[cooperative perception] Remove all noexcept specifiers from function…

… declarations (#2246) * Remove noexcept declarations There is an issue where something throws in a noexcept function, causing the cooperative perception stack to fail and subsequently the rest of CARMA. Until we figure out which function is the source, we are removing all noexcept declarations. * #2246 Update code formatting --------- Co-authored-by: Adam Morrissett <[email protected]>
usdot-fhwa-stol · Jan 4, 2024 · 4413270 · 4413270
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Showing 25 changed files with 127 additions and 140 deletions.
diff --git a/...include/carma_cooperative_perception/external_object_list_to_detection_list_component.hpp b/...include/carma_cooperative_perception/external_object_list_to_detection_list_component.hpp
@@ -55,7 +55,7 @@ class ExternalObjectListToDetectionListNode : public carma_ros2_utils::CarmaLife
 
   auto publish_as_detection_list(const input_msg_type & msg) const -> void;
 
-  auto update_georeference(const std_msgs::msg::String & msg) noexcept -> void;
+  auto update_georeference(const std_msgs::msg::String & msg) -> void;
 
 private:
   rclcpp_lifecycle::LifecyclePublisher<output_msg_type>::SharedPtr publisher_{nullptr};

diff --git a/...erception/include/carma_cooperative_perception/external_object_list_to_sdsm_component.hpp b/...erception/include/carma_cooperative_perception/external_object_list_to_sdsm_component.hpp
@@ -53,9 +53,9 @@ class ExternalObjectListToSdsmNode : public carma_ros2_utils::CarmaLifecycleNode
 
   auto publish_as_sdsm(const external_objects_msg_type & msg) const -> void;
 
-  auto update_georeference(const georeference_msg_type & proj_string) noexcept -> void;
+  auto update_georeference(const georeference_msg_type & proj_string) -> void;
 
-  auto update_current_pose(const pose_msg_type & pose) noexcept -> void;
+  auto update_current_pose(const pose_msg_type & pose) -> void;
 
 private:
   rclcpp_lifecycle::LifecyclePublisher<sdsm_msg_type>::SharedPtr sdsm_publisher_{nullptr};

diff --git a/carma_cooperative_perception/include/carma_cooperative_perception/geodetic.hpp b/carma_cooperative_perception/include/carma_cooperative_perception/geodetic.hpp
@@ -65,8 +65,8 @@ struct UtmDisplacement
  *
  * @return Reference to the coordinate's updated position
 */
-inline constexpr auto operator+=(
-  UtmCoordinate & coordinate, const UtmDisplacement & displacement) noexcept -> UtmCoordinate &
+inline constexpr auto operator+=(UtmCoordinate & coordinate, const UtmDisplacement & displacement)
+  -> UtmCoordinate &
 {
   coordinate.easting += displacement.easting;
   coordinate.northing += displacement.northing;
@@ -83,8 +83,8 @@ inline constexpr auto operator+=(
  *
  * @return A new UtmCoordinate representing the new position
 */
-inline constexpr auto operator+(
-  UtmCoordinate coordinate, const UtmDisplacement & displacement) noexcept -> UtmCoordinate
+inline constexpr auto operator+(UtmCoordinate coordinate, const UtmDisplacement & displacement)
+  -> UtmCoordinate
 {
   return coordinate += displacement;
 }
@@ -97,8 +97,8 @@ inline constexpr auto operator+(
  *
  * @return A new UtmCoordinate representing the new position
 */
-inline constexpr auto operator+(
-  const UtmDisplacement & displacement, UtmCoordinate coordinate) noexcept -> UtmCoordinate
+inline constexpr auto operator+(const UtmDisplacement & displacement, UtmCoordinate coordinate)
+  -> UtmCoordinate
 {
   return coordinate += displacement;
 }
@@ -111,8 +111,8 @@ inline constexpr auto operator+(
  *
  * @return Reference to the coordinate's updated position
 */
-inline constexpr auto operator-=(
-  UtmCoordinate & coordinate, const UtmDisplacement & displacement) noexcept -> UtmCoordinate &
+inline constexpr auto operator-=(UtmCoordinate & coordinate, const UtmDisplacement & displacement)
+  -> UtmCoordinate &
 {
   coordinate.easting += displacement.easting;
   coordinate.northing += displacement.northing;
@@ -129,8 +129,8 @@ inline constexpr auto operator-=(
  *
  * @return A new UtmCoordinate representing the new position
 */
-inline constexpr auto operator-(
-  UtmCoordinate coordinate, const UtmDisplacement & displacement) noexcept -> UtmCoordinate
+inline constexpr auto operator-(UtmCoordinate coordinate, const UtmDisplacement & displacement)
+  -> UtmCoordinate
 {
   return coordinate -= displacement;
 }
@@ -143,8 +143,8 @@ inline constexpr auto operator-(
  *
  * @return A new UtmCoordinate representing the new position
 */
-inline constexpr auto operator-(
-  const UtmDisplacement & displacement, UtmCoordinate coordinate) noexcept -> UtmCoordinate
+inline constexpr auto operator-(const UtmDisplacement & displacement, UtmCoordinate coordinate)
+  -> UtmCoordinate
 {
   return coordinate -= displacement;
 }

diff --git a/...erative_perception/include/carma_cooperative_perception/host_vehicle_filter_component.hpp b/...erative_perception/include/carma_cooperative_perception/host_vehicle_filter_component.hpp
@@ -43,10 +43,10 @@ class HostVehicleFilterNode : public carma_ros2_utils::CarmaLifecycleNode
   auto handle_on_shutdown(const rclcpp_lifecycle::State & /* previous_state */)
     -> carma_ros2_utils::CallbackReturn override;
 
-  auto update_host_vehicle_pose(const geometry_msgs::msg::PoseStamped & msg) noexcept -> void;
+  auto update_host_vehicle_pose(const geometry_msgs::msg::PoseStamped & msg) -> void;
 
-  auto attempt_filter_and_republish(
-    carma_cooperative_perception_interfaces::msg::DetectionList msg) noexcept -> void;
+  auto attempt_filter_and_republish(carma_cooperative_perception_interfaces::msg::DetectionList msg)
+    -> void;
 
 private:
   rclcpp::Subscription<carma_cooperative_perception_interfaces::msg::DetectionList>::SharedPtr
@@ -66,7 +66,7 @@ class HostVehicleFilterNode : public carma_ros2_utils::CarmaLifecycleNode
 };
 
 auto euclidean_distance_squared(
-  const geometry_msgs::msg::Pose & a, const geometry_msgs::msg::Pose & b) noexcept -> double;
+  const geometry_msgs::msg::Pose & a, const geometry_msgs::msg::Pose & b) -> double;
 
 }  // namespace carma_cooperative_perception
 

diff --git a/carma_cooperative_perception/include/carma_cooperative_perception/j2735_types.hpp b/carma_cooperative_perception/include/carma_cooperative_perception/j2735_types.hpp
@@ -43,8 +43,7 @@ struct DDateTime
   std::optional<units::time::second_t> second;
   std::optional<units::time::minute_t> time_zone_offset;
 
-  [[nodiscard]] static auto from_msg(const j2735_v2x_msgs::msg::DDateTime & msg) noexcept
-    -> DDateTime;
+  [[nodiscard]] static auto from_msg(const j2735_v2x_msgs::msg::DDateTime & msg) -> DDateTime;
 };
 
 struct AccelerationSet4Way
@@ -54,10 +53,10 @@ struct AccelerationSet4Way
   units::acceleration::two_centi_standard_gravities_t vert;
   units::angular_velocity::centi_degrees_per_second_t yaw_rate;
 
-  [[nodiscard]] static auto from_msg(const j2735_v2x_msgs::msg::AccelerationSet4Way & msg) noexcept
+  [[nodiscard]] static auto from_msg(const j2735_v2x_msgs::msg::AccelerationSet4Way & msg)
     -> AccelerationSet4Way;
 
-  [[nodiscard]] static auto from_msg(const carma_v2x_msgs::msg::AccelerationSet4Way & msg) noexcept
+  [[nodiscard]] static auto from_msg(const carma_v2x_msgs::msg::AccelerationSet4Way & msg)
     -> AccelerationSet4Way;
 };
 
@@ -67,31 +66,27 @@ struct Position3D
   units::angle::deci_micro_degrees_t longitude{0.0};
   std::optional<units::length::deca_centimeters_t> elevation;
 
-  [[nodiscard]] static auto from_msg(const j2735_v2x_msgs::msg::Position3D & msg) noexcept
-    -> Position3D;
+  [[nodiscard]] static auto from_msg(const j2735_v2x_msgs::msg::Position3D & msg) -> Position3D;
 
-  [[nodiscard]] static auto from_msg(const carma_v2x_msgs::msg::Position3D & msg) noexcept
-    -> Position3D;
+  [[nodiscard]] static auto from_msg(const carma_v2x_msgs::msg::Position3D & msg) -> Position3D;
 };
 
 struct Heading
 {
   units::angle::eighth_deci_degrees_t heading;
 
-  [[nodiscard]] static auto from_msg(const j2735_v2x_msgs::msg::Heading & heading) noexcept
-    -> Heading;
+  [[nodiscard]] static auto from_msg(const j2735_v2x_msgs::msg::Heading & heading) -> Heading;
 
-  [[nodiscard]] static auto from_msg(const carma_v2x_msgs::msg::Heading & heading) noexcept
-    -> Heading;
+  [[nodiscard]] static auto from_msg(const carma_v2x_msgs::msg::Heading & heading) -> Heading;
 };
 
 struct Speed
 {
   units::velocity::two_centi_meters_per_second_t speed;
 
-  [[nodiscard]] static auto from_msg(const j2735_v2x_msgs::msg::Speed & speed) noexcept -> Speed;
+  [[nodiscard]] static auto from_msg(const j2735_v2x_msgs::msg::Speed & speed) -> Speed;
 
-  [[nodiscard]] static auto from_msg(const carma_v2x_msgs::msg::Speed & speed) noexcept -> Speed;
+  [[nodiscard]] static auto from_msg(const carma_v2x_msgs::msg::Speed & speed) -> Speed;
 };
 
 }  // namespace carma_cooperative_perception

diff --git a/carma_cooperative_perception/include/carma_cooperative_perception/j3224_types.hpp b/carma_cooperative_perception/include/carma_cooperative_perception/j3224_types.hpp
@@ -31,22 +31,22 @@ struct PositionOffsetXYZ
   units::length::decimeter_t offset_y{0.0};
   std::optional<units::length::decimeter_t> offset_z;
 
-  [[nodiscard]] static auto from_msg(const j3224_v2x_msgs::msg::PositionOffsetXYZ & msg) noexcept
+  [[nodiscard]] static auto from_msg(const j3224_v2x_msgs::msg::PositionOffsetXYZ & msg)
     -> PositionOffsetXYZ;
 
-  [[nodiscard]] static auto from_msg(const carma_v2x_msgs::msg::PositionOffsetXYZ & msg) noexcept
+  [[nodiscard]] static auto from_msg(const carma_v2x_msgs::msg::PositionOffsetXYZ & msg)
     -> PositionOffsetXYZ;
 };
 
 struct MeasurementTimeOffset
 {
   units::time::millisecond_t measurement_time_offset;
 
-  [[nodiscard]] static auto from_msg(
-    const j3224_v2x_msgs::msg::MeasurementTimeOffset & msg) noexcept -> MeasurementTimeOffset;
+  [[nodiscard]] static auto from_msg(const j3224_v2x_msgs::msg::MeasurementTimeOffset & msg)
+    -> MeasurementTimeOffset;
 
-  [[nodiscard]] static auto from_msg(
-    const carma_v2x_msgs::msg::MeasurementTimeOffset & msg) noexcept -> MeasurementTimeOffset;
+  [[nodiscard]] static auto from_msg(const carma_v2x_msgs::msg::MeasurementTimeOffset & msg)
+    -> MeasurementTimeOffset;
 };
 
 }  // namespace carma_cooperative_perception

diff --git a/carma_cooperative_perception/include/carma_cooperative_perception/month.hpp b/carma_cooperative_perception/include/carma_cooperative_perception/month.hpp
@@ -36,14 +36,14 @@ class Month
    *
    * @param[in] month_value Numerical value of the month; typically between [1, 12]
   */
-  constexpr explicit Month(std::uint8_t month_value) noexcept : month_value_{month_value} {}
+  constexpr explicit Month(std::uint8_t month_value) : month_value_{month_value} {}
 
   /**
    * @brief Pre-increment operator overload
    *
    * @return Reference to Month instance being incremented
   */
-  constexpr auto operator++() noexcept -> Month &
+  constexpr auto operator++() -> Month &
   {
     constexpr auto jan_value{1U};
     constexpr auto dec_value{12U};
@@ -64,7 +64,7 @@ class Month
    *
    * @return Copy of Month instance before it was incremented
   */
-  constexpr auto operator++(int /* dummy parameter */) noexcept -> Month
+  constexpr auto operator++(int /* dummy parameter */) -> Month
   {
     Month previous{*this};
     ++(*this);
@@ -77,7 +77,7 @@ class Month
    *
    * @return Reference to Month instance being decremented
   */
-  constexpr auto operator--() noexcept -> Month &
+  constexpr auto operator--() -> Month &
   {
     constexpr auto dec_value{12U};
 
@@ -97,7 +97,7 @@ class Month
    *
    * @return Copy of Month instance before it was decremented
   */
-  constexpr auto operator--(int /* dummy parameter */) noexcept -> Month
+  constexpr auto operator--(int /* dummy parameter */) -> Month
   {
     Month previous{*this};
     --(*this);
@@ -108,17 +108,14 @@ class Month
   /**
    * @brief Conversion function to convert Month instance to unsigned type
   */
-  constexpr explicit operator unsigned() const noexcept
-  {
-    return static_cast<unsigned>(month_value_);
-  }
+  constexpr explicit operator unsigned() const { return static_cast<unsigned>(month_value_); }
 
   /**
    * @brief Checks if Month instance's value is within valid Gregorian calendar range
    *
    * @return true if Month instance's value is within [1, 12]; false otherwise
   */
-  [[nodiscard]] constexpr auto ok() const noexcept -> bool
+  [[nodiscard]] constexpr auto ok() const -> bool
   {
     constexpr auto jan_value{1U};
     constexpr auto dec_value{12U};
@@ -134,7 +131,7 @@ class Month
    *
    * @return true is Month instances are equal; false otherwise
   */
-  friend constexpr auto operator==(const Month & x, const Month & y) noexcept -> bool
+  friend constexpr auto operator==(const Month & x, const Month & y) -> bool
   {
     return x.month_value_ == y.month_value_;
   }
@@ -147,10 +144,7 @@ class Month
    *
    * @return true is Month instances are not equal; false otherwise
   */
-  friend constexpr auto operator!=(const Month & x, const Month & y) noexcept -> bool
-  {
-    return !(x == y);
-  }
+  friend constexpr auto operator!=(const Month & x, const Month & y) -> bool { return !(x == y); }
 
   /**
    * @brief Check if one Month instance is less than another
@@ -160,7 +154,7 @@ class Month
    *
    * @return true is x comes before y in the calendar; false otherwise
   */
-  friend constexpr auto operator<(const Month & x, const Month & y) noexcept -> bool
+  friend constexpr auto operator<(const Month & x, const Month & y) -> bool
   {
     return x.month_value_ < y.month_value_;
   }
@@ -173,7 +167,7 @@ class Month
    *
    * @return true is x comes before y in the calendar or if instances are equal; false otherwise
   */
-  friend constexpr auto operator<=(const Month & x, const Month & y) noexcept -> bool
+  friend constexpr auto operator<=(const Month & x, const Month & y) -> bool
   {
     return x < y || x == y;
   }
@@ -186,7 +180,7 @@ class Month
    *
    * @return true is x comes after y in the calendar; false otherwise
   */
-  friend constexpr auto operator>(const Month & x, const Month & y) noexcept -> bool
+  friend constexpr auto operator>(const Month & x, const Month & y) -> bool
   {
     return x.month_value_ > y.month_value_;
   }
@@ -199,7 +193,7 @@ class Month
    *
    * @return true is x comes after y in the calendar or if instances are equal; false otherwise
   */
-  friend constexpr auto operator>=(const Month & x, const Month & y) noexcept -> bool
+  friend constexpr auto operator>=(const Month & x, const Month & y) -> bool
   {
     return x > y || x == y;
   }