Merge pull request #1242 from fspindle/fix_sonarqube_next

Fix sonarqube issues

.vscode/settings.json

@@ -114,7 +114,8 @@
     "numbers": "cpp",
     "semaphore": "cpp",
     "stop_token": "cpp",
-    "view": "cpp"
+    "view": "cpp",
+    "mixinvector": "cpp"
   },
   "C_Cpp.vcFormat.indent.namespaceContents": false,
   "editor.formatOnSave": true,
@@ -132,5 +133,6 @@
   "C_Cpp.vcFormat.space.aroundBinaryOperator": "ignore",
   "editor.comments.insertSpace": true,
   "C_Cpp.vcFormat.indent.preserveComments": true,
-  "C_Cpp.doxygen.generatedStyle": "/*!"
+  "C_Cpp.doxygen.generatedStyle": "/*!",
+  "files.insertFinalNewline": true
 }

3rdparty/qbdevice/commands.h

@@ -36,7 +36,7 @@
  *  \details
  *  This file is included in the qbMove and qbHand firmware, in its libraries and
  *  applications. It contains all definitions that are necessary for the
- *  contruction of communication packages.
+ *  construction of communication packages.
  *
  *  It includes definitions for all of the device commands, parameters and also
  *  the size of answer packages.
@@ -96,20 +96,20 @@ enum qbmove_command
     CMD_GET_CURR_AND_MEAS       = 134,  ///< Command for asking device's
                                         ///  measurements and currents
     CMD_SET_POS_STIFF           = 135,  ///< Not used in the softhand firmware
-    CMD_GET_EMG                 = 136,  ///< Command for asking device's emg sensors 
+    CMD_GET_EMG                 = 136,  ///< Command for asking device's emg sensors
                                         ///  measurements
     CMD_GET_VELOCITIES          = 137,  ///< Command for asking device's
                                         ///  velocity measurements
     CMD_GET_COUNTERS            = 138,  ///< Command for asking device's counters
                                         ///  (mostly used for debugging sent commands)
     CMD_GET_ACCEL               = 139,  ///< Command for asking device's
                                         ///  acceleration measurements
-    CMD_GET_CURR_DIFF           = 140,  ///< Command for asking device's 
+    CMD_GET_CURR_DIFF           = 140,  ///< Command for asking device's
                                         ///  current difference between a measured
                                         ///  one and an estimated one (Only for SoftHand)
     CMD_SET_CURR_DIFF           = 141,  ///< Command used to set current difference modality
                                         ///  (Only for Cuff device)
-    CMD_SET_CUFF_INPUTS         = 142,  ///< Command used to set Cuff device inputs 
+    CMD_SET_CUFF_INPUTS         = 142,  ///< Command used to set Cuff device inputs
                                         ///  (Only for Cuff device)
     CMD_SET_WATCHDOG            = 143,  ///< Command for setting watchdog timer
                                         ///  or disable it
@@ -163,7 +163,7 @@ enum qbmove_parameter
     PARAM_DOUBLE_ENC_ON_OFF      = 19,  ///< Double Encoder Y/N
     PARAM_MOT_HANDLE_RATIO       = 20,  ///< Multiplier between handle and motor
     PARAM_MOTOR_SUPPLY           = 21,  ///< Motor supply voltage of the hand
-    PARAM_CURRENT_LOOKUP         = 23,  ///< Table of values used to calculate 
+    PARAM_CURRENT_LOOKUP         = 23,  ///< Table of values used to calculate
                                         ///  an estimated current of the SoftHand
     PARAM_DL_POS_PID             = 24,  ///< Double loop position PID
     PARAM_DL_CURR_PID            = 25   ///< Double loop current PID
@@ -213,7 +213,7 @@ enum qbmove_control_mode {
     CONTROL_CURRENT         = 2,        ///< Current control
     CURR_AND_POS_CONTROL    = 3,        ///< Position and current control
     DEFLECTION_CONTROL      = 4,        ///< Deflection control
-    DEFL_CURRENT_CONTROL    = 5         ///< Deflection and current control   
+    DEFL_CURRENT_CONTROL    = 5         ///< Deflection and current control
 
 };
 

CMakeLists.txt

@@ -137,7 +137,7 @@ endif()
 # VISP version number.  An even minor number corresponds to releases.
 set(VISP_VERSION_MAJOR "3")
 set(VISP_VERSION_MINOR "6")
-set(VISP_VERSION_PATCH "0")
+set(VISP_VERSION_PATCH "1")
 set(VISP_VERSION "${VISP_VERSION_MAJOR}.${VISP_VERSION_MINOR}.${VISP_VERSION_PATCH}")
 set(VISP_SOVERSION "${VISP_VERSION_MAJOR}.${VISP_VERSION_MINOR}")
 # Package revision number

ChangeLog.txt

@@ -5,6 +5,18 @@
      Copyright (C) 2005 - 2023 by Inria. All rights reserved.
                       https://visp.inria.fr
 
+ViSP 3.x.x (Version in development)
+  - Contributors:
+    . Fabien Spindler,
+  - New classes
+    .
+  - New features and improvements
+    .
+  - Tutorials
+    .
+  - Bug fixed
+    .
+----------------------------------------------
 ViSP 3.6.0 (released September 22, 2023)
   - Contributors:
     . Fabien Spindler, Souriya Trinh, Romain Lagneau, Antonio Marino, Samuel Felton,

appveyor.yml

@@ -1,5 +1,5 @@
 # Specify version format
-version: "3.6.0-{build}"
+version: "3.6.1-{build}"
 
 image:
   - Visual Studio 2017

doc/config-doxygen.in

@@ -878,7 +878,7 @@ EXCLUDE                = "@VISP_SOURCE_DIR@/tutorial/ios/StartedImageProc/Starte
                          "@VISP_SOURCE_DIR@/tutorial/ios/StartedImageProc/StartedImageProc/ViewController.h" \
                          "@VISP_SOURCE_DIR@/tutorial/ios/AprilTagLiveCamera/AprilTagLiveCamera/VispDetector.h" \
                          "@VISP_SOURCE_DIR@/tutorial/ios/AprilTagLiveCamera/AprilTagLiveCamera/VispDetector.mm" \
-                         "@VISP_SOURCE_DIR@/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageDisplay+withContext.h"
+                         "@VISP_SOURCE_DIR@/tutorial/ios/AprilTagLiveCamera/VispHelper/ImageDisplayWithContext.h"
 
 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded

example/device/framegrabber/grabV4l2MultiCpp11Thread.cpp

@@ -133,14 +133,14 @@ bool getOptions(int argc, char **argv, unsigned int &deviceCount, bool &saveVide
 
 // Code adapted from the original author Dan Mašek to be compatible with ViSP
 // image
-class FrameQueue
+class vpFrameQueue
 {
 
 public:
-  struct cancelled
+  struct vpCancelled_t
   { };
 
-  FrameQueue()
+  vpFrameQueue()
     : m_cancelled(false), m_cond(), m_queueColor(), m_maxQueueSize(std::numeric_limits<size_t>::max()), m_mutex()
   { }
 
@@ -173,13 +173,13 @@ class FrameQueue
 
     while (m_queueColor.empty()) {
       if (m_cancelled) {
-        throw cancelled();
+        throw vpCancelled_t();
       }
 
       m_cond.wait(lock);
 
       if (m_cancelled) {
-        throw cancelled();
+        throw vpCancelled_t();
       }
     }
 
@@ -199,11 +199,11 @@ class FrameQueue
   std::mutex m_mutex;
 };
 
-class StorageWorker
+class vpStorageWorker
 {
 
 public:
-  StorageWorker(FrameQueue &queue, const std::string &filename, unsigned int width, unsigned int height)
+  vpStorageWorker(vpFrameQueue &queue, const std::string &filename, unsigned int width, unsigned int height)
     : m_queue(queue), m_filename(filename), m_width(width), m_height(height)
   { }
 
@@ -227,18 +227,18 @@ class StorageWorker
         }
       }
     }
-    catch (FrameQueue::cancelled &) {
+    catch (vpFrameQueue::vpCancelled_t &) {
     }
   }
 
 private:
-  FrameQueue &m_queue;
+  vpFrameQueue &m_queue;
   std::string m_filename;
   unsigned int m_width;
   unsigned int m_height;
 };
 
-class ShareImage
+class vpShareImage
 {
 
 private:
@@ -249,15 +249,15 @@ class ShareImage
   unsigned int m_totalSize;
 
 public:
-  struct cancelled
+  struct vpCancelled_t
   { };
 
-  ShareImage() : m_cancelled(false), m_cond(), m_mutex(), m_pImgData(NULL), m_totalSize(0) { }
+  vpShareImage() : m_cancelled(false), m_cond(), m_mutex(), m_pImgData(NULL), m_totalSize(0) { }
 
-  virtual ~ShareImage()
+  virtual ~vpShareImage()
   {
     if (m_pImgData != NULL) {
-      delete [] m_pImgData;
+      delete[] m_pImgData;
     }
   }
 
@@ -274,13 +274,13 @@ class ShareImage
     std::unique_lock<std::mutex> lock(m_mutex);
 
     if (m_cancelled) {
-      throw cancelled();
+      throw vpCancelled_t();
     }
 
     m_cond.wait(lock);
 
     if (m_cancelled) {
-      throw cancelled();
+      throw vpCancelled_t();
     }
 
     // Copy to imageData
@@ -307,7 +307,7 @@ class ShareImage
       m_totalSize = totalSize;
 
       if (m_pImgData != NULL) {
-        delete [] m_pImgData;
+        delete[] m_pImgData;
       }
 
       m_pImgData = new unsigned char[m_totalSize];
@@ -320,7 +320,7 @@ class ShareImage
   }
 };
 
-void capture(vpV4l2Grabber *const pGrabber, ShareImage &share_image)
+void capture(vpV4l2Grabber *const pGrabber, vpShareImage &share_image)
 {
   vpImage<vpRGBa> local_img;
 
@@ -340,7 +340,7 @@ void capture(vpV4l2Grabber *const pGrabber, ShareImage &share_image)
 }
 
 void display(unsigned int width, unsigned int height, int win_x, int win_y, unsigned int deviceId,
-             ShareImage &share_image, FrameQueue &queue, bool save)
+             vpShareImage &share_image, vpFrameQueue &queue, bool save)
 {
   vpImage<vpRGBa> local_img(height, width);
 
@@ -419,7 +419,7 @@ void display(unsigned int width, unsigned int height, int win_x, int win_y, unsi
       }
     }
   }
-  catch (ShareImage::cancelled &) {
+  catch (vpShareImage::vpCancelled_t &) {
     std::cout << "Cancelled!" << std::endl;
   }
 
@@ -428,7 +428,7 @@ void display(unsigned int width, unsigned int height, int win_x, int win_y, unsi
 
 } // Namespace
 
-int main(int argc, char *argv [])
+int main(int argc, char *argv[])
 {
   unsigned int deviceCount = 1;
   unsigned int cameraScale = 1; // 640x480
@@ -459,13 +459,13 @@ int main(int argc, char *argv [])
 
   std::cout << "Grabbers: " << grabbers.size() << std::endl;
 
-  std::vector<ShareImage> share_images(grabbers.size());
+  std::vector<vpShareImage> share_images(grabbers.size());
   std::vector<std::thread> capture_threads;
   std::vector<std::thread> display_threads;
 
   // Synchronized queues for each camera stream
-  std::vector<FrameQueue> save_queues(grabbers.size());
-  std::vector<StorageWorker> storages;
+  std::vector<vpFrameQueue> save_queues(grabbers.size());
+  std::vector<vpStorageWorker> storages;
   std::vector<std::thread> storage_threads;
 
   std::string parent_directory = vpTime::getDateTime("%Y-%m-%d_%H.%M.%S");
@@ -495,7 +495,7 @@ int main(int argc, char *argv [])
   if (saveVideo) {
     for (auto &s : storages) {
       // Start the storage thread for the current camera stream
-      storage_threads.emplace_back(&StorageWorker::run, &s);
+      storage_threads.emplace_back(&vpStorageWorker::run, &s);
     }
   }
 

example/device/framegrabber/saveRealSenseData.cpp

@@ -182,13 +182,13 @@ bool getOptions(int argc, char **argv, bool &save, std::string &output_directory
   return true;
 }
 
-class FrameQueue
+class vpFrameQueue
 {
 public:
-  struct cancelled
+  struct vpCancelled_t
   { };
 
-  FrameQueue()
+  vpFrameQueue()
     : m_cancelled(false), m_cond(), m_queueColor(), m_queueDepth(), m_queuePointCloud(), m_queueInfrared(),
     m_maxQueueSize(1024 * 8), m_mutex()
   { }
@@ -252,13 +252,13 @@ class FrameQueue
 
     while (m_queueColor.empty() || m_queueDepth.empty() || m_queuePointCloud.empty() || m_queueInfrared.empty()) {
       if (m_cancelled) {
-        throw cancelled();
+        throw vpCancelled_t();
       }
 
       m_cond.wait(lock);
 
       if (m_cancelled) {
-        throw cancelled();
+        throw vpCancelled_t();
       }
     }
 
@@ -290,10 +290,10 @@ class FrameQueue
   std::mutex m_mutex;
 };
 
-class StorageWorker
+class vpStorageWorker
 {
 public:
-  StorageWorker(FrameQueue &queue, const std::string &directory, bool save_color, bool save_depth, bool save_pointcloud,
+  vpStorageWorker(vpFrameQueue &queue, const std::string &directory, bool save_color, bool save_depth, bool save_pointcloud,
                 bool save_infrared, bool save_pointcloud_binary_format,
                 int
 #ifndef VISP_HAVE_PCL
@@ -437,13 +437,13 @@ class StorageWorker
         }
       }
     }
-    catch (const FrameQueue::cancelled &) {
-      std::cout << "Receive cancel FrameQueue." << std::endl;
+    catch (const vpFrameQueue::vpCancelled_t &) {
+      std::cout << "Receive cancel vpFrameQueue." << std::endl;
     }
   }
 
 private:
-  FrameQueue &m_queue;
+  vpFrameQueue &m_queue;
   std::string m_directory;
   unsigned int m_cpt;
   bool m_save_color;
@@ -607,10 +607,10 @@ int main(int argc, char *argv[])
     file.close();
   }
 
-  FrameQueue save_queue;
-  StorageWorker storage(std::ref(save_queue), std::cref(output_directory), save_color, save_depth, save_pointcloud,
+  vpFrameQueue save_queue;
+  vpStorageWorker storage(std::ref(save_queue), std::cref(output_directory), save_color, save_depth, save_pointcloud,
                         save_infrared, save_pointcloud_binary_format, width, height);
-  std::thread storage_thread(&StorageWorker::run, &storage);
+  std::thread storage_thread(&vpStorageWorker::run, &storage);
 
 #ifdef USE_REALSENSE2
   rs2::align align_to(RS2_STREAM_COLOR);

example/reflex-takktile/yaml/motor_constants.yaml

@@ -1,3 +1,3 @@
 # Motor information that stays relatively constant
 motor_to_joint_inverted: [1, -1, 1, -1]
-motor_to_joint_gear_ratio: [1.42, 1.42, 1.42, 1.5]
+motor_to_joint_gear_ratio: [1.42, 1.42, 1.42, 1.5]

example/servo-bebop2/servoBebop2.cpp

@@ -432,7 +432,7 @@ int main(int argc, char **argv)
           mdb.updateAll(m_obj);     // All of the moments must be updated, not just an_d
           mg.compute();             // Compute gravity center moment
           mc.compute();             // Compute centered moments AFTER gravity center
-          man.setDesiredArea(area); // Desired area was init at 0 (unknow at contruction), need to be updated here
+          man.setDesiredArea(area); // Desired area was init at 0 (unknow at construction), need to be updated here
           man.compute();            // Compute area normalized moment AFTER centered moment
           mgn.compute();            // Compute gravity center normalized moment AFTER area normalized moment
 

example/servo-pixhawk/servoPixhawkDroneIBVS.cpp

@@ -411,7 +411,7 @@ int main(int argc, char **argv)
           mdb.updateAll(m_obj);     // All of the moments must be updated, not just an_d
           mg.compute();             // Compute gravity center moment
           mc.compute();             // Compute centered moments AFTER gravity center
-          man.setDesiredArea(area); // Desired area was init at 0 (unknow at contruction),
+          man.setDesiredArea(area); // Desired area was init at 0 (unknow at construction),
                                     // need to be updated here
           man.compute();            // Compute area normalized moment AFTER centered moment
           mgn.compute();            // Compute gravity center normalized moment AFTER area normalized