cpplint: add filter `whitespace/parens` (#29565)

.pre-commit-config.yaml

@@ -64,7 +64,7 @@ repos:
         - --linelength=240
         # https://google.github.io/styleguide/cppguide.html
         # relevant rules are whitelisted, see all options with: cpplint --filter=
-        - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+readability/braces
+        - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/parens,+readability/braces
 -   repo: local
     hooks:
     -   id: test_translations

common/gpio.cc

@@ -31,7 +31,7 @@ int gpio_init(int pin_nr, bool output) {
   char pin_dir_path[50];
   int pin_dir_path_len = snprintf(pin_dir_path, sizeof(pin_dir_path),
                            "/sys/class/gpio/gpio%d/direction", pin_nr);
-  if(pin_dir_path_len <= 0) {
+  if (pin_dir_path_len <= 0) {
     return -1;
   }
   const char *value = output ? "out" : "in";
@@ -42,7 +42,7 @@ int gpio_set(int pin_nr, bool high) {
   char pin_val_path[50];
   int pin_val_path_len = snprintf(pin_val_path, sizeof(pin_val_path),
                            "/sys/class/gpio/gpio%d/value", pin_nr);
-  if(pin_val_path_len <= 0) {
+  if (pin_val_path_len <= 0) {
     return -1;
   }
   return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1);

common/i2c.cc

@@ -26,23 +26,23 @@ I2CBus::I2CBus(uint8_t bus_id) {
   snprintf(bus_name, 20, "/dev/i2c-%d", bus_id);
 
   i2c_fd = HANDLE_EINTR(open(bus_name, O_RDWR));
-  if(i2c_fd < 0) {
+  if (i2c_fd < 0) {
     throw std::runtime_error("Failed to open I2C bus");
   }
 }
 
 I2CBus::~I2CBus() {
-  if(i2c_fd >= 0) { close(i2c_fd); }
+  if (i2c_fd >= 0) { close(i2c_fd); }
 }
 
 int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
   int ret = 0;
 
   ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
-  if(ret < 0) { goto fail; }
+  if (ret < 0) { goto fail; }
 
   ret = i2c_smbus_read_i2c_block_data(i2c_fd, register_address, len, buffer);
-  if((ret < 0) || (ret != len)) { goto fail; }
+  if ((ret < 0) || (ret != len)) { goto fail; }
 
 fail:
   return ret;
@@ -52,10 +52,10 @@ int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t
   int ret = 0;
 
   ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
-  if(ret < 0) { goto fail; }
+  if (ret < 0) { goto fail; }
 
   ret = i2c_smbus_write_byte_data(i2c_fd, register_address, data);
-  if(ret < 0) { goto fail; }
+  if (ret < 0) { goto fail; }
 
 fail:
   return ret;

common/util.h

@@ -171,7 +171,7 @@ private:
 template<typename T>
 void update_max_atomic(std::atomic<T>& max, T const& value) {
   T prev = max;
-  while(prev < value && !max.compare_exchange_weak(prev, value)) {}
+  while (prev < value && !max.compare_exchange_weak(prev, value)) {}
 }
 
 class LogState {

selfdrive/boardd/panda_comms.cc

@@ -199,7 +199,7 @@ int PandaUsbHandle::bulk_write(unsigned char endpoint, unsigned char* data, int
     } else if (err != 0 || length != transferred) {
       handle_usb_issue(err, __func__);
     }
-  } while(err != 0 && connected);
+  } while (err != 0 && connected);
 
   return transferred;
 }
@@ -226,7 +226,7 @@ int PandaUsbHandle::bulk_read(unsigned char endpoint, unsigned char* data, int l
       handle_usb_issue(err, __func__);
     }
 
-  } while(err != 0 && connected);
+  } while (err != 0 && connected);
 
   return transferred;
 }

selfdrive/boardd/tests/test_boardd_usbprotocol.cc

@@ -82,7 +82,7 @@ void PandaTest::test_can_recv(uint32_t rx_chunk_size) {
       this->receive_buffer_size = 0;
       uint32_t pos = 0;
 
-      while(pos < size) {
+      while (pos < size) {
         uint32_t chunk_size = std::min(rx_chunk_size, size - pos);
         memcpy(&this->receive_buffer[this->receive_buffer_size], &data[pos], chunk_size);
         this->receive_buffer_size += chunk_size;

selfdrive/locationd/locationd.cc

@@ -359,7 +359,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
 
 void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log) {
 
-  if(!log.getPositionECEF().getValid() || !log.getVelocityECEF().getValid()) {
+  if (!log.getPositionECEF().getValid() || !log.getVelocityECEF().getValid()) {
     this->determine_gps_mode(current_time);
     return;
   }

selfdrive/modeld/models/commonmodel.cc

@@ -55,14 +55,14 @@ ModelFrame::~ModelFrame() {
 void softmax(const float* input, float* output, size_t len) {
   const float max_val = *std::max_element(input, input + len);
   float denominator = 0;
-  for(int i = 0; i < len; i++) {
+  for (int i = 0; i < len; i++) {
     float const v_exp = expf(input[i] - max_val);
     denominator += v_exp;
     output[i] = v_exp;
   }
 
   const float inv_denominator = 1. / denominator;
-  for(int i = 0; i < len; i++) {
+  for (int i = 0; i < len; i++) {
     output[i] *= inv_denominator;
   }
 }

selfdrive/modeld/models/driving.cc

@@ -264,7 +264,7 @@ void fill_plan(cereal::ModelDataV2::Builder &framed, const ModelOutputPlanPredic
   std::array<float, TRAJECTORY_SIZE> acc_x, acc_y, acc_z;
   std::array<float, TRAJECTORY_SIZE> rot_rate_x, rot_rate_y, rot_rate_z;
 
-  for(int i=0; i<TRAJECTORY_SIZE; i++) {
+  for (int i=0; i<TRAJECTORY_SIZE; i++) {
     pos_x[i] = plan.mean[i].position.x;
     pos_y[i] = plan.mean[i].position.y;
     pos_z[i] = plan.mean[i].position.z;

selfdrive/modeld/tests/snpe_benchmark/benchmark.cc

@@ -156,7 +156,7 @@ void testrun(char* modelfile) {
   static zdl::DlSystem::TensorMap inputTensorMap;
   static zdl::DlSystem::TensorMap outputTensorMap;
 
-  assert (strList.size() == 1);
+  assert(strList.size() == 1);
   const auto &inputDims_opt = snpe->getInputDimensions(strList.at(0));
   const auto &inputShape = *inputDims_opt;
   std::cout << "winkwink" << std::endl;
@@ -167,7 +167,7 @@ void testrun(char* modelfile) {
     get_testframe(i,input);
     snpe->execute(input.get(), outputTensorMap);
     zdl::DlSystem::StringList tensorNames = outputTensorMap.getTensorNames();
-    std::for_each( tensorNames.begin(), tensorNames.end(), [&](const char* name) {
+    std::for_each(tensorNames.begin(), tensorNames.end(), [&](const char* name) {
       std::ostringstream path;
       path << "/data/opt/Result_" << std::to_string(i) << ".raw";
       auto tensorPtr = outputTensorMap.getTensor(name);

selfdrive/modeld/thneed/serialize.cc

@@ -75,8 +75,7 @@ void Thneed::load(const char *filename) {
 #endif
       if (clbuf == NULL) {
         printf("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode),
-          desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer
-        );
+          desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer);
       }
       assert(clbuf != NULL);
     }

selfdrive/ui/qt/api.cc

@@ -85,7 +85,7 @@ void HttpRequest::sendRequest(const QString &requestURL, const HttpRequest::Meth
     return;
   }
   QString token;
-  if(create_jwt) {
+  if (create_jwt) {
     token = CommaApi::create_jwt();
   } else {
     QString token_json = QString::fromStdString(util::read_file(util::getenv("HOME") + "/.comma/auth.json"));

selfdrive/ui/qt/offroad/settings.cc

@@ -139,7 +139,7 @@ void TogglesPanel::updateToggles() {
                                           "<h4>%6</h4><br>"
                                           "%7")
                                   .arg(tr("openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below:"))
-                                  .arg(tr("End-to-End Longitudinal Control" ))
+                                  .arg(tr("End-to-End Longitudinal Control"))
                                   .arg(tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. "
                                           "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; "
                                           "mistakes should be expected."))

selfdrive/ui/qt/util.cc

@@ -134,7 +134,7 @@ void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, co
 }
 
 
-QWidget* topWidget (QWidget* widget) {
+QWidget* topWidget(QWidget* widget) {
   while (widget->parentWidget() != nullptr) widget=widget->parentWidget();
   return widget;
 }
@@ -197,8 +197,7 @@ QColor interpColor(float xv, std::vector<float> xp, std::vector<QColor> fp) {
       (xv - xp[low]) * (fp[hi].red() - fp[low].red()) / (xp[hi] - xp[low]) + fp[low].red(),
       (xv - xp[low]) * (fp[hi].green() - fp[low].green()) / (xp[hi] - xp[low]) + fp[low].green(),
       (xv - xp[low]) * (fp[hi].blue() - fp[low].blue()) / (xp[hi] - xp[low]) + fp[low].blue(),
-      (xv - xp[low]) * (fp[hi].alpha() - fp[low].alpha()) / (xp[hi] - xp[low]) + fp[low].alpha()
-    );
+      (xv - xp[low]) * (fp[hi].alpha() - fp[low].alpha()) / (xp[hi] - xp[low]) + fp[low].alpha());
   }
 }
 

selfdrive/ui/qt/util.h

@@ -23,7 +23,7 @@ void sigTermHandler(int s);
 QString timeAgo(const QDateTime &date);
 void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg);
 void initApp(int argc, char *argv[], bool disable_hidpi = true);
-QWidget* topWidget (QWidget* widget);
+QWidget* topWidget(QWidget* widget);
 QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio);
 QPixmap bootstrapPixmap(const QString &id);
 

system/logcatd/logcatd_systemd.cc

@@ -35,7 +35,7 @@ int main(int argc, char *argv[]) {
     // Wait for new message if we didn't receive anything
     if (err == 0) {
       err = sd_journal_wait(journal, 1000 * 1000);
-      assert (err >= 0);
+      assert(err >= 0);
       continue; // Try again
     }
 

system/sensord/sensors/bmx055_magn.cc

@@ -77,7 +77,7 @@ int BMX055_Magn::init() {
 
   // suspend -> sleep
   int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0x01);
-  if(ret < 0) {
+  if (ret < 0) {
     LOGE("Enabling power failed: %d", ret);
     goto fail;
   }
@@ -90,21 +90,21 @@ int BMX055_Magn::init() {
 
   // Load magnetometer trim
   ret = read_register(BMX055_MAGN_I2C_REG_DIG_X1, trim_x1y1, 2);
-  if(ret < 0) goto fail;
+  if (ret < 0) goto fail;
   ret = read_register(BMX055_MAGN_I2C_REG_DIG_X2, trim_x2y2, 2);
-  if(ret < 0) goto fail;
+  if (ret < 0) goto fail;
   ret = read_register(BMX055_MAGN_I2C_REG_DIG_XY2, trim_xy1xy2, 2);
-  if(ret < 0) goto fail;
+  if (ret < 0) goto fail;
   ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z1_LSB, trim_z1, 2);
-  if(ret < 0) goto fail;
+  if (ret < 0) goto fail;
   ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z2_LSB, trim_z2, 2);
-  if(ret < 0) goto fail;
+  if (ret < 0) goto fail;
   ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z3_LSB, trim_z3, 2);
-  if(ret < 0) goto fail;
+  if (ret < 0) goto fail;
   ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z4_LSB, trim_z4, 2);
-  if(ret < 0) goto fail;
+  if (ret < 0) goto fail;
   ret = read_register(BMX055_MAGN_I2C_REG_DIG_XYZ1_LSB, trim_xyz1, 2);
-  if(ret < 0) goto fail;
+  if (ret < 0) goto fail;
 
   // Read trim data
   trim_data.dig_x1 = trim_x1y1[0];

system/sensord/sensors/lsm6ds3_gyro.cc

@@ -128,7 +128,7 @@ int LSM6DS3_Gyro::init() {
   }
 
   ret = self_test(LSM6DS3_GYRO_POSITIVE_TEST);
-  if (ret < 0 ) {
+  if (ret < 0) {
     LOGE("LSM6DS3 gyro positive self-test failed!");
     if (do_self_test) goto fail;
   }

system/ubloxd/tests/test_glonass_kaitai.cc

@@ -101,7 +101,7 @@ std::string generate_inp_data(string_data& data) {
   string_data.reserve(16);
   for (int i = 0; i < 128; i+=8) {
     std::string substr = inp_data.substr(i, 8);
-    string_data.push_back( (uint8_t)std::stoi(substr.c_str(), 0, 2));
+    string_data.push_back((uint8_t)std::stoi(substr.c_str(), 0, 2));
   }
 
   return string_data;

system/ubloxd/ublox_msg.cc

@@ -23,26 +23,26 @@ inline static bool bit_to_bool(uint8_t val, int shifts) {
 
 inline int UbloxMsgParser::needed_bytes() {
   // Msg header incomplete?
-  if(bytes_in_parse_buf < ublox::UBLOX_HEADER_SIZE)
+  if (bytes_in_parse_buf < ublox::UBLOX_HEADER_SIZE)
     return ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE - bytes_in_parse_buf;
   uint16_t needed = UBLOX_MSG_SIZE(msg_parse_buf) + ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE;
   // too much data
-  if(needed < (uint16_t)bytes_in_parse_buf)
+  if (needed < (uint16_t)bytes_in_parse_buf)
     return -1;
   return needed - (uint16_t)bytes_in_parse_buf;
 }
 
 inline bool UbloxMsgParser::valid_cheksum() {
   uint8_t ck_a = 0, ck_b = 0;
-  for(int i = 2; i < bytes_in_parse_buf - ublox::UBLOX_CHECKSUM_SIZE;i++) {
+  for (int i = 2; i < bytes_in_parse_buf - ublox::UBLOX_CHECKSUM_SIZE;i++) {
     ck_a = (ck_a + msg_parse_buf[i]) & 0xFF;
     ck_b = (ck_b + ck_a) & 0xFF;
   }
-  if(ck_a != msg_parse_buf[bytes_in_parse_buf - 2]) {
+  if (ck_a != msg_parse_buf[bytes_in_parse_buf - 2]) {
     LOGD("Checksum a mismatch: %02X, %02X", ck_a, msg_parse_buf[6]);
     return false;
   }
-  if(ck_b != msg_parse_buf[bytes_in_parse_buf - 1]) {
+  if (ck_b != msg_parse_buf[bytes_in_parse_buf - 1]) {
     LOGD("Checksum b mismatch: %02X, %02X", ck_b, msg_parse_buf[7]);
     return false;
   }
@@ -55,13 +55,13 @@ inline bool UbloxMsgParser::valid() {
 }
 
 inline bool UbloxMsgParser::valid_so_far() {
-  if(bytes_in_parse_buf > 0 && msg_parse_buf[0] != ublox::PREAMBLE1) {
+  if (bytes_in_parse_buf > 0 && msg_parse_buf[0] != ublox::PREAMBLE1) {
     return false;
   }
-  if(bytes_in_parse_buf > 1 && msg_parse_buf[1] != ublox::PREAMBLE2) {
+  if (bytes_in_parse_buf > 1 && msg_parse_buf[1] != ublox::PREAMBLE2) {
     return false;
   }
-  if(needed_bytes() == 0 && !valid()) {
+  if (needed_bytes() == 0 && !valid()) {
     return false;
   }
   return true;
@@ -70,8 +70,8 @@ inline bool UbloxMsgParser::valid_so_far() {
 bool UbloxMsgParser::add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed) {
   last_log_time = log_time;
   int needed = needed_bytes();
-  if(needed > 0) {
-    bytes_consumed = std::min((uint32_t)needed, incoming_data_len );
+  if (needed > 0) {
+    bytes_consumed = std::min((uint32_t)needed, incoming_data_len);
     // Add data to buffer
     memcpy(msg_parse_buf + bytes_in_parse_buf, incoming_data, bytes_consumed);
     bytes_in_parse_buf += bytes_consumed;
@@ -80,15 +80,15 @@ bool UbloxMsgParser::add_data(float log_time, const uint8_t *incoming_data, uint
   }
 
   // Validate msg format, detect invalid header and invalid checksum.
-  while(!valid_so_far() && bytes_in_parse_buf != 0) {
+  while (!valid_so_far() && bytes_in_parse_buf != 0) {
     // Corrupted msg, drop a byte.
     bytes_in_parse_buf -= 1;
-    if(bytes_in_parse_buf > 0)
+    if (bytes_in_parse_buf > 0)
       memmove(&msg_parse_buf[0], &msg_parse_buf[1], bytes_in_parse_buf);
   }
 
   // There is redundant data at the end of buffer, reset the buffer.
-  if(needed_bytes() == -1) {
+  if (needed_bytes() == -1) {
     bytes_in_parse_buf = 0;
   }
   return valid();
@@ -435,7 +435,7 @@ kj::Array<capnp::word> UbloxMsgParser::gen_rxm_rawx(ubx_t::rxm_rawx_t *msg) {
 
   auto mb = mr.initMeasurements(msg->num_meas());
   auto measurements = *msg->meas();
-  for(int8_t i = 0; i < msg->num_meas(); i++) {
+  for (int8_t i = 0; i < msg->num_meas(); i++) {
     mb[i].setSvId(measurements[i]->sv_id());
     mb[i].setPseudorange(measurements[i]->pr_mes());
     mb[i].setCarrierCycles(measurements[i]->cp_mes());
@@ -470,7 +470,7 @@ kj::Array<capnp::word> UbloxMsgParser::gen_nav_sat(ubx_t::nav_sat_t *msg) {
 
   auto svs = sr.initSvs(msg->num_svs());
   auto svs_data = *msg->svs();
-  for(int8_t i = 0; i < msg->num_svs(); i++) {
+  for (int8_t i = 0; i < msg->num_svs(); i++) {
     svs[i].setSvId(svs_data[i]->sv_id());
     svs[i].setGnssId(svs_data[i]->gnss_id());
     svs[i].setFlagsBitfield(svs_data[i]->flags());

system/ubloxd/ublox_msg.h

@@ -52,7 +52,7 @@ namespace ublox {
     assert(msg.size() > 2);
 
     uint8_t ck_a = 0, ck_b = 0;
-    for(int i = 2; i < msg.size(); i++) {
+    for (int i = 2; i < msg.size(); i++) {
       ck_a = (ck_a + msg[i]) & 0xFF;
       ck_b = (ck_b + ck_a) & 0xFF;
     }

system/ubloxd/ubloxd.cc

@@ -41,9 +41,9 @@ int main() {
     size_t len = ubloxRaw.size();
     size_t bytes_consumed = 0;
 
-    while(bytes_consumed < len && !do_exit) {
+    while (bytes_consumed < len && !do_exit) {
       size_t bytes_consumed_this_time = 0U;
-      if(parser.add_data(log_time, data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) {
+      if (parser.add_data(log_time, data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) {
 
         try {
           auto ublox_msg = parser.gen_msg();

tools/cabana/signalview.h

@@ -131,7 +131,7 @@ private:
       QAbstractItemView::dataChanged(topLeft, bottomRight, roles);
     }
     void leaveEvent(QEvent *event) override {
-      emit ((SignalView *)parentWidget())->highlight(nullptr);
+      emit static_cast<SignalView *>(parentWidget())->highlight(nullptr);
       QTreeView::leaveEvent(event);
     }
   };