refactor(gyro_odometer): apply static analysis

[a-maumau]

Description

This PR applies some suggestions from the linter to localization/gyro_odometer.

Fixed:

• camelCase to snake_case
• use explicit cast
• rename
• use initialization list for some variable (in test)
• removed default destructor
• rename ambiguous function name (collide with some library)
• remove "using declaration" in header file

Tests performed

Checked with clang-tidy and cppcheck (v2.14.1)

check_linter.sh

#!/bin/bash
set -eux

TARGET_DIR=$1

current_dir=$(basename $(pwd))
if [[ ! $current_dir =~ ^(autoware|pilot-auto) ]]; then
    echo "This script must be run in a directory with a prefix of autoware or pilot-auto."
    exit 1
fi

set +eux
export CPLUS_INCLUDE_PATH=/usr/include/c++/11:/usr/include/x86_64-linux-gnu/c++/11:$CPLUS_INCLUDE_PATH
set -eux

fdfind -e cpp -e hpp --full-path ${TARGET_DIR} | xargs -P $(nproc) -I{} cpplint {}
fdfind -e cpp -e hpp --full-path ${TARGET_DIR} | xargs -P $(nproc) -I{} clang-tidy -p build/ {}

---

Before fixing the code:

output from above commands

$ ./check_linter.sh gyro_odometer
...
13232 warnings generated.
Suppressed 13243 warnings (13232 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
13229 warnings generated.
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/test/test_gyro_odometer_helper.hpp:23:1: warning: using declarations in the global namespace in headers are prohibited [google-global-names-in-headers]
using geometry_msgs::msg::TwistWithCovarianceStamped;
^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/test/test_gyro_odometer_helper.hpp:24:1: warning: using declarations in the global namespace in headers are prohibited [google-global-names-in-headers]
using sensor_msgs::msg::Imu;
^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/test/test_gyro_odometer_helper.hpp:26:5: warning: invalid case style for function 'generateSampleImu' [readability-identifier-naming]
Imu generateSampleImu();
    ^~~~~~~~~~~~~~~~~
    generate_sample_imu
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/test/test_gyro_odometer_helper.hpp:27:28: warning: invalid case style for function 'generateSampleVelocity' [readability-identifier-naming]
TwistWithCovarianceStamped generateSampleVelocity();
                           ^~~~~~~~~~~~~~~~~~~~~~
                           generate_sample_velocity
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/test/test_gyro_odometer_helper.hpp:28:21: warning: invalid case style for function 'getNodeOptionsWithDefaultParams' [readability-identifier-naming]
rclcpp::NodeOptions getNodeOptionsWithDefaultParams();
                    ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
                    get_node_options_with_default_params
Suppressed 13235 warnings (13224 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
13245 warnings generated.
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/include/gyro_odometer/diagnostics_module.hpp:33:8: warning: invalid case style for function 'addKeyValue' [readability-identifier-naming]
  void addKeyValue(const diagnostic_msgs::msg::KeyValue & key_value_msg);
       ^~~~~~~~~~~
       add_key_value
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/include/gyro_odometer/diagnostics_module.hpp:35:8: warning: invalid case style for function 'addKeyValue' [readability-identifier-naming]
  void addKeyValue(const std::string & key, const T & value);
       ^~~~~~~~~~~
       add_key_value
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/include/gyro_odometer/diagnostics_module.hpp:36:8: warning: invalid case style for function 'updateLevelAndMessage' [readability-identifier-naming]
  void updateLevelAndMessage(const int8_t level, const std::string & message);
       ^~~~~~~~~~~~~~~~~~~~~
       update_level_and_message
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/include/gyro_odometer/diagnostics_module.hpp:40:3: warning: function 'createDiagnosticsArray' should be marked [[nodiscard]] [modernize-use-nodiscard]
  diagnostic_msgs::msg::DiagnosticArray createDiagnosticsArray(
  ^
  [[nodiscard]] 
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/include/gyro_odometer/diagnostics_module.hpp:40:41: warning: invalid case style for function 'createDiagnosticsArray' [readability-identifier-naming]
  diagnostic_msgs::msg::DiagnosticArray createDiagnosticsArray(
                                        ^~~~~~~~~~~~~~~~~~~~~~
                                        create_diagnostics_array
Suppressed 13251 warnings (13240 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
13799 warnings generated.
Suppressed 13810 warnings (13799 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
14510 warnings generated.
Suppressed 14538 warnings (14510 in non-user code, 28 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
15508 warnings generated.
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp:43:7: warning: class 'GyroOdometerNode' defines a non-default destructor but does not define a copy constructor, a copy assignment operator, a move constructor or a move assignment operator [cppcoreguidelines-special-member-functions]
class GyroOdometerNode : public rclcpp::Node
      ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp:50:3: error: annotate this function with 'override' or (rarely) 'final' [modernize-use-override,-warnings-as-errors]
  ~GyroOdometerNode();
  ^
                      override
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp:53:8: warning: invalid case style for function 'callbackVehicleTwist' [readability-identifier-naming]
  void callbackVehicleTwist(
       ^~~~~~~~~~~~~~~~~~~~
       callback_vehicle_twist
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp:55:8: warning: invalid case style for function 'callbackImu' [readability-identifier-naming]
  void callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg_ptr);
       ^~~~~~~~~~~
       callback_imu
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp:56:8: warning: invalid case style for function 'concatGyroAndOdometer' [readability-identifier-naming]
  void concatGyroAndOdometer();
       ^~~~~~~~~~~~~~~~~~~~~
       concat_gyro_and_odometer
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp:57:8: warning: invalid case style for function 'publishData' [readability-identifier-naming]
  void publishData(const geometry_msgs::msg::TwistWithCovarianceStamped & twist_with_cov_raw);
       ^~~~~~~~~~~
       publish_data
Suppressed 15513 warnings (15502 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
1 warning treated as error
19912 warnings generated.
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/test/test_gyro_odometer_pubsub.cpp:65:6: warning: invalid case style for function 'spinSome' [readability-identifier-naming]
void spinSome(rclcpp::Node::SharedPtr node_ptr)
     ^~~~~~~~
     spin_some
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/test/test_gyro_odometer_pubsub.cpp:73:6: warning: invalid case style for function 'isTwistValid' [readability-identifier-naming]
bool isTwistValid(
     ^~~~~~~~~~~~
     is_twist_valid
Suppressed 19938 warnings (19910 in non-user code, 28 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
20162 warnings generated.
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp:53:8: warning: function 'autoware::gyro_odometer::GyroOdometerNode::callbackVehicleTwist' has a definition with different parameter names [readability-inconsistent-declaration-parameter-name]
  void callbackVehicleTwist(
       ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp:83:24: note: the definition seen here
void GyroOdometerNode::callbackVehicleTwist(
                       ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp:53:8: note: differing parameters are named here: ('vehicle_twist_msg_ptr'), in definition: ('vehicle_twist_ptr')
  void callbackVehicleTwist(
       ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp:34:23: warning: invalid case style for function 'transformCovariance' [readability-identifier-naming]
std::array<double, 9> transformCovariance(const std::array<double, 9> & cov)
                      ^~~~~~~~~~~~~~~~~~~
                      transform_covariance
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp:40:3: warning: uninitialized record type: 'cov_transformed' [cppcoreguidelines-pro-type-member-init]
  std::array<double, 9> cov_transformed;
  ^
                                       {}
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp:79:19: error: use '= default' to define a trivial destructor [modernize-use-equals-default,-warnings-as-errors]
GyroOdometerNode::~GyroOdometerNode()
                  ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp:226:14: warning: narrowing conversion from 'std::deque::size_type' (aka 'unsigned long') to 'double' [cppcoreguidelines-narrowing-conversions]
  vx_mean /= vehicle_twist_queue_.size();
             ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp:227:29: warning: narrowing conversion from 'std::deque::size_type' (aka 'unsigned long') to 'double' [cppcoreguidelines-narrowing-conversions]
  vx_covariance_original /= vehicle_twist_queue_.size();
                            ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp:237:18: warning: narrowing conversion from 'std::deque::size_type' (aka 'unsigned long') to 'double' [cppcoreguidelines-narrowing-conversions]
  gyro_mean.x /= gyro_queue_.size();
                 ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp:238:18: warning: narrowing conversion from 'std::deque::size_type' (aka 'unsigned long') to 'double' [cppcoreguidelines-narrowing-conversions]
  gyro_mean.y /= gyro_queue_.size();
                 ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp:239:18: warning: narrowing conversion from 'std::deque::size_type' (aka 'unsigned long') to 'double' [cppcoreguidelines-narrowing-conversions]
  gyro_mean.z /= gyro_queue_.size();
                 ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp:240:33: warning: narrowing conversion from 'std::deque::size_type' (aka 'unsigned long') to 'double' [cppcoreguidelines-narrowing-conversions]
  gyro_covariance_original.x /= gyro_queue_.size();
                                ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp:241:33: warning: narrowing conversion from 'std::deque::size_type' (aka 'unsigned long') to 'double' [cppcoreguidelines-narrowing-conversions]
  gyro_covariance_original.y /= gyro_queue_.size();
                                ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp:242:33: warning: narrowing conversion from 'std::deque::size_type' (aka 'unsigned long') to 'double' [cppcoreguidelines-narrowing-conversions]
  gyro_covariance_original.z /= gyro_queue_.size();
                                ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp:260:30: warning: narrowing conversion from 'std::deque::size_type' (aka 'unsigned long') to 'double' [cppcoreguidelines-narrowing-conversions]
    vx_covariance_original / vehicle_twist_queue_.size();
                             ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp:264:34: warning: narrowing conversion from 'std::deque::size_type' (aka 'unsigned long') to 'double' [cppcoreguidelines-narrowing-conversions]
    gyro_covariance_original.x / gyro_queue_.size();
                                 ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp:266:34: warning: narrowing conversion from 'std::deque::size_type' (aka 'unsigned long') to 'double' [cppcoreguidelines-narrowing-conversions]
    gyro_covariance_original.y / gyro_queue_.size();
                                 ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp:268:34: warning: narrowing conversion from 'std::deque::size_type' (aka 'unsigned long') to 'double' [cppcoreguidelines-narrowing-conversions]
    gyro_covariance_original.z / gyro_queue_.size();
                                 ^
Suppressed 20157 warnings (20146 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
1 warning treated as error

Check with cppcheck:

output

$ cppcheck --enable=warning --enable=style --enable=performance --enable=portability --enable=unusedFunction --inconclusive --check-level=exhaustive .

Checking src/diagnostics_module.cpp ...
1/5 files checked 15% done
Checking src/gyro_odometer_core.cpp ...
Checking src/gyro_odometer_core.cpp: ROS_DISTRO_GALACTIC...
2/5 files checked 67% done
Checking test/test_gyro_odometer_helper.cpp ...
3/5 files checked 73% done
Checking test/test_gyro_odometer_pubsub.cpp ...
test/test_gyro_odometer_pubsub.cpp:57:9: performance: Variable 'received_latest_twist_ptr' is assigned in constructor body. Consider performing initialization in initialization list. [useInitializationList]
        received_latest_twist_ptr = msg;
        ^
4/5 files checked 96% done
Checking test/test_main.cpp ...
5/5 files checked 100% done

---

After this PR:

Check with check_linter.sh

$ ./check_linter.sh gyro_odometer
...
13240 warnings generated.
Suppressed 13251 warnings (13240 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
13227 warnings generated.
Suppressed 13238 warnings (13227 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
13224 warnings generated.
Suppressed 13235 warnings (13224 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
14510 warnings generated.
Suppressed 14538 warnings (14510 in non-user code, 28 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
13794 warnings generated.
Suppressed 13805 warnings (13794 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
15497 warnings generated.
Suppressed 15508 warnings (15497 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
19896 warnings generated.
Suppressed 19924 warnings (19896 in non-user code, 28 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
20134 warnings generated.
Suppressed 20145 warnings (20134 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.

Check with cppcheck (no warnings):

$ cppcheck --enable=warning --enable=style --enable=performance --enable=portability --enable=unusedFunction --inconclusive --check-level=exhaustive .

...
5/5 files checked 100% done

Effects on system behavior

Not applicable.

Interface changes

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[SakodaShintaro]

I have confirmed that logging_simulator works well.
Thank you so much!
Looks Good To Me