftl::timer::add(ftl::timer::kTimerHighPrecision, [&didrun](int64_t ts) {
didrun[1] = true;
@@ -90,7 +90,7 @@ TEST_CASE( "Timer::add() Idle10 job" ) {
return true;
});
- REQUIRE( (rc.id >= 0) );
+ REQUIRE( (rc.id() >= 0) );
ftl::timer::start(true);
REQUIRE( didrun == true );
@@ -108,7 +108,7 @@ TEST_CASE( "Timer::add() Idle10 job" ) {
return true;
});
- REQUIRE( (rc.id >= 0) );
+ REQUIRE( (rc.id() >= 0) );
ftl::timer::start(true);
REQUIRE( didrun == true );
@@ -125,7 +125,7 @@ TEST_CASE( "Timer::add() Idle10 job" ) {
return false;
});
- REQUIRE( (rc.id >= 0) );
+ REQUIRE( (rc.id() >= 0) );
ftl::timer::start(true);
REQUIRE( didrun == true );
@@ -145,7 +145,7 @@ TEST_CASE( "Timer::add() Main job" ) {
return true;
});
- REQUIRE( (rc.id >= 0) );
+ REQUIRE( (rc.id() >= 0) );
ftl::timer::start(true);
REQUIRE( didrun == true );
@@ -163,7 +163,7 @@ TEST_CASE( "Timer::add() Main job" ) {
return true;
});
- REQUIRE( (rc.id >= 0) );
+ REQUIRE( (rc.id() >= 0) );
ftl::timer::start(true);
REQUIRE( didrun == true );
@@ -182,7 +182,7 @@ TEST_CASE( "Timer::add() Main job" ) {
return true;
});
- REQUIRE( (rc.id >= 0) );
+ REQUIRE( (rc.id() >= 0) );
ftl::timer::add(ftl::timer::kTimerMain, [&job2](int64_t ts) {
job2++;
@@ -204,7 +204,7 @@ TEST_CASE( "Timer::add() Main job" ) {
return false;
});
- REQUIRE( (rc.id >= 0) );
+ REQUIRE( (rc.id() >= 0) );
ftl::timer::start(true);
REQUIRE( didrun == true );
@@ -224,7 +224,7 @@ TEST_CASE( "TimerHandle::cancel()" ) {
});
// Fake Handle
- ftl::timer::TimerHandle h = {44};
+ ftl::timer::TimerHandle h(44);
h.cancel();
ftl::timer::start(true);
REQUIRE( didjob );
diff --git a/components/net/cpp/src/peer.cpp b/components/net/cpp/src/peer.cpp
index 25059b5473c154d31ea6b31950a3e5e5eff02de8..0335ca67f3a284294b4973c83aea62100d56a5c2 100644
--- a/components/net/cpp/src/peer.cpp
+++ b/components/net/cpp/src/peer.cpp
@@ -424,50 +424,44 @@ void Peer::data() {
//LOG(INFO) << "Pool size: " << ftl::pool.q_size();
int rc=0;
- int c=0;
- //do {
- recv_buf_.reserve_buffer(kMaxMessage);
+ recv_buf_.reserve_buffer(kMaxMessage);
- if (recv_buf_.buffer_capacity() < (kMaxMessage / 10)) {
- LOG(WARNING) << "Net buffer at capacity";
- return;
- }
-
- int cap = recv_buf_.buffer_capacity();
- auto buf = recv_buf_.buffer();
- lk.unlock();
+ if (recv_buf_.buffer_capacity() < (kMaxMessage / 10)) {
+ LOG(WARNING) << "Net buffer at capacity";
+ return;
+ }
- /*#ifndef WIN32
- int n;
- unsigned int m = sizeof(n);
- getsockopt(sock_,SOL_SOCKET,SO_RCVBUF,(void *)&n, &m);
+ int cap = recv_buf_.buffer_capacity();
+ auto buf = recv_buf_.buffer();
+ lk.unlock();
- int pending;
- ioctl(sock_, SIOCINQ, &pending);
- if (pending > 100000) LOG(INFO) << "Buffer usage: " << float(pending) / float(n);
- #endif*/
- rc = ftl::net::internal::recv(sock_, buf, cap, 0);
+ /*#ifndef WIN32
+ int n;
+ unsigned int m = sizeof(n);
+ getsockopt(sock_,SOL_SOCKET,SO_RCVBUF,(void *)&n, &m);
- if (rc >= cap-1) {
- LOG(WARNING) << "More than buffers worth of data received";
- }
- if (cap < (kMaxMessage / 10)) LOG(WARNING) << "NO BUFFER";
-
- if (rc == 0) {
- close();
- return;
- } else if (rc < 0 && c == 0) {
- socketError();
- return;
- }
+ int pending;
+ ioctl(sock_, SIOCINQ, &pending);
+ if (pending > 100000) LOG(INFO) << "Buffer usage: " << float(pending) / float(n);
+ #endif*/
+ rc = ftl::net::internal::recv(sock_, buf, cap, 0);
- //if (rc == -1) break;
- ++c;
-
- lk.lock();
- recv_buf_.buffer_consumed(rc);
- //} while (rc > 0);
+ if (rc >= cap-1) {
+ LOG(WARNING) << "More than buffers worth of data received";
+ }
+ if (cap < (kMaxMessage / 10)) LOG(WARNING) << "NO BUFFER";
+
+ if (rc == 0) {
+ close();
+ return;
+ } else if (rc < 0) {
+ socketError();
+ return;
+ }
+
+ lk.lock();
+ recv_buf_.buffer_consumed(rc);
//auto end = std::chrono::high_resolution_clock::now();
//int64_t endts = std::chrono::time_point_cast<std::chrono::milliseconds>(end).time_since_epoch().count();
diff --git a/components/rgbd-sources/include/ftl/rgbd/frame.hpp b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
index 5b796a9512efeb8800bbc3c2a8ce4a154a2be296..6574de3bf1db29be30d299fa6fe63c84c5827943 100644
--- a/components/rgbd-sources/include/ftl/rgbd/frame.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
@@ -14,6 +14,7 @@
#include <ftl/cuda_common.hpp>
#include <type_traits>
+#include <array>
namespace ftl {
namespace rgbd {
@@ -125,7 +126,7 @@ private:
ftl::cuda::TextureObjectBase tex;
};
- ChannelData data_[Channels::kMax];
+ std::array<ChannelData, Channels::kMax> data_;
ftl::rgbd::Channels channels_; // Does it have a channel
ftl::rgbd::Channels gpu_; // Is the channel on a GPU
diff --git a/components/rgbd-sources/src/middlebury_source.cpp b/components/rgbd-sources/src/middlebury_source.cpp
index a707bf9fab06a212b4146065b414999d21bc9adb..e82167fdcf6b4e2bfd1a38a00b50e3cdceeb2aef 100644
--- a/components/rgbd-sources/src/middlebury_source.cpp
+++ b/components/rgbd-sources/src/middlebury_source.cpp
@@ -16,14 +16,13 @@ MiddleburySource::MiddleburySource(ftl::rgbd::Source *host)
static bool loadMiddleburyCalib(const std::string &filename, ftl::rgbd::Camera ¶ms, double scaling) {
FILE* fp = fopen(filename.c_str(), "r");
- char buff[512];
- float cam0[3][3];
+ float cam0[3][3] = {};
float cam1[3][3];
- float doffs;
- float baseline;
- int width;
- int height;
+ float doffs = 0.0f;
+ float baseline = 0.0f;
+ int width = 0;
+ int height = 0;
int ndisp;
int isint;
int vmin;
@@ -31,8 +30,8 @@ static bool loadMiddleburyCalib(const std::string &filename, ftl::rgbd::Camera &
float dyavg;
float dymax;
- if (fp != nullptr)
- {
+ if (fp != nullptr) {
+ char buff[512];
if (fgets(buff, sizeof(buff), fp) != nullptr) sscanf(buff, "cam0 = [%f %f %f; %f %f %f; %f %f %f]\n", &cam0[0][0], &cam0[0][1], &cam0[0][2], &cam0[1][0], &cam0[1][1], &cam0[1][2], &cam0[2][0], &cam0[2][1], &cam0[2][2]);
if (fgets(buff, sizeof(buff), fp) != nullptr) sscanf(buff, "cam1 = [%f %f %f; %f %f %f; %f %f %f]\n", &cam1[0][0], &cam1[0][1], &cam1[0][2], &cam1[1][0], &cam1[1][1], &cam1[1][2], &cam1[2][0], &cam1[2][1], &cam1[2][2]);
if (fgets(buff, sizeof(buff), fp) != nullptr) sscanf(buff, "doffs = %f\n", &doffs);
@@ -122,7 +121,7 @@ MiddleburySource::MiddleburySource(ftl::rgbd::Source *host, const string &dir)
mask_l_ = (mask_l == 0);
if (!host_->getConfig()["disparity"].is_object()) {
- host_->getConfig()["disparity"] = {{"algorithm","libsgm"}};
+ host_->getConfig()["disparity"] = ftl::config::json_t{{"algorithm","libsgm"}};
}
disp_ = Disparity::create(host_, "disparity");
diff --git a/components/rgbd-sources/src/middlebury_source.hpp b/components/rgbd-sources/src/middlebury_source.hpp
index 21c7d1f1c07d96130be44156fd17666868ab739b..d273d23a66d67c6618c0ac4a2062a780d9a3bddb 100644
--- a/components/rgbd-sources/src/middlebury_source.hpp
+++ b/components/rgbd-sources/src/middlebury_source.hpp
@@ -15,7 +15,7 @@ class Disparity;
class MiddleburySource : public detail::Source {
public:
- MiddleburySource(ftl::rgbd::Source *);
+ explicit MiddleburySource(ftl::rgbd::Source *);
MiddleburySource(ftl::rgbd::Source *, const std::string &dir);
~MiddleburySource() {};
diff --git a/components/rgbd-sources/src/realsense_source.hpp b/components/rgbd-sources/src/realsense_source.hpp
index 4eb182032ffa67cbe121993ed981398a57e0470a..371d305b7d27fc73ad85bba83965f58dcd28c45b 100644
--- a/components/rgbd-sources/src/realsense_source.hpp
+++ b/components/rgbd-sources/src/realsense_source.hpp
@@ -14,7 +14,7 @@ namespace detail {
class RealsenseSource : public ftl::rgbd::detail::Source {
public:
- RealsenseSource(ftl::rgbd::Source *host);
+ explicit RealsenseSource(ftl::rgbd::Source *host);
~RealsenseSource();
bool capture(int64_t ts) { timestamp_ = ts; return true; }
diff --git a/components/rgbd-sources/src/snapshot_source.hpp b/components/rgbd-sources/src/snapshot_source.hpp
index 1200f460cfb0ed68cc7cc1573b66c9135c605404..de1b0df48be79df732f51144226f5c7e6d2f0478 100644
--- a/components/rgbd-sources/src/snapshot_source.hpp
+++ b/components/rgbd-sources/src/snapshot_source.hpp
@@ -13,7 +13,7 @@ namespace detail {
class SnapshotSource : public detail::Source {
public:
- SnapshotSource(ftl::rgbd::Source *);
+ explicit SnapshotSource(ftl::rgbd::Source *);
SnapshotSource(ftl::rgbd::Source *, ftl::rgbd::Snapshot &snapshot, const std::string &id);
~SnapshotSource() {};
diff --git a/components/rgbd-sources/src/source.cpp b/components/rgbd-sources/src/source.cpp
index f52359be76ff3010961a6baada6252d2cd592e25..d33473fc38fbf55670e8b8844ffa5a03487e606d 100644
--- a/components/rgbd-sources/src/source.cpp
+++ b/components/rgbd-sources/src/source.cpp
@@ -29,7 +29,7 @@ using ftl::rgbd::Channel;
Source::Source(ftl::config::json_t &cfg) : Configurable(cfg), pose_(Eigen::Matrix4d::Identity()), net_(nullptr) {
impl_ = nullptr;
- params_ = {0};
+ params_ = {};
stream_ = 0;
timestamp_ = 0;
reset();
@@ -42,7 +42,7 @@ Source::Source(ftl::config::json_t &cfg) : Configurable(cfg), pose_(Eigen::Matri
Source::Source(ftl::config::json_t &cfg, ftl::net::Universe *net) : Configurable(cfg), pose_(Eigen::Matrix4d::Identity()), net_(net) {
impl_ = nullptr;
- params_ = {0};
+ params_ = {};
stream_ = 0;
timestamp_ = 0;
reset();