fix fallthrough warning

fix:
…/sot-core/src/tools/device.cpp: In member function ‘virtual void dynamicgraph::sot::Device::setState(const Vector&)’:
…/sot-core/src/tools/device.cpp:248:7: warning: this statement may fall through [-Wimplicit-fallthrough=]
       }
       ^
…/sot-core/src/tools/device.cpp:249:5: note: here
     case CONTROL_INPUT_ONE_INTEGRATION:
     ^~~~

CMakeLists.txt

@@ -111,6 +111,7 @@ SET(${PROJECT_NAME}_HEADERS
   include/${CUSTOM_HEADER_DIR}/joint-limitator.hh
   include/${CUSTOM_HEADER_DIR}/kalman.hh
   include/${CUSTOM_HEADER_DIR}/latch.hh
+  include/${CUSTOM_HEADER_DIR}/macros.hh
   include/${CUSTOM_HEADER_DIR}/macros-signal.hh
   include/${CUSTOM_HEADER_DIR}/mailbox-vector.hh
   include/${CUSTOM_HEADER_DIR}/mailbox.hh

include/sot/core/macros.hh

+#ifndef __SOT_CORE_MACROS_HH__
+#define __SOT_CORE_MACROS_HH__
+
+// ref https://www.fluentcpp.com/2019/08/30/how-to-disable-a-warning-in-cpp/
+#if defined(_MSC_VER)
+
+#define SOT_CORE_DISABLE_WARNING_PUSH           __pragma(warning( push ))
+#define SOT_CORE_DISABLE_WARNING_POP            __pragma(warning( pop ))
+#define SOT_CORE_DISABLE_WARNING(warningNumber) __pragma(warning( disable : warningNumber ))
+#define SOT_CORE_DISABLE_WARNING_DEPRECATED     SOT_CORE_DISABLE_WARNING(4996)
+#define SOT_CORE_DISABLE_WARNING_FALLTHROUGH
+
+#elif defined(__GNUC__) || defined(__clang__)
+
+#define SOT_CORE_DO_PRAGMA(X) _Pragma(#X)
+#define SOT_CORE_DISABLE_WARNING_PUSH           SOT_CORE_DO_PRAGMA(GCC diagnostic push)
+#define SOT_CORE_DISABLE_WARNING_POP            SOT_CORE_DO_PRAGMA(GCC diagnostic pop)
+#define SOT_CORE_DISABLE_WARNING(warningName)   SOT_CORE_DO_PRAGMA(GCC diagnostic ignored #warningName)
+#define SOT_CORE_DISABLE_WARNING_DEPRECATED     SOT_CORE_DISABLE_WARNING(-Wdeprecated-declarations)
+#define SOT_CORE_DISABLE_WARNING_FALLTHROUGH    SOT_CORE_DISABLE_WARNING(-Wimplicit-fallthrough)
+
+#else
+
+#define SOT_CORE_DISABLE_WARNING_PUSH
+#define SOT_CORE_DISABLE_WARNING_POP
+#define SOT_CORE_DISABLE_WARNING_DEPRECATED
+
+#endif
+
+#endif

src/tools/device.cpp

@@ -15,6 +15,7 @@
 
 #include "sot/core/device.hh"
 #include <iostream>
+#include <sot/core/macros.hh>
 #include <sot/core/debug.hh>
 using namespace std;
 
@@ -229,6 +230,8 @@ void Device::setVelocitySize(const unsigned int &size) {
 void Device::setState(const Vector &st) {
   if (sanityCheck_) {
     const Vector::Index &s = st.size();
+SOT_CORE_DISABLE_WARNING_PUSH
+SOT_CORE_DISABLE_WARNING_FALLTHROUGH
     switch (controlInputType_) {
     case CONTROL_INPUT_TWO_INTEGRATION:
       dgRTLOG()
@@ -263,6 +266,7 @@ void Device::setState(const Vector &st) {
     default:
       throw std::invalid_argument("Invalid control mode type.");
     }
+SOT_CORE_DISABLE_WARNING_POP
   }
   state_ = st;
   stateSOUT.setConstant(state_);
@@ -315,6 +319,8 @@ void Device::setControlInputType(const std::string &cit) {
 void Device::setSanityCheck(const bool &enableCheck) {
   if (enableCheck) {
     const Vector::Index &s = state_.size();
+SOT_CORE_DISABLE_WARNING_PUSH
+SOT_CORE_DISABLE_WARNING_FALLTHROUGH
     switch (controlInputType_) {
     case CONTROL_INPUT_TWO_INTEGRATION:
       dgRTLOG()
@@ -341,6 +347,7 @@ void Device::setSanityCheck(const bool &enableCheck) {
     default:
       throw std::invalid_argument("Invalid control mode type.");
     }
+SOT_CORE_DISABLE_WARNING_POP
   }
   sanityCheck_ = enableCheck;
 }