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

CMakeLists.txt

@@ -130,6 +130,12 @@ if(WIN32)
     endif()
 endif()
 
+# Project warning set. This only defines the helpers -- src/CMakeLists.txt and
+# examples/CMakeLists.txt each enable the set for their own tree, so the flags are
+# scoped by directory rather than by where this include sits. Nothing here applies
+# compile options, and deps/ below is unaffected.
+include(cmake/CompilerWarnings.cmake)
+
 # Build dependencies (OpenXR SDK, etc.)
 add_subdirectory(deps)
 
@@ -142,62 +148,12 @@ endif()
 # Build interfaces (headers)
 add_subdirectory(deps/cloudxr/openxr_extensions)
 
-# Build core modules (OXR and DEVICEIO)
-add_subdirectory(src/core)
-
-# Stage the isaacteleop Python tree. Must follow src/core (defines BUILD_PYTHON_BINDINGS).
-add_subdirectory(src/python)
-
-# Build Televiz visualization module (sibling of src/core).
-# src/viz/CMakeLists.txt orchestrates its own sub-modules and tests.
-if(BUILD_VIZ)
-    add_subdirectory(src/viz)
-endif()
+# Build the first-party tree: core modules, the Python package, Televiz, plugins.
+add_subdirectory(src)
 
-# Build examples if requested
-if(BUILD_EXAMPLES)
-    add_subdirectory(examples/oxr)
-    add_subdirectory(examples/retargeting)
-    add_subdirectory(examples/teleop_session_manager)
-    add_subdirectory(examples/teleop_ros2)
-    add_subdirectory(examples/schemaio)
-    add_subdirectory(examples/native_openxr)
-    add_subdirectory(examples/mcap_record_replay)
-    add_subdirectory(examples/deviceio_live_view)
-    add_subdirectory(examples/haptic_feedback)
-    if(BUILD_VIZ)
-        add_subdirectory(examples/camera_viz/tests)
-        add_subdirectory(examples/mujoco_xr)
-    endif()
-elseif(BUILD_EXAMPLE_TELEOP_ROS2)
-    add_subdirectory(examples/teleop_ros2)
-endif()
-
-# Build plugins if requested
-if(BUILD_PLUGINS)
-    # Build plugin utilities
-    add_subdirectory(src/plugins/plugin_utils)
-
-    add_subdirectory(src/plugins/controller_se3_tracker)
-    add_subdirectory(src/plugins/controller_synthetic_hands)
-    add_subdirectory(src/plugins/generic_3axis_pedal)
-    add_subdirectory(src/plugins/so101_leader)
-    add_subdirectory(src/plugins/rebot_devarm_leader)
-    add_subdirectory(src/plugins/manus)
-    add_subdirectory(src/plugins/haptikos)
-    if(BUILD_PLUGIN_NOITOM_MOCAP)
-        add_subdirectory(src/plugins/noitom_mocap)
-    endif()
-    if(BUILD_PLUGIN_OAK_CAMERA)
-        add_subdirectory(src/plugins/oak)
-    endif()
-    if(BUILD_PLUGIN_OGLO)
-        add_subdirectory(src/plugins/oglo_tactile)
-    endif()
-    # Gated: requires the wuji_sdk C library (set WUJI_SDK_INCLUDE_DIR + lib path).
-    if(BUILD_PLUGIN_WUJI_GLOVE)
-        add_subdirectory(src/plugins/wuji_glove)
-    endif()
+# Build examples if requested (examples/CMakeLists.txt honours both options).
+if(BUILD_EXAMPLES OR BUILD_EXAMPLE_TELEOP_ROS2)
+    add_subdirectory(examples)
 endif()
 
 # Formatting enforcement (runs on Linux by default)

cmake/CompilerWarnings.cmake

@@ -0,0 +1,125 @@
+# 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. It is called at the top of src/CMakeLists.txt and
+# examples/CMakeLists.txt -- the roots of the two first-party trees -- so the flags
+# follow the directory layout. Third-party trees (OpenXR SDK, yaml-cpp, pybind11,
+# mcap, flatbuffers, Catch2, ...) live under deps/, which never calls this, and so
+# keep building with their own flags whatever order the root adds things in.
+#
+# Directory scoping does not cover code fetched from *inside* src/plugins/, which
+# does 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)
+    # Called once per first-party tree, so name the scope: the messages are only
+    # useful if you can tell which directory each one covers.
+    file(RELATIVE_PATH _scope "${CMAKE_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}")
+
+    if(NOT ISAAC_TELEOP_ENABLE_WARNINGS)
+        message(STATUS "Compiler warnings (${_scope}/): disabled (ISAAC_TELEOP_ENABLE_WARNINGS=OFF)")
+        return()
+    endif()
+
+    set(_gnu_like
+        -Wall
+        -Wextra
+        # Deliberately off: C-style aggregate init of OpenXR/Vulkan structs (which
+        # zero-fill the tail on purpose) trips this on essentially every call site.
+        # The native_openxr example already suppressed it for the same reason.
+        -Wno-missing-field-initializers
+        # Bug classes worth failing a build over.
+        -Wnon-virtual-dtor       # deleting through a base pointer without a virtual dtor
+        -Woverloaded-virtual     # a derived overload silently hiding a base virtual
+        -Wimplicit-fallthrough   # unannotated switch fallthrough
+        -Wextra-semi             # stray ';' after a member function definition
+    )
+
+    set(_msvc
+        /W4
+        /permissive-
+    )
+
+    if(ISAAC_TELEOP_WARNINGS_AS_ERRORS)
+        list(APPEND _gnu_like -Werror)
+        list(APPEND _msvc /WX)
+    endif()
+
+    add_compile_options(
+        "$<$<AND:$<COMPILE_LANGUAGE:CXX>,$<CXX_COMPILER_ID:GNU,Clang,AppleClang>>:${_gnu_like}>"
+        "$<$<AND:$<COMPILE_LANGUAGE:CXX>,$<CXX_COMPILER_ID:MSVC>>:${_msvc}>"
+    )
+
+    message(STATUS "Compiler warnings (${_scope}/): 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/CMakeLists.txt

@@ -0,0 +1,28 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+# ==============================================================================
+# Reference examples
+# ==============================================================================
+# First-party code, so the project warning set applies to the whole tree. Enabled
+# here rather than at the root for the reasons in src/CMakeLists.txt.
+isaac_teleop_enable_compiler_warnings()
+
+if(BUILD_EXAMPLES)
+    add_subdirectory(oxr)
+    add_subdirectory(retargeting)
+    add_subdirectory(teleop_session_manager)
+    add_subdirectory(teleop_ros2)
+    add_subdirectory(schemaio)
+    add_subdirectory(native_openxr)
+    add_subdirectory(mcap_record_replay)
+    add_subdirectory(deviceio_live_view)
+    add_subdirectory(haptic_feedback)
+    if(BUILD_VIZ)
+        add_subdirectory(camera_viz/tests)
+        add_subdirectory(mujoco_xr)
+    endif()
+elseif(BUILD_EXAMPLE_TELEOP_ROS2)
+    # Only the ROS 2 reference integration (e.g. for Docker).
+    add_subdirectory(teleop_ros2)
+endif()

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
  */
@@ -156,19 +150,23 @@ 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 : "";
+            // name and serial are fixed char[256], never pointers, so a null check would always
+            // be true. Bound both lengths so a runtime that fills an array without a terminator
+            // cannot walk past it.
+            std::string name_str(properties.name, ::strnlen(properties.name, sizeof(properties.name)));
+            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 << "\""
+                std::cout << "[CREATE HAND] XDev ID=" << xdevId << " Name=\"" << name_str << "\""
                           << " Serial=\"" << serial_str << "\"" << std::endl;
 
                 XrHandEXT hand = (serial_str == "Head Device (1)") ? XR_HAND_RIGHT_EXT : XR_HAND_LEFT_EXT;
                 create_hand_tracker_from_xdev(openxr_bundle, xdevList, xdevId, hand);
             }
             else
             {
-                std::cout << "[SKIP] XDev ID=" << xdevId << " Name=\"" << properties.name << "\""
-                          << " Serial=\"" << (properties.serial ? properties.serial : "") << "\"" << std::endl;
+                std::cout << "[SKIP] XDev ID=" << xdevId << " Name=\"" << name_str << "\""
+                          << " Serial=\"" << serial_str << "\"" << std::endl;
             }
         }
 
@@ -179,7 +177,7 @@ 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/CMakeLists.txt

@@ -0,0 +1,27 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+# ==============================================================================
+# First-party C++ tree
+# ==============================================================================
+# Everything under src/ is code we own, so the project warning set is enabled once
+# here for the whole directory. Scoping it to this file is what lets the root
+# CMakeLists.txt add deps/ and src/ in any order: third-party trees are simply
+# never inside a directory that carries our flags.
+isaac_teleop_enable_compiler_warnings()
+
+# Core modules (OXR and DEVICEIO).
+add_subdirectory(core)
+
+# Stage the isaacteleop Python tree. Must follow core (defines BUILD_PYTHON_BINDINGS).
+add_subdirectory(python)
+
+# Televiz visualization module, a sibling of core.
+# viz/CMakeLists.txt orchestrates its own sub-modules and tests.
+if(BUILD_VIZ)
+    add_subdirectory(viz)
+endif()
+
+if(BUILD_PLUGINS)
+    add_subdirectory(plugins)
+endif()