other fixes

Signed-off-by: M. Fatih Cırıt <[email protected]>

CPPLINT.cfg

@@ -12,6 +12,7 @@ filter=-build/namespaces_literals # we allow using namespace for literals
 filter=-runtime/references        # we consider passing non-const references to be ok
 filter=-whitespace/braces         # we wrap open curly braces for namespaces, classes and functions
 filter=-whitespace/indent         # we don't indent keywords like public, protected and private with one space
+filter=-whitespace/newline        # we allow the developer to decide about newline at the end of file (it's clashing with clang-format)
 filter=-whitespace/parens         # we allow closing parenthesis to be on the next line
 filter=-whitespace/semicolon      # we allow the developer to decide about whitespace after a semicolon
 filter=-build/header_guard        # we automatically fix the names of header guards using pre-commit

common/autoware_test_utils/test/test_mock_data_parser.cpp

@@ -673,11 +673,12 @@ TEST(ParseFunctions, CompleteYAMLTest)
   // Test parsing of segments
   const auto segments = parse<std::vector<LaneletSegment>>(config["segments"]);
   ASSERT_EQ(
-    segments.size(), uint64_t(1));  // Assuming only one segment in the provided YAML for this test
+    segments.size(),
+    static_cast<uint64_t>(1));  // Assuming only one segment in the provided YAML for this test
 
   const auto & segment0 = segments[0];
   EXPECT_EQ(segment0.preferred_primitive.id, 11);
-  EXPECT_EQ(segment0.primitives.size(), uint64_t(2));
+  EXPECT_EQ(segment0.primitives.size(), static_cast<uint64_t>(2));
   EXPECT_EQ(segment0.primitives[0].id, 22);
   EXPECT_EQ(segment0.primitives[0].primitive_type, "lane");
   EXPECT_EQ(segment0.primitives[1].id, 33);
@@ -811,10 +812,10 @@ TEST(ParseFunction, CompleteFromFilename)
 
     ASSERT_EQ(
       lanelet_route.segments.size(),
-      uint64_t(2));  // Assuming only one segment in the provided YAML for this test
+      static_cast<uint64_t>(2));  // Assuming only one segment in the provided YAML for this test
     const auto & segment1 = lanelet_route.segments[1];
     EXPECT_EQ(segment1.preferred_primitive.id, 44);
-    EXPECT_EQ(segment1.primitives.size(), uint64_t(4));
+    EXPECT_EQ(segment1.primitives.size(), static_cast<uint64_t>(4));
     EXPECT_EQ(segment1.primitives[0].id, 55);
     EXPECT_EQ(segment1.primitives[0].primitive_type, "lane");
     EXPECT_EQ(segment1.primitives[1].id, 66);

control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/autoware_pure_pursuit.cpp

@@ -156,9 +156,9 @@ int32_t PurePursuit::findNextPointIdx(int32_t search_start_idx)
   }
 
   // look for the next waypoint.
-  for (int32_t i = search_start_idx; i < (int32_t)curr_wps_ptr_->size(); i++) {
+  for (int32_t i = search_start_idx; i < static_cast<int32_t>(curr_wps_ptr_->size()); i++) {
     // if search waypoint is the last
-    if (i == ((int32_t)curr_wps_ptr_->size() - 1)) {
+    if (i == (static_cast<int32_t>(curr_wps_ptr_->size()) - 1)) {
       return i;
     }
 

perception/autoware_image_projection_based_fusion/src/fusion_node.cpp

@@ -215,7 +215,7 @@ void FusionNode<TargetMsg3D, Obj, Msg2D>::subCallback(
   preprocess(*output_msg);
 
   int64_t timestamp_nsec =
-    (*output_msg).header.stamp.sec * (int64_t)1e9 + (*output_msg).header.stamp.nanosec;
+    (*output_msg).header.stamp.sec * static_cast<int64_t>(1e9) + (*output_msg).header.stamp.nanosec;
 
   // if matching rois exist, fuseOnSingle
   // please ask maintainers before parallelize this loop because debugger is not thread safe
@@ -232,14 +232,17 @@ void FusionNode<TargetMsg3D, Obj, Msg2D>::subCallback(
       std::list<int64_t> outdate_stamps;
 
       for (const auto & [k, v] : cached_roi_msgs_.at(roi_i)) {
-        int64_t new_stamp = timestamp_nsec + input_offset_ms_.at(roi_i) * (int64_t)1e6;
-        int64_t interval = abs(int64_t(k) - new_stamp);
+        int64_t new_stamp = timestamp_nsec + input_offset_ms_.at(roi_i) * static_cast<int64_t>(1e6);
+        int64_t interval = abs(static_cast<int64_t>(k) - new_stamp);
 
-        if (interval <= min_interval && interval <= match_threshold_ms_ * (int64_t)1e6) {
+        if (
+          interval <= min_interval && interval <= match_threshold_ms_ * static_cast<int64_t>(1e6)) {
           min_interval = interval;
           matched_stamp = k;
-        } else if (int64_t(k) < new_stamp && interval > match_threshold_ms_ * (int64_t)1e6) {
-          outdate_stamps.push_back(int64_t(k));
+        } else if (
+          static_cast<int64_t>(k) < new_stamp &&
+          interval > match_threshold_ms_ * static_cast<int64_t>(1e6)) {
+          outdate_stamps.push_back(static_cast<int64_t>(k));
         }
       }
 
@@ -293,7 +296,7 @@ void FusionNode<TargetMsg3D, Obj, Msg2D>::subCallback(
       processing_time_ms = 0;
     }
   } else {
-    cached_msg_.first = int64_t(timestamp_nsec);
+    cached_msg_.first = timestamp_nsec;
     cached_msg_.second = output_msg;
     processing_time_ms = stop_watch_ptr_->toc("processing_time", true);
   }
@@ -305,15 +308,16 @@ void FusionNode<TargetMsg3D, Obj, Msg2D>::roiCallback(
 {
   stop_watch_ptr_->toc("processing_time", true);
 
-  int64_t timestamp_nsec =
-    (*input_roi_msg).header.stamp.sec * (int64_t)1e9 + (*input_roi_msg).header.stamp.nanosec;
+  int64_t timestamp_nsec = (*input_roi_msg).header.stamp.sec * static_cast<int64_t>(1e9) +
+                           (*input_roi_msg).header.stamp.nanosec;
 
   // if cached Msg exist, try to match
   if (cached_msg_.second != nullptr) {
-    int64_t new_stamp = cached_msg_.first + input_offset_ms_.at(roi_i) * (int64_t)1e6;
+    int64_t new_stamp = cached_msg_.first + input_offset_ms_.at(roi_i) * static_cast<int64_t>(1e6);
     int64_t interval = abs(timestamp_nsec - new_stamp);
 
-    if (interval < match_threshold_ms_ * (int64_t)1e6 && is_fused_.at(roi_i) == false) {
+    if (
+      interval < match_threshold_ms_ * static_cast<int64_t>(1e6) && is_fused_.at(roi_i) == false) {
       if (camera_info_map_.find(roi_i) == camera_info_map_.end()) {
         RCLCPP_WARN_THROTTLE(
           this->get_logger(), *this->get_clock(), 5000, "no camera info. id is %zu", roi_i);

perception/autoware_image_projection_based_fusion/src/roi_detected_object_fusion/node.cpp

@@ -69,7 +69,7 @@ void RoiDetectedObjectFusionNode::preprocess(DetectedObjects & output_msg)
   }
 
   int64_t timestamp_nsec =
-    output_msg.header.stamp.sec * (int64_t)1e9 + output_msg.header.stamp.nanosec;
+    output_msg.header.stamp.sec * static_cast<int64_t>(1e9) + output_msg.header.stamp.nanosec;
   passthrough_object_flags_map_.insert(std::make_pair(timestamp_nsec, passthrough_object_flags));
   fused_object_flags_map_.insert(std::make_pair(timestamp_nsec, fused_object_flags));
   ignored_object_flags_map_.insert(std::make_pair(timestamp_nsec, ignored_object_flags));
@@ -118,8 +118,8 @@ RoiDetectedObjectFusionNode::generateDetectedObjectRoIs(
   const image_geometry::PinholeCameraModel & pinhole_camera_model)
 {
   std::map<std::size_t, DetectedObjectWithFeature> object_roi_map;
-  int64_t timestamp_nsec =
-    input_object_msg.header.stamp.sec * (int64_t)1e9 + input_object_msg.header.stamp.nanosec;
+  int64_t timestamp_nsec = input_object_msg.header.stamp.sec * static_cast<int64_t>(1e9) +
+                           input_object_msg.header.stamp.nanosec;
   if (passthrough_object_flags_map_.size() == 0) {
     return object_roi_map;
   }
@@ -205,8 +205,8 @@ void RoiDetectedObjectFusionNode::fuseObjectsOnImage(
   const std::vector<DetectedObjectWithFeature> & image_rois,
   const std::map<std::size_t, DetectedObjectWithFeature> & object_roi_map)
 {
-  int64_t timestamp_nsec =
-    input_object_msg.header.stamp.sec * (int64_t)1e9 + input_object_msg.header.stamp.nanosec;
+  int64_t timestamp_nsec = input_object_msg.header.stamp.sec * static_cast<int64_t>(1e9) +
+                           input_object_msg.header.stamp.nanosec;
   if (fused_object_flags_map_.size() == 0 || ignored_object_flags_map_.size() == 0) {
     return;
   }
@@ -289,7 +289,7 @@ void RoiDetectedObjectFusionNode::publish(const DetectedObjects & output_msg)
   }
 
   int64_t timestamp_nsec =
-    output_msg.header.stamp.sec * (int64_t)1e9 + output_msg.header.stamp.nanosec;
+    output_msg.header.stamp.sec * static_cast<int64_t>(1e9) + output_msg.header.stamp.nanosec;
   if (
     passthrough_object_flags_map_.size() == 0 || fused_object_flags_map_.size() == 0 ||
     ignored_object_flags_map_.size() == 0) {

system/autoware_component_monitor/src/component_monitor_node.cpp

@@ -147,7 +147,7 @@ std::uint64_t ComponentMonitor::parse_memory_res(const std::string & mem_res)
 {
   // example 1: 12.3g
   // example 2: 123 (without suffix, just bytes)
-  static const std::unordered_map<char, std::function<std::uint64_t(double)>> unit_map{
+  static const std::unordered_map<char, std::function<static_cast<std::uint64_t>(double)>> unit_map{
     {'k', unit_conversions::kib_to_bytes<double>}, {'m', unit_conversions::mib_to_bytes<double>},
     {'g', unit_conversions::gib_to_bytes<double>}, {'t', unit_conversions::tib_to_bytes<double>},
     {'p', unit_conversions::pib_to_bytes<double>}, {'e', unit_conversions::eib_to_bytes<double>}};

system/system_monitor/reader/hdd_reader/hdd_reader.cpp

@@ -330,10 +330,10 @@ int get_nvme_identify(int fd, HddInfo * info)
   char data[4096]{};  // Fixed size for Identify command
 
   // The Identify command returns a data buffer that describes information about the NVM subsystem
-  cmd.opcode = 0x06;            // Identify
-  cmd.addr = (uint64_t)data;    // memory address of data
-  cmd.data_len = sizeof(data);  // length of data
-  cmd.cdw10 = 0x01;             // Identify Controller data structure
+  cmd.opcode = 0x06;                            // Identify
+  cmd.addr = reinterpret_cast<uint64_t>(data);  // memory address of data
+  cmd.data_len = sizeof(data);                  // length of data
+  cmd.cdw10 = 0x01;                             // Identify Controller data structure
 
   // send Admin Command to device
   int ret = ioctl(fd, NVME_IOCTL_ADMIN_CMD, &cmd);
@@ -368,13 +368,13 @@ int get_nvme_smart_data(int fd, HddInfo * info)
   unsigned char data[144]{};  // 36 Dword (get byte 0 to 143)
 
   // The Get Log Page command returns a data buffer containing the log page requested
-  cmd.opcode = 0x02;            // Get Log Page
-  cmd.nsid = 0xFFFFFFFF;        // Global log page
-  cmd.addr = (uint64_t)data;    // memory address of data
-  cmd.data_len = sizeof(data);  // length of data
-  cmd.cdw10 = 0x00240002;       // Bit 27:16 Number of Dwords (NUMD) = 024h (36 Dword)
-                                // - Minimum necessary size to obtain S.M.A.R.T. informations
-                                // Bit 07:00 = 02h (SMART / Health Information)
+  cmd.opcode = 0x02;                            // Get Log Page
+  cmd.nsid = 0xFFFFFFFF;                        // Global log page
+  cmd.addr = reinterpret_cast<uint64_t>(data);  // memory address of data
+  cmd.data_len = sizeof(data);                  // length of data
+  cmd.cdw10 = 0x00240002;  // Bit 27:16 Number of Dwords (NUMD) = 024h (36 Dword)
+                           // - Minimum necessary size to obtain S.M.A.R.T. informations
+                           // Bit 07:00 = 02h (SMART / Health Information)
 
   // send Admin Command to device
   int ret = ioctl(fd, NVME_IOCTL_ADMIN_CMD, &cmd);