Handle EINTR for all syscalls that can return it (#21948)

selfdrive/boardd/pigeon.cc

@@ -193,7 +193,7 @@ void handle_tty_issue(int err, const char func[]) {
 }
 
 void TTYPigeon::connect(const char * tty) {
-  pigeon_tty_fd = open(tty, O_RDWR);
+  pigeon_tty_fd = HANDLE_EINTR(open(tty, O_RDWR));
   if (pigeon_tty_fd < 0) {
     handle_tty_issue(errno, __func__);
     assert(pigeon_tty_fd >= 0);
@@ -253,7 +253,7 @@ void TTYPigeon::set_baud(int baud) {
 }
 
 void TTYPigeon::send(const std::string &s) {
-  int err = write(pigeon_tty_fd, s.data(), s.length());
+  int err = HANDLE_EINTR(write(pigeon_tty_fd, s.data(), s.length()));
 
   if(err < 0) { handle_tty_issue(err, __func__); }
   err = tcdrain(pigeon_tty_fd);

selfdrive/camerad/cameras/camera_qcom.cc

@@ -399,7 +399,7 @@ static void sensors_init(MultiCameraState *s) {
     .output_format = MSM_SENSOR_BAYER,
   }};
 
-  unique_fd sensorinit_fd = open("/dev/v4l-subdev11", O_RDWR | O_NONBLOCK);
+  unique_fd sensorinit_fd = HANDLE_EINTR(open("/dev/v4l-subdev11", O_RDWR | O_NONBLOCK));
   assert(sensorinit_fd >= 0);
   for (auto &info : slave_infos) {
     info.power_setting_array.power_setting = &info.power_setting_array.power_setting_a[0];
@@ -419,29 +419,29 @@ static void camera_open(CameraState *s, bool is_road_cam) {
   // open devices
   const char *sensor_dev;
   if (is_road_cam) {
-    s->csid_fd = open("/dev/v4l-subdev3", O_RDWR | O_NONBLOCK);
+    s->csid_fd = HANDLE_EINTR(open("/dev/v4l-subdev3", O_RDWR | O_NONBLOCK));
     assert(s->csid_fd >= 0);
-    s->csiphy_fd = open("/dev/v4l-subdev0", O_RDWR | O_NONBLOCK);
+    s->csiphy_fd = HANDLE_EINTR(open("/dev/v4l-subdev0", O_RDWR | O_NONBLOCK));
     assert(s->csiphy_fd >= 0);
     sensor_dev = "/dev/v4l-subdev17";
-    s->isp_fd = open("/dev/v4l-subdev13", O_RDWR | O_NONBLOCK);
+    s->isp_fd = HANDLE_EINTR(open("/dev/v4l-subdev13", O_RDWR | O_NONBLOCK));
     assert(s->isp_fd >= 0);
-    s->actuator_fd = open("/dev/v4l-subdev7", O_RDWR | O_NONBLOCK);
+    s->actuator_fd = HANDLE_EINTR(open("/dev/v4l-subdev7", O_RDWR | O_NONBLOCK));
     assert(s->actuator_fd >= 0);
   } else {
-    s->csid_fd = open("/dev/v4l-subdev5", O_RDWR | O_NONBLOCK);
+    s->csid_fd = HANDLE_EINTR(open("/dev/v4l-subdev5", O_RDWR | O_NONBLOCK));
     assert(s->csid_fd >= 0);
-    s->csiphy_fd = open("/dev/v4l-subdev2", O_RDWR | O_NONBLOCK);
+    s->csiphy_fd = HANDLE_EINTR(open("/dev/v4l-subdev2", O_RDWR | O_NONBLOCK));
     assert(s->csiphy_fd >= 0);
     sensor_dev = "/dev/v4l-subdev18";
-    s->isp_fd = open("/dev/v4l-subdev14", O_RDWR | O_NONBLOCK);
+    s->isp_fd = HANDLE_EINTR(open("/dev/v4l-subdev14", O_RDWR | O_NONBLOCK));
     assert(s->isp_fd >= 0);
   }
 
   // wait for sensor device
   // on first startup, these devices aren't present yet
   for (int i = 0; i < 10; i++) {
-    s->sensor_fd = open(sensor_dev, O_RDWR | O_NONBLOCK);
+    s->sensor_fd = HANDLE_EINTR(open(sensor_dev, O_RDWR | O_NONBLOCK));
     if (s->sensor_fd >= 0) break;
     LOGW("waiting for sensors...");
     util::sleep_for(1000); // sleep one second
@@ -927,15 +927,15 @@ void cameras_open(MultiCameraState *s) {
       {.vfe_intf = VFE0, .intftype = RDI2, .num_cids = 1, .cids[0] = CID2, .csid = CSID0},
     },
   };
-  s->msmcfg_fd = open("/dev/media0", O_RDWR | O_NONBLOCK);
+  s->msmcfg_fd = HANDLE_EINTR(open("/dev/media0", O_RDWR | O_NONBLOCK));
   assert(s->msmcfg_fd >= 0);
 
   sensors_init(s);
 
-  s->v4l_fd = open("/dev/video0", O_RDWR | O_NONBLOCK);
+  s->v4l_fd = HANDLE_EINTR(open("/dev/video0", O_RDWR | O_NONBLOCK));
   assert(s->v4l_fd >= 0);
 
-  s->ispif_fd = open("/dev/v4l-subdev15", O_RDWR | O_NONBLOCK);
+  s->ispif_fd = HANDLE_EINTR(open("/dev/v4l-subdev15", O_RDWR | O_NONBLOCK));
   assert(s->ispif_fd >= 0);
 
   // ISPIF: stop

selfdrive/camerad/cameras/camera_qcom2.cc

@@ -751,17 +751,17 @@ void cameras_open(MultiCameraState *s) {
 
   LOG("-- Opening devices");
   // video0 is req_mgr, the target of many ioctls
-  s->video0_fd = open("/dev/v4l/by-path/platform-soc:qcom_cam-req-mgr-video-index0", O_RDWR | O_NONBLOCK);
+  s->video0_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-soc:qcom_cam-req-mgr-video-index0", O_RDWR | O_NONBLOCK));
   assert(s->video0_fd >= 0);
   LOGD("opened video0");
 
   // video1 is cam_sync, the target of some ioctls
-  s->video1_fd = open("/dev/v4l/by-path/platform-cam_sync-video-index0", O_RDWR | O_NONBLOCK);
+  s->video1_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-cam_sync-video-index0", O_RDWR | O_NONBLOCK));
   assert(s->video1_fd >= 0);
   LOGD("opened video1");
 
   // looks like there's only one of these
-  s->isp_fd = open("/dev/v4l-subdev1", O_RDWR | O_NONBLOCK);
+  s->isp_fd = HANDLE_EINTR(open("/dev/v4l-subdev1", O_RDWR | O_NONBLOCK));
   assert(s->isp_fd >= 0);
   LOGD("opened isp");
 

selfdrive/common/i2c.cc

@@ -8,6 +8,7 @@
 #include <cstdio>
 #include <stdexcept>
 
+#include "selfdrive/common/util.h"
 #include "selfdrive/common/swaglog.h"
 #include "selfdrive/common/util.h"
 
@@ -24,7 +25,7 @@ I2CBus::I2CBus(uint8_t bus_id) {
   char bus_name[20];
   snprintf(bus_name, 20, "/dev/i2c-%d", bus_id);
 
-  i2c_fd = open(bus_name, O_RDWR);
+  i2c_fd = HANDLE_EINTR(open(bus_name, O_RDWR));
   if(i2c_fd < 0) {
     throw std::runtime_error("Failed to open I2C bus");
   }

selfdrive/common/util.cc

@@ -95,11 +95,11 @@ std::map<std::string, std::string> read_files_in_dir(const std::string &path) {
 }
 
 int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) {
-  int fd = open(path, flags, mode);
+  int fd = HANDLE_EINTR(open(path, flags, mode));
   if (fd == -1) {
     return -1;
   }
-  ssize_t n = write(fd, data, size);
+  ssize_t n = HANDLE_EINTR(write(fd, data, size));
   close(fd);
   return (n >= 0 && (size_t)n == size) ? 0 : -1;
 }

selfdrive/loggerd/omx_encoder.cc

@@ -514,7 +514,7 @@ void OmxEncoder::encoder_open(const char* path) {
 
   // create camera lock file
   snprintf(this->lock_path, sizeof(this->lock_path), "%s/%s.lock", path, this->filename);
-  int lock_fd = open(this->lock_path, O_RDWR | O_CREAT, 0664);
+  int lock_fd = HANDLE_EINTR(open(this->lock_path, O_RDWR | O_CREAT, 0664));
   assert(lock_fd >= 0);
   close(lock_fd);
 

selfdrive/loggerd/raw_logger.cc

@@ -70,7 +70,7 @@ void RawLogger::encoder_open(const char* path) {
 
   LOG("open %s\n", lock_path.c_str());
 
-  int lock_fd = open(lock_path.c_str(), O_RDWR | O_CREAT, 0664);
+  int lock_fd = HANDLE_EINTR(open(lock_path.c_str(), O_RDWR | O_CREAT, 0664));
   assert(lock_fd >= 0);
   close(lock_fd);