Fix or suppress clang-tidy warnings (#8254)

.clang-tidy

@@ -45,6 +45,8 @@ Checks:
   -clang-diagnostic-#warnings,
   -clang-diagnostic-pedantic,
   clang-analyzer-*,
+  -clang-analyzer-optin.cplusplus.UninitializedObject,
+  -clang-analyzer-security.FloatLoopCounter,
   cppcoreguidelines-slicing,
   google-build-namespaces,
   google-explicit-constructor,

benchmark/src/main/native/cpp/Main.cpp

@@ -22,6 +22,7 @@ void BM_Transform(benchmark::State& state) {
     auto transform = pose2 - pose1;
     return units::math::hypot(transform.X(), transform.Y()).value();
   }};
+  // NOLINTNEXTLINE(clang-analyzer-deadcode.DeadStores)
   for (auto _ : state) {
     traveler.Solve(poses, iterations);
   }
@@ -33,6 +34,7 @@ void BM_Twist(benchmark::State& state) {
     auto twist = pose1.Log(pose2);
     return units::math::hypot(twist.dx, twist.dy).value();
   }};
+  // NOLINTNEXTLINE(clang-analyzer-deadcode.DeadStores)
   for (auto _ : state) {
     traveler.Solve(poses, iterations);
   }

cscore/examples/usbcvstream/usbcvstream.cpp

@@ -5,7 +5,6 @@
 #include <opencv2/core/core.hpp>
 #include <wpi/print.h>
 
-#include "cscore.h"
 #include "cscore_cv.h"
 
 int main() {

cscore/src/main/native/cpp/cscore_c.cpp

@@ -44,7 +44,7 @@ static O* ConvertToC(std::vector<I>&& in, int* count) {
   // retain vector at end of returned array
   alignas(T) unsigned char buf[sizeof(T)];
   new (buf) T(std::move(in));
-  std::memcpy(out + size * sizeof(O), buf, sizeof(T));
+  std::memcpy(out + size, buf, sizeof(T));
 
   return out;
 }
@@ -392,7 +392,7 @@ void CS_FreeEvents(CS_Event* arr, int count) {
   // destroy vector saved at end of array
   using T = std::vector<cs::RawEvent>;
   alignas(T) unsigned char buf[sizeof(T)];
-  std::memcpy(buf, arr + count * sizeof(CS_Event), sizeof(T));
+  std::memcpy(buf, arr + count, sizeof(T));
   reinterpret_cast<T*>(buf)->~T();
 
   std::free(arr);

cscore/src/main/native/windows/UsbCameraImpl.cpp

@@ -707,8 +707,9 @@ void UsbCameraImpl::DeviceCacheProperty(
   }
 
   NotifyPropertyCreated(*rawIndex, *rawPropPtr);
-  if (perPropPtr && perIndex)
+  if (perPropPtr && perIndex) {
     NotifyPropertyCreated(*perIndex, *perPropPtr);
+  }
 }
 
 CS_StatusValue UsbCameraImpl::DeviceProcessCommand(

glass/src/lib/native/cpp/other/PIDController.cpp

@@ -4,11 +4,8 @@
 
 #include "glass/other/PIDController.h"
 
-#include <string>
-
 #include <imgui.h>
 
-#include "glass/Context.h"
 #include "glass/DataSource.h"
 
 using namespace glass;
@@ -34,8 +31,8 @@ void glass::DisplayPIDController(PIDControllerModel* m) {
         [flag](const char* name, double* v,
                std::function<void(double)> callback) {
           ImGui::SetNextItemWidth(ImGui::GetFontSize() * 4);
-          if (ImGui::InputScalar(name, ImGuiDataType_Double, v, NULL, NULL,
-                                 "%.3f", flag)) {
+          if (ImGui::InputScalar(name, ImGuiDataType_Double, v, nullptr,
+                                 nullptr, "%.3f", flag)) {
             callback(*v);
           }
         };

glass/src/lib/native/cpp/other/ProfiledPIDController.cpp

@@ -4,11 +4,8 @@
 
 #include "glass/other/ProfiledPIDController.h"
 
-#include <string>
-
 #include <imgui.h>
 
-#include "glass/Context.h"
 #include "glass/DataSource.h"
 
 using namespace glass;
@@ -34,8 +31,8 @@ void glass::DisplayProfiledPIDController(ProfiledPIDControllerModel* m) {
         [flag](const char* name, double* v,
                std::function<void(double)> callback) {
           ImGui::SetNextItemWidth(ImGui::GetFontSize() * 4);
-          if (ImGui::InputScalar(name, ImGuiDataType_Double, v, NULL, NULL,
-                                 "%.3f", flag)) {
+          if (ImGui::InputScalar(name, ImGuiDataType_Double, v, nullptr,
+                                 nullptr, "%.3f", flag)) {
             callback(*v);
           }
         };

ntcore/.clang-tidy

@@ -44,6 +44,7 @@ Checks:
   -clang-diagnostic-#warnings,
   -clang-diagnostic-pedantic,
   clang-analyzer-*,
+  -clang-analyzer-optin.cplusplus.UninitializedObject,
   cppcoreguidelines-slicing,
   google-build-namespaces,
   google-explicit-constructor,

ntcore/manualTests/native/client.cpp

@@ -11,20 +11,17 @@
 
 int main() {
   auto inst = nt::GetDefaultInstance();
-  nt::AddLogger(
-      inst,
-      [](const nt::LogMessage& msg) {
-        std::fputs(msg.message.c_str(), stderr);
-        std::fputc('\n', stderr);
-      },
-      0, UINT_MAX);
-  nt::StartClient(inst, "127.0.0.1", 10000);
+  nt::AddLogger(inst, 0, UINT_MAX, [](const nt::Event& event) {
+    std::fputs(event.GetLogMessage()->message.c_str(), stderr);
+    std::fputc('\n', stderr);
+  });
+  nt::StartClient4(inst, "127.0.0.1");
   std::this_thread::sleep_for(std::chrono::seconds(2));
 
   auto foo = nt::GetEntry(inst, "/foo");
   auto foo_val = nt::GetEntryValue(foo);
-  if (foo_val && foo_val->IsDouble()) {
-    std::printf("Got foo: %g\n", foo_val->GetDouble());
+  if (foo_val && foo_val.IsDouble()) {
+    std::printf("Got foo: %g\n", foo_val.GetDouble());
   }
 
   auto bar = nt::GetEntry(inst, "/bar");

ntcore/manualTests/native/server.cpp

@@ -11,14 +11,11 @@
 
 int main() {
   auto inst = nt::GetDefaultInstance();
-  nt::AddLogger(
-      inst,
-      [](const nt::LogMessage& msg) {
-        std::fputs(msg.message.c_str(), stderr);
-        std::fputc('\n', stderr);
-      },
-      0, UINT_MAX);
-  nt::StartServer(inst, "persistent.ini", "", 10000);
+  nt::AddLogger(inst, 0, UINT_MAX, [](const nt::Event& event) {
+    std::fputs(event.GetLogMessage()->message.c_str(), stderr);
+    std::fputc('\n', stderr);
+  });
+  nt::StartServer(inst, "persistent.ini", "", 10000, 10001);
   std::this_thread::sleep_for(std::chrono::seconds(1));
 
   auto foo = nt::GetEntry(inst, "/foo");

ntcore/src/main/native/cpp/Value_internal.h

@@ -177,6 +177,7 @@ static_assert(ValidType<uint8_t[]>);
 static_assert(ValidType<std::vector<uint8_t>>);
 
 template <ValidType T, NT_Type type>
+// NOLINTNEXTLINE(google-readability-casting)
 constexpr bool IsNTType = TypeInfo<std::remove_cvref_t<T>>::kType == type;
 
 static_assert(IsNTType<bool, NT_BOOLEAN>);

ntcore/src/main/native/cpp/server/Functions.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <stdint.h>
+
 #include <functional>
 #include <string_view>
 

ntcore/src/main/native/include/networktables/ProtobufTopic.h

@@ -7,9 +7,7 @@
 #include <stdint.h>
 
 #include <atomic>
-#include <concepts>
 #include <span>
-#include <string_view>
 #include <utility>
 #include <vector>
 
@@ -207,7 +205,7 @@ class ProtobufPublisher : public Publisher {
   ProtobufPublisher(ProtobufPublisher&& rhs)
       : Publisher{std::move(rhs)},
         m_msg{std::move(rhs.m_msg)},
-        m_schemaPublished{rhs.m_schemaPublished} {}
+        m_schemaPublished{rhs.m_schemaPublished.load()} {}
 
   ProtobufPublisher& operator=(ProtobufPublisher&& rhs) {
     Publisher::operator=(std::move(rhs));

ntcore/src/test/native/cpp/StructTest.cpp

@@ -157,7 +157,7 @@ namespace nt {
 class StructTest : public ::testing::Test {
  public:
   StructTest() { inst = nt::NetworkTableInstance::Create(); }
-  ~StructTest() { nt::NetworkTableInstance::Destroy(inst); }
+  ~StructTest() override { nt::NetworkTableInstance::Destroy(inst); }
 
   nt::NetworkTableInstance inst;
 };

processstarter/src/main/native/linux/main.cpp

@@ -72,8 +72,9 @@ int StartJavaTool(std::filesystem::path& exePath) {
 
   std::string data = jarPath;
   std::string jarArg = "-jar";
-  char* const arguments[] = {Java.generic_string().data(), jarArg.data(),
-                             data.data(), nullptr};
+  auto javaGenericStr = Java.generic_string();
+  char* const arguments[] = {javaGenericStr.data(), jarArg.data(), data.data(),
+                             nullptr};
 
   int status =
       posix_spawn(&pid, Java.c_str(), nullptr, nullptr, arguments, environ);

simulation/halsim_ds_socket/src/test/native/cpp/DSCommPacketTest.cpp

@@ -69,10 +69,12 @@ TEST_F(DSCommPacketTest, MainJoystickTag) {
     std::array<uint8_t, 12> _buttons{{0, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 1}};
 
     std::array<uint8_t, 2> _button_bytes{{0, 0}};
-    for (int btn = 0; btn < 8; btn++)
+    for (int btn = 0; btn < 8; btn++) {
       _button_bytes[1] |= _buttons[btn] << btn;
-    for (int btn = 8; btn < 12; btn++)
+    }
+    for (int btn = 8; btn < 12; btn++) {
       _button_bytes[0] |= _buttons[btn] << (btn - 8);
+    }
 
     // 5 for base, 4 joystick, 12 buttons (2 bytes) 3 povs
     uint8_t arr[5 + 4 + 2 + 6] = {// Size, Tag

wpical/.styleguide

@@ -31,7 +31,6 @@ includeOtherLibs {
   ^mrcal_wrapper\.h$
   ^opencv2\.h$
   ^portable-file-dialogs\.h$
-  ^tagpose\.h$
   ^wpi/
   ^wpigui
 }

wpical/src/main/native/cpp/WPIcal.cpp

@@ -19,10 +19,11 @@
 #include <fmt/format.h>
 #include <imgui.h>
 #include <portable-file-dialogs.h>
-#include <tagpose.h>
 #include <wpi/json.h>
 #include <wpigui.h>
 
+#include "tagpose.h"
+
 namespace gui = wpi::gui;
 
 const char* GetWPILibVersion();
@@ -140,7 +141,7 @@ static bool EmitEntryTarget(int tag_id, std::string& file) {
   if (ImGui::BeginDragDropTarget()) {
     if (const ImGuiPayload* payload =
             ImGui::AcceptDragDropPayload("FieldCalibration")) {
-      file = *(std::string*)payload->Data;
+      file = *static_cast<std::string*>(payload->Data);
       rv = true;
     }
     ImGui::EndDragDropTarget();

wpical/src/main/native/cpp/tagpose.cpp

@@ -2,7 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <tagpose.h>
+#include "tagpose.h"
+
 #include <wpi/deprecated.h>
 
 WPI_IGNORE_DEPRECATED

wpical/src/main/native/include/fieldmap.h

@@ -7,9 +7,10 @@
 #include <cmath>
 #include <map>
 
-#include <tagpose.h>
 #include <wpi/json.h>
 
+#include "tagpose.h"
+
 class Fieldmap {
  public:
   Fieldmap() = default;

wpical/src/main/native/include/fmap.h

@@ -4,11 +4,11 @@
 
 #pragma once
 
-#include <fieldmap.h>
-
-#include <tagpose.h>
 #include <wpi/json.h>
 
+#include "fieldmap.h"
+#include "tagpose.h"
+
 namespace fmap {
 wpi::json singleTag(int tag, const tag::Pose& tagpose);
 wpi::json convertfmap(const wpi::json& json);

wpilibNewCommands/src/main/native/include/frc2/command/sysid/SysIdRoutine.h

@@ -53,7 +53,7 @@ class Config {
          std::optional<units::volt_t> stepVoltage,
          std::optional<units::second_t> timeout,
          std::function<void(frc::sysid::State)> recordState)
-      : m_recordState{recordState} {
+      : m_recordState{std::move(recordState)} {
     if (rampRate) {
       m_rampRate = rampRate.value();
     }

wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp

@@ -79,9 +79,9 @@ ADIS16470_IMU::ADIS16470_IMU(IMUAxis yaw_axis, IMUAxis pitch_axis,
         "IMUAxis.kZ as arguments.");
     REPORT_ERROR(
         "Constructing ADIS with default axes. (IMUAxis.kZ is defined as Yaw)");
-    yaw_axis = kZ;
-    pitch_axis = kY;
-    roll_axis = kX;
+    m_yaw_axis = kZ;
+    m_pitch_axis = kY;
+    m_roll_axis = kX;
   }
 
   if (m_simDevice) {

wpilibc/src/test/native/cpp/AlertTest.cpp

@@ -22,7 +22,7 @@ using namespace frc;
 using enum Alert::AlertType;
 class AlertsTest : public ::testing::Test {
  public:
-  ~AlertsTest() {
+  ~AlertsTest() override {
     // test all destructors
     Update();
     EXPECT_EQ(GetSubscriberForType(kError).Get().size(), 0ul);

wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/commands/TeleopArcadeDrive.cpp

@@ -4,14 +4,16 @@
 
 #include "commands/TeleopArcadeDrive.h"
 
+#include <utility>
+
 #include "subsystems/Drivetrain.h"
 
 TeleopArcadeDrive::TeleopArcadeDrive(
     Drivetrain* subsystem, std::function<double()> xaxisSpeedSupplier,
     std::function<double()> zaxisRotateSuppplier)
     : m_drive{subsystem},
-      m_xaxisSpeedSupplier{xaxisSpeedSupplier},
-      m_zaxisRotateSupplier{zaxisRotateSuppplier} {
+      m_xaxisSpeedSupplier{std::move(xaxisSpeedSupplier)},
+      m_zaxisRotateSupplier{std::move(zaxisRotateSuppplier)} {
   AddRequirements(subsystem);
 }
 

wpilibcIntegrationTests/src/main/native/cpp/DIOLoopTest.cpp

@@ -171,8 +171,9 @@ TEST_F(DIOLoopTest, SynchronousInterruptWorks) {
   timer.Start();
   interrupt.WaitForInterrupt(kSynchronousInterruptTime + 1_s);
   auto time = timer.Get().value();
-  if (thr.joinable())
+  if (thr.joinable()) {
     thr.join();
+  }
   EXPECT_NEAR(kSynchronousInterruptTime.value(), time,
               kSynchronousInterruptTimeTolerance.value());
 }

wpiutil/src/main/native/include/wpi/jni_util.h

@@ -322,6 +322,7 @@ class JSpanBase {
     }
   }
 
+  // NOLINTNEXTLINE(google-explicit-constructor)
   operator std::span<T, Size>() const { return array(); }
 
   std::span<T, Size> array() const {

wpiutil/src/test/native/cpp/StringMapTest.cpp

@@ -335,6 +335,7 @@ TEST_F(StringMapTest, MoveConstruct) {
   StringMap<int> A;
   A["x"] = 42;
   StringMap<int> B = std::move(A);
+  // NOLINTNEXTLINE(clang-analyzer-cplusplus.Move)
   ASSERT_EQ(A.size(), 0u);
   ASSERT_EQ(B.size(), 1u);
   ASSERT_EQ(B["x"], 42);
@@ -348,8 +349,10 @@ TEST_F(StringMapTest, MoveAssignment) {
   B["y"] = 117;
   A = std::move(B);
   ASSERT_EQ(A.size(), 1u);
+  // NOLINTNEXTLINE(clang-analyzer-cplusplus.Move)
   ASSERT_EQ(B.size(), 0u);
   ASSERT_EQ(A["y"], 117);
+  // NOLINTNEXTLINE(clang-analyzer-cplusplus.Move)
   ASSERT_EQ(B.count("x"), 0u);
 }