driviers: fixed code issues in velodyne driver.

modules/drivers/gnss/src/impl/parser/novatel/novatel_parser.cpp

@@ -757,17 +757,19 @@ bool NovatelParser::handle_raw_imu(const novatel::RawImu* imu) {
   float imu_measurement_span = 1.0 / 200.0;
 
   if (is_zero(_gyro_scale)) {
-    novatel::ImuParameter param = novatel::get_imu_parameter(
-                                    novatel::ImuType::ADIS16488);
-    //ROS_INFO_STREAM("IMU type: " << static_cast<unsigned>(imu->imu_type) << "; "
+    novatel::ImuParameter param =
+        novatel::get_imu_parameter(novatel::ImuType::ADIS16488);
+    // ROS_INFO_STREAM("IMU type: " << static_cast<unsigned>(imu->imu_type) <<
+    // "; "
     //                             << "Gyro scale: " << param.gyro_scale << "; "
-    //                             << "Accel scale: " << param.accel_scale << "; "
-    //                             << "Sampling rate: " << param.sampling_rate_hz
+    //                             << "Accel scale: " << param.accel_scale << ";
+    //                             "
+    //                             << "Sampling rate: " <<
+    //                             param.sampling_rate_hz
     //                             << ".");
 
     if (is_zero(param.sampling_rate_hz)) {
-      ROS_ERROR_STREAM_THROTTLE(
-          5, "Unsupported IMU type ADUS16488.");
+      ROS_ERROR_STREAM_THROTTLE(5, "Unsupported IMU type ADUS16488.");
       return false;
     }
     gyro_scale = param.gyro_scale * param.sampling_rate_hz;
@@ -938,9 +940,7 @@ bool NovatelParser::handle_glo_eph(const novatel::GLO_Ephemeris* glo_emph) {
 
 void NovatelParser::set_observation_time() {
   int week = 0;
-  double second = 0.0;
-
-  second = time2gpst(_raw.time, &week);
+  double second = time2gpst(_raw.time, &week);
   _gnss_observation.set_gnss_time_type(apollo::drivers::gnss::GPS_TIME);
   _gnss_observation.set_gnss_week(week);
   _gnss_observation.set_gnss_second_s(second);
@@ -948,9 +948,8 @@ void NovatelParser::set_observation_time() {
 
 bool NovatelParser::decode_gnss_observation(const uint8_t* obs_data,
                                             const uint8_t* obs_data_end) {
-  int status = 0;
   while (obs_data < obs_data_end) {
-    status = input_oem4(&_raw, *obs_data++);
+    const int status = input_oem4(&_raw, *obs_data++);
     switch (status) {
       case 1:  // observation data
         if (_raw.obs.n == 0) {

modules/drivers/gnss/src/impl/parser/rtcm/rtcm3_parser.cpp

@@ -41,7 +41,7 @@ constexpr bool is_zero(T value) {
 
 class Rtcm3Parser : public Parser {
  public:
-  Rtcm3Parser(bool is_base_satation);
+  explicit Rtcm3Parser(bool is_base_satation);
   virtual MessageType get_message(MessagePtr &message_ptr);
 
  private:
@@ -168,9 +168,8 @@ void Rtcm3Parser::fill_glonass_orbit(
   // orbit.set_tk(eph.tof.time + eph.tof.sec);
 
   int week = 0;
-  double second = 0.0;
 
-  second = time2gpst(eph.toe, &week);
+  double second = time2gpst(eph.toe, &week);
   orbit.set_week_num(week);
   orbit.set_week_second_s(second);
   orbit.set_toe(second);
@@ -187,10 +186,7 @@ void Rtcm3Parser::fill_glonass_orbit(
 
 void Rtcm3Parser::set_observation_time() {
   int week = 0;
-  double second = 0.0;
-
-  second = time2gpst(_rtcm.time, &week);
-
+  double second = time2gpst(_rtcm.time, &week);
   _observation.set_gnss_time_type(apollo::drivers::gnss::GPS_TIME);
   _observation.set_gnss_week(week);
   _observation.set_gnss_second_s(second);
@@ -201,9 +197,8 @@ Parser::MessageType Rtcm3Parser::get_message(MessagePtr &message_ptr) {
     return MessageType::NONE;
   }
 
-  int status = 0;
   while (_data < _data_end) {
-    status = input_rtcm3(&_rtcm, *_data++);  // parse data use rtklib
+    const int status = input_rtcm3(&_rtcm, *_data++);  // parse data use rtklib
 
     switch (status) {
       case 1:  // observation data

modules/drivers/velodyne/velodyne_driver/src/driver/driver.h

@@ -29,6 +29,8 @@ namespace velodyne {
 
 // configuration parameters
 struct Config {
+  Config()
+      : npackets(0), rpm(0.0), firing_data_port(0), positioning_data_port(0) {}
   std::string frame_id;  ///< tf frame ID
   std::string model;     ///< device model name
   std::string topic;
@@ -41,7 +43,7 @@ struct Config {
 class VelodyneDriver {
  public:
   VelodyneDriver();
-  ~VelodyneDriver() {}
+  virtual ~VelodyneDriver() {}
 
   virtual bool poll(void) = 0;
   virtual void init(ros::NodeHandle &node) = 0;
@@ -63,8 +65,8 @@ class VelodyneDriver {
 
 class Velodyne64Driver : public VelodyneDriver {
  public:
-  Velodyne64Driver(Config config);
-  ~Velodyne64Driver() {}
+  explicit Velodyne64Driver(const Config &config);
+  virtual ~Velodyne64Driver() {}
 
   void init(ros::NodeHandle &node);
   bool poll(void);
@@ -74,8 +76,8 @@ class Velodyne64Driver : public VelodyneDriver {
 
 class Velodyne16Driver : public VelodyneDriver {
  public:
-  Velodyne16Driver(Config config);
-  ~Velodyne16Driver() {}
+  explicit Velodyne16Driver(const Config &config);
+  virtual ~Velodyne16Driver() {}
 
   void init(ros::NodeHandle &node);
   bool poll(void);
@@ -84,6 +86,7 @@ class Velodyne16Driver : public VelodyneDriver {
  private:
   boost::shared_ptr<Input> positioning_input_;
 };
+
 class VelodyneDriverFactory {
  public:
   static VelodyneDriver *create_driver(ros::NodeHandle private_nh);

modules/drivers/velodyne/velodyne_driver/src/driver/driver16.cpp

@@ -26,7 +26,7 @@ namespace apollo {
 namespace drivers {
 namespace velodyne {
 
-Velodyne16Driver::Velodyne16Driver(Config config) : config_(config) {}
+Velodyne16Driver::Velodyne16Driver(const Config &config) : config_(config) {}
 
 void Velodyne16Driver::init(ros::NodeHandle &node) {
   double packet_rate = 754;                 // packet frequency (Hz)

modules/drivers/velodyne/velodyne_driver/src/driver/driver64.cpp

@@ -25,11 +25,11 @@ namespace apollo {
 namespace drivers {
 namespace velodyne {
 
-Velodyne64Driver::Velodyne64Driver(Config config) {
+Velodyne64Driver::Velodyne64Driver(const Config& config) {
   config_ = config;
 }
 
-void Velodyne64Driver::init(ros::NodeHandle &node) {
+void Velodyne64Driver::init(ros::NodeHandle& node) {
   double packet_rate = 0;  // packet frequency (Hz)
   if (config_.model == "64E_S2" || config_.model == "64E_S3S") {
     packet_rate = 3472.17;  // 1333312 / 384

modules/drivers/velodyne/velodyne_pointcloud/src/lib/calibration.cpp

@@ -153,7 +153,7 @@ void operator>>(const YAML::Node& node, Calibration& calibration) {
 }
 
 YAML::Emitter& operator<<(YAML::Emitter& out,
-                          const std::pair<int, LaserCorrection> correction) {
+                          const std::pair<int, LaserCorrection>& correction) {
   out << YAML::BeginMap;
   out << YAML::Key << LASER_ID << YAML::Value << correction.first;
   out << YAML::Key << ROT_CORRECTION << YAML::Value
@@ -190,7 +190,7 @@ YAML::Emitter& operator<<(YAML::Emitter& out, const Calibration& calibration) {
 
   for (std::map<int, LaserCorrection>::const_iterator it =
            calibration.laser_corrections_.begin();
-       it != calibration.laser_corrections_.end(); it++) {
+       it != calibration.laser_corrections_.end(); ++it) {
     out << *it;
   }
 

modules/drivers/velodyne/velodyne_pointcloud/src/lib/online_calibration.cpp

@@ -102,11 +102,14 @@ int OnlineCalibration::decode(
 
 void OnlineCalibration::get_unit_index() {
   int size = status_values_.size();
-  // simple check only for value, maybe need more check fro status tyep
+  // simple check only for value, maybe need more check fro status type
+  // TODO(velodyne driver developers): fix the following code logic
+  /*
   int start_index = 0;
   if (unit_indexs_.size() > 0) {
     start_index = unit_indexs_.back() + 5;
   }
+  */
   for (int start_index = 0; start_index < size - 5; ++start_index) {
     if (status_values_[start_index] == 85            // "U"
         && status_values_[start_index + 1] == 78     // "N"
@@ -149,4 +152,4 @@ void OnlineCalibration::dump(const std::string& file_path) {
 
 }  // namespace velodyne
 }  // namespace drivers
-}  // namespace apollo
+}  // namespace apollo
\ No newline at end of file

modules/drivers/velodyne/velodyne_pointcloud/src/lib/velodyne16_parser.cpp

@@ -66,7 +66,6 @@ double Velodyne16Parser::get_timestamp(double base_time, float time_offset,
  */
 void Velodyne16Parser::unpack(const velodyne_msgs::VelodynePacket& pkt,
                               VPointCloud& pc) {
-  float azimuth = 0.0;
   float azimuth_diff = 0.0;
   float last_azimuth_diff = 0.0;
   float azimuth_corrected_f = 0.0;
@@ -76,7 +75,7 @@ void Velodyne16Parser::unpack(const velodyne_msgs::VelodynePacket& pkt,
   double basetime = raw->gps_timestamp;  // usec
 
   for (int block = 0; block < BLOCKS_PER_PACKET; block++) {
-    azimuth = (float)(raw->blocks[block].rotation);
+    float azimuth = static_cast<float>(raw->blocks[block].rotation);
     if (block < (BLOCKS_PER_PACKET - 1)) {
       azimuth_diff = (float)((36000 + raw->blocks[block + 1].rotation -
                               raw->blocks[block].rotation) %

modules/drivers/velodyne/velodyne_pointcloud/src/lib/velodyne_parser.cpp

@@ -149,7 +149,7 @@ void VelodyneParser::compute_coords(const union RawDistance &raw_distance,
       sin_rot_table_[rotation] * corrections.cos_rot_correction -
       cos_rot_table_[rotation] * corrections.sin_rot_correction;
 
-  double vert_offset = corrections.vert_offset_correction;
+  // double vert_offset = corrections.vert_offset_correction;
 
   // Compute the distance in the xy plane (w/o accounting for rotation)
   double xy_distance = distance * corrections.cos_vert_correction;