All: added -Werror for certain warnings and fixed existing warnings.

.gitignore

@@ -88,3 +88,6 @@ modules/calibration/data/mkz056
 
 # Data bag
 docs/demo_guide/*.bag
+
+# Cybertron
+framework/cybertron/log/*

.travis.yml

@@ -28,6 +28,14 @@ jobs:
         - ./apollo_docker.sh ${JOB}
         - rm -rf "${HOME}/.cache/bazel/_bazel_${USER}/install"
         - rm -rf "/apollo/data/core"
+    - # stage: stage-02
+      env:
+        - JOB=cibuild_extended
+      script:
+        - ./docker/scripts/dev_start.sh -t dev-x86_64-20181001_1754-ci
+        - ./apollo_docker.sh ${JOB}
+        - rm -rf "${HOME}/.cache/bazel/_bazel_${USER}/install"
+        - rm -rf "/apollo/data/core"
     - # stage: stage-02
       env:
         - JOB=citest_basic

apollo.sh

@@ -178,11 +178,9 @@ function build() {
   fi
 }
 
-function cibuild() {
+function cibuild_extended() {
   info "Building framework ..."
   build_proto
-  #cd /apollo/framework
-  #bash cybertron.sh build_fast
 
   cd /apollo
   info "Building modules ..."
@@ -195,9 +193,7 @@ function cibuild() {
   info "Building with $JOB_ARG for $MACHINE_ARCH"
   BUILD_TARGETS="
     //framework/...
-    //modules/canbus/...
-    //modules/common/...
-    //modules/control/...
+    //modules/perception/...
     //modules/dreamview/...
     //modules/drivers/radar/conti_radar/...
     //modules/drivers/radar/racobit_radar/...
@@ -208,12 +204,38 @@ function cibuild() {
     //modules/guardian/...
     //modules/localization/...
     //modules/map/...
-    //modules/perception/...
+    //modules/third_party_perception/...
+    "
+
+  bazel build $JOB_ARG $DEFINES $@ $BUILD_TARGETS
+
+  if [ $? -eq 0 ]; then
+    success 'Build passed!'
+  else
+    fail 'Build failed!'
+  fi
+}
+function cibuild() {
+  info "Building framework ..."
+  build_proto
+
+  cd /apollo
+  info "Building modules ..."
+
+  JOB_ARG="--jobs=$(nproc)"
+  if [ "$MACHINE_ARCH" == 'aarch64' ]; then
+    JOB_ARG="--jobs=3"
+  fi
+
+  info "Building with $JOB_ARG for $MACHINE_ARCH"
+  BUILD_TARGETS="
+    //framework/...
+    //modules/canbus/...
+    //modules/common/...
+    //modules/control/...
     //modules/planning/...
     //modules/prediction/...
     //modules/routing/...
-    //modules/transform/...
-    //modules/third_party_perception/...
     //modules/transform/..."
 
   bazel build $JOB_ARG $DEFINES $@ $BUILD_TARGETS
@@ -795,6 +817,10 @@ function main() {
       DEFINES="${DEFINES} --cxxopt=-DCPU_ONLY"
       cibuild $@
       ;;
+    cibuild_extended)
+      DEFINES="${DEFINES} --cxxopt=-DCPU_ONLY"
+      cibuild_extended $@
+      ;;
     build_opt)
       DEFINES="${DEFINES} --cxxopt=-DCPU_ONLY --copt=-fpic"
       apollo_build_opt $@

framework/cybertron/scheduler/scheduler.cpp

@@ -141,7 +141,7 @@ std::shared_ptr<ProcessorContext> Scheduler::FindProc(
   }
 
   if (cr->processor_id() != -1 && cr->processor_id() != cur_proc_ &&
-      cr->processor_id() < proc_ctxs_.size()) {
+      cr->processor_id() < static_cast<int>(proc_ctxs_.size())) {
     cr->set_processor_id(proc_ctxs_[cr->processor_id()]->id());
     return proc_ctxs_[cr->processor_id()];
   }
@@ -171,7 +171,7 @@ std::shared_ptr<ProcessorContext> Scheduler::FindProc(
 bool Scheduler::DispatchTask(const std::shared_ptr<CRoutine>& croutine) {
   auto ctx = FindProc(croutine);
 
-  if (croutine->processor_id() >= proc_num_ ||
+  if (croutine->processor_id() >= static_cast<int>(proc_num_) ||
       (croutine->processor_id() < 0 && ctx)) {
     AERROR << GlobalData::GetTaskNameById(croutine->id())
            << "push failed, get processor failed, "

framework/cybertron/tools/cvt/monitor/cybertron_channel_message.h

@@ -55,6 +55,7 @@ class ChannelMessage : public GeneralMessageBase {
       case ChannelMessage::ErrorCode::MessageTypeIsEmptr:
         return "Message Type is Empty";
     }
+    return "";
   }
 
   static bool isErrorCode(void* ptr) {

framework/cybertron/tools/cvt/monitor/general_channel_message.cpp

@@ -81,7 +81,7 @@ void GeneralChannelMessage::RenderInfo(const Screen* s, int key,
 
   auto iter = vec->cbegin();
   int y = page_index_ * page_item_count_;
-  if (y < vec->size()) {
+  if (y < static_cast<int>(vec->size())) {
     y = 0;
     while (y < page_index_ * page_item_count_) {
       ++iter;

framework/cybertron/tools/cvt/monitor/general_message_base.cpp

@@ -62,12 +62,15 @@ int GeneralMessageBase::lineCountOfField(
         break;
       }
 
-      case google::protobuf::FieldDescriptor::CPPTYPE_MESSAGE:
+      case google::protobuf::FieldDescriptor::CPPTYPE_MESSAGE: {
         const google::protobuf::Message& childMsg =
             reflection->GetMessage(msg, field);
         ret += lineCount(childMsg, screenWidth);
         break;
+      }
 
+      default:
+        break;
     }  // end switch
   }
 
@@ -88,8 +91,8 @@ void GeneralMessageBase::PrintMessage(GeneralMessageBase* baseMsg,
     reflection->ListFields(msg, &fields);
   }
 
-  for (std::size_t i = 0; i < fields.size(); ++i) {
-    if (lineNo > s->Height()) {
+  for (size_t i = 0; i < fields.size(); ++i) {
+    if (lineNo > static_cast<unsigned>(s->Height())) {
       break;
     }
     const google::protobuf::FieldDescriptor* field = fields[i];

framework/cybertron/tools/cyber_recorder/main.cpp

@@ -311,7 +311,7 @@ int main(int argc, char** argv) {
     ::apollo::cybertron::Init(argv[0]);
     // TODO @baownayu order input record file
     bool play_result = true;
-    for (auto& opt_file : opt_file_vec) {
+    for (size_t i = 0; i < opt_file_vec.size(); ++i) {
       Player player(opt_file_vec[0], opt_white_channels.empty(),
                     opt_white_channels, opt_loop, opt_rate, opt_begin, opt_end,
                     opt_start, opt_delay);

modules/perception/common/i_lib/pc/i_ground.cc

@@ -13,13 +13,13 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *****************************************************************************/
-#include <iostream>
+#include "modules/perception/common/i_lib/pc/i_ground.h"
+#include <algorithm>
 #include <cassert>
 #include <cfloat>
 #include <cmath>
-#include <algorithm>
+#include <iostream>
 #include <utility>
-#include "modules/perception/common/i_lib/pc/i_ground.h"
 
 namespace apollo {
 namespace perception {
@@ -122,9 +122,9 @@ void PlaneFitGroundDetector::InitOrderTable(const VoxelGridXY<float> *vg,
     map_dist.push_back(std::pair<float, int>(dist2, i));
   }
   sort(map_dist.begin(), map_dist.end(),
-       [](const std::pair<float, int> & a, const std::pair<float, int> & b) {
-    return a.first < b.first;
-  });
+       [](const std::pair<float, int> &a, const std::pair<float, int> &b) {
+         return a.first < b.first;
+       });
   for (i = 0; i < map_dist.size(); ++i) {
     id = map_dist[i].second;
     const auto &voxel = vg->GetConstVoxels()[id];
@@ -365,7 +365,8 @@ void PlaneFitGroundDetector::ComputeAdaptiveThreshold() {
                   &max_dist);
   if (max_dist - min_dist < Constant<float>::EPSILON()) {
     thre = (param_.planefit_dist_threshold_near +
-            param_.planefit_dist_threshold_far) / 2;
+            param_.planefit_dist_threshold_far) /
+           2;
     for (r = 0; r < param_.nr_grids_coarse; ++r) {
       for (c = 0; c < param_.nr_grids_coarse; ++c) {
         pf_thresholds_[r][c] = thre;
@@ -421,8 +422,8 @@ void PlaneFitGroundDetector::ComputeSignedGroundHeightLine(
   int pos = 0;
   char label = 0;
   const float *cptr = nullptr;
-  float dist[] = { 0, 0, 0, 0, 0 };
-  const float *plane[] = { nullptr, nullptr, nullptr, nullptr, nullptr };
+  float dist[] = {0, 0, 0, 0, 0};
+  const float *plane[] = {nullptr, nullptr, nullptr, nullptr, nullptr};
   float min_abs_dist = 0;
   unsigned int nm1 = param_.nr_grids_coarse - 1;
   assert(param_.nr_grids_coarse >= 2);
@@ -635,7 +636,7 @@ int PlaneFitGroundDetector::FitGrid(const float *point_cloud,
   int i = 0;
   int j = 0;
   int rseed = I_DEFAULT_SEED;
-  int indices_trial[] = { 0, 0, 0 };
+  int indices_trial[] = {0, 0, 0};
   int nr_samples = candi->Prune(param_.nr_samples_min_threshold,
                                 param_.nr_samples_max_threshold);
   int nr_inliers_termi =
@@ -835,10 +836,9 @@ int PlaneFitGroundDetector::FitGridWithNeighbors(
   int nr_inliers = 0;
   int nr_inliers_best = -1;
   float angle_best = FLT_MAX;
-  int i = 0;
-  int j = 0;
+
   int rseed = I_DEFAULT_SEED;
-  int indices_trial[] = { 0, 0, 0 };
+  int indices_trial[] = {0, 0, 0};
   int nr_samples = candi.Prune(param_.nr_samples_min_threshold,
                                param_.nr_samples_max_threshold);
   int nr_inliers_termi =
@@ -851,13 +851,13 @@ int PlaneFitGroundDetector::FitGridWithNeighbors(
   int r_n = 0;
   int c_n = 0;
   float angle = -1.f;
-  for (i = 0; i < nr_samples; ++i) {
+  for (int i = 0; i < nr_samples; ++i) {
     assert(candi[i] < static_cast<int>(nr_points));
     ICopy3(point_cloud + (nr_point_element * candi[i]), pdst);
     pdst += dim_point_;
   }
   // generate plane hypothesis and vote
-  for (i = 0; i < param_.nr_ransac_iter_threshold; ++i) {
+  for (int i = 0; i < param_.nr_ransac_iter_threshold; ++i) {
     IRandomSample(indices_trial, 3, nr_samples, &rseed);
     IScale3(indices_trial, dim_point_);
     ICopy3(pf_threeds_ + indices_trial[0], samples);
@@ -872,7 +872,7 @@ int PlaneFitGroundDetector::FitGridWithNeighbors(
     // threshold
     psrc = pf_threeds_;
     nr_inliers = 0;
-    for (j = 0; j < nr_samples; ++j) {
+    for (int j = 0; j < nr_samples; ++j) {
       ptp_dist = IPlaneToPointDistanceWUnitNorm(hypothesis[i].params, psrc);
       if (ptp_dist < dist_thre) {
         nr_inliers++;
@@ -887,7 +887,7 @@ int PlaneFitGroundDetector::FitGridWithNeighbors(
     }
   }
 
-  for (i = 0; i < neighbors.size(); ++i) {
+  for (size_t i = 0; i < neighbors.size(); ++i) {
     r_n = neighbors[i].first;
     c_n = neighbors[i].second;
     if (ground_planes_[r_n][c_n].IsValid()) {
@@ -895,7 +895,7 @@ int PlaneFitGroundDetector::FitGridWithNeighbors(
           ground_planes_[r_n][c_n];
       psrc = pf_threeds_;
       nr_inliers = 0;
-      for (j = 0; j < nr_samples; ++j) {
+      for (int j = 0; j < nr_samples; ++j) {
         ptp_dist = IPlaneToPointDistanceWUnitNorm(
             hypothesis[i + param_.nr_ransac_iter_threshold].params, psrc);
         if (ptp_dist < dist_thre) {
@@ -912,7 +912,7 @@ int PlaneFitGroundDetector::FitGridWithNeighbors(
   }
 
   nr_inliers_best = -1;
-  for (i = 0; i < kNr_iter; ++i) {
+  for (int i = 0; i < kNr_iter; ++i) {
     if (!(hypothesis[i].IsValid())) {
       continue;
     }
@@ -948,7 +948,7 @@ int PlaneFitGroundDetector::FitGridWithNeighbors(
   nr_inliers = 0;
   psrc = pf_threeds_;
   pdst = pf_threeds_;
-  for (i = 0; i < nr_samples; ++i) {
+  for (int i = 0; i < nr_samples; ++i) {
     ptp_dist = IPlaneToPointDistanceWUnitNorm(groundplane->params, psrc);
     if (ptp_dist < dist_thre) {
       ICopy3(psrc, pdst);
@@ -976,7 +976,8 @@ int PlaneFitGroundDetector::FitGridWithNeighbors(
   float cx = voxel_cur.v_[0] + radius;
   float cy = voxel_cur.v_[1] + radius;
   float cz = -(groundplane->params[0] * cx + groundplane->params[1] * cy +
-               groundplane->params[3]) / groundplane->params[2];
+               groundplane->params[3]) /
+             groundplane->params[2];
   ground_z_[r][c].first = cz;
   ground_z_[r][c].second = true;
 
@@ -1116,8 +1117,8 @@ int PlaneFitGroundDetector::CompleteGrid(const GroundPlaneSpherical &lt,
                                          const GroundPlaneSpherical &up,
                                          const GroundPlaneSpherical &dn,
                                          GroundPlaneSpherical *gp) {
-  int supports[] = { 0, 0, 0, 0 };
-  float weights[] = { 0.f, 0.f, 0.f, 0.f };
+  int supports[] = {0, 0, 0, 0};
+  float weights[] = {0.f, 0.f, 0.f, 0.f};
   gp->ForceInvalid();
   supports[0] = lt.GetNrSupport();
   supports[1] = rt.GetNrSupport();
@@ -1150,8 +1151,8 @@ int PlaneFitGroundDetector::SmoothGrid(const GroundPlaneSpherical &g,
                                        const GroundPlaneSpherical &up,
                                        const GroundPlaneSpherical &dn,
                                        GroundPlaneSpherical *gp) {
-  int supports[] = { 0, 0, 0, 0, 0 };
-  float weights[] = { 0.f, 0.f, 0.f, 0.f, 0.f };
+  int supports[] = {0, 0, 0, 0, 0};
+  float weights[] = {0.f, 0.f, 0.f, 0.f, 0.f};
   gp->ForceInvalid();
   if (!g.IsValid()) {
     return 0;
@@ -1185,9 +1186,9 @@ int PlaneFitGroundDetector::SmoothGrid(const GroundPlaneSpherical &g,
   weights[3] = static_cast<float>(supports[3]) / support_sum;
   weights[4] = static_cast<float>(supports[4]) / support_sum;
   // weighted average:
-  gp->theta =
-      weights[0] * lt.theta + weights[1] * rt.theta + weights[2] * up.theta +
-      weights[3] * dn.theta + weights[4] * g.theta;
+  gp->theta = weights[0] * lt.theta + weights[1] * rt.theta +
+              weights[2] * up.theta + weights[3] * dn.theta +
+              weights[4] * g.theta;
   gp->phi = weights[0] * lt.phi + weights[1] * rt.phi + weights[2] * up.phi +
             weights[3] * dn.phi + weights[4] * g.phi;
   gp->d = weights[0] * lt.d + weights[1] * rt.d + weights[2] * up.d +
@@ -1233,22 +1234,19 @@ bool PlaneFitGroundDetector::Detect(const float *point_cloud,
   if (!vg_coarse_->SetS(point_cloud, nr_points, nr_point_elements)) {
     return false;
   }
-  int nr_candis = 0;
-  int nr_valid_grid = 0;
   unsigned int r = 0;
   unsigned int c = 0;
-  unsigned int iter = 0;
   // Filter to generate plane fitting candidates
-  nr_candis = Filter();
+  // int nr_candis = Filter();
   // std::cout << "# of plane candidates: " << nr_candis << std::endl;
   //  Fit local plane using ransac
   // nr_valid_grid = Fit();
-  nr_valid_grid = FitInOrder();
+  // int nr_valid_grid = FitInOrder();
   // std::cout << "# of valid plane geometry (fitting): " << nr_valid_grid <<
   // std::endl;
   // Smooth plane using neighborhood information:
-  for (iter = 0; iter < param_.nr_smooth_iter; ++iter) {
-    nr_valid_grid = Smooth();
+  for (int iter = 0; iter < param_.nr_smooth_iter; ++iter) {
+    Smooth();
   }
 
   for (r = 0; r < param_.nr_grids_coarse; ++r) {

modules/perception/common/i_lib/pc/i_struct_s.h

@@ -19,18 +19,18 @@
 
 #include <smmintrin.h>
 #include <cassert>
-#include <vector>
 #include <limits>
+#include <vector>
 
 #include "modules/perception/common/i_lib/core/i_alloc.h"
 #include "modules/perception/common/i_lib/core/i_blas.h"
 #include "modules/perception/common/i_lib/pc/i_util.h"
 
-
 namespace apollo {
 namespace perception {
 namespace common {
-template <typename T, unsigned int d> class PtCluster {
+template <typename T, unsigned int d>
+class PtCluster {
  public:
   typedef T *iterator;
   typedef const T *const_iterator;
@@ -119,12 +119,10 @@ template <typename T, unsigned int d> class PtCluster {
 };
 
 template <typename T, unsigned int d>
-PtCluster<T, d>::PtCluster()
-    : data_(nullptr), nr_points_(0) {}
+PtCluster<T, d>::PtCluster() : data_(nullptr), nr_points_(0) {}
 
 template <typename T, unsigned int d>
-PtCluster<T, d>::PtCluster(unsigned int n)
-    : data_(nullptr), nr_points_(n) {
+PtCluster<T, d>::PtCluster(unsigned int n) : data_(nullptr), nr_points_(n) {
   if (n != 0) {
     data_ = IAllocAligned<T>(n * d, 4);
     if (!data_ || !IVerifyAlignment(data_, 4)) {
@@ -148,7 +146,8 @@ PtCluster<T, d>::PtCluster(const T *data, unsigned int n)
   }
 }
 
-template <typename T, unsigned int d> void PtCluster<T, d>::CleanUp() {
+template <typename T, unsigned int d>
+void PtCluster<T, d>::CleanUp() {
   IFreeAligned(&data_);
   nr_points_ = 0;
 }
@@ -179,7 +178,8 @@ inline int IAssignPointToVoxel(const T *data, T bound_x_min, T bound_x_max,
   return (i);
 }
 
-template <typename T> class Voxel {
+template <typename T>
+class Voxel {
  public:
   Voxel() {}
   ~Voxel() {}
@@ -244,9 +244,9 @@ template <typename T> class Voxel {
 
   void PushBack(int id) { indices_.push_back(id); }
 
-  unsigned int Capacity() const { return (unsigned int) indices_.capacity(); }
+  unsigned int Capacity() const { return (unsigned int)indices_.capacity(); }
 
-  unsigned int NrPoints() const { return (unsigned int) indices_.size(); }
+  unsigned int NrPoints() const { return (unsigned int)indices_.size(); }
 
   bool Empty() const { return indices_.empty(); }
 
@@ -260,7 +260,8 @@ template <typename T> class Voxel {
 };
 
 // -----Voxel Grid XY-----
-template <typename T> class VoxelGridXY {
+template <typename T>
+class VoxelGridXY {
   // assuming at most 320000 points
   static const unsigned int s_nr_max_reserved_points_ = 320000;
 
@@ -320,7 +321,7 @@ template <typename T> class VoxelGridXY {
 
   bool Initialized() const { return initialized_; }
 
-  unsigned int NrVoxel() const { return (unsigned int) voxels_.size(); }
+  unsigned int NrVoxel() const { return (unsigned int)voxels_.size(); }
 
   unsigned int NrVoxelX() const { return nr_voxel_x_; }
 
@@ -452,27 +453,30 @@ template <typename T> class VoxelGridXY {
   bool AllocAlignedMemory();
 
  private:
-  unsigned int nr_points_, nr_point_element_;
-  unsigned int nr_voxel_x_, nr_voxel_y_, nr_voxel_z_;
-  const T *data_;  // point clouds memory
-  bool initialized_;
+  unsigned int nr_points_ = 0;
+  unsigned int nr_point_element_ = 0;
+  unsigned int nr_voxel_x_ = 0;
+  unsigned int nr_voxel_y_ = 0;
+  unsigned int nr_voxel_z_ = 0;
+  const T *data_ = nullptr;  // point clouds memory
+  bool initialized_ = false;
   T dim_x_[2], dim_y_[2], dim_z_[2], voxel_dim_[3];
-  float *mem_aligned16_f32_;
-  int *mem_aligned16_i32_;
+  float *mem_aligned16_f32_ = nullptr;
+  int *mem_aligned16_i32_ = nullptr;
   std::vector<Voxel<T> > voxels_;
 };
 
 template <typename T>
 VoxelGridXY<T>::VoxelGridXY()
-    : data_(nullptr),
-      mem_aligned16_f32_(nullptr),
-      mem_aligned16_i32_(nullptr),
-      nr_points_(0),
+    : nr_points_(0),
       nr_point_element_(0),
       nr_voxel_x_(0),
       nr_voxel_y_(0),
       nr_voxel_z_(1),
-      initialized_(false) {
+      data_(nullptr),
+      initialized_(false),
+      mem_aligned16_f32_(nullptr),
+      mem_aligned16_i32_(nullptr) {
   IZero2(dim_x_);
   IZero2(dim_y_);
   IZero2(dim_z_);
@@ -480,7 +484,8 @@ VoxelGridXY<T>::VoxelGridXY()
   AllocAlignedMemory();
 }
 
-template <typename T> void VoxelGridXY<T>::CleanUp() {
+template <typename T>
+void VoxelGridXY<T>::CleanUp() {
   initialized_ = false;
   data_ = nullptr;
   nr_points_ = nr_point_element_ = nr_voxel_x_ = nr_voxel_y_ = 0;
@@ -504,7 +509,8 @@ VoxelGridXY<T>::VoxelGridXY(unsigned int nr_voxel_x, unsigned int nr_voxel_y,
   initialized_ = false;
 }
 
-template <typename T> void VoxelGridXY<T>::Reserve() {
+template <typename T>
+void VoxelGridXY<T>::Reserve() {
   int r, c, i = 0, m = 0;
   unsigned int n = (nr_voxel_x_ * nr_voxel_y_);
 
@@ -550,7 +556,8 @@ template <typename T> void VoxelGridXY<T>::Reserve() {
   return;
 }
 
-template <typename T> bool VoxelGridXY<T>::AllocAlignedMemory() {
+template <typename T>
+bool VoxelGridXY<T>::AllocAlignedMemory() {
   if (!mem_aligned16_f32_) {
     mem_aligned16_f32_ = IAllocAligned<float>(4, 4);
   }
@@ -562,7 +569,8 @@ template <typename T> bool VoxelGridXY<T>::AllocAlignedMemory() {
           IVerifyAlignment(mem_aligned16_i32_, 4));
 }
 
-template <typename T> int VoxelGridXY<T>::WhichVoxel(T x, T y, T z) const {
+template <typename T>
+int VoxelGridXY<T>::WhichVoxel(T x, T y, T z) const {
   int j, k;
   if (!initialized_) {
     return (-1);
@@ -574,10 +582,10 @@ template <typename T> int VoxelGridXY<T>::WhichVoxel(T x, T y, T z) const {
   }
 
   k = static_cast<int>(IMax(
-      (unsigned int) 0,
+      (unsigned int)0,
       IMin(nr_voxel_x_ - 1, (unsigned int)((x - dim_x_[0]) / voxel_dim_[0]))));
   j = static_cast<int>(IMax(
-      (unsigned int) 0,
+      (unsigned int)0,
       IMin(nr_voxel_y_ - 1, (unsigned int)((y - dim_y_[0]) / voxel_dim_[1]))));
   return (nr_voxel_x_ * j + k);
 }
@@ -949,10 +957,10 @@ bool VoxelGridXY<T>::Set(const T *data, unsigned int nr_points,
       continue;
     }
 
-    k = IMax((unsigned int) 0,
+    k = IMax((unsigned int)0,
              IMin(nr_voxel_xm1,
                   (unsigned int)((x - dim_x_min) * voxel_width_x_rec)));
-    j = IMax((unsigned int) 0,
+    j = IMax((unsigned int)0,
              IMin(nr_voxel_ym1,
                   (unsigned int)((y - dim_y_min) * voxel_width_y_rec)));
     i = nr_voxel_x * j + k;
@@ -981,7 +989,8 @@ bool VoxelGridXY<T>::Set(const T *data, unsigned int nr_points,
 //   return static_cast<int> (indices.size());
 // }
 
-template <typename T> unsigned int VoxelGridXY<T>::NrIndexedPoints() const {
+template <typename T>
+unsigned int VoxelGridXY<T>::NrIndexedPoints() const {
   if (!initialized_) {
     return 0;
   }
@@ -1033,8 +1042,8 @@ bool IDownsampleVoxelGridXY(const VoxelGridXY<T> &src, VoxelGridXY<T> *dst,
   assert(nr_voxel_z_src == 1);
 
   // scale factors
-  unsigned int sf_x = (unsigned int) IPow((unsigned int) 2, dsf_dim_x);
-  unsigned int sf_y = (unsigned int) IPow((unsigned int) 2, dsf_dim_y);
+  unsigned int sf_x = (unsigned int)IPow((unsigned int)2, dsf_dim_x);
+  unsigned int sf_y = (unsigned int)IPow((unsigned int)2, dsf_dim_y);
 
   // compute the # of voxels for the new scale
   unsigned int nr_voxel_x_dst = nr_voxel_x_src / sf_x;
@@ -1134,7 +1143,8 @@ bool IDownsampleVoxelGridXY(const VoxelGridXY<T> &src, VoxelGridXY<T> *dst,
 }
 
 // -----Multiscale Voxel Grid Pyramid-----
-template <typename DATA_TYPE> class VoxelGridXYPyramid {
+template <typename DATA_TYPE>
+class VoxelGridXYPyramid {
  public:
   VoxelGridXYPyramid();
   VoxelGridXYPyramid(unsigned int nr_scale, unsigned int nr_voxel_x_base,
@@ -1177,7 +1187,7 @@ template <typename DATA_TYPE> class VoxelGridXYPyramid {
            DATA_TYPE spatial_bound_y_min, DATA_TYPE spatial_bound_y_max,
            DATA_TYPE spatial_bound_z_min, DATA_TYPE spatial_bound_z_max);
 
-  unsigned int NrScale() const { return (unsigned int) vgrids_.size(); }
+  unsigned int NrScale() const { return (unsigned int)vgrids_.size(); }
 
   unsigned int NrVoxel(unsigned int i = 0) const {
     return (i < vgrids_.size()) ? vgrids_[i].nr_voxel() : 0;
@@ -1263,8 +1273,8 @@ bool VoxelGridXYPyramid<DATA_TYPE>::Alloc(
   unsigned int scale;
   unsigned int nr_voxel_x = nr_voxel_x_base;
   unsigned int nr_voxel_y = nr_voxel_y_base;
-  unsigned int sf_x = (unsigned int) IPow((unsigned int) 2, dsf_x);
-  unsigned int sf_y = (unsigned int) IPow((unsigned int) 2, dsf_y);
+  unsigned int sf_x = (unsigned int)IPow((unsigned int)2, dsf_x);
+  unsigned int sf_y = (unsigned int)IPow((unsigned int)2, dsf_y);
 
   dsf_x_ = dsf_x;
   dsf_y_ = dsf_y;
@@ -1304,7 +1314,7 @@ bool VoxelGridXYPyramid<DATA_TYPE>::Set(const DATA_TYPE *pc,
     return false;
   }
 
-  unsigned int scale, nr_scale = (unsigned int) vgrids_.size();
+  unsigned int scale, nr_scale = (unsigned int)vgrids_.size();
 
   pc_ = pc;
   nr_points_ = nr_points;
@@ -1332,7 +1342,7 @@ bool VoxelGridXYPyramid<DATA_TYPE>::SetS(const float *pc,
     return false;
   }
 
-  unsigned int scale, nr_scale = (unsigned int) vgrids_.size();
+  unsigned int scale, nr_scale = (unsigned int)vgrids_.size();
 
   pc_ = pc;
   nr_points_ = nr_points;
@@ -1401,7 +1411,8 @@ bool VoxelGridXYPyramid<DATA_TYPE>::Set(
   return (vgrids_.size() == nr_scale);  // check if all scales are valid
 }
 
-template <typename DATA_TYPE> void VoxelGridXYPyramid<DATA_TYPE>::CleanUp() {
+template <typename DATA_TYPE>
+void VoxelGridXYPyramid<DATA_TYPE>::CleanUp() {
   pc_ = nullptr;
   vgrids_.clear();
   nr_points_ = nr_point_element_ = dsf_x_ = dsf_y_ = dsf_z_ = 0;

modules/perception/onboard/component/BUILD

@@ -4,69 +4,71 @@ package(default_visibility = ["//visibility:public"])
 
 cc_binary(
     name = "libperception_component.so",
-    deps = [":perception_component_inner"],
     linkopts = ["-shared"],
     linkstatic = False,
+    deps = [":perception_component_inner"],
 )
 
 cc_library(
     name = "perception_component_inner",
     srcs = [
         "fusion_component.cc",
-        "lidar_output_component.cc",
         "lidar_common_flags.cc",
-        "segmentation_component.cc",
+        "lidar_output_component.cc",
         "recognition_component.cc",
+        "segmentation_component.cc",
     ],
     hdrs = [
         "fusion_component.h",
-        "lidar_output_component.h",
         "lidar_common_flags.h",
-        "segmentation_component.h",
-        "recognition_component.h",
         "lidar_inner_component_messages.h",
+        "lidar_output_component.h",
+        "recognition_component.h",
+        "segmentation_component.h",
+    ],
+    copts = [
+        '-DMODULE_NAME=\\"perception\\"',
     ],
     deps = [
-        "@eigen",
         "//framework:cybertron",
-        "//modules/drivers/proto:sensor_proto",
-        "//modules/perception/proto:perception_proto",
         "//modules/common/proto:error_code_proto",
         "//modules/common/proto:geometry_proto",
         "//modules/common/proto:header_proto",
+        "//modules/drivers/proto:sensor_proto",
         "//modules/map/proto:map_proto",
         "//modules/perception/base",
         "//modules/perception/common/sensor_manager",
-        "//modules/perception/lib/utils",
+        "//modules/perception/fusion/app:obstacle_multi_sensor_fusion",
+        "//modules/perception/fusion/base",
+        "//modules/perception/fusion/lib/dummy:dummy_algorithms",
+        "//modules/perception/fusion/lib/fusion_system/probabilistic_fusion",
+        "//modules/perception/fusion/lib/interface",
         "//modules/perception/lib/registerer",
-        "//modules/perception/map/hdmap:hdmap_input",
+        "//modules/perception/lib/utils",
         "//modules/perception/lidar/app",
         "//modules/perception/lidar/common",
+        "//modules/perception/lidar/lib/classifier/fused_classifier",
+        "//modules/perception/lidar/lib/classifier/fused_classifier:ccrf_type_fusion",
+        "//modules/perception/lidar/lib/ground_detector/spatio_temporal_ground_detector",
         "//modules/perception/lidar/lib/interface",
         "//modules/perception/lidar/lib/object_builder",
-        "//modules/perception/lidar/lib/scene_manager/ground_service:ground_service",
-        "//modules/perception/lidar/lib/scene_manager/roi_service:roi_service",
-        "//modules/perception/lidar/lib/segmentation/cnnseg:cnn_segmentation",
-        "//modules/perception/lidar/lib/ground_detector/spatio_temporal_ground_detector",
-        "//modules/perception/lidar/lib/roi_filter/hdmap_roi_filter",
         "//modules/perception/lidar/lib/object_filter_bank/roi_boundary_filter",
+        "//modules/perception/lidar/lib/roi_filter/hdmap_roi_filter",
+        "//modules/perception/lidar/lib/scene_manager/ground_service",
+        "//modules/perception/lidar/lib/scene_manager/roi_service",
+        "//modules/perception/lidar/lib/segmentation/cnnseg:cnn_segmentation",
         "//modules/perception/lidar/lib/tracker/hm_tracker:hm_multi_target_tracker",
         "//modules/perception/lidar/lib/tracker/hm_tracker:kalman_filter",
         "//modules/perception/lidar/lib/tracker/hm_tracker:multi_hm_bipartite_graph_matcher",
-        "//modules/perception/lidar/lib/classifier/fused_classifier",
-        "//modules/perception/lidar/lib/classifier/fused_classifier:ccrf_type_fusion",
-        "//modules/perception/fusion/app:obstacle_multi_sensor_fusion",
-        "//modules/perception/fusion/base",
-        "//modules/perception/fusion/lib/interface",
-        "//modules/perception/fusion/lib/dummy:dummy_algorithms",
-        "//modules/perception/fusion/lib/fusion_system/probabilistic_fusion",
+        "//modules/perception/map/hdmap:hdmap_input",
         "//modules/perception/onboard/common_flags",
+        "//modules/perception/onboard/inner_component_messages",
         "//modules/perception/onboard/msg_serializer",
         "//modules/perception/onboard/transform_wrapper",
-        "//modules/perception/onboard/inner_component_messages",
+        "//modules/perception/proto:perception_proto",
         "//modules/transform:tf2_buffer_lib",
+        "@eigen",
     ],
-    copts = ['-DMODULE_NAME=\\"perception\\"']
 )
 
 cpplint()

modules/planning/BUILD

@@ -10,7 +10,9 @@ cc_library(
     hdrs = [
         "planning_component.h",
     ],
-    copts = ["-DMODULE_NAME=\\\"planning\\\""],
+    copts = [
+        "-DMODULE_NAME=\\\"planning\\\"",
+    ],
     deps = [
         ":planning_lib",
         "//framework:cybertron",

tools/bazel.rc

@@ -62,6 +62,13 @@ build --proto_toolchain_for_cc="@com_google_protobuf//:cc_toolchain"
 # build with profiling
 build:cpu_prof --linkopt=-lprofiler
 
+build --copt="-Werror=sign-compare"
+build --copt="-Werror=return-type"
+build --copt="-Werror=reorder"
+build --copt="-Werror=unused-variable"
+build --copt="-Werror=unused-but-set-variable"
+build --copt="-Werror=switch"
+
 # Enable C++14
 # build --cxxopt="-std=c++14"
 # Enable colorful output of GCC