Fixed current and potential bugs caught by Coverity

Change-Id: I9f9d09dc797ffea062eeb49c881be1d5acb63d7b

wpilibc/Athena/src/AnalogGyro.cpp

@@ -88,7 +88,10 @@ AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
  * significant
  * drift in the gyro and it needs to be recalibrated after it has been running.
  */
-void AnalogGyro::Reset() { m_analog->ResetAccumulator(); }
+void AnalogGyro::Reset() {
+  if (StatusIsFatal()) return;
+  m_analog->ResetAccumulator();
+}
 
 /**
  * {@inheritDoc}
@@ -127,6 +130,8 @@ void AnalogGyro::Calibrate() {
  * of the returned rate from the gyro.
  */
 float AnalogGyro::GetAngle() const {
+  if (StatusIsFatal()) return 0.f;
+
   int64_t rawValue;
   uint32_t count;
   m_analog->GetAccumulatorOutput(rawValue, count);
@@ -148,6 +153,8 @@ float AnalogGyro::GetAngle() const {
  * @return the current rate in degrees per second
  */
 double AnalogGyro::GetRate() const {
+  if (StatusIsFatal()) return 0.0;
+
   return (m_analog->GetAverageValue() - ((double)m_center + m_offset)) * 1e-9 *
          m_analog->GetLSBWeight() /
          ((1 << m_analog->GetOversampleBits()) * m_voltsPerDegreePerSecond);
@@ -176,6 +183,8 @@ void AnalogGyro::SetSensitivity(float voltsPerDegreePerSecond) {
  * @param volts The size of the deadband in volts
  */
 void AnalogGyro::SetDeadband(float volts) {
+  if (StatusIsFatal()) return;
+
   int32_t deadband = volts * 1e9 / m_analog->GetLSBWeight() *
                      (1 << m_analog->GetOversampleBits());
   m_analog->SetAccumulatorDeadband(deadband);

wpilibc/Athena/src/AnalogInput.cpp

@@ -10,6 +10,7 @@
 #include "Timer.h"
 #include "WPIErrors.h"
 #include "LiveWindow/LiveWindow.h"
+#include "HAL/Port.h"
 
 #include <sstream>
 
@@ -43,10 +44,11 @@ AnalogInput::AnalogInput(uint32_t channel) {
 
   m_channel = channel;
 
-  void *port = getPort(channel);
+  void* port = getPort(channel);
   int32_t status = 0;
   m_port = initializeAnalogInputPort(port, &status);
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
+  freePort(port);
 
   LiveWindow::GetInstance()->AddSensor("AnalogInput", channel, this);
   HALReport(HALUsageReporting::kResourceType_AnalogChannel, channel);

wpilibc/Athena/src/AnalogOutput.cpp

@@ -9,7 +9,9 @@
 #include "Resource.h"
 #include "WPIErrors.h"
 #include "LiveWindow/LiveWindow.h"
+#include "HAL/Port.h"
 
+#include <limits>
 #include <sstream>
 
 static std::unique_ptr<Resource> outputs;
@@ -27,21 +29,26 @@ AnalogOutput::AnalogOutput(uint32_t channel) {
 
   if (!checkAnalogOutputChannel(channel)) {
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+    m_channel = std::numeric_limits<uint32_t>::max();
+    m_port = nullptr;
     return;
   }
 
   if (outputs->Allocate(channel, buf.str()) ==
       std::numeric_limits<uint32_t>::max()) {
     CloneError(*outputs);
+    m_channel = std::numeric_limits<uint32_t>::max();
+    m_port = nullptr;
     return;
   }
 
   m_channel = channel;
 
-  void *port = getPort(m_channel);
+  void* port = getPort(m_channel);
   int32_t status = 0;
   m_port = initializeAnalogOutputPort(port, &status);
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
+  freePort(port);
 
   LiveWindow::GetInstance()->AddActuator("AnalogOutput", m_channel, this);
   HALReport(HALUsageReporting::kResourceType_AnalogOutput, m_channel);

wpilibc/Athena/src/AnalogTrigger.cpp

@@ -11,6 +11,8 @@
 //#include "NetworkCommunication/UsageReporting.h"
 #include "Resource.h"
 #include "WPIErrors.h"
+#include "HAL/Port.h"
+
 #include <memory>
 
 /**
@@ -20,11 +22,12 @@
  * on-board 4-7 are on the MXP port.
  */
 AnalogTrigger::AnalogTrigger(int32_t channel) {
-  void *port = getPort(channel);
+  void* port = getPort(channel);
   int32_t status = 0;
   uint32_t index = 0;
   m_trigger = initializeAnalogTrigger(port, &index, &status);
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
+  freePort(port);
   m_index = index;
 
   HALReport(HALUsageReporting::kResourceType_AnalogTrigger, channel);

wpilibc/Athena/src/CameraServer.cpp

@@ -149,7 +149,10 @@ unsigned int CameraServer::GetQuality() {
 void CameraServer::Serve() {
   int sock = socket(AF_INET, SOCK_STREAM, 0);
 
-  if (sock == -1) wpi_setErrnoError();
+  if (sock == -1) {
+    wpi_setErrnoError();
+    return;
+  }
 
   int reuseAddr = 1;
   if (setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, &reuseAddr,

wpilibc/Athena/src/DigitalInput.cpp

@@ -11,6 +11,7 @@
 #include "WPIErrors.h"
 #include "LiveWindow/LiveWindow.h"
 
+#include <limits>
 #include <sstream>
 
 /**
@@ -25,6 +26,7 @@ DigitalInput::DigitalInput(uint32_t channel) {
   if (!CheckDigitalChannel(channel)) {
     buf << "Digital Channel " << channel;
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+    m_channel = std::numeric_limits<uint32_t>::max();
     return;
   }
   m_channel = channel;

wpilibc/Athena/src/DigitalOutput.cpp

@@ -9,6 +9,7 @@
 #include "Resource.h"
 #include "WPIErrors.h"
 
+#include <limits>
 #include <sstream>
 
 /**
@@ -21,13 +22,14 @@
 DigitalOutput::DigitalOutput(uint32_t channel) {
   std::stringstream buf;
 
+  m_pwmGenerator = (void *)std::numeric_limits<uint32_t>::max();
   if (!CheckDigitalChannel(channel)) {
     buf << "Digital Channel " << channel;
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+    m_channel = std::numeric_limits<uint32_t>::max();
     return;
   }
   m_channel = channel;
-  m_pwmGenerator = (void *)std::numeric_limits<uint32_t>::max();
 
   int32_t status = 0;
   allocateDIO(m_digital_ports[channel], false, &status);

wpilibc/Athena/src/PIDController.cpp

@@ -107,7 +107,6 @@ void PIDController::Calculate() {
     pidInput = m_pidInput;
     pidOutput = m_pidOutput;
     enabled = m_enabled;
-    pidInput = m_pidInput;
   }
 
   if (pidInput == nullptr) return;

wpilibc/Athena/src/RobotBase.cpp

@@ -56,8 +56,10 @@ RobotBase::RobotBase() : m_ds(DriverStation::GetInstance()) {
   FILE *file = nullptr;
   file = fopen("/tmp/frc_versions/FRC_Lib_Version.ini", "w");
 
-  fputs("2016 C++ Beta2.0", file);
-  if (file != nullptr) fclose(file);
+  if (file != nullptr) {
+    fputs("2016 C++ Beta2.0", file);
+    fclose(file);
+  }
 }
 
 /**

wpilibc/Athena/src/SensorBase.cpp

@@ -10,6 +10,7 @@
 #include "NetworkCommunication/LoadOut.h"
 #include "WPIErrors.h"
 #include "HAL/HAL.hpp"
+#include "HAL/Port.h"
 
 const uint32_t SensorBase::kDigitalChannels;
 const uint32_t SensorBase::kAnalogInputs;
@@ -36,6 +37,7 @@ SensorBase::SensorBase() {
       int32_t status = 0;
       m_digital_ports[i] = initializeDigitalPort(port, &status);
       wpi_setErrorWithContext(status, getHALErrorMessage(status));
+      freePort(port);
     }
 
     for (uint32_t i = 0; i < kRelayChannels; i++) {
@@ -43,6 +45,7 @@ SensorBase::SensorBase() {
       int32_t status = 0;
       m_relay_ports[i] = initializeDigitalPort(port, &status);
       wpi_setErrorWithContext(status, getHALErrorMessage(status));
+      freePort(port);
     }
 
     for (uint32_t i = 0; i < kPwmChannels; i++) {
@@ -50,6 +53,7 @@ SensorBase::SensorBase() {
       int32_t status = 0;
       m_pwm_ports[i] = initializeDigitalPort(port, &status);
       wpi_setErrorWithContext(status, getHALErrorMessage(status));
+      freePort(port);
     }
   }
 }

wpilibc/Athena/src/SolenoidBase.cpp

@@ -21,6 +21,7 @@ SolenoidBase::SolenoidBase(uint8_t moduleNumber)
     SolenoidBase::m_ports[moduleNumber][i] =
         initializeSolenoidPort(port, &status);
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
+    freePort(port);
   }
 }
 

wpilibc/Athena/src/Ultrasonic.cpp

@@ -126,6 +126,8 @@ Ultrasonic::Ultrasonic(DigitalOutput *pingChannel, DigitalInput *echoChannel,
       m_counter(m_echoChannel) {
   if (pingChannel == nullptr || echoChannel == nullptr) {
     wpi_setWPIError(NullParameter);
+    m_nextSensor = nullptr;
+    m_units = units;
     return;
   }
   m_units = units;

wpilibc/Athena/src/Vision/AxisCamera.cpp

@@ -117,8 +117,10 @@ HSLImage *AxisCamera::GetImage() {
 int AxisCamera::CopyJPEG(char **destImage, unsigned int &destImageSize,
                          unsigned int &destImageBufferSize) {
   std::lock_guard<priority_mutex> lock(m_imageDataMutex);
-  if (destImage == nullptr)
+  if (destImage == nullptr) {
     wpi_setWPIErrorWithContext(NullParameter, "destImage must not be nullptr");
+    return 0;
+  }
 
   if (m_imageData.size() == 0) return 0;  // if no source image
 
@@ -440,6 +442,7 @@ void AxisCamera::ReadImagesFromCamera() {
       wpi_setWPIErrorWithContext(IncompatibleMode,
                                  "No content-length token found in packet");
       close(m_cameraSocket);
+      if (imgBuffer) delete[] imgBuffer;
       return;
     }
     contentLength = contentLength + 16;    // skip past "content length"
@@ -564,8 +567,10 @@ int AxisCamera::CreateCameraSocket(std::string const &requestString,
   }
 
   if (getaddrinfo(m_cameraHost.c_str(), "80", nullptr, &address) == -1) {
-    if (setError)
+    if (setError) {
       wpi_setErrnoErrorWithContext("Failed to create the camera socket");
+      close(camSocket);
+    }
     return -1;
   }
 
@@ -573,10 +578,13 @@ int AxisCamera::CreateCameraSocket(std::string const &requestString,
   if (connect(camSocket, address->ai_addr, address->ai_addrlen) == -1) {
     if (setError)
       wpi_setErrnoErrorWithContext("Failed to connect to the camera");
+    freeaddrinfo(address);
     close(camSocket);
     return -1;
   }
 
+  freeaddrinfo(address);
+
   int sent = send(camSocket, requestString.c_str(), requestString.size(), 0);
   if (sent == -1) {
     if (setError)

wpilibc/Athena/src/Vision/BaeUtilities.cpp

@@ -69,6 +69,7 @@ void dprintf(const char *tempString, ...) /* Variable argument list */
   for (index = 0; index < tempStringLen; index++) {
     if (tempString[index] == ' ') {
       printf("ERROR in dprintf: malformed calling sequence (%s)\n", tempString);
+      va_end(args);
       return;
     }
     if (tempString[index] == '\\' || tempString[index] == '/')
@@ -292,6 +293,7 @@ int processFile(char *inputFile, char *outputString, int lineNumber) {
   FILE *infile;
   const int stringSize = 80;  // max size of one line in file
   char inputStr[stringSize];
+  inputStr[0] = '\0';
   int lineCount = 0;
 
   if (lineNumber < 0) return (-1);
@@ -323,14 +325,10 @@ int processFile(char *inputFile, char *outputString, int lineNumber) {
   if (lineNumber == 0) return (lineCount);
   // check for input out of range
   if (lineNumber > lineCount) return (-1);
-  // return the line selected
-  if (lineCount) {
-    stripString(inputStr);
-    strcpy(outputString, inputStr);
-    return (lineCount);
-  } else {
-    return (-1);
-  }
+  // return the line selected; lineCount guaranteed to be greater than zero
+  stripString(inputStr);
+  strcpy(outputString, inputStr);
+  return (lineCount);
 }
 
 /** Ignore empty string

wpilibc/Athena/src/Vision/VisionAPI.cpp

@@ -70,6 +70,7 @@ int frcDispose(const char* functionName, ...) /* Variable argument list */
     }
     disposalPtr = va_arg(disposalPtrList, void*);
   }
+  va_end(disposalPtrList);
   return returnValue;
 }