Support for .NET Standard 2.1, C# 8.0 and nullable reference types

K4AdotNet.Samples.Core.BodyTrackingSpeed/K4AdotNet.Samples.Core.BodyTrackingSpeed.csproj

@@ -5,6 +5,8 @@
   <PropertyGroup>
     <OutputType>Exe</OutputType>
     <TargetFramework>netcoreapp3.1</TargetFramework>
+    <LangVersion>8.0</LangVersion>
+    <Nullable>enable</Nullable>
     <Platforms>AnyCPU</Platforms>
     <Description>Core .NET sample console application to measure speed of Body Tracking.</Description>
     <AssemblyName>K4ABodyTrackingSpeed</AssemblyName>

K4AdotNet.Samples.Core.BodyTrackingSpeed/PopInBackgroundProcessor.cs

@@ -44,7 +44,7 @@ public override bool NextFrame()
                     return false;
                 }
 
-                tracker.TryEnqueueCapture(capture, Timeout.Infinite);
+                tracker.TryEnqueueCapture(capture!, Timeout.Infinite);
             }
 
             return true;

K4AdotNet.Samples.Core.BodyTrackingSpeed/ProcessingParameters.cs

@@ -1,4 +1,5 @@
 using System;
+using System.Diagnostics.CodeAnalysis;
 using System.IO;
 
 namespace K4AdotNet.Samples.Core.BodyTrackingSpeed
@@ -26,7 +27,7 @@ public static bool IsValueLikeToMkvFilePath(string value)
             return true;
         }
 
-        public string MkvPath { get; private set; }
+        public string? MkvPath { get; private set; }
         public bool CpuOnlyMode { get; private set; }
         public ProcessingImplementation Implementation { get; private set; }
         public TimeSpan? StartTime { get; private set; }
@@ -36,7 +37,7 @@ public bool IsTimeInStartEndInterval(TimeSpan frameTimestamp)
             => (!StartTime.HasValue || StartTime.Value <= frameTimestamp)
             && (!EndTime.HasValue || EndTime.Value >= frameTimestamp);
 
-        public bool TrySetMkvPath(string value, out string message)
+        public bool TrySetMkvPath(string value, [NotNullWhen(returnValue: false)] out string? message)
         {
             if (string.IsNullOrWhiteSpace(value))
             {
@@ -70,7 +71,7 @@ public bool TrySetMkvPath(string value, out string message)
             return true;
         }
 
-        public bool TrySetCpuOnlyMode(string value, out string message)
+        public bool TrySetCpuOnlyMode(string value, [NotNullWhen(returnValue: false)] out string? message)
         {
             if (string.IsNullOrWhiteSpace(value))
             {
@@ -96,7 +97,7 @@ public bool TrySetCpuOnlyMode(string value, out string message)
             return false;
         }
 
-        public bool TrySetImplementation(string value, out string message)
+        public bool TrySetImplementation(string value, [NotNullWhen(returnValue: false)] out string? message)
         {
             if (string.IsNullOrWhiteSpace(value))
             {
@@ -126,7 +127,7 @@ public bool TrySetImplementation(string value, out string message)
             return false;
         }
 
-        public bool TrySetStartTime(string value, out string message)
+        public bool TrySetStartTime(string value, [NotNullWhen(returnValue: false)] out string? message)
         {
             if (string.IsNullOrWhiteSpace(value))
             {
@@ -154,7 +155,7 @@ public bool TrySetStartTime(string value, out string message)
             return true;
         }
 
-        public bool TrySetEndTime(string value, out string message)
+        public bool TrySetEndTime(string value, [NotNullWhen(returnValue: false)] out string? message)
         {
             if (string.IsNullOrWhiteSpace(value))
             {

K4AdotNet.Samples.Core.BodyTrackingSpeed/Processor.cs

@@ -4,16 +4,13 @@ namespace K4AdotNet.Samples.Core.BodyTrackingSpeed
 {
     internal abstract class Processor : IDisposable
     {
-        public static Processor Create(ProcessingParameters processingParameters)
+        public static Processor Create(ProcessingParameters processingParameters) => processingParameters.Implementation switch
         {
-            switch (processingParameters.Implementation)
-            {
-                case ProcessingImplementation.SingleThread: return new SingleThreadProcessor(processingParameters);
-                case ProcessingImplementation.PopInBackground: return new PopInBackgroundProcessor(processingParameters);
-                case ProcessingImplementation.EnqueueInBackground: return new EnqueueInBackgroundProcessor(processingParameters);
-                default: throw new NotSupportedException();
-            }
-        }
+            ProcessingImplementation.SingleThread => new SingleThreadProcessor(processingParameters),
+            ProcessingImplementation.PopInBackground => new PopInBackgroundProcessor(processingParameters),
+            ProcessingImplementation.EnqueueInBackground => new EnqueueInBackgroundProcessor(processingParameters),
+            _ => throw new NotSupportedException(),
+        };
 
         protected readonly ProcessingParameters processingParameters;
         protected readonly Record.Playback playback;
@@ -24,7 +21,7 @@ public static Processor Create(ProcessingParameters processingParameters)
         protected Processor(ProcessingParameters processingParameters)
         {
             this.processingParameters = processingParameters;
-            playback = new Record.Playback(processingParameters.MkvPath);
+            playback = new Record.Playback(processingParameters.MkvPath!);
             playback.GetRecordConfiguration(out recordConfig);
             RecordLength = playback.RecordLength;
             playback.GetCalibration(out calibration);
@@ -61,7 +58,7 @@ private void Seek(TimeSpan value)
                 throw new ApplicationException("Cannot seek playback to " + value);
         }
 
-        protected bool IsCaptureInInterval(Sensor.Capture capture)
+        protected bool IsCaptureInInterval(Sensor.Capture? capture)
         {
             if (capture == null)
                 return false;

K4AdotNet.Samples.Core.BodyTrackingSpeed/Program.cs

@@ -1,6 +1,7 @@
 using K4AdotNet.Sensor;
 using System;
 using System.Diagnostics;
+using System.Diagnostics.CodeAnalysis;
 
 namespace K4AdotNet.Samples.Core.BodyTrackingSpeed
 {
@@ -51,11 +52,11 @@ private static void PrintProcessingStatus(Processor processor)
             Console.Write($"processed: {processor.TotalFrameCount}    with body: {processor.FrameWithBodyCount}    in buffer: {processor.QueueSize}");
         }
 
-        private delegate bool ParameterSetter(string value, out string message);
+        private delegate bool ParameterSetter(string value, [NotNullWhen(returnValue: false)] out string? message);
 
         #region Asking parameters from STDIN
 
-        private static ProcessingParameters AskProcessingParameters()
+        private static ProcessingParameters? AskProcessingParameters()
         {
             Console.WriteLine("No command line arguments specified.");
             Console.WriteLine("Please enter execution parameters:");
@@ -93,7 +94,7 @@ private static bool AskParameter(string prompt, ParameterSetter setter)
 
         #region Parsing parameters from command-line arguments
 
-        private static ProcessingParameters ParseCommandLineArguments(string[] args)
+        private static ProcessingParameters? ParseCommandLineArguments(string[] args)
         {
             var parameters = new ProcessingParameters();
 
@@ -143,7 +144,7 @@ private static bool ParseArgument(string[] args, ref int argIndex, ParameterSett
             var name = args[argIndex];
             var value = argIndex + 1 < args.Length ? args[argIndex + 1] : null;
 
-            string message = null;
+            string? message = null;
             if (value != null && setter(value, out message))
             {
                 argIndex++;

K4AdotNet.Samples.Core.BodyTrackingSpeed/SingleThreadProcessor.cs

@@ -30,7 +30,7 @@ public override bool NextFrame()
                     return false;
                 }
 
-                tracker.TryEnqueueCapture(capture, Timeout.Infinite);
+                tracker.TryEnqueueCapture(capture!, Timeout.Infinite);
 
                 Pop(wait: false);
             }

K4AdotNet.Samples.Core.Recorder/K4AdotNet.Samples.Core.Recorder.csproj

@@ -5,6 +5,8 @@
   <PropertyGroup>
     <OutputType>Exe</OutputType>
     <TargetFramework>netcoreapp3.1</TargetFramework>
+    <LangVersion>8.0</LangVersion>
+    <Nullable>enable</Nullable>
     <AssemblyName>K4ARecorder</AssemblyName>
   </PropertyGroup>
 

K4AdotNet.Samples.Core.Recorder/Options.cs

@@ -19,12 +19,12 @@ internal sealed class Options
         [Option('c', "color-mode", Required = false, Default = "1080p", HelpText =
             "Set the color sensor mode.\n" +
             "Available options: 3072p, 2160p, 1536p, 1440p, 1080p, 720p, 720p_NV12, 720p_YUY2, OFF")]
-        public string ColorMode { get; set; }
+        public string ColorMode { get; set; } = "1080p";
 
         [Option('d', "depth-mode", Required = false, Default = "NFOV_UNBINNED", HelpText =
             "Set the depth sensor mode.\n" +
             "Available options: NFOV_2X2BINNED, NFOV_UNBINNED, WFOV_2X2BINNED, WFOV_UNBINNED, PASSIVE_IR, OFF")]
-        public string DepthMode { get; set; }
+        public string DepthMode { get; set; } = "NFOV_UNBINNED";
 
         [Option("depth-delay", Required = false, Default = 0, HelpText =
             "Set the time offset between color and depth frames in microseconds.\n" +
@@ -39,7 +39,7 @@ internal sealed class Options
 
         [Value(0, Default = null, Required = false, MetaValue = "output.mkv", HelpText =
             "Output file name. Default: 'yyyy-MM-dd H_mm_ss.mkv' file in 'My Videos' folder.")]
-        public string Output { get; set; }
+        public string? Output { get; set; }
 
         public int GetDeviceIndex()
         {

K4AdotNet/BodyTracking/BodyFrame.cs

@@ -45,7 +45,7 @@ public void Dispose()
 
         /// <summary>Raised on object disposing (only once).</summary>
         /// <seealso cref="Dispose"/>
-        public event EventHandler Disposed;
+        public event EventHandler? Disposed;
 
         /// <summary>Creates new reference to the same unmanaged body frame object.</summary>
         /// <returns>New object that references exactly to the same underlying unmanaged object as original one. Not <see langword="null"/>.</returns>
@@ -85,7 +85,7 @@ public BodyFrame DuplicateReference()
         /// use <see cref="Sensor.Capture.DuplicateReference"/> method.
         /// </para></remarks>
         /// <exception cref="ObjectDisposedException">This property cannot be called for disposed objects.</exception>
-        public Sensor.Capture Capture => children.Register(Sensor.Capture.Create(NativeApi.FrameGetCapture(handle.ValueNotDisposed)));
+        public Sensor.Capture Capture => children.Register(Sensor.Capture.Create(NativeApi.FrameGetCapture(handle.ValueNotDisposed)))!;
 
         /// <summary>Non-a-body value on index body map.</summary>
         /// <seealso cref="BodyIndexMap"/>
@@ -111,7 +111,7 @@ public BodyFrame DuplicateReference()
         /// use <see cref="Sensor.Image.DuplicateReference"/> method.
         /// </para></remarks>
         /// <exception cref="ObjectDisposedException">This property cannot be called for disposed objects.</exception>
-        public Sensor.Image BodyIndexMap => children.Register(Sensor.Image.Create(NativeApi.FrameGetBodyIndexMap(handle.ValueNotDisposed)));
+        public Sensor.Image BodyIndexMap => children.Register(Sensor.Image.Create(NativeApi.FrameGetBodyIndexMap(handle.ValueNotDisposed)))!;
 
         /// <summary>Gets the joint information for a particular person index.</summary>
         /// <param name="bodyIndex">Zero-based index of a tracked body. Must me positive number. Must be less than <see cref="BodyCount"/>.</param>
@@ -140,22 +140,22 @@ public BodyId GetBodyId(int bodyIndex)
             return NativeApi.FrameGetBodyId(handle.ValueNotDisposed, (uint)bodyIndex);
         }
 
-        internal static BodyFrame Create(NativeHandles.BodyFrameHandle bodyFrameHandle)
+        internal static BodyFrame? Create(NativeHandles.BodyFrameHandle? bodyFrameHandle)
             => bodyFrameHandle != null && !bodyFrameHandle.IsInvalid ? new BodyFrame(bodyFrameHandle) : null;
 
         #region Equatable
 
         /// <summary>Two body frames are equal when they reference to one and the same unmanaged object.</summary>
         /// <param name="bodyFrame">Another body frame to be compared with this one. Can be <see langword="null"/>.</param>
         /// <returns><see langword="true"/> if both body frames reference to one and the same unmanaged object.</returns>
-        public bool Equals(BodyFrame bodyFrame)
+        public bool Equals(BodyFrame? bodyFrame)
             => !(bodyFrame is null) && bodyFrame.handle.Equals(handle);
 
         /// <summary>Two body frames are equal when they reference to one and the same unmanaged object.</summary>
         /// <param name="obj">Some object to be compared with this one. Can be <see langword="null"/>.</param>
         /// <returns><see langword="true"/> if <paramref name="obj"/> is also <see cref="BodyFrame"/> and they both reference to one and the same unmanaged object.</returns>
-        public override bool Equals(object obj)
-            => obj is BodyFrame && Equals((BodyFrame)obj);
+        public override bool Equals(object? obj)
+            => obj is BodyFrame frame && Equals(frame);
 
         /// <summary>Uses underlying handle as hash code.</summary>
         /// <returns>Hash code. Consistent with overridden equality.</returns>
@@ -168,15 +168,15 @@ public override int GetHashCode()
         /// <param name="right">Right part of operator. Can be <see langword="null"/>.</param>
         /// <returns><see langword="true"/> if <paramref name="left"/> equals to <paramref name="right"/>.</returns>
         /// <seealso cref="Equals(BodyFrame)"/>
-        public static bool operator ==(BodyFrame left, BodyFrame right)
+        public static bool operator ==(BodyFrame? left, BodyFrame? right)
             => (left is null && right is null) || (!(left is null) && left.Equals(right));
 
         /// <summary>To be consistent with <see cref="Equals(BodyFrame)"/>.</summary>
         /// <param name="left">Left part of operator. Can be <see langword="null"/>.</param>
         /// <param name="right">Right part of operator. Can be <see langword="null"/>.</param>
         /// <returns><see langword="true"/> if <paramref name="left"/> is not equal to <paramref name="right"/>.</returns>
         /// <seealso cref="Equals(BodyFrame)"/>
-        public static bool operator !=(BodyFrame left, BodyFrame right)
+        public static bool operator !=(BodyFrame? left, BodyFrame? right)
             => !(left == right);
 
         /// <summary>Convenient (for debugging needs, first of all) string representation of object as an address of unmanaged object in memory.</summary>

K4AdotNet/BodyTracking/BodyId.cs

@@ -47,16 +47,14 @@ public bool Equals(int other)
         /// <summary>Overloads <see cref="Object.Equals(object)"/> to be consistent with <see cref="Equals(BodyId)"/>.</summary>
         /// <param name="obj">Object to be compared with this instance.</param>
         /// <returns><see langword="true"/> if <paramref name="obj"/> can be cast to <see cref="BodyId"/> and result is equal to this one.</returns>
-        public override bool Equals(object obj)
-        {
-            if (obj is null)
-                return false;
-            if (obj is BodyId)
-                return Equals((BodyId)obj);
-            if (obj is IConvertible)
-                return Equals(Convert.ToInt32(obj));
-            return false;
-        }
+        public override bool Equals(object? obj)
+            => obj switch
+            {
+                null => false,
+                BodyId _ => Equals((BodyId)obj),
+                IConvertible _ => Equals(Convert.ToInt32(obj)),
+                _ => false
+            };
 
         /// <summary>To be consistent with <see cref="Equals(BodyId)"/>.</summary>
         /// <param name="left">Left part of operator.</param>