[clang-tidy: modernize-use-nullptr]

src/carriers/h264_carrier/H264Decoder.cpp

@@ -172,7 +172,7 @@ GstFlowReturn new_sample(GstAppSink *appsink, gpointer user_data)
 
     data_for_gst_callback *dec_data = (data_for_gst_callback*)user_data;
 
-    GstSample *sample = NULL;
+    GstSample *sample = nullptr;
     g_signal_emit_by_name (appsink, "pull-sample", &sample, NULL);
     if(!sample)
     {
@@ -316,7 +316,7 @@ class H264DecoderHelper
 
     bool istantiateElements()
     {
-        gst_init(NULL, NULL);
+        gst_init(nullptr, nullptr);
         pipeline = gst_pipeline_new ("video-player");
         source   = gst_element_factory_make ("udpsrc",       "video-source");
         rtpDepay = gst_element_factory_make ("rtph264depay", "rtp-depay");
@@ -349,10 +349,10 @@ class H264DecoderHelper
         GstAppSinkCallbacks cbs; // Does this need to be kept alive?
 
         // Set Video Sink callback methods
-        cbs.eos = NULL;
-        cbs.new_preroll = NULL;
+        cbs.eos = nullptr;
+        cbs.new_preroll = nullptr;
         cbs.new_sample = &new_sample;
-        gst_app_sink_set_callbacks( GST_APP_SINK( sink ), &cbs, &gst_cbk_data, NULL );
+        gst_app_sink_set_callbacks( GST_APP_SINK( sink ), &cbs, &gst_cbk_data, nullptr );
 
   /*      //3) add watch ( a message handler)
         bus = gst_pipeline_get_bus (GST_PIPELINE (pipeline));

src/carriers/h264_carrier/H264Stream.cpp

@@ -28,27 +28,27 @@ using namespace yarp::sig;
 using namespace std;
 
 H264Stream::H264Stream(h264Decoder_cfgParamters &config) :
-        delegate(NULL),
+        delegate(nullptr),
         blobHeader{0,0,0},
         phase(0),
-        cursor(NULL),
+        cursor(nullptr),
         remaining(0),
         decoder(nullptr),
         cfg(config)
 {}
 
 H264Stream::~H264Stream()
 {
-    if (decoder!=NULL)
+    if (decoder!=nullptr)
     {
         delete decoder;
-        decoder = NULL;
+        decoder = nullptr;
     }
 
-    if (delegate!=NULL)
+    if (delegate!=nullptr)
     {
         delete delegate;
-        delegate = NULL;
+        delegate = nullptr;
     }
 }
 

src/carriers/mpi_carrier/src/MpiBcastCarrier.cpp

@@ -26,7 +26,7 @@ void MpiBcastCarrier::close() {
     if (electionMember) {
         getCaster().remove(name, this);
         MpiBcastCarrier* elect = getCaster().getElect(name);
-        if (elect == NULL) {
+        if (elect == nullptr) {
             delete comm;
         }
     } else {
@@ -37,7 +37,7 @@ void MpiBcastCarrier::close() {
 void MpiBcastCarrier::createStream(bool sender) {
     if (sender) {
         MpiBcastCarrier* elect = getCaster().getElect(name);
-        if (elect != NULL) {
+        if (elect != nullptr) {
             comm = elect->comm;
         }
         else {
@@ -81,14 +81,14 @@ void MpiBcastCarrier::prepareDisconnect() {
  * Adopted from MCastCarrier
  * ----------------------------
  */
-ElectionOf<yarp::os::PeerRecord<MpiBcastCarrier> > *MpiBcastCarrier::caster = NULL;
+ElectionOf<yarp::os::PeerRecord<MpiBcastCarrier> > *MpiBcastCarrier::caster = nullptr;
 
 ElectionOf<yarp::os::PeerRecord<MpiBcastCarrier> >& MpiBcastCarrier::getCaster() {
     yarp::os::NetworkBase::lock();
-    if (caster==NULL) {
+    if (caster==nullptr) {
         caster = new ElectionOf<yarp::os::PeerRecord<MpiBcastCarrier> >;
         yarp::os::NetworkBase::unlock();
-        if (caster==NULL) {
+        if (caster==nullptr) {
             yError("No memory for MpiBcastCarrier::caster");
             std::exit(1);
         }
@@ -99,7 +99,7 @@ ElectionOf<yarp::os::PeerRecord<MpiBcastCarrier> >& MpiBcastCarrier::getCaster()
 }
 bool MpiBcastCarrier::isElect() const {
     MpiBcastCarrier *elect = getCaster().getElect(name);
-    return elect==this || elect==NULL;
+    return elect==this || elect==nullptr;
 }
 
 bool MpiBcastCarrier::isActive() const {

src/carriers/mpi_carrier/src/MpiCarrier.cpp

@@ -18,7 +18,7 @@ using namespace yarp::os;
 using yarp::os::impl::Logger;
 #endif
 
-MpiCarrier::MpiCarrier() : stream(NULL), comm(NULL) {
+MpiCarrier::MpiCarrier() : stream(nullptr), comm(nullptr) {
     #ifdef MPI_DEBUG
     Logger::get().setVerbosity(1);
     #endif

src/carriers/mpi_carrier/src/MpiComm.cpp

@@ -20,13 +20,13 @@ using namespace yarp::os;
 /* --------------------------------------- */
 /* MpiControlThread */
 
-yarp::os::MpiControlThread *MpiControl = NULL;
+yarp::os::MpiControlThread *MpiControl = nullptr;
 
 void finalizeMPI() {
     if (MpiControl) {
         MpiControl->finalize();
         delete MpiControl;
-        MpiControl = NULL;
+        MpiControl = nullptr;
     }
     int ct = 0;
     int finalized;
@@ -60,7 +60,7 @@ bool MpiControlThread::threadInit() {
     // We need full multithread support for MPI
     int requested = MPI_THREAD_MULTIPLE;
     // Passing NULL for argc/argv pointers is fine for MPI-2
-    int err = MPI_Init_thread(NULL, NULL, requested , &provided);
+    int err = MPI_Init_thread(nullptr, nullptr, requested , &provided);
     if (err != MPI_SUCCESS ) {
         yError("MpiControlThread: Couldn't initialize MPI\n");
         return false;
@@ -81,7 +81,7 @@ bool MpiControlThread::threadInit() {
 /* MpiComm */
 
 MpiComm::MpiComm(std::string name) : name(name) {
-    if (MpiControl == NULL) {
+    if (MpiControl == nullptr) {
         MpiControl = new yarp::os::MpiControlThread;
     }
     if (! MpiControl->isRunning()) {

src/carriers/mpi_carrier/src/MpiStream.cpp

@@ -18,7 +18,7 @@ using namespace yarp::os;
 
 MpiStream::MpiStream(std::string n, MpiComm* c)
     : terminate(false), name(n), comm(c) {
-    readBuffer = NULL;
+    readBuffer = nullptr;
     resetBuffer();
 
 }
@@ -33,7 +33,7 @@ void MpiStream::resetBuffer() {
     readAt = 0;
     readAvail = 0;
     delete [] readBuffer;
-    readBuffer = NULL;
+    readBuffer = nullptr;
 }
 
 bool MpiStream::isOk() const {

src/devices/laserHokuyo/laserHokuyo.cpp

@@ -115,7 +115,7 @@ bool laserHokuyo::open(yarp::os::Searchable& config)
         return false;
     }
 
-    pSerial=0;
+    pSerial=nullptr;
     driver.view(pSerial);
 
     if (!pSerial)

src/devices/portaudio/PortAudioDeviceDriver.cpp

@@ -70,7 +70,7 @@ static int bufferIOCallback( const void *inputBuffer, void *outputBuffer,
             finished = paContinue;
         }
 
-        if( inputBuffer == NULL )
+        if( inputBuffer == nullptr )
         {
             for( i=0; i<framesToCalc; i++ )
             {
@@ -135,12 +135,12 @@ static int bufferIOCallback( const void *inputBuffer, void *outputBuffer,
 }
 
 PortAudioDeviceDriver::PortAudioDeviceDriver() :
-    stream(0),
+    stream(nullptr),
     err(paNoError),
     i(0),
     numSamples(0),
     numBytes(0),
-    system_resource(NULL),
+    system_resource(nullptr),
     numChannels(0),
     frequency(0),
     loopBack(false),
@@ -213,9 +213,9 @@ bool PortAudioDeviceDriver::open(PortAudioDeviceDriverSettings& config)
     numBytes = numSamples * sizeof(SAMPLE) * numChannels;
     int twiceTheBuffer = numBytes * 2;
     dataBuffers.numChannels=numChannels;
-    if (dataBuffers.playData==0)
+    if (dataBuffers.playData==nullptr)
         dataBuffers.playData = new circularBuffer(twiceTheBuffer);
-    if (dataBuffers.recData==0)
+    if (dataBuffers.recData==nullptr)
         dataBuffers.recData = new circularBuffer(twiceTheBuffer);
     if (wantRead) dataBuffers.canRec = true;
     if (wantWrite) dataBuffers.canPlay = true;
@@ -230,21 +230,21 @@ bool PortAudioDeviceDriver::open(PortAudioDeviceDriverSettings& config)
     printf("Device number %d\n", inputParameters.device);
     inputParameters.channelCount = numChannels;
     inputParameters.sampleFormat = PA_SAMPLE_TYPE;
-    if ((Pa_GetDeviceInfo( inputParameters.device ))!=0) {
+    if ((Pa_GetDeviceInfo( inputParameters.device ))!=nullptr) {
         inputParameters.suggestedLatency = Pa_GetDeviceInfo( inputParameters.device )->defaultLowInputLatency;
     }
-    inputParameters.hostApiSpecificStreamInfo = NULL;
+    inputParameters.hostApiSpecificStreamInfo = nullptr;
 
     outputParameters.device = (deviceNumber==-1)?Pa_GetDefaultOutputDevice():deviceNumber;
     outputParameters.channelCount = numChannels;
     outputParameters.sampleFormat = PA_SAMPLE_TYPE;
     outputParameters.suggestedLatency = Pa_GetDeviceInfo( outputParameters.device )->defaultLowOutputLatency;
-    outputParameters.hostApiSpecificStreamInfo = NULL;
+    outputParameters.hostApiSpecificStreamInfo = nullptr;
 
     err = Pa_OpenStream(
               &stream,
-              wantRead?(&inputParameters):NULL,
-              wantWrite?(&outputParameters):NULL,
+              wantRead?(&inputParameters):nullptr,
+              wantWrite?(&outputParameters):nullptr,
               frequency,
               DEFAULT_FRAMES_PER_BUFFER,
               paClipOff,
@@ -292,7 +292,7 @@ void PortAudioDeviceDriver::handleError()
 bool PortAudioDeviceDriver::close()
 {
     pThread.stop();
-    if (stream != 0)
+    if (stream != nullptr)
     {
         err = Pa_CloseStream( stream );
         if( err != paNoError )
@@ -303,15 +303,15 @@ bool PortAudioDeviceDriver::close()
         }
     }
 
-    if (this->dataBuffers.playData != 0)
+    if (this->dataBuffers.playData != nullptr)
     {
         delete this->dataBuffers.playData;
-        this->dataBuffers.playData = 0;
+        this->dataBuffers.playData = nullptr;
     }
-    if (this->dataBuffers.recData != 0)
+    if (this->dataBuffers.recData != nullptr)
     {
         delete this->dataBuffers.recData;
-        this->dataBuffers.recData = 0;
+        this->dataBuffers.recData = nullptr;
     }
 
     return (err==paNoError);

src/devices/test_grabber/TestFrameGrabber.cpp

@@ -274,7 +274,7 @@ void TestFrameGrabber::printTime(unsigned char* pixbuf, int pixbuf_w, int pixbuf
     int pixelsize = 5;
     for (int i = 0; i<size; i++)
     {
-        char* num_p = 0;
+        char* num_p = nullptr;
         switch (s[i])
         {
             case '0': num_p = num[0].data; break;

src/libYARP_OS/src/posix/TcpAcceptor.cpp

@@ -108,7 +108,7 @@ int TcpAcceptor::shared_open(const Contact& address) {
  * Accept connection and set field for clientAddress.
  */
 int TcpAcceptor::accept(TcpStream &new_stream) {
-    sockaddr *addr = 0;
+    sockaddr *addr = nullptr;
     int len = 0; int *len_ptr = &len;
 
     new_stream.set_handle( ::accept(get_handle(), (struct sockaddr *)&addr, (socklen_t*)len_ptr) );

src/libYARP_dev/src/ControlBoardHelper.cpp

@@ -162,19 +162,19 @@ class  yarp::dev::ControlBoardHelper::PrivateUnitsHandler
 ControlBoardHelper::ControlBoardHelper(int n, const int *aMap, const double *angToEncs, const double *zs, const double *newtons, const double *amps, const double *volts, const double *dutycycles, const double *kbemf, const double *ktau)
 {
     yAssert(n>=0);         // if number of joints is negative complain!
-    yAssert(aMap!=0);      // at least the axisMap is required
+    yAssert(aMap!=nullptr);      // at least the axisMap is required
     mPriv = new PrivateUnitsHandler(n);
 
     memcpy(mPriv->axisMap, aMap, sizeof(int)*n);
 
-    if (zs!=0)           memcpy(mPriv->position_zeros, zs, sizeof(double)*n);
-    if (angToEncs!=0)    memcpy(mPriv->angleToEncoders, angToEncs, sizeof(double)*n);
-    if (newtons!=0)      memcpy(mPriv->newtonsToSensors, newtons, sizeof(double)*n);
-    if (amps!=0)         memcpy(mPriv->ampereToSensors, amps, sizeof(double)*n);
-    if (volts!=0)        memcpy(mPriv->voltToSensors, volts, sizeof(double)*n);
-    if (dutycycles != 0) memcpy(mPriv->dutycycleToPWMs, dutycycles, sizeof(double)*n);
-    if (kbemf != 0)      memcpy(mPriv->bemfToRaws, kbemf, sizeof(double)*n);
-    if (ktau != 0)       memcpy(mPriv->ktauToRaws, ktau, sizeof(double)*n);
+    if (zs!=nullptr)           memcpy(mPriv->position_zeros, zs, sizeof(double)*n);
+    if (angToEncs!=nullptr)    memcpy(mPriv->angleToEncoders, angToEncs, sizeof(double)*n);
+    if (newtons!=nullptr)      memcpy(mPriv->newtonsToSensors, newtons, sizeof(double)*n);
+    if (amps!=nullptr)         memcpy(mPriv->ampereToSensors, amps, sizeof(double)*n);
+    if (volts!=nullptr)        memcpy(mPriv->voltToSensors, volts, sizeof(double)*n);
+    if (dutycycles != nullptr) memcpy(mPriv->dutycycleToPWMs, dutycycles, sizeof(double)*n);
+    if (kbemf != nullptr)      memcpy(mPriv->bemfToRaws, kbemf, sizeof(double)*n);
+    if (ktau != nullptr)       memcpy(mPriv->ktauToRaws, ktau, sizeof(double)*n);
 
     // invert the axis map
     memset (mPriv->invAxisMap, 0, sizeof(int) * n);
@@ -195,7 +195,7 @@ ControlBoardHelper::ControlBoardHelper(int n, const int *aMap, const double *ang
 
 ControlBoardHelper::~ControlBoardHelper()
 {
-    if (mPriv) { delete mPriv; mPriv = 0; }
+    if (mPriv) { delete mPriv; mPriv = nullptr; }
 }
 
 yarp::dev::ControlBoardHelper::ControlBoardHelper(const ControlBoardHelper & other)

src/libYARP_dev/src/ImplementAmplifierControl.cpp

@@ -21,9 +21,9 @@ using namespace yarp::dev;
 ImplementAmplifierControl::ImplementAmplifierControl(yarp::dev::IAmplifierControlRaw  *y)
 {
     iAmplifier= y;
-    helper = 0;
-    dTemp=0;
-    iTemp=0;
+    helper = nullptr;
+    dTemp=nullptr;
+    iTemp=nullptr;
 }
 
 ImplementAmplifierControl::~ImplementAmplifierControl()
@@ -33,15 +33,15 @@ ImplementAmplifierControl::~ImplementAmplifierControl()
 
 bool ImplementAmplifierControl:: initialize (int size, const int *amap, const double *enc, const double *zos, const double *ampereFactor, const double *voltFactor)
 {
-    if (helper!=0)
+    if (helper!=nullptr)
         return false;
 
     helper=(void *)(new ControlBoardHelper(size, amap, enc, zos,nullptr, ampereFactor, voltFactor));
-    yAssert (helper != 0);
+    yAssert (helper != nullptr);
     dTemp=new double[size];
-    yAssert (dTemp != 0);
+    yAssert (dTemp != nullptr);
     iTemp=new int[size];
-    yAssert (iTemp != 0);
+    yAssert (iTemp != nullptr);
 
     return true;
 }
@@ -52,15 +52,15 @@ bool ImplementAmplifierControl:: initialize (int size, const int *amap, const do
 */
 bool ImplementAmplifierControl::uninitialize ()
 {
-    if (helper!=0)
+    if (helper!=nullptr)
         delete castToMapper(helper);
 
     delete [] dTemp;
     delete [] iTemp;
 
-    helper=0;
-    dTemp=0;
-    iTemp=0;
+    helper=nullptr;
+    dTemp=nullptr;
+    iTemp=nullptr;
     return true;
 }