Driver: cleared all warnings. Enabled strict check for Wconversion.

modules/drivers/canbus/can_client/can_client_tool.cc

@@ -19,8 +19,8 @@
 #include <memory>
 #include <thread>
 
-#include "gflags/gflags.h"
 #include "cyber/common/log.h"
+#include "gflags/gflags.h"
 #include "modules/common/proto/error_code.pb.h"
 #include "modules/common/time/time.h"
 #include "modules/common/util/factory.h"
@@ -134,8 +134,8 @@ class CanAgent {
         send_id = id;
         frames[i].id = id;
         frames[i].len = 8;
-        frames[i].data[7] = count % 256;
-        for (int32_t j = 0; j < 7; ++j) {
+        frames[i].data[7] = static_cast<uint8_t>(count % 256);
+        for (uint8_t j = 0; j < 7; ++j) {
           frames[i].data[j] = j;
         }
         ++count;
@@ -159,7 +159,7 @@ class CanAgent {
       }
     }
     int64_t end = AsInt64<micros>(Clock::Now());
-    param->send_time = end - start;
+    param->send_time = static_cast<int32_t>(end - start);
     // In case for finish too quick to receiver miss some msg
     sleep(2);
     AINFO << "Send thread stopping..." << param->conf.ShortDebugString();
@@ -215,7 +215,7 @@ class CanAgent {
       }
     }
     int64_t end = AsInt64<micros>(Clock::Now());
-    param->recv_time = end - start;
+    param->recv_time = static_cast<int32_t>(end - start);
     AINFO << "Recv thread stopping..., conf:" << param->conf.ShortDebugString();
     return;
   }

modules/drivers/canbus/can_client/esd/esd_can_client.cc

@@ -277,7 +277,7 @@ std::string EsdCanClient::GetErrorString(const NTCAN_RESULT ntstatus) {
     char sz_error_text[60];
 
     res = canFormatError(ntstatus, NTCAN_ERROR_FORMAT_LONG, sz_error_text,
-                         sizeof(sz_error_text) - 1);
+                         static_cast<uint32_t>(sizeof(sz_error_text) - 1));
     if (NTCAN_SUCCESS == res) {
       snprintf(reinterpret_cast<char *>(str_buf), ERROR_BUF_SIZE, "%s - %s",
                es->str, sz_error_text);

modules/drivers/canbus/can_client/fake/fake_can_client_test.cc

@@ -78,7 +78,7 @@ TEST_F(FakeCanClientTest, SendMessage) {
     frames[i].id = 1 & 0x3FF;
     frames[i].len = 8;
     frames[i].data[7] = 1 % 256;
-    for (int32_t j = 0; j < 7; ++j) {
+    for (uint8_t j = 0; j < 7; ++j) {
       frames[i].data[j] = j;
     }
   }

modules/drivers/canbus/can_comm/protocol_data.h

@@ -121,7 +121,7 @@ T ProtocolData<SensorType>::BoundedValue(T lower, T upper, T val) {
 template <typename SensorType>
 uint8_t ProtocolData<SensorType>::CalculateCheckSum(const uint8_t *input,
                                                     const uint32_t length) {
-  return std::accumulate(input, input + length, 0) ^ 0xFF;
+  return static_cast<uint8_t>(std::accumulate(input, input + length, 0) ^ 0xFF);
 }
 
 template <typename SensorType>

tools/bazel.rc

@@ -70,8 +70,7 @@ build --copt="-Werror=unused-but-set-variable"
 build --copt="-Werror=switch"
 
 # Strict check on type conversion.
-# TODO(all): Clear drivers module and remove it from exception.
-build --per_file_copt=^modules/.*\.cc,-^modules/drivers/.*\.cc@-Werror=conversion
+build --per_file_copt=^modules/.*\.cc@-Werror=conversion
 
 # TODO(all): Clear cyber warnings and add it to the strict check.
 build --per_file_copt=^cyber/.*\.cc@-Wconversion