feat(cmake): centralize and harden compiler warning flags

src/ros2_medkit_cmake/CMakeLists.txt

@@ -26,6 +26,7 @@ install(
     cmake/ROS2MedkitLinting.cmake
     cmake/ROS2MedkitSanitizers.cmake
     cmake/ROS2MedkitTestDomain.cmake
+    cmake/ROS2MedkitWarnings.cmake
   DESTINATION share/${PROJECT_NAME}/cmake
 )
 

src/ros2_medkit_cmake/cmake/ROS2MedkitCompat.cmake

@@ -98,7 +98,7 @@ macro(medkit_find_cpp_httplib)
       message(STATUS "[MedkitCompat] cpp-httplib: using cmake config (source build)")
     elseif(_mfch_VENDORED_DIR AND EXISTS "${_mfch_VENDORED_DIR}/httplib.h")
       add_library(cpp_httplib_vendored INTERFACE)
-      target_include_directories(cpp_httplib_vendored INTERFACE "${_mfch_VENDORED_DIR}")
+      target_include_directories(cpp_httplib_vendored SYSTEM INTERFACE "${_mfch_VENDORED_DIR}")
       add_library(cpp_httplib_target ALIAS cpp_httplib_vendored)
       message(STATUS "[MedkitCompat] cpp-httplib: using vendored header (${_mfch_VENDORED_DIR}/httplib.h)")
     else()

src/ros2_medkit_cmake/cmake/ROS2MedkitWarnings.cmake

@@ -0,0 +1,137 @@
+# Copyright 2026 bburda
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+include_guard(GLOBAL)
+
+# Production-grade compiler warning configuration for ros2_medkit packages.
+# Aligned with AUTOSAR C++14, MISRA C++, OpenSSF, and Airbus SecLab guidelines.
+#
+# Strategy: all warnings enabled, selective -Werror=<flag> only for warnings
+# that don't false-positive on external headers (STL, ROS 2, gtest, nlohmann).
+# Flags that DO fire on external code remain as warnings for visibility.
+#
+# Provides:
+#   option ENABLE_WERROR (default ON) - selective warnings-as-errors
+#   function ros2_medkit_relax_vendor_warnings() - call after ament_add_gtest/gmock
+#
+# Usage:
+#   find_package(ros2_medkit_cmake REQUIRED)
+#   include(ROS2MedkitWarnings)
+#   ...
+#   if(BUILD_TESTING)
+#     ament_add_gtest(...)
+#     ros2_medkit_relax_vendor_warnings()
+#   endif()
+
+option(ENABLE_WERROR "Treat select compiler warnings as errors" ON)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  # -- All warnings (report everything, some as errors, rest as warnings) ------
+  add_compile_options(
+    # Core warnings
+    -Wall
+    -Wextra
+    -Wpedantic
+
+    # Type safety (MISRA, OpenSSF)
+    -Wconversion
+    -Wsign-conversion
+    -Wdouble-promotion
+    -Wfloat-equal            # MISRA M6-2-2, AUTOSAR M6-2-2
+
+    # Shadow / hiding
+    -Wshadow
+    -Woverloaded-virtual
+
+    # OOP correctness
+    -Wnon-virtual-dtor
+    -Wold-style-cast
+
+    # Const correctness (MISRA, Airbus SecLab)
+    -Wcast-qual
+
+    # Memory / alignment
+    -Wcast-align
+    -Wnull-dereference
+
+    # Control flow
+    -Wimplicit-fallthrough
+    -Wswitch-enum            # AUTOSAR A6-4-6
+
+    # Preprocessor (MISRA)
+    -Wundef
+
+    # Format strings (OpenSSF)
+    -Wformat=2
+
+    # Modern C++ (AUTOSAR A4-10-1)
+    -Wzero-as-null-pointer-constant
+
+    # Code cleanliness (AUTOSAR)
+    -Wextra-semi
+  )
+
+  # -- Selective -Werror for flags safe from external header false positives ----
+  # NOT promoted: -Wconversion, -Wsign-conversion, -Wdouble-promotion,
+  #   -Wnull-dereference, -Wcast-align (false positives on STL/ROS 2/nlohmann)
+  if(ENABLE_WERROR)
+    add_compile_options(
+      -Werror=shadow
+      -Werror=switch-enum
+      -Werror=old-style-cast
+      -Werror=float-equal
+      -Werror=cast-qual
+      -Werror=undef
+      -Werror=zero-as-null-pointer-constant
+      -Werror=extra-semi
+      -Werror=overloaded-virtual
+      -Werror=non-virtual-dtor
+      -Werror=implicit-fallthrough
+      -Werror=format=2
+    )
+  endif()
+
+  # GCC-only warnings
+  if(CMAKE_COMPILER_IS_GNUCXX)
+    add_compile_options(
+      -Wduplicated-cond
+      -Wduplicated-branches
+      -Wlogical-op
+      -Wuseless-cast
+    )
+    # Note: -Wuseless-cast NOT promoted - type aliases (time_t, int64_t, size_t)
+    # resolve differently across distros, making casts useless on one but needed
+    # on another.
+    if(ENABLE_WERROR)
+      add_compile_options(
+        -Werror=duplicated-cond
+        -Werror=duplicated-branches
+        -Werror=logical-op
+      )
+    endif()
+  endif()
+endif()
+
+# Suppress strict warnings on gtest/gmock vendor targets.
+# ament_add_gtest/ament_add_gmock build gtest/gmock sources as subdirectory
+# targets, which inherit add_compile_options flags. Vendored code may trigger
+# promoted warnings (-Werror=switch-enum, -Werror=useless-cast, etc.).
+# Call this once at the end of the BUILD_TESTING block.
+function(ros2_medkit_relax_vendor_warnings)
+  foreach(_target gmock gmock_main gtest gtest_main)
+    if(TARGET ${_target})
+      target_compile_options(${_target} PRIVATE -w)
+    endif()
+  endforeach()
+endfunction()

src/ros2_medkit_cmake/cmake/ros2_medkit_cmake-extras.cmake

@@ -16,6 +16,7 @@
 # Adds the installed cmake module directory to CMAKE_MODULE_PATH so that
 # include(ROS2MedkitCompat), include(ROS2MedkitCcache),
 # include(ROS2MedkitLinting), include(ROS2MedkitSanitizers),
-# and include(ROS2MedkitTestDomain) work transparently.
+# include(ROS2MedkitTestDomain), and include(ROS2MedkitWarnings)
+# work transparently.
 
 list(APPEND CMAKE_MODULE_PATH "${ros2_medkit_cmake_DIR}")

src/ros2_medkit_diagnostic_bridge/CMakeLists.txt

@@ -23,10 +23,7 @@ find_package(ros2_medkit_cmake REQUIRED)
 include(ROS2MedkitCcache)
 include(ROS2MedkitSanitizers)
 include(ROS2MedkitLinting)
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wconversion)
-endif()
+include(ROS2MedkitWarnings)
 
 # Code coverage option
 option(ENABLE_COVERAGE "Enable code coverage reporting" OFF)
@@ -130,6 +127,7 @@ if(BUILD_TESTING)
     TARGET test_integration
     TIMEOUT 60
   )
+  ros2_medkit_relax_vendor_warnings()
 endif()
 
 ament_package()

src/ros2_medkit_discovery_plugins/ros2_medkit_beacon_common/CMakeLists.txt

@@ -15,10 +15,6 @@
 cmake_minimum_required(VERSION 3.8)
 project(ros2_medkit_beacon_common)
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wconversion)
-endif()
-
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
@@ -27,6 +23,7 @@ find_package(ros2_medkit_cmake REQUIRED)
 include(ROS2MedkitCompat)
 include(ROS2MedkitCcache)
 include(ROS2MedkitSanitizers)
+include(ROS2MedkitWarnings)
 
 find_package(ament_cmake REQUIRED)
 find_package(ros2_medkit_msgs REQUIRED)
@@ -102,6 +99,7 @@ if(BUILD_TESTING)
   ament_add_gtest(test_beacon_entity_mapper test/test_beacon_entity_mapper.cpp)
   target_link_libraries(test_beacon_entity_mapper beacon_common_lib)
   medkit_target_dependencies(test_beacon_entity_mapper ros2_medkit_gateway)
+  ros2_medkit_relax_vendor_warnings()
 endif()
 
 ament_package()

src/ros2_medkit_discovery_plugins/ros2_medkit_linux_introspection/CMakeLists.txt

@@ -11,10 +11,7 @@ include(ROS2MedkitCompat)
 include(ROS2MedkitCcache)
 include(ROS2MedkitSanitizers)
 include(ROS2MedkitLinting)
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wconversion)
-endif()
+include(ROS2MedkitWarnings)
 
 find_package(ament_cmake REQUIRED)
 find_package(ros2_medkit_gateway REQUIRED)
@@ -95,6 +92,7 @@ if(BUILD_TESTING)
   target_link_libraries(test_systemd_plugin medkit_linux_utils)
   target_include_directories(test_systemd_plugin PRIVATE ${ros2_medkit_gateway_INCLUDE_DIRS})
   medkit_target_dependencies(test_systemd_plugin nlohmann_json)
+  ros2_medkit_relax_vendor_warnings()
 endif()
 
 ament_package()

src/ros2_medkit_discovery_plugins/ros2_medkit_param_beacon/CMakeLists.txt

@@ -15,10 +15,6 @@
 cmake_minimum_required(VERSION 3.8)
 project(ros2_medkit_param_beacon)
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wconversion)
-endif()
-
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
@@ -27,6 +23,7 @@ find_package(ros2_medkit_cmake REQUIRED)
 include(ROS2MedkitCompat)
 include(ROS2MedkitCcache)
 include(ROS2MedkitSanitizers)
+include(ROS2MedkitWarnings)
 
 find_package(ament_cmake REQUIRED)
 find_package(ros2_medkit_beacon_common REQUIRED)
@@ -93,6 +90,7 @@ if(BUILD_TESTING)
     nlohmann_json::nlohmann_json
     ros2_medkit_beacon_common::beacon_common_lib)
   medkit_set_test_domain(test_param_beacon_plugin)
+  ros2_medkit_relax_vendor_warnings()
 endif()
 
 ament_package()

src/ros2_medkit_discovery_plugins/ros2_medkit_topic_beacon/CMakeLists.txt

@@ -15,10 +15,6 @@
 cmake_minimum_required(VERSION 3.8)
 project(ros2_medkit_topic_beacon)
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wconversion)
-endif()
-
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
@@ -27,6 +23,7 @@ find_package(ros2_medkit_cmake REQUIRED)
 include(ROS2MedkitCompat)
 include(ROS2MedkitCcache)
 include(ROS2MedkitSanitizers)
+include(ROS2MedkitWarnings)
 
 find_package(ament_cmake REQUIRED)
 find_package(ros2_medkit_beacon_common REQUIRED)
@@ -98,6 +95,7 @@ if(BUILD_TESTING)
     nlohmann_json::nlohmann_json
     ros2_medkit_beacon_common::beacon_common_lib)
   medkit_set_test_domain(test_topic_beacon_plugin)
+  ros2_medkit_relax_vendor_warnings()
 endif()
 
 ament_package()

src/ros2_medkit_fault_manager/CMakeLists.txt

@@ -25,10 +25,7 @@ include(ROS2MedkitCompat)
 include(ROS2MedkitCcache)
 include(ROS2MedkitSanitizers)
 include(ROS2MedkitLinting)
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wconversion)
-endif()
+include(ROS2MedkitWarnings)
 
 # Code coverage option
 option(ENABLE_COVERAGE "Enable code coverage reporting" OFF)
@@ -220,6 +217,7 @@ if(BUILD_TESTING)
     TIMEOUT 60
   )
   set_tests_properties(test_entity_thresholds_integration PROPERTIES LABELS "integration")
+  ros2_medkit_relax_vendor_warnings()
 endif()
 
 ament_package()

src/ros2_medkit_fault_manager/src/fault_manager_node.cpp

@@ -17,6 +17,7 @@
 #include <yaml-cpp/yaml.h>
 
 #include <cctype>
+#include <cinttypes>
 #include <filesystem>
 #include <fstream>
 #include <nlohmann/json.hpp>
@@ -108,9 +109,10 @@ FaultManagerNode::FaultManagerNode(const rclcpp::NodeOptions & options) : Node("
                 snapshot_recapture_cooldown_sec_);
     snapshot_recapture_cooldown_sec_ = 0.0;
   }
-  int max_snapshots = declare_parameter<int>("snapshots.max_per_fault", 10);
+  auto max_snapshots = declare_parameter<int>("snapshots.max_per_fault", 10);
   if (max_snapshots < 0) {
-    RCLCPP_WARN(get_logger(), "snapshots.max_per_fault should be >= 0, got %d. Disabling limit.", max_snapshots);
+    RCLCPP_WARN(get_logger(), "snapshots.max_per_fault should be >= 0, got %" PRId64 ". Disabling limit.",
+                static_cast<int64_t>(max_snapshots));
     max_snapshots = 0;
   }
 

src/ros2_medkit_fault_manager/src/sqlite_fault_storage.cpp

@@ -363,7 +363,7 @@ bool SqliteFaultStorage::report_fault_event(const std::string & fault_code, uint
     int64_t existing_count = check_stmt.column_int64(1);
     std::string sources_json = check_stmt.column_text(2);
     std::string current_status = check_stmt.column_text(3);
-    int32_t debounce_counter = static_cast<int32_t>(check_stmt.column_int(4));
+    int32_t debounce_counter = check_stmt.column_int(4);
 
     // CLEARED faults can be reactivated by FAILED events
     bool is_reactivation = false;

src/ros2_medkit_fault_reporter/CMakeLists.txt

@@ -23,10 +23,7 @@ find_package(ros2_medkit_cmake REQUIRED)
 include(ROS2MedkitCcache)
 include(ROS2MedkitSanitizers)
 include(ROS2MedkitLinting)
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wconversion)
-endif()
+include(ROS2MedkitWarnings)
 
 # Code coverage option
 option(ENABLE_COVERAGE "Enable code coverage reporting" OFF)
@@ -113,6 +110,7 @@ if(BUILD_TESTING)
     TARGET test_integration
     TIMEOUT 60
   )
+  ros2_medkit_relax_vendor_warnings()
 endif()
 
 ament_package()

src/ros2_medkit_gateway/CMakeLists.txt

@@ -11,10 +11,7 @@ include(ROS2MedkitCompat)
 include(ROS2MedkitCcache)
 include(ROS2MedkitSanitizers)
 include(ROS2MedkitLinting)
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wconversion)
-endif()
+include(ROS2MedkitWarnings)
 
 # Code coverage option
 option(ENABLE_COVERAGE "Enable code coverage reporting" OFF)
@@ -778,7 +775,7 @@ if(BUILD_TESTING)
       target_link_options(${_target} PRIVATE --coverage)
     endforeach()
   endif()
-
+  ros2_medkit_relax_vendor_warnings()
 endif()
 
 # Export include directories for downstream packages (plugins)

src/ros2_medkit_gateway/src/aggregation/peer_client.cpp

@@ -50,7 +50,8 @@ constexpr size_t MAX_ENTITIES_PER_COLLECTION = 1000;
 std::string encode_query_param(const std::string & value) {
   std::string result;
   result.reserve(value.size());
-  for (unsigned char c : value) {
+  for (char ch : value) {
+    auto c = static_cast<unsigned char>(ch);
     if (std::isalnum(c) || c == '-' || c == '.' || c == '_' || c == '~') {
       result += static_cast<char>(c);
     } else {

src/ros2_medkit_gateway/src/configuration_manager.cpp

@@ -607,6 +607,8 @@ rclcpp::ParameterValue ConfigurationManager::json_to_parameter_value(const json
           return rclcpp::ParameterValue(value.get<std::vector<std::string>>());
         }
         break;
+      case rclcpp::ParameterType::PARAMETER_NOT_SET:
+      case rclcpp::ParameterType::PARAMETER_BYTE_ARRAY:
       default:
         break;
     }