Coverity & rs-dds-config fix

examples/C/color/rs-color.c

@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2017-24 Intel Corporation. All Rights Reserved.
 
 /* Include the librealsense C header files */
 #include <librealsense2/rs.h>
@@ -15,12 +15,12 @@
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 //                                     These parameters are reconfigurable                                        //
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-#define STREAM          RS2_STREAM_COLOR  // rs2_stream is a types of data provided by RealSense device           //
-#define FORMAT          RS2_FORMAT_RGB8   // rs2_format identifies how binary data is encoded within a frame      //
-#define WIDTH           640               // Defines the number of columns for each frame                         //
-#define HEIGHT          480               // Defines the number of lines for each frame                           //
-#define FPS             30                // Defines the rate of frames per second                                //
-#define STREAM_INDEX    0                 // Defines the stream index, used for multiple streams of the same type //
+#define STREAM          RS2_STREAM_COLOR  // Type of data provided by RealSense device                            //
+#define FORMAT          RS2_FORMAT_ANY    // How binary data is encoded within a frame (ANY)                      //
+#define WIDTH           0                 // Number of columns for each frame (ANY)                               //
+#define HEIGHT          0                 // Number of lines for each frame (ANY)                                 //
+#define FPS             0                 // Rate of frames per second (ANY)                                      //
+#define STREAM_INDEX    -1                // Used for multiple streams of the same type (ANY)                     //
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
 
@@ -74,7 +74,7 @@ int main()
         exit(EXIT_FAILURE);
     }
 
-    while (1)
+    while (1)  // Until user presses Ctrl+C
     {
         // This call waits until a new composite_frame is available
         // composite_frame holds a set of frames. It is used to prevent frame drops
@@ -125,18 +125,4 @@ int main()
 
         rs2_release_frame(frames);
     }
-
-    // Stop the pipeline streaming
-    rs2_pipeline_stop(pipeline, &e);
-    check_error(e);
-
-    // Release resources
-    rs2_delete_pipeline_profile(pipeline_profile);
-    rs2_delete_config(config);
-    rs2_delete_pipeline(pipeline);
-    rs2_delete_device(dev);
-    rs2_delete_device_list(device_list);
-    rs2_delete_context(ctx);
-
-    return EXIT_SUCCESS;
 }

examples/C/depth/rs-depth.c

@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2017-24 Intel Corporation. All Rights Reserved.
 
 /* Include the librealsense C header files */
 #include <librealsense2/rs.h>
@@ -159,7 +159,7 @@ int main()
     char* buffer = calloc(display_size, sizeof(char));
     char* out = NULL;
 
-    while (1)
+    while (1)  // Until user presses Ctrl+C
     {
         // This call waits until a new composite_frame is available
         // composite_frame holds a set of frames. It is used to prevent frame drops
@@ -227,21 +227,4 @@ int main()
 
         rs2_release_frame(frames);
     }
-
-    // Stop the pipeline streaming
-    rs2_pipeline_stop(pipeline, &e);
-    check_error(e);
-
-    // Release resources
-    free(buffer);
-    rs2_delete_pipeline_profile(pipeline_profile);
-    rs2_delete_stream_profiles_list(stream_profile_list);
-    rs2_delete_stream_profile(stream_profile);
-    rs2_delete_config(config);
-    rs2_delete_pipeline(pipeline);
-    rs2_delete_device(dev);
-    rs2_delete_device_list(device_list);
-    rs2_delete_context(ctx);
-
-    return EXIT_SUCCESS;
 }

examples/C/distance/rs-distance.c

@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2017-24 Intel Corporation. All Rights Reserved.
 
 /* Include the librealsense C header files */
 #include <librealsense2/rs.h>
@@ -75,7 +75,7 @@ int main()
         exit(EXIT_FAILURE);
     }
 
-    while (1)
+    while (1)  // Until user presses Ctrl+C
     {
         // This call waits until a new composite_frame is available
         // composite_frame holds a set of frames. It is used to prevent frame drops
@@ -117,18 +117,4 @@ int main()
 
         rs2_release_frame(frames);
     }
-
-    // Stop the pipeline streaming
-    rs2_pipeline_stop(pipeline, &e);
-    check_error(e);
-
-    // Release resources
-    rs2_delete_pipeline_profile(pipeline_profile);
-    rs2_delete_config(config);
-    rs2_delete_pipeline(pipeline);
-    rs2_delete_device(dev);
-    rs2_delete_device_list(device_list);
-    rs2_delete_context(ctx);
-
-    return EXIT_SUCCESS;
 }

src/global_timestamp_reader.cpp

@@ -88,10 +88,18 @@ namespace librealsense
                 sum_xy += (crnt_sample._x * crnt_sample._y);
                 sum_x2 += (crnt_sample._x * crnt_sample._x);
             }
-            b = (sum_y*sum_x2 - sum_x * sum_xy) / (n*sum_x2 - sum_x * sum_x);
-            a = (n*sum_xy - sum_x * sum_y) / (n*sum_x2 - sum_x * sum_x);
-
-            if (_last_request_time - _prev_time < _time_span_ms)
+            double denom = n * sum_x2 - sum_x * sum_x;
+            if( denom > std::numeric_limits< double >::epsilon() )
+            {
+                b = (sum_y * sum_x2 - sum_x * sum_xy) / denom;
+                a = (n * sum_xy - sum_x * sum_y) / denom;
+            }
+            else
+            {
+                a = _dest_a;
+                b = _dest_b;
+            }
+            if( _last_request_time - _prev_time < _time_span_ms )
             {
                 dt = (_last_request_time - _prev_time) / _time_span_ms;
             }

third-party/rsutils/include/rsutils/signal.h

@@ -112,7 +112,11 @@ class signal
     }
 
     // How many subscriptions are active
-    size_t size() const { return _impl->subscribers.size(); }
+    size_t size() const
+    {
+        std::lock_guard< std::mutex > locker( _impl->mutex );
+        return _impl->subscribers.size();
+    }
 };
 
 

third-party/rsutils/src/network-adapter-watcher.cpp

@@ -196,10 +196,14 @@ class network_adapter_watcher_singleton
 #else
         if( _th.joinable() )
         {
-            if( write( _done, &_done, sizeof( &_done ) ) != sizeof( &_done ) )
-                /* to avoid compiler warning about not using return value */;
-            _th.join();
+            uint64_t incr = 1;  // must be 8-byte integer value
+            auto rv = write( _done, &incr, sizeof( incr ) );
+            if( rv != sizeof( incr ) )
+                LOG_WARNING( "failed to write to network adapter watcher done event: " << rv );
+            else
+                _th.join();
         }
+        close( _socket );
         close( _done );
 #endif
     }

tools/dds/dds-config/rs-dds-config.cpp

@@ -208,6 +208,7 @@ try
     bool const golden = golden_arg.isSet();
 
     // Create a RealSense context and look for a device
+    settings["dds"]["enabled"] = true;
     rs2::context ctx( settings.dump() );
 
     rs2::device device;