From d9aaefc9a4c06f6dae86cd7ef22f6353f1379e4f Mon Sep 17 00:00:00 2001
From: Max Schmeller <6088931+mojomex@users.noreply.github.com>
Date: Mon, 24 Jun 2024 23:29:07 +0900
Subject: [PATCH] fix(clang): make build pass with Clang (#166)

* fix(nebula_common): move EIGEN_ALIGN16 attribute to be clang-compatible

* fix(continental): print error message on previous call to undefined function reference
---
 .../nebula_common/continental/continental_ars548.hpp      | 8 ++++----
 nebula_common/include/nebula_common/point_types.hpp       | 8 ++++----
 .../continental_ars548_hw_interface.cpp                   | 8 ++++++++
 .../multi_continental_ars548_hw_interface.cpp             | 8 ++++++++
 4 files changed, 24 insertions(+), 8 deletions(-)

diff --git a/nebula_common/include/nebula_common/continental/continental_ars548.hpp b/nebula_common/include/nebula_common/continental/continental_ars548.hpp
index b56fd03c5..2e7ac2093 100644
--- a/nebula_common/include/nebula_common/continental/continental_ars548.hpp
+++ b/nebula_common/include/nebula_common/continental/continental_ars548.hpp
@@ -620,7 +620,7 @@ struct FilterStatusPacket
 
 #pragma pack(pop)
 
-struct PointARS548Detection
+struct EIGEN_ALIGN16 PointARS548Detection
 {
   PCL_ADD_POINT4D;
   float azimuth;
@@ -639,11 +639,11 @@ struct PointARS548Detection
   uint16_t object_id;
   uint8_t ambiguity_flag;
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-} EIGEN_ALIGN16;
+};
 
 // Note we only use a subset of the data since POINT_CLOUD_REGISTER_POINT_STRUCT has a limit in the
 // number of fields
-struct PointARS548Object
+struct EIGEN_ALIGN16 PointARS548Object
 {
   PCL_ADD_POINT4D;
   uint32_t id;
@@ -664,7 +664,7 @@ struct PointARS548Object
   float shape_width_edge_mean;
   float dynamics_orientation_rate_mean;
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-} EIGEN_ALIGN16;
+};
 
 }  // namespace continental_ars548
 }  // namespace drivers
diff --git a/nebula_common/include/nebula_common/point_types.hpp b/nebula_common/include/nebula_common/point_types.hpp
index 6f3feabe9..260b7b9db 100644
--- a/nebula_common/include/nebula_common/point_types.hpp
+++ b/nebula_common/include/nebula_common/point_types.hpp
@@ -8,13 +8,13 @@ namespace nebula
 {
 namespace drivers
 {
-struct PointXYZIR
+struct EIGEN_ALIGN16 PointXYZIR
 {
   PCL_ADD_POINT4D;
   float intensity;
   uint16_t ring;
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-} EIGEN_ALIGN16;
+};
 
 struct PointXYZICATR
 {
@@ -43,7 +43,7 @@ struct PointXYZIRCAEDT
   std::uint32_t time_stamp;
 };
 
-struct PointXYZIRADT
+struct EIGEN_ALIGN16 PointXYZIRADT
 {
   PCL_ADD_POINT4D;
   float intensity;
@@ -53,7 +53,7 @@ struct PointXYZIRADT
   uint8_t return_type;
   double time_stamp;
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-} EIGEN_ALIGN16;
+};
 
 using NebulaPoint = PointXYZIRCAEDT;
 using NebulaPointPtr = std::shared_ptr<NebulaPoint>;
diff --git a/nebula_hw_interfaces/src/nebula_continental_hw_interfaces/continental_ars548_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_continental_hw_interfaces/continental_ars548_hw_interface.cpp
index 2deeb7a28..e9a4b5031 100644
--- a/nebula_hw_interfaces/src/nebula_continental_hw_interfaces/continental_ars548_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_continental_hw_interfaces/continental_ars548_hw_interface.cpp
@@ -578,6 +578,14 @@ Status ContinentalARS548HwInterface::SetYawRate(float yaw_rate)
   return Status::OK;
 }
 
+Status ContinentalARS548HwInterface::CheckAndSetConfig()
+{
+  RCLCPP_ERROR(
+    *parent_node_logger,
+    "This functionality is not yet implemented. Sensor is probably out of sync with config now.");
+  return Status::ERROR_1;
+}
+
 void ContinentalARS548HwInterface::SetLogger(std::shared_ptr<rclcpp::Logger> logger)
 {
   parent_node_logger = logger;
diff --git a/nebula_hw_interfaces/src/nebula_continental_hw_interfaces/multi_continental_ars548_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_continental_hw_interfaces/multi_continental_ars548_hw_interface.cpp
index 58cd25f09..8120a871b 100644
--- a/nebula_hw_interfaces/src/nebula_continental_hw_interfaces/multi_continental_ars548_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_continental_hw_interfaces/multi_continental_ars548_hw_interface.cpp
@@ -406,6 +406,14 @@ Status MultiContinentalARS548HwInterface::SetYawRate(float yaw_rate)
   return Status::OK;
 }
 
+Status MultiContinentalARS548HwInterface::CheckAndSetConfig()
+{
+  RCLCPP_ERROR(
+    *parent_node_logger,
+    "This functionality is not yet implemented. Sensor is probably out of sync with config now.");
+  return Status::ERROR_1;
+}
+
 void MultiContinentalARS548HwInterface::SetLogger(std::shared_ptr<rclcpp::Logger> logger)
 {
   parent_node_logger = logger;