Fix warnings: no more warnings when compiling.

Fix warnings

Remove warnings.

Fix formatting

Finish fixing warnings.

Author: yguel

ethercat_generic_plugins/ethercat_generic_slave/src/generic_ec_slave.cpp

@@ -30,6 +30,7 @@ size_t type2bytes(std::string type)
   } else if (type == "int64" || type == "uint64") {
     return 8;
   }
+  return 0;
 }
 
 namespace ethercat_generic_plugins
@@ -67,20 +68,20 @@ void GenericEcSlave::setup_syncs()
   if (sm_configs_.size() == 0) {
     syncs_.push_back({0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE});
     syncs_.push_back({1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE});
-    syncs_.push_back({2, EC_DIR_OUTPUT, rpdos_.size(), rpdos_.data(), EC_WD_ENABLE});
-    syncs_.push_back({3, EC_DIR_INPUT, tpdos_.size(), tpdos_.data(), EC_WD_DISABLE});
+    syncs_.push_back({2, EC_DIR_OUTPUT, (unsigned int)(rpdos_.size()), rpdos_.data(), EC_WD_ENABLE});
+    syncs_.push_back({3, EC_DIR_INPUT, (unsigned int)(tpdos_.size()), tpdos_.data(), EC_WD_DISABLE});
   } else {
     for (auto & sm : sm_configs_) {
       if (sm.pdo_name == "null") {
         syncs_.push_back({sm.index, sm.type, 0, NULL, sm.watchdog});
       } else if (sm.pdo_name == "rpdo") {
-        syncs_.push_back({sm.index, sm.type, rpdos_.size(), rpdos_.data(), sm.watchdog});
+        syncs_.push_back({sm.index, sm.type, (unsigned int)(rpdos_.size()), rpdos_.data(), sm.watchdog});
       } else if (sm.pdo_name == "tpdo") {
-        syncs_.push_back({sm.index, sm.type, tpdos_.size(), tpdos_.data(), sm.watchdog});
+        syncs_.push_back({sm.index, sm.type, (unsigned int)(tpdos_.size()), tpdos_.data(), sm.watchdog});
       }
     }
   }
-  syncs_.push_back({0xff});
+  syncs_.push_back({0xff, EC_DIR_INVALID, 0, nullptr, EC_WD_DISABLE});
 }
 
 bool GenericEcSlave::setupSlave(
@@ -173,7 +174,7 @@ bool GenericEcSlave::setup_from_config(YAML::Node slave_config)
         rpdos_.push_back(
           {
             slave_config["rpdo"][i]["index"].as<uint16_t>(),
-            rpdo_channels_size,
+            (unsigned int)(rpdo_channels_size),
             all_channels_.data() + channels_nbr
           }
         );
@@ -195,7 +196,7 @@ bool GenericEcSlave::setup_from_config(YAML::Node slave_config)
         tpdos_.push_back(
           {
             slave_config["tpdo"][i]["index"].as<uint16_t>(),
-            tpdo_channels_size,
+            (unsigned int)(tpdo_channels_size),
             all_channels_.data() + channels_nbr
           }
         );

ethercat_interface/include/ethercat_interface/ec_master.hpp

@@ -157,7 +157,7 @@ class EcMaster
   {
     EcSlave * slave = NULL;
     ec_slave_config_t * config = NULL;
-    ec_slave_config_state_t config_state = {0};
+    ec_slave_config_state_t config_state = {0, 0, 0};
   };
 
   std::vector<SlaveInfo> slave_info_;

ethercat_interface/include/ethercat_interface/ec_sdo_manager.hpp

@@ -110,6 +110,7 @@ class SdoConfigEntry
     } else if (type == "int64" || type == "uint64") {
       return 8;
     }
+    return 0;
   }
 };
 

ethercat_interface/src/ec_master.cpp

@@ -40,7 +40,7 @@ EcMaster::DomainInfo::DomainInfo(ec_master_t * master)
     return;
   }
 
-  const ec_pdo_entry_reg_t empty = {0};
+  const ec_pdo_entry_reg_t empty = {0, 0, 0, 0, 0, 0, nullptr, nullptr};
   domain_regs.push_back(empty);
 }
 
@@ -66,9 +66,11 @@ EcMaster::EcMaster(const int master)
 
 EcMaster::~EcMaster()
 {
+  /*
   for (SlaveInfo & slave : slave_info_) {
-    //
+    //TODO verify what this piece of code was here for
   }
+  */
   for (auto & domain : domain_info_) {
     if (domain.second != NULL) {
       delete domain.second;
@@ -211,7 +213,7 @@ void EcMaster::registerPDOInDomain(
   }
 
   // set the last element to null
-  ec_pdo_entry_reg_t empty = {0};
+  ec_pdo_entry_reg_t empty = {0, 0, 0, 0, 0, 0, nullptr, nullptr};
   domain_info->domain_regs.back() = empty;
 }
 
@@ -441,7 +443,7 @@ void EcMaster::setThreadRealTime()
   /* Pre-fault our stack
       8*1024 is the maximum stack size
       which is guaranteed safe to access without faulting */
-  int MAX_SAFE_STACK = 8 * 1024;
+  constexpr unsigned int MAX_SAFE_STACK = 8 * 1024;
   unsigned char dummy[MAX_SAFE_STACK];
   memset(dummy, 0, MAX_SAFE_STACK);
 }