Fix windows compile warnings

.github/workflows/alpine-build.yml

@@ -19,7 +19,7 @@ jobs:
         run: apk add --no-cache build-base cmake linux-headers git
       - uses: actions/checkout@v6
       - name: configure
-        run: mkdir build && cd build && cmake .. -DBUILDING_TESTS=1
+        run: mkdir build && cd build && cmake .. -DBUILDING_TESTS=1 -DCMAKE_COMPILE_WARNING_AS_ERROR=ON
       - name: build
         run: cmake --build build --config Debug
       - name: test

.github/workflows/ci.yml

@@ -66,8 +66,9 @@ jobs:
           -DINTEGRATION_TESTS=1
           -DWITH_ASAN=ON
           -DPRIMARY_CLIENT_STRICT_PARSING=ON
+          -DCMAKE_COMPILE_WARNING_AS_ERROR=ON
         env:
-          CXXFLAGS: -g -O2  -fprofile-arcs -ftest-coverage
+          CXXFLAGS: -g -O2 -fprofile-arcs -ftest-coverage
           CFLAGS: -g -O2 -fprofile-arcs -ftest-coverage
           LDFLAGS: -fprofile-arcs -ftest-coverage
       - name: build

.github/workflows/win-build.yml

@@ -16,8 +16,7 @@ jobs:
     steps:
       - uses: actions/checkout@v6
       - name: configure
-        run: mkdir build && cd build && cmake .. -DBUILDING_TESTS=1
-        #run: mkdir build && cd build && cmake .. -DBUILDING_TESTS=1 -DINTEGRATION_TESTS=1
+        run: mkdir build && cd build && cmake .. -DBUILDING_TESTS=1 -DCMAKE_COMPILE_WARNING_AS_ERROR=ON
       - name: build
         run: cmake --build build --config Debug
       - name: test

CMakeLists.txt

@@ -71,7 +71,20 @@ if(MSVC)
   target_link_libraries(urcl ws2_32)
 else()
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -pedantic")
-  target_compile_options(urcl PRIVATE -Wall -Wextra -Wno-unused-parameter)
+
+  # GCC 13-15 have a false positive -Wmaybe-uninitialized in <regex> headers
+  # (https://gcc.gnu.org/bugzilla/show_bug.cgi?id=105562).
+  # Bump the upper bound if the bug persists in newer GCC versions.
+  if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU"
+     AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 13
+     AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 16)
+    set_source_files_properties(
+      src/control/script_reader.cpp
+      src/ur/dashboard_client.cpp
+      src/ur/dashboard_client_implementation_g5.cpp
+      src/ur/dashboard_client_implementation_x.cpp
+      PROPERTIES COMPILE_OPTIONS "-Wno-maybe-uninitialized")
+  endif()
 
   if(WITH_ASAN)
     target_compile_options(urcl PUBLIC -fsanitize=address)
@@ -101,6 +114,15 @@ if(CMAKE_THREAD_LIBS_INIT)
   target_link_libraries(urcl PUBLIC "${CMAKE_THREAD_LIBS_INIT}")
 endif()
 
+# When warnings are treated as errors, also enable high warning level for all targets
+if(CMAKE_COMPILE_WARNING_AS_ERROR)
+  if(MSVC)
+    add_compile_options(/W4)
+  else()
+    add_compile_options(-Wall -Wextra)
+  endif()
+endif()
+
 ##
 ## Build testing if enabled by option
 ##

examples/CMakeLists.txt

@@ -3,7 +3,6 @@ project(ur_driver_examples)
 
 # find_package(ur_client_library REQUIRED)
 
-
 add_executable(driver_example
   full_driver.cpp)
 target_link_libraries(driver_example ur_client_library::urcl)

examples/external_fts_through_rtde.cpp

@@ -46,7 +46,7 @@ char getChar()
   {
     if (_kbhit())
     {
-      ch = _getch();
+      ch = static_cast<char>(_getch());
     }
   }
   return ch;

examples/spline_example.cpp

@@ -58,30 +58,30 @@ void sendTrajectory(const std::vector<vector6d_t>& p_p, const std::vector<vector
 
   URCL_LOG_INFO("Starting joint-based trajectory forward");
   g_my_robot->getUrDriver()->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_START,
-                                                           p_p.size());
+                                                           static_cast<int>(p_p.size()));
 
   for (size_t i = 0; i < p_p.size() && p_p.size() == time.size() && p_p[i].size() == 6; i++)
   {
     // MoveJ
     if (!use_spline_interpolation_)
     {
-      g_my_robot->getUrDriver()->writeTrajectoryPoint(p_p[i], false, time[i]);
+      g_my_robot->getUrDriver()->writeTrajectoryPoint(p_p[i], false, static_cast<float>(time[i]));
     }
     else  // Use spline interpolation
     {
       // QUINTIC
       if (p_v.size() == time.size() && p_a.size() == time.size() && p_v[i].size() == 6 && p_a[i].size() == 6)
       {
-        g_my_robot->getUrDriver()->writeTrajectorySplinePoint(p_p[i], p_v[i], p_a[i], time[i]);
+        g_my_robot->getUrDriver()->writeTrajectorySplinePoint(p_p[i], p_v[i], p_a[i], static_cast<float>(time[i]));
       }
       // CUBIC
       else if (p_v.size() == time.size() && p_v[i].size() == 6)
       {
-        g_my_robot->getUrDriver()->writeTrajectorySplinePoint(p_p[i], p_v[i], time[i]);
+        g_my_robot->getUrDriver()->writeTrajectorySplinePoint(p_p[i], p_v[i], static_cast<float>(time[i]));
       }
       else
       {
-        g_my_robot->getUrDriver()->writeTrajectorySplinePoint(p_p[i], time[i]);
+        g_my_robot->getUrDriver()->writeTrajectorySplinePoint(p_p[i], static_cast<float>(time[i]));
       }
     }
   }

examples/trajectory_point_interface.cpp

@@ -88,18 +88,20 @@ int main(int argc, char* argv[])
 
     // Trajectory execution
     g_my_robot->getUrDriver()->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_START,
-                                                             points.size() * 2);
+                                                             static_cast<int>(points.size() * 2));
     for (size_t i = 0; i < points.size(); i++)
     {
-      g_my_robot->getUrDriver()->writeTrajectoryPoint(points[i], false, motion_durations[i], blend_radii[i]);
+      g_my_robot->getUrDriver()->writeTrajectoryPoint(points[i], false, static_cast<float>(motion_durations[i]),
+                                                      static_cast<float>(blend_radii[i]));
     }
 
     // Same motion, but parametrized with acceleration and velocity
     motion_durations = { 0.0, 0.0 };
     for (size_t i = 0; i < points.size(); i++)
     {
-      g_my_robot->getUrDriver()->writeTrajectoryPoint(points[i], accelerations[i], velocities[i], false,
-                                                      motion_durations[i], blend_radii[i]);
+      g_my_robot->getUrDriver()->writeTrajectoryPoint(
+          points[i], static_cast<float>(accelerations[i]), static_cast<float>(velocities[i]), false,
+          static_cast<float>(motion_durations[i]), static_cast<float>(blend_radii[i]));
     }
 
     while (!g_trajectory_done)
@@ -125,19 +127,21 @@ int main(int argc, char* argv[])
 
     // Trajectory execution of the path that goes through the points twice.
     g_my_robot->getUrDriver()->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_START,
-                                                             points.size() * 2);
+                                                             static_cast<int>(points.size() * 2));
     for (size_t i = 0; i < points.size(); i++)
     {
       // setting the cartesian parameter makes it interpret the 6d vector as a pose and use movel
-      g_my_robot->getUrDriver()->writeTrajectoryPoint(points[i], true, motion_durations[i], blend_radii[i]);
+      g_my_robot->getUrDriver()->writeTrajectoryPoint(points[i], true, static_cast<float>(motion_durations[i]),
+                                                      static_cast<float>(blend_radii[i]));
     }
 
     // Same motion, but parametrized with acceleration and velocity
     motion_durations = { 0.0, 0.0 };
     for (size_t i = 0; i < points.size(); i++)
     {
-      g_my_robot->getUrDriver()->writeTrajectoryPoint(points[i], accelerations[i], velocities[i], true,
-                                                      motion_durations[i], blend_radii[i]);
+      g_my_robot->getUrDriver()->writeTrajectoryPoint(
+          points[i], static_cast<float>(accelerations[i]), static_cast<float>(velocities[i]), true,
+          static_cast<float>(motion_durations[i]), static_cast<float>(blend_radii[i]));
     }
 
     while (!g_trajectory_done)
@@ -165,10 +169,11 @@ int main(int argc, char* argv[])
 
     // Trajectory execution
     g_my_robot->getUrDriver()->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_START,
-                                                             positions.size());
+                                                             static_cast<int>(positions.size()));
     for (size_t i = 0; i < positions.size(); i++)
     {
-      g_my_robot->getUrDriver()->writeTrajectorySplinePoint(positions[i], velocities[i], motion_durations[i]);
+      g_my_robot->getUrDriver()->writeTrajectorySplinePoint(positions[i], velocities[i],
+                                                            static_cast<float>(motion_durations[i]));
     }
 
     while (!g_trajectory_done)

include/ur_client_library/comm/pipeline.h

@@ -215,8 +215,9 @@ class IProducer
    * failed. Unlimited number of attempts when set to 0.
    * \param reconnection_time time in between connection attempts to the server
    */
-  virtual void setupProducer(const size_t max_num_tries = 0,
-                             const std::chrono::milliseconds reconnection_time = std::chrono::seconds(10))
+  virtual void
+  setupProducer([[maybe_unused]] const size_t max_num_tries = 0,
+                [[maybe_unused]] const std::chrono::milliseconds reconnection_time = std::chrono::seconds(10))
   {
   }
   /*!
@@ -267,13 +268,13 @@ class INotifier
   /*!
    * \brief Start notification.
    */
-  virtual void started(std::string name)
+  virtual void started([[maybe_unused]] std::string name)
   {
   }
   /*!
    * \brief Stop notification.
    */
-  virtual void stopped(std::string name)
+  virtual void stopped([[maybe_unused]] std::string name)
   {
   }
 };

include/ur_client_library/control/reverse_interface.h

@@ -166,7 +166,7 @@ class ReverseInterface
    * \returns A unique handler ID for the registered callback. This can be used to unregister the
    * callback later.
    */
-  uint32_t registerDisconnectionCallback(std::function<void(const int)> disconnection_fun)
+  uint32_t registerDisconnectionCallback(std::function<void(const socket_t)> disconnection_fun)
   {
     disconnect_callbacks_.push_back({ next_disconnect_callback_id_, disconnection_fun });
     return next_disconnect_callback_id_++;
@@ -180,7 +180,7 @@ class ReverseInterface
   void unregisterDisconnectionCallback(const uint32_t handler_id)
   {
     disconnect_callbacks_.remove_if(
-        [handler_id](const HandlerFunction<void(const int)>& h) { return h.id == handler_id; });
+        [handler_id](const HandlerFunction<void(const socket_t)>& h) { return h.id == handler_id; });
   }
 
   /*!
@@ -213,7 +213,7 @@ class ReverseInterface
 
   virtual void messageCallback(const socket_t filedescriptor, char* buffer, int nbytesrecv);
 
-  std::list<HandlerFunction<void(const int)>> disconnect_callbacks_;
+  std::list<HandlerFunction<void(const socket_t)>> disconnect_callbacks_;
   uint32_t next_disconnect_callback_id_ = 0;
   socket_t client_fd_;
   comm::TCPServer server_;

include/ur_client_library/log.h

@@ -19,6 +19,8 @@
 #pragma once
 #include <inttypes.h>
 #include <memory>
+#include <string>
+#include <system_error>
 
 #define URCL_LOG_DEBUG(...) urcl::log(__FILE__, __LINE__, urcl::LogLevel::DEBUG, __VA_ARGS__)
 #define URCL_LOG_WARN(...) urcl::log(__FILE__, __LINE__, urcl::LogLevel::WARN, __VA_ARGS__)
@@ -88,4 +90,19 @@ void setLogLevel(LogLevel level);
  * \param fmt Format string
  */
 void log(const char* file, int line, LogLevel level, const char* fmt, ...);
+
+/*!
+ * \brief Cross-platform replacement for strerror.
+ *
+ * On MSVC, strerror triggers C4996 (deprecated). This function uses std::error_code instead,
+ * which is portable and thread-safe.
+ *
+ * \param errnum Error number (typically errno)
+ * \returns Human-readable error message
+ */
+inline std::string strerror_portable(int errnum)
+{
+  return std::error_code(errnum, std::generic_category()).message();
+}
+
 }  // namespace urcl

include/ur_client_library/primary/primary_consumer.h

@@ -62,7 +62,7 @@ class PrimaryConsumer : public AbstractPrimaryConsumer
    *
    * \returns True
    */
-  virtual bool consume(RobotMessage& msg) override
+  virtual bool consume([[maybe_unused]] RobotMessage& msg) override
   {
     return true;
   }
@@ -74,7 +74,7 @@ class PrimaryConsumer : public AbstractPrimaryConsumer
    *
    * \returns True
    */
-  virtual bool consume(RobotState& msg) override
+  virtual bool consume([[maybe_unused]] RobotState& msg) override
   {
     return true;
   }

include/ur_client_library/primary/primary_parser.h

@@ -102,10 +102,10 @@ class PrimaryParser : public comm::Parser<PrimaryPackage>
           // deconstruction of a sub parser will increment the position of the parent parser
           comm::BinParser sbp(bp, sub_size);
           sbp.consume(sizeof(sub_size));
-          RobotStateType type;
-          sbp.parse(type);
+          RobotStateType sub_type;
+          sbp.parse(sub_type);
 
-          std::unique_ptr<PrimaryPackage> packet(stateFromType(type));
+          std::unique_ptr<PrimaryPackage> packet(stateFromType(sub_type));
 
           if (packet == nullptr)
           {
@@ -117,7 +117,7 @@ class PrimaryParser : public comm::Parser<PrimaryPackage>
 
           if (!packet->parseWith(sbp))
           {
-            URCL_LOG_ERROR("Sub-package parsing of type %d failed!", static_cast<int>(type));
+            URCL_LOG_ERROR("Sub-package parsing of type %d failed!", static_cast<int>(sub_type));
             return false;
           }
 
@@ -128,10 +128,10 @@ class PrimaryParser : public comm::Parser<PrimaryPackage>
             sbp.debug();
             if (strict_mode_)
             {
-              throw UrException("Sub-package of type " + std::string(robotStateString(type)) +
+              throw UrException("Sub-package of type " + std::string(robotStateString(sub_type)) +
                                 " was not parsed completely, and strict mode is enabled, so aborting parsing!");
             }
-            URCL_LOG_WARN("Sub-package of type %s was not parsed completely!", robotStateString(type));
+            URCL_LOG_WARN("Sub-package of type %s was not parsed completely!", robotStateString(sub_type));
             sbp.consume();
           }
         }

include/ur_client_library/ur/dashboard_client_implementation.h

@@ -133,7 +133,7 @@ class DashboardClientImpl
    *
    * \param timeout The timeout to be set
    */
-  virtual void setReceiveTimeout(const timeval& timeout) {};
+  virtual void setReceiveTimeout([[maybe_unused]] const timeval& timeout) {};
 
   /*!
    * \brief Sends command and verifies that a valid answer is received.

include/ur_client_library/ur/dashboard_client_implementation_x.h

@@ -162,7 +162,7 @@ class DashboardClientImplX : public DashboardClientImpl
   DashboardResponse commandUpdateProgram(const std::string& file_path) override;
   DashboardResponse commandDownloadProgram(const std::string& filename, const std::string& save_path) override;
 
-  void setReceiveTimeout(const timeval& timeout) override
+  void setReceiveTimeout([[maybe_unused]] const timeval& timeout) override
   {
   }
 

include/ur_client_library/ur/instruction_executor.h

@@ -189,7 +189,7 @@ class InstructionExecutor
 
 protected:
   void trajDoneCallback(const urcl::control::TrajectoryResult& result);
-  void trajDisconnectCallback(const int filedescriptor);
+  void trajDisconnectCallback(const socket_t filedescriptor);
 
   uint32_t traj_done_callback_handler_id_;
   uint32_t disconnected_handler_id_;

include/ur_client_library/ur/ur_driver.h

@@ -486,7 +486,7 @@ class UrDriver
 
   uint32_t getControlFrequency() const
   {
-    return rtde_client_->getTargetFrequency();
+    return static_cast<uint32_t>(rtde_client_->getTargetFrequency());
   }
 
   /*!
@@ -1000,7 +1000,7 @@ class UrDriver
    *
    * \returns The ID of the callback that can be used to unregister the callback later.
    */
-  uint32_t registerTrajectoryInterfaceDisconnectedCallback(std::function<void(const int)> fun)
+  uint32_t registerTrajectoryInterfaceDisconnectedCallback(std::function<void(const socket_t)> fun)
   {
     return trajectory_interface_->registerDisconnectionCallback(fun);
   }

src/comm/tcp_server.cpp

@@ -121,7 +121,7 @@ void TCPServer::shutdown()
   memset(&address, 0, sizeof(address));
   address.sin_family = AF_INET;
   address.sin_addr.s_addr = htonl(INADDR_LOOPBACK);
-  address.sin_port = htons(port_);
+  address.sin_port = htons(static_cast<uint16_t>(port_));
 
   ::connect(shutdown_socket, reinterpret_cast<const sockaddr*>(&address), sizeof(address));
 
@@ -152,7 +152,7 @@ void TCPServer::bind(const size_t max_num_tries, const std::chrono::milliseconds
 
   // INADDR_ANY is a special constant that signalizes "ANY IFACE",
   server_addr.sin_addr.s_addr = htonl(INADDR_ANY);
-  server_addr.sin_port = htons(port_);
+  server_addr.sin_port = htons(static_cast<uint16_t>(port_));
   int err = -1;
   size_t connection_counter = 0;
   do