build: add project C++ warning set with opt-in warnings-as-errors

CMakeLists.txt

@@ -133,6 +133,13 @@ endif()
 # Build dependencies (OpenXR SDK, etc.)
 add_subdirectory(deps)
 
+# Project warning set. Deliberately after add_subdirectory(deps): directory-scope
+# compile options are inherited only by subdirectories added *after* this call, so
+# third-party trees keep their own flags while everything below (src/, examples/,
+# plugins) is held to ours. See cmake/CompilerWarnings.cmake.
+include(cmake/CompilerWarnings.cmake)
+isaac_teleop_enable_compiler_warnings()
+
 # Enable CTest at top level so tests from subdirectories are discoverable
 if(BUILD_TESTING)
     # Make sure to call this after `deps` is added so that Catch2 is available

cmake/CompilerWarnings.cmake

@@ -0,0 +1,120 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+# ==============================================================================
+# Compiler warnings for first-party code
+# ==============================================================================
+# isaac_teleop_enable_compiler_warnings() applies the project's warning set to the
+# CALLING directory scope, which CMake then inherits into every subdirectory added
+# after the call. The top-level CMakeLists.txt therefore calls it *after*
+# add_subdirectory(deps) so third-party trees (OpenXR SDK, yaml-cpp, pybind11,
+# mcap, flatbuffers, Catch2, ...) keep building with their own flags and are never
+# held to warning levels we do not control.
+#
+# Ordering alone does not cover code fetched from inside src/plugins/, which is added
+# after the call and would otherwise inherit these flags. See the third-party
+# containment scope at the bottom of this file for how those trees opt out.
+
+option(ISAAC_TELEOP_ENABLE_WARNINGS "Enable the project warning set on first-party C++ targets" ON)
+option(ISAAC_TELEOP_WARNINGS_AS_ERRORS "Promote the project warning set to errors (-Werror / /WX)" OFF)
+
+function(isaac_teleop_enable_compiler_warnings)
+    if(NOT ISAAC_TELEOP_ENABLE_WARNINGS)
+        message(STATUS "Compiler warnings: disabled (ISAAC_TELEOP_ENABLE_WARNINGS=OFF)")
+        return()
+    endif()
+
+    set(_gnu_like
+        -Wall
+        -Wextra
+        # Deliberately off: C-style aggregate init of OpenXR/Vulkan structs (which
+        # zero-fill the tail on purpose) trips this on essentially every call site.
+        # The native_openxr example already suppressed it for the same reason.
+        -Wno-missing-field-initializers
+        # Bug classes worth failing a build over.
+        -Wnon-virtual-dtor       # deleting through a base pointer without a virtual dtor
+        -Woverloaded-virtual     # a derived overload silently hiding a base virtual
+        -Wimplicit-fallthrough   # unannotated switch fallthrough
+        -Wextra-semi             # stray ';' after a member function definition
+    )
+
+    set(_msvc
+        /W4
+        /permissive-
+    )
+
+    if(ISAAC_TELEOP_WARNINGS_AS_ERRORS)
+        list(APPEND _gnu_like -Werror)
+        list(APPEND _msvc /WX)
+    endif()
+
+    add_compile_options(
+        "$<$<AND:$<COMPILE_LANGUAGE:CXX>,$<CXX_COMPILER_ID:GNU,Clang,AppleClang>>:${_gnu_like}>"
+        "$<$<AND:$<COMPILE_LANGUAGE:CXX>,$<CXX_COMPILER_ID:MSVC>>:${_msvc}>"
+    )
+
+    message(STATUS "Compiler warnings: enabled (warnings as errors: ${ISAAC_TELEOP_WARNINGS_AS_ERRORS})")
+endfunction()
+
+# ==============================================================================
+# Third-party containment
+# ==============================================================================
+# Ordering keeps deps/ clean, but it cannot help a tree fetched from *inside* an
+# already-flagged directory: a subdirectory snapshots the COMPILE_OPTIONS directory
+# property at the point it is added, so anything the plugins pull in via FetchContent
+# would inherit our flags. That is not hypothetical — the OAK plugin fetches DepthAI,
+# which fetches XLink, and XLink does not build at -Wall -Wextra -Werror.
+#
+# Wrap any such add_subdirectory() or FetchContent_MakeAvailable() in this pair. It
+# clears the calling directory's COMPILE_OPTIONS for the duration and restores them
+# afterwards, so the fetched tree builds with its own flags while first-party targets
+# declared later in the same file still get ours:
+#
+#     isaac_teleop_third_party_scope_begin()
+#     FetchContent_MakeAvailable(some_dependency)
+#     isaac_teleop_third_party_scope_end()
+#
+# These are macros rather than functions on purpose: add_subdirectory() and the
+# property writes have to happen in the caller's directory scope, not a nested one.
+
+macro(isaac_teleop_third_party_scope_begin)
+    if(DEFINED _isaac_teleop_saved_compile_options)
+        message(FATAL_ERROR
+                "isaac_teleop_third_party_scope_begin(): a scope is already open in this "
+                "directory. The scopes do not nest; close the first one before opening another.")
+    endif()
+    get_property(_isaac_teleop_saved_compile_options DIRECTORY PROPERTY COMPILE_OPTIONS)
+    set_property(DIRECTORY PROPERTY COMPILE_OPTIONS "")
+endmacro()
+
+# Keeping our flags out of a third-party tree stops its own sources from being held to
+# them, but our sources still #include its headers, and a warning raised inside a header
+# is attributed to the first-party TU that pulled it in. Mark the dependency's interface
+# includes as SYSTEM so consumers get -isystem and stay quiet about code we do not own.
+# (add_subdirectory(... SYSTEM) does this in one step, but it needs CMake 3.25 and the
+# project floor is 3.20.)
+function(isaac_teleop_mark_include_dirs_system target)
+    if(NOT TARGET ${target})
+        message(FATAL_ERROR "isaac_teleop_mark_include_dirs_system(): no such target '${target}'")
+    endif()
+    # Property writes are rejected on ALIAS targets, so resolve to the real one first.
+    get_target_property(_aliased ${target} ALIASED_TARGET)
+    if(_aliased)
+        set(target ${_aliased})
+    endif()
+    get_target_property(_includes ${target} INTERFACE_INCLUDE_DIRECTORIES)
+    if(_includes)
+        set_target_properties(${target} PROPERTIES
+                              INTERFACE_SYSTEM_INCLUDE_DIRECTORIES "${_includes}")
+    endif()
+endfunction()
+
+macro(isaac_teleop_third_party_scope_end)
+    if(NOT DEFINED _isaac_teleop_saved_compile_options)
+        message(FATAL_ERROR
+                "isaac_teleop_third_party_scope_end(): no matching "
+                "isaac_teleop_third_party_scope_begin() in this directory.")
+    endif()
+    set_property(DIRECTORY PROPERTY COMPILE_OPTIONS "${_isaac_teleop_saved_compile_options}")
+    unset(_isaac_teleop_saved_compile_options)
+endmacro()

examples/native_openxr/xdev_list/main.cpp

@@ -7,6 +7,7 @@
 #include <openxr/openxr.h>
 
 #include <XR_MNDX_xdev_space.h>
+#include <cstring>
 #include <exception>
 #include <iostream>
 #include <stdexcept>
@@ -92,13 +93,6 @@ std::vector<XrXDevIdMNDX> enumerate_xdevs(const OpenXRBundle& openxr_bundle, XrX
     return xdevIds;
 }
 
-/*!
- * Print information about available XDevs using XR_MNDX_xdev_space extension
- */
-static void print_xdev_info(const OpenXRBundle& openxr_bundle)
-{
-}
-
 /*!
  * XDev List Application - Prints information about available XDevs
  */
@@ -156,7 +150,10 @@ class XDevListApp : public HeadlessApp
                 throw std::runtime_error("Failed to get properties for XDev " + std::to_string(xdevId));
             }
 
-            std::string serial_str = properties.serial ? properties.serial : "";
+            // serial is a fixed char[256], never a pointer, so a null check would always be true.
+            // Bound the length so a runtime that fills the array without a terminator cannot
+            // walk past it.
+            std::string serial_str(properties.serial, ::strnlen(properties.serial, sizeof(properties.serial)));
             if (serial_str == "Head Device (0)" || serial_str == "Head Device (1)")
             {
                 std::cout << "[CREATE HAND] XDev ID=" << xdevId << " Name=\"" << properties.name << "\""
@@ -168,7 +165,7 @@ class XDevListApp : public HeadlessApp
             else
             {
                 std::cout << "[SKIP] XDev ID=" << xdevId << " Name=\"" << properties.name << "\""
-                          << " Serial=\"" << (properties.serial ? properties.serial : "") << "\"" << std::endl;
+                          << " Serial=\"" << serial_str << "\"" << std::endl;
             }
         }
 
@@ -179,7 +176,7 @@ class XDevListApp : public HeadlessApp
     }
 };
 
-int main(int argc, char* argv[])
+int main(int /*argc*/, char* argv[])
 try
 {
     XDevListApp app;

examples/oxr/cpp/oxr_session_sharing.cpp

@@ -11,7 +11,7 @@
 #include <memory>
 #include <thread>
 
-int main(int argc, char** argv)
+int main(int /*argc*/, char** argv)
 try
 {
     std::cout << "OpenXR Session Sharing Example" << std::endl;

examples/oxr/cpp/oxr_simple_api_demo.cpp

@@ -20,7 +20,7 @@
  * Internal lifecycle methods (initialize, update, cleanup) are hidden!
  */
 
-int main(int argc, char** argv)
+int main(int /*argc*/, char** argv)
 try
 {
     std::cout << "OpenXR Simple API Demo" << std::endl;

examples/schemaio/full_body_printer.cpp

@@ -73,7 +73,7 @@ void print_body_pose(const core::FullBodyPoseT& data, size_t sample_count)
 
 } // namespace
 
-int main(int argc, char** argv)
+int main(int /*argc*/, char** argv)
 try
 {
     std::cout << "Full Body Printer (XR_BD_body_tracking)" << std::endl;

examples/schemaio/pedal_printer.cpp

@@ -37,7 +37,7 @@ void print_pedal_data(const core::Generic3AxisPedalOutputT& data, size_t sample_
     std::cout << std::endl;
 }
 
-int main(int argc, char** argv)
+int main(int /*argc*/, char** argv)
 try
 {
     std::cout << "Pedal Printer (collection: " << COLLECTION_ID << ")" << std::endl;

examples/schemaio/pedal_pusher.cpp

@@ -67,7 +67,7 @@ class Generic3AxisPedalPusher
     core::SchemaPusher m_pusher;
 };
 
-int main(int argc, char** argv)
+int main(int /*argc*/, char** argv)
 try
 {
     std::cout << "Schema Pusher (collection: " << COLLECTION_ID << ")" << std::endl;

src/plugins/oak/CMakeLists.txt

@@ -182,7 +182,14 @@ if(NOT depthai_POPULATED)
     function(export)
     endfunction()
 
+    # DepthAI and its own FetchContent'd deps (XLink, ...) are third-party: keep the
+    # project warning set out of them, or -Werror builds fail in code we do not own.
+    isaac_teleop_third_party_scope_begin()
     add_subdirectory(${depthai_SOURCE_DIR} ${depthai_BINARY_DIR} EXCLUDE_FROM_ALL)
+    isaac_teleop_third_party_scope_end()
+
+    # ...and our own sources include DepthAI's headers, so those need -isystem too.
+    isaac_teleop_mark_include_dirs_system(depthai::core)
 endif()
 
 message(STATUS "DepthAI v${DEPTHAI_VERSION} ready")
@@ -201,7 +208,9 @@ FetchContent_Declare(
     URL "https://github.com/libsdl-org/SDL/releases/download/release-${SDL2_VERSION}/SDL2-${SDL2_VERSION}.tar.gz"
     URL_HASH "SHA256=5f5993c530f084535c65a6879e9b26ad441169b3e25d789d83287040a9ca5165"
 )
+isaac_teleop_third_party_scope_begin()
 FetchContent_MakeAvailable(sdl2)
+isaac_teleop_third_party_scope_end()
 message(STATUS "SDL2 ${SDL2_VERSION} — live preview support enabled")
 
 # ==============================================================================

src/plugins/oak/core/oak_camera.cpp

@@ -63,7 +63,7 @@ dai::DeviceInfo OakCamera::find_device(const std::string& device_id)
 
     if (device_id.empty())
     {
-        std::cout << "Found " << devices.size() << " OAK device(s), using: " << devices[0].getMxId() << std::endl;
+        std::cout << "Found " << devices.size() << " OAK device(s), using: " << devices[0].getDeviceId() << std::endl;
         return devices[0];
     }
 

src/plugins/oglo_tactile/CMakeLists.txt

@@ -35,7 +35,9 @@ FetchContent_Declare(
     GIT_SHALLOW TRUE
 )
 set(JSON_BuildTests OFF CACHE INTERNAL "")
+isaac_teleop_third_party_scope_begin()
 FetchContent_MakeAvailable(nlohmann_json)
+isaac_teleop_third_party_scope_end()
 
 # ------------------------------------------------------------------------------
 # BLE backend: BlueZ over the system libdbus (AFL-2.1, permissive).

src/plugins/plugin_utils/wrist_pose_source.cpp

@@ -7,6 +7,7 @@
 #include <oxr_utils/pose_conversions.hpp>
 
 #include <algorithm>
+#include <cstring>
 #include <iostream>
 #include <string>
 
@@ -197,7 +198,10 @@ void WristPoseSource::initialize_xdev_hand_trackers()
             continue;
         }
 
-        std::string serial_str = properties.serial ? properties.serial : "";
+        // serial is a fixed char[256], never a pointer, so a null check would always be true.
+        // Bound the length so a runtime that fills the array without a terminator cannot
+        // walk past it.
+        std::string serial_str(properties.serial, ::strnlen(properties.serial, sizeof(properties.serial)));
         seen_serials.push_back(serial_str);
 
         if (serial_str == "Head Device (0)")

src/plugins/rebot_devarm_leader/CMakeLists.txt

@@ -14,5 +14,16 @@ target_link_libraries(rebot_devarm_leader_plugin PRIVATE
     isaacteleop_schema
 )
 
+# The CAN bus implementations are SocketCAN, so their bodies live behind
+# #ifdef __linux__ and compile to throwing stubs elsewhere. Clang then correctly
+# reports the (still-declared) private members as unused. The warning is real but
+# unactionable off Linux, so suppress it only there and only for this target;
+# on Linux the fields are used and the warning stays live. GCC has no such warning.
+if(NOT CMAKE_SYSTEM_NAME STREQUAL "Linux")
+    target_compile_options(rebot_devarm_leader_plugin PRIVATE
+        $<$<CXX_COMPILER_ID:Clang,AppleClang>:-Wno-unused-private-field>
+    )
+endif()
+
 install(TARGETS rebot_devarm_leader_plugin RUNTIME DESTINATION plugins/rebot_devarm_leader)
 install(FILES plugin.yaml README.md DESTINATION plugins/rebot_devarm_leader)