From bba2391c01cd4d418145a9d337cf9d0877cf2e54 Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jslee02@gmail.com>
Date: Fri, 17 Dec 2021 23:35:38 -0800
Subject: [PATCH] Treat warnings as errors on release mode

---
 .ci/build.sh                                |  1 -
 CMakeLists.txt                              | 32 ++++++++++++---------
 dart/dynamics/detail/DegreeOfFreedomPtr.hpp |  2 +-
 unittests/regression/test_Issue1231.cpp     |  2 +-
 4 files changed, 20 insertions(+), 17 deletions(-)

diff --git a/.ci/build.sh b/.ci/build.sh
index 0c6172f2413a0..9a8fb0148ee74 100755
--- a/.ci/build.sh
+++ b/.ci/build.sh
@@ -142,7 +142,6 @@ fi
 cmake .. \
   -DCMAKE_BUILD_TYPE=$BUILD_TYPE \
   -DDART_VERBOSE=ON \
-  -DDART_TREAT_WARNINGS_AS_ERRORS=ON \
   -DDART_BUILD_EXTRAS=ON \
   -DDART_CODECOV=$CODECOV \
   ${install_prefix_option}
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 100bfb8b59beb..2e5d850ea94ed 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -93,7 +93,6 @@ option(DART_ENABLE_SIMD
 option(DART_BUILD_GUI_OSG "Build osgDart library" ON)
 option(DART_BUILD_EXTRAS "Build extra projects" OFF)
 option(DART_CODECOV "Turn on codecov support" OFF)
-option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
 option(DART_FAST_DEBUG "Add -O1 option for DEBUG mode build" OFF)
 # GCC and Clang add ANSI-formatted colors when they detect the output medium is a 
 # terminal. However, this doesn't work in some cases such as when the makefile is
@@ -176,9 +175,9 @@ if(MSVC)
     )
   endif()
 
-  if(DART_TREAT_WARNINGS_AS_ERRORS)
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /WX")
-  endif()
+  add_compile_options(
+    $<$<NOT:$<CONFIG:DEBUG>>:/WX>
+  )
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc /permissive- /Zc:twoPhase-")
   set(CMAKE_EXE_LINKER_FLAGS_RELEASE "/LTCG /INCREMENTAL:NO")
   if(NOT DART_MSVC_DEFAULT_OPTIONS)
@@ -199,10 +198,12 @@ if(MSVC)
 
 elseif(CMAKE_COMPILER_IS_GNUCXX)
 
-  if(DART_TREAT_WARNINGS_AS_ERRORS)
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Werror")
-  endif()
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -fPIC")
+  add_compile_options(
+    -Wall
+    -Wextra
+    $<$<NOT:$<CONFIG:DEBUG>>:-Werror>
+    -fPIC
+  )
   execute_process(
     COMMAND ${CMAKE_CXX_COMPILER} -dumpfullversion -dumpversion OUTPUT_VARIABLE GCC_VERSION)
   if(GCC_VERSION VERSION_LESS 7.3.0)
@@ -224,12 +225,15 @@ elseif(CMAKE_COMPILER_IS_GNUCXX)
 
 elseif("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang")
 
-  if(DART_TREAT_WARNINGS_AS_ERRORS)
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Werror -Wno-error=deprecated-declarations")
-    # Turn warning "deprecated-declarations" into an warning even if -Werror is
-    # specified until we abandon glut.
-  endif()
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
+  add_compile_options(
+    -Wall
+    -Wextra
+    $<$<NOT:$<CONFIG:DEBUG>>:-Werror>
+    $<$<NOT:$<CONFIG:DEBUG>>:-Wno-error=deprecated-declarations>
+    -fPIC
+  )
+  # Turn warning "deprecated-declarations" into an warning even if -Werror is
+  # specified until we abandon glut.
   execute_process(
     COMMAND ${CMAKE_CXX_COMPILER} -dumpversion OUTPUT_VARIABLE CLANG_VERSION)
   if(CLANG_VERSION VERSION_LESS 6.0)
diff --git a/dart/dynamics/detail/DegreeOfFreedomPtr.hpp b/dart/dynamics/detail/DegreeOfFreedomPtr.hpp
index f04d6fa480f1b..1290326ea9000 100644
--- a/dart/dynamics/detail/DegreeOfFreedomPtr.hpp
+++ b/dart/dynamics/detail/DegreeOfFreedomPtr.hpp
@@ -218,7 +218,7 @@ class TemplateDegreeOfFreedomPtr
   TemplateBodyNodePtr<BodyNodeT> mBodyNodePtr;
 
   /// Local index of this DegreeOfFreedom within its Joint
-  std::size_t mIndex;
+  std::size_t mIndex = 0;
 };
 
 /// TemplateWeakDegreeOfFreedomPtr is a templated class that enables users to
diff --git a/unittests/regression/test_Issue1231.cpp b/unittests/regression/test_Issue1231.cpp
index cd7c4311e15aa..44e599913b8cd 100644
--- a/unittests/regression/test_Issue1231.cpp
+++ b/unittests/regression/test_Issue1231.cpp
@@ -45,7 +45,7 @@ TEST(Issue1231, NoContacts)
   dart::simulation::WorldPtr world = dart::simulation::World::create();
 
   double x = -0.25;
-  for (const std::string& name : {"1", "2"})
+  for (const auto& name : {"1", "2"})
   {
     const auto skeleton = dart::dynamics::Skeleton::create(name);
     skeleton->setMobile(false);