C++20, compiler warnings

CMakeLists.txt

@@ -1,11 +1,29 @@
 cmake_minimum_required(VERSION 3.15)
 project(bio_ik)
 
-if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
-  message("${PROJECT_NAME}: You did not request a specific build type: Choosing 'Release' for maximum performance")
-  set(CMAKE_BUILD_TYPE Release)
+
+include(cmake/StandardProjectSettings.cmake)
+
+add_library(project_options INTERFACE)
+target_compile_features(project_options INTERFACE cxx_std_17)
+
+if(CMAKE_CXX_COMPILER_ID MATCHES ".*Clang")
+  option(ENABLE_BUILD_WITH_TIME_TRACE "Enable -ftime-trace to generate time tracing .json files on clang" OFF)
+  if(ENABLE_BUILD_WITH_TIME_TRACE)
+    target_compile_options(project_options INTERFACE -ftime-trace)
+  endif()
 endif()
 
+add_library(project_warnings INTERFACE)
+
+# Add linker configuration
+include(cmake/Linker.cmake)
+configure_linker(project_options)
+
+# standard compiler warnings
+include(cmake/CompilerWarnings.cmake)
+set_project_warnings(project_warnings)
+
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_ros REQUIRED)
 
@@ -116,6 +134,9 @@ ament_target_dependencies(
 
 target_link_libraries(
   ${PROJECT_NAME}
+  PRIVATE
+    project_options
+    project_warnings
   PUBLIC
   ${FANN_LIBRARIES}
   ${OpenMP_LIBS}
@@ -137,6 +158,8 @@ target_include_directories(${PROJECT_NAME}_plugin PUBLIC
 target_link_libraries(
   ${PROJECT_NAME}_plugin
   PRIVATE
+    project_options
+    project_warnings
     ${PROJECT_NAME}
 )
 

cmake/Cache.cmake

@@ -0,0 +1,58 @@
+# Copyright 2021 PickNik Inc
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the PickNik Inc nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+
+option(ENABLE_CACHE "Enable cache if available" ON)
+if(NOT ENABLE_CACHE)
+  return()
+endif()
+
+set(CACHE_OPTION
+    "ccache"
+    CACHE STRING "Compiler cache to be used")
+set(CACHE_OPTION_VALUES "ccache" "sccache")
+set_property(CACHE CACHE_OPTION PROPERTY STRINGS ${CACHE_OPTION_VALUES})
+list(
+  FIND
+  CACHE_OPTION_VALUES
+  ${CACHE_OPTION}
+  CACHE_OPTION_INDEX)
+
+if(${CACHE_OPTION_INDEX} EQUAL -1)
+  message(
+    STATUS
+      "Using custom compiler cache system: '${CACHE_OPTION}', explicitly supported entries are ${CACHE_OPTION_VALUES}")
+endif()
+
+find_program(CACHE_BINARY ${CACHE_OPTION})
+if(CACHE_BINARY)
+  message(STATUS "${CACHE_OPTION} found and enabled")
+  set(CMAKE_CXX_COMPILER_LAUNCHER ${CACHE_BINARY})
+else()
+  message(WARNING "${CACHE_OPTION} is enabled but was not found. Not using it")
+endif()

cmake/CompilerWarnings.cmake

@@ -0,0 +1,109 @@
+# Copyright 2021 PickNik Inc
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the PickNik Inc nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+
+# from here:
+#
+# https://github.com/lefticus/cppbestpractices/blob/master/02-Use_the_Tools_Available.md
+
+function(set_project_warnings project_name)
+  option(WARNINGS_AS_ERRORS "Treat compiler warnings as errors" ON)
+
+  set(MSVC_WARNINGS
+      /W4 # Baseline reasonable warnings
+      /w14242 # 'identifier': conversion from 'type1' to 'type1', possible loss of data
+      /w14254 # 'operator': conversion from 'type1:field_bits' to 'type2:field_bits', possible loss of data
+      /w14263 # 'function': member function does not override any base class virtual member function
+      /w14265 # 'classname': class has virtual functions, but destructor is not virtual instances of this class may not
+              # be destructed correctly
+      /w14287 # 'operator': unsigned/negative constant mismatch
+      /we4289 # nonstandard extension used: 'variable': loop control variable declared in the for-loop is used outside
+              # the for-loop scope
+      /w14296 # 'operator': expression is always 'boolean_value'
+      /w14311 # 'variable': pointer truncation from 'type1' to 'type2'
+      /w14545 # expression before comma evaluates to a function which is missing an argument list
+      /w14546 # function call before comma missing argument list
+      /w14547 # 'operator': operator before comma has no effect; expected operator with side-effect
+      /w14549 # 'operator': operator before comma has no effect; did you intend 'operator'?
+      /w14555 # expression has no effect; expected expression with side- effect
+      /w14619 # pragma warning: there is no warning number 'number'
+      /w14640 # Enable warning on thread un-safe static member initialization
+      /w14826 # Conversion from 'type1' to 'type_2' is sign-extended. This may cause unexpected runtime behavior.
+      /w14905 # wide string literal cast to 'LPSTR'
+      /w14906 # string literal cast to 'LPWSTR'
+      /w14928 # illegal copy-initialization; more than one user-defined conversion has been implicitly applied
+      /permissive- # standards conformance mode for MSVC compiler.
+  )
+
+  set(CLANG_WARNINGS
+      -Wall
+      -Wextra # reasonable and standard
+      -Wshadow # warn the user if a variable declaration shadows one from a parent context
+      # warn the user if a class with virtual functions has a non-virtual destructor. This helps
+      # catch hard to track down memory errors
+      -Wnon-virtual-dtor
+      -Wold-style-cast # warn for c-style casts
+      -Wcast-align # warn for potential performance problem casts
+      -Wunused # warn on anything being unused
+      -Woverloaded-virtual # warn if you overload (not override) a virtual function
+      -Wpedantic # warn if non-standard C++ is used
+      -Wconversion # warn on type conversions that may lose data
+      -Wsign-conversion # warn on sign conversions
+      -Wnull-dereference # warn if a null dereference is detected
+      -Wdouble-promotion # warn if float is implicit promoted to double
+      -Wformat=2 # warn on security issues around functions that format output (ie printf)
+      -Wimplicit-fallthrough # warn on statements that fallthrough without an explicit annotation
+  )
+
+  if(WARNINGS_AS_ERRORS)
+    set(CLANG_WARNINGS ${CLANG_WARNINGS} -Werror)
+    set(MSVC_WARNINGS ${MSVC_WARNINGS} /WX)
+  endif()
+
+  set(GCC_WARNINGS
+      ${CLANG_WARNINGS}
+      -Wmisleading-indentation # warn if indentation implies blocks where blocks do not exist
+      -Wduplicated-cond # warn if if / else chain has duplicated conditions
+      -Wduplicated-branches # warn if if / else branches have duplicated code
+      -Wlogical-op # warn about logical operations being used where bitwise were probably wanted
+      -Wuseless-cast # warn if you perform a cast to the same type
+  )
+
+  if(MSVC)
+    set(PROJECT_WARNINGS ${MSVC_WARNINGS})
+  elseif(CMAKE_CXX_COMPILER_ID MATCHES ".*Clang")
+    set(PROJECT_WARNINGS ${CLANG_WARNINGS})
+  elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+    set(PROJECT_WARNINGS ${GCC_WARNINGS})
+  else()
+    message(AUTHOR_WARNING "No compiler warnings set for '${CMAKE_CXX_COMPILER_ID}' compiler.")
+  endif()
+
+  target_compile_options(${project_name} INTERFACE ${PROJECT_WARNINGS})
+
+endfunction()

cmake/Doxygen.cmake

@@ -0,0 +1,41 @@
+# Copyright 2021 PickNik Inc
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the PickNik Inc nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+
+function(enable_doxygen)
+  option(ENABLE_DOXYGEN "Enable doxygen doc builds of source" OFF)
+  if(ENABLE_DOXYGEN)
+    set(DOXYGEN_CALLER_GRAPH YES)
+    set(DOXYGEN_CALL_GRAPH YES)
+    set(DOXYGEN_EXTRACT_ALL YES)
+    set(DOXYGEN_USE_MDFILE_AS_MAINPAGE "${CMAKE_SOURCE_DIR}/README.md")
+    find_package(Doxygen REQUIRED dot)
+    doxygen_add_docs(doxygen-docs ${PROJECT_SOURCE_DIR})
+
+  endif()
+endfunction()

cmake/Linker.cmake

@@ -0,0 +1,62 @@
+# Copyright 2021 PickNik Inc
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the PickNik Inc nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+
+option(ENABLE_USER_LINKER "Enable a specific linker if available" OFF)
+
+include(CheckCXXCompilerFlag)
+
+set(USER_LINKER_OPTION
+  "lld"
+  CACHE STRING "Linker to be used")
+set(USER_LINKER_OPTION_VALUES "lld" "gold" "bfd")
+set_property(CACHE USER_LINKER_OPTION PROPERTY STRINGS ${USER_LINKER_OPTION_VALUES})
+list(
+  FIND
+  USER_LINKER_OPTION_VALUES
+  ${USER_LINKER_OPTION}
+  USER_LINKER_OPTION_INDEX)
+
+if(${USER_LINKER_OPTION_INDEX} EQUAL -1)
+  message(
+    STATUS
+      "Using custom linker: '${USER_LINKER_OPTION}', explicitly supported entries are ${USER_LINKER_OPTION_VALUES}")
+endif()
+
+function(configure_linker project_name)
+  if(NOT ENABLE_USER_LINKER)
+    return()
+  endif()
+
+  set(LINKER_FLAG "-fuse-ld=${USER_LINKER_OPTION}")
+
+  check_cxx_compiler_flag(${LINKER_FLAG} CXX_SUPPORTS_USER_LINKER)
+  if(CXX_SUPPORTS_USER_LINKER)
+    target_compile_options(${project_name} INTERFACE ${LINKER_FLAG})
+  endif()
+endfunction()