Run code analysis

src/cscore/UsbCamera.cs

@@ -29,7 +29,7 @@ public UsbCamera(string name, string path) : base(CreateUsbCameraPath(name, path
 
     public static UsbCameraInfo[] EnumerateUsbCameras()
     {
-        var info = CsNative.EnumerateUsbCameras(out var status);
+        var info = CsNative.EnumerateUsbCameras();
 
         return info;
     }

src/cscore/VideoEvent.cs

@@ -8,16 +8,10 @@ namespace CsCore;
 
 [NativeMarshalling(typeof(VideoEventMarshaller))]
 [StructLayout(LayoutKind.Auto)]
-public readonly struct VideoEvent : INativeArrayFree<VideoEventMarshaller.NativeCsEvent>
+public readonly struct VideoEvent(in VideoEventMarshaller.NativeCsEvent csEvent) : INativeArrayFree<VideoEventMarshaller.NativeCsEvent>
 {
-    public EventKind Kind { get; }
-    public CsListener Listener { get; }
-
-    public VideoEvent(in VideoEventMarshaller.NativeCsEvent csEvent)
-    {
-        Kind = csEvent.kind;
-        Listener = new CsListener(csEvent.listener);
-    }
+    public EventKind Kind { get; } = csEvent.kind;
+    public CsListener Listener { get; } = new CsListener(csEvent.listener);
 
     public static unsafe void FreeArray(VideoEventMarshaller.NativeCsEvent* ptr, int len)
     {

src/cscore/VideoListener.cs

@@ -83,6 +83,7 @@ public VideoListener(Action<VideoEvent> listener, EventKind eventMask, bool imme
 
     public void Dispose()
     {
+        GC.SuppressFinalize(this);
         if (Handle.Handle != 0)
         {
             lock (s_listenerLock)

src/cscore/VideoSink.cs

@@ -110,7 +110,7 @@ public VideoProperty GetSourceProperty(string name)
 
     public static VideoSink[] EnumerateSinks()
     {
-        var handles = CsNative.EnumerateSinks(out var status);
+        var handles = CsNative.EnumerateSinks();
 
         VideoSink[] rv = new VideoSink[handles.Length];
         for (int i = 0; i < handles.Length; i++)
@@ -122,6 +122,7 @@ public static VideoSink[] EnumerateSinks()
 
     public void Dispose()
     {
+        GC.SuppressFinalize(this);
         if (Handle.Handle != 0)
         {
             CsNative.ReleaseSink(Handle);

src/cscore/VideoSource.cs

@@ -164,7 +164,7 @@ public VideoProperty[] EnumerateProperties()
 
     public static VideoSource[] EnumerateSources()
     {
-        var handles = CsNative.EnumerateSources(out var status);
+        var handles = CsNative.EnumerateSources();
 
         VideoSource[] rv = new VideoSource[handles.Length];
         for (int i = 0; i < handles.Length; i++)
@@ -176,6 +176,7 @@ public static VideoSource[] EnumerateSources()
 
     public void Dispose()
     {
+        GC.SuppressFinalize(this);
         if (Handle.Handle != 0)
         {
             CsNative.ReleaseSource(Handle);

src/hal/Natives/HalI2C.cs

@@ -34,7 +34,7 @@ public static Span<byte> ReadI2C(I2CPort port, int deviceAddress, Span<byte> buf
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial int TransactionI2C(I2CPort port, int deviceAddress, ReadOnlySpan<byte> dataToSend, int sendSize, Span<byte> dataReceived, int receiveSize);
 
-    public static Span<byte> TransactionI2C(I2CPort port, int deviceAddress, ReadOnlySpan<byte> dataToSend, int sendSize, Span<byte> dataReceived)
+    public static Span<byte> TransactionI2C(I2CPort port, int deviceAddress, ReadOnlySpan<byte> dataToSend, Span<byte> dataReceived)
     {
         int read = TransactionI2C(port, deviceAddress, dataToSend, dataToSend.Length, dataReceived, dataReceived.Length);
         if (read > 0)

src/ntcore/Natives/RefNetworkTableValueMarshaller.cs

@@ -13,7 +13,9 @@ public unsafe ref struct RefNetworkTableValueMarshaller
     public static int BufferSize => 256;
     private ref readonly byte m_toPin;
 
+#pragma warning disable IDE0052 // Remove unread private members
     private ref Ptr<byte> m_toAssignPin;
+#pragma warning restore IDE0052 // Remove unread private members
 
     private NetworkTableValueMarshaller.NativeNetworkTableValue m_nativeValue;
 

src/thirdparty/Stereologue/Stereologuer.cs

@@ -1,5 +1,6 @@
 using System.Runtime.CompilerServices;
 using System.Runtime.InteropServices;
+using Google.Protobuf.WellKnownTypes;
 using NetworkTables;
 using WPIUtil.Logging;
 using WPIUtil.Serialization.Protobuf;
@@ -186,11 +187,21 @@ public void LogChar(string path, LogType logType, char value, LogLevel logLevel
 
     public void LogFloat(string path, LogType logType, float value, LogLevel logLevel = LogLevel.Default)
     {
-        ref var logs = ref CheckDoLog(path, ref logType, logLevel, doubleLogs);
+        ref var logs = ref CheckDoLog(path, ref logType, logLevel, floatLogs);
         if (Unsafe.IsNullRef(ref logs))
         {
             return;
         }
+        if (logType.HasFlag(LogType.Nt))
+        {
+            logs.topic ??= ntInstance.GetFloatTopic(path).Publish(PubSubOptions.None);
+            logs.topic.Set(value);
+        }
+        if (logType.HasFlag(LogType.File))
+        {
+            logs.logEntry ??= new FloatLogEntry(log, path);
+            logs.logEntry.Append(value);
+        }
     }
 
     public void LogDouble(string path, LogType logType, double value, LogLevel logLevel = LogLevel.Default)
@@ -200,6 +211,16 @@ public void LogDouble(string path, LogType logType, double value, LogLevel logLe
         {
             return;
         }
+        if (logType.HasFlag(LogType.Nt))
+        {
+            logs.topic ??= ntInstance.GetDoubleTopic(path).Publish(PubSubOptions.None);
+            logs.topic.Set(value);
+        }
+        if (logType.HasFlag(LogType.File))
+        {
+            logs.logEntry ??= new DoubleLogEntry(log, path);
+            logs.logEntry.Append(value);
+        }
     }
 
     public void LogString(string path, LogType logType, string value, LogLevel logLevel = LogLevel.Default)

src/wpiutil/Marshal/WPIStringMarshaller.cs

@@ -141,7 +141,7 @@ public readonly ref readonly byte GetPinnableReference()
             return (WpiStringNative*)Unsafe.AsPointer(ref nativeString);
         }
 
-        public void Free()
+        public readonly void Free()
         {
             // Purposely empty
         }

src/wpiutil/Natives/RawFrameNative.cs

@@ -39,7 +39,7 @@ public readonly ref readonly byte GetPinnableReference()
         return (NativeRawFrame*)Unsafe.AsPointer(ref rawFrame);
     }
 
-    public void Free()
+    public readonly void Free()
     {
     }
 }

src/wpiutil/Sendable/SendableRegistery.cs

@@ -128,7 +128,29 @@ public static void AddLW(ISendable sendable, string name)
         }
     }
 
-    public static void AddLW(ISendable sendable, string name, string moduleType, int moduleNumber, int channel)
+    public static void AddLW(ISendable sendable, string moduleType, int channel)
+    {
+        lock (s_lockObject)
+        {
+            Component comp = GetOrAdd(sendable);
+            if (liveWindowFactory is not null)
+            {
+                try
+                {
+                    comp.m_builder?.Dispose();
+                }
+                catch
+                {
+                    // Ignore
+                }
+                comp.m_builder = liveWindowFactory();
+            }
+            comp.m_liveWindow = true;
+            comp.SetName(moduleType, channel);
+        }
+    }
+
+    public static void AddLW(ISendable sendable, string moduleType, int moduleNumber, int channel)
     {
         lock (s_lockObject)
         {
@@ -423,7 +445,7 @@ public class CallbackData
         public ISendableBuilder? Builder { get; internal set; }
     }
 
-    private static List<Component> ForeachComponents = [];
+    private static readonly List<Component> ForeachComponents = [];
 
     public static void ForeachLiveWindow(int dataHandle, Action<CallbackData> callback)
     {

src/wpiutil/Serialization/Struct/DynamicStruct.cs

@@ -139,7 +139,7 @@ public string GetStringField(StructFieldDescriptor field)
             }
         }
 
-        OperationStatus result = Rune.DecodeLastFromUtf8(bytes[..stringLength], out var lastChar, out var consumed);
+        OperationStatus result = Rune.DecodeLastFromUtf8(bytes[..stringLength], out _, out var consumed);
 #pragma warning disable CS8509 // The switch expression does not handle all possible values of its input type (it is not exhaustive).
         ReadOnlySpan<byte> buffer = result switch
         {

src/wpiutil/Serialization/Struct/Parsing/Lexer.cs

@@ -6,7 +6,7 @@ public ref struct Lexer(ReadOnlySpan<byte> inStr)
 {
     private Utf8CodePointEnumerator m_enumerator = new(inStr);
 
-    public int Position => m_enumerator.CurrentMark;
+    public readonly int Position => m_enumerator.CurrentMark;
 
     public TokenKind Scan()
     {

src/wpiutil/Serialization/Struct/Parsing/ParsedSchema.cs

@@ -4,7 +4,7 @@ namespace WPIUtil.Serialization.Struct.Parsing;
 
 public sealed class ParsedSchema()
 {
-    private List<ParsedDeclaration> m_declarations = [];
+    private readonly List<ParsedDeclaration> m_declarations = [];
 
     public ReadOnlySpan<ParsedDeclaration> Declarations => CollectionsMarshal.AsSpan(m_declarations);