sadmen
/
jyoung
mirror of https://github.com/jyoung8607/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

common exit handler (#19661)

Browse Source 
* common signal handle

* fix typo

* rename to ExitHandler

* remove include signal.h

* remove include csignal

* rename variable exit to v

* rebase master
old-commit-hash: 86fe2d1697
vw-mqb-aeb
Dean Lee 5 years ago committed by GitHub
parent 0fdc9af349
commit 5e557ed96d
21 changed files with 52 additions and 142 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 11
      selfdrive/boardd/boardd.cc
  2. 4
      selfdrive/camerad/cameras/camera_common.cc
  3. 4
      selfdrive/camerad/cameras/camera_frame_stream.cc
  4. 2
      selfdrive/camerad/cameras/camera_qcom.cc
  5. 3
      selfdrive/camerad/cameras/camera_qcom2.cc
  6. 4
      selfdrive/camerad/cameras/camera_webcam.cc
  7. 11
      selfdrive/camerad/main.cc
  8. 12
      selfdrive/clocksd/clocksd.cc
  9. 4
      selfdrive/common/util.h
  10. 23
      selfdrive/common/utilpp.h
  11. 11
      selfdrive/locationd/ubloxd_main.cc
  12. 11
      selfdrive/logcatd/logcatd_android.cc
  13. 12
      selfdrive/logcatd/logcatd_systemd.cc
  14. 11
      selfdrive/loggerd/loggerd.cc
  15. 10
      selfdrive/modeld/dmonitoringmodeld.cc
  16. 10
      selfdrive/modeld/modeld.cc
  17. 12
      selfdrive/proclogd/proclogd.cc
  18. 11
      selfdrive/sensord/gpsd.cc
  19. 10
      selfdrive/sensord/sensors_qcom.cc
  20. 11
      selfdrive/sensord/sensors_qcom2.cc
  21. 7
      selfdrive/ui/android/ui.cc

11
selfdrive/boardd/boardd.cc
Unescape View File

@ -1,7 +1,6 @@
#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <signal.h>
#include <unistd.h>
#include <sched.h>
#include <errno.h>
@ -45,11 +44,7 @@ bool fake_send = false;
bool connected_once = false;
bool ignition = false;
volatile sig_atomic_t do_exit = 0;
static void set_do_exit(int sig) {
do_exit = 1;
}
ExitHandler do_exit;
struct tm get_time(){
time_t rawtime;
time(&rawtime);
@ -525,10 +520,6 @@ int main() {
err = set_core_affinity(3);
LOG("set affinity returns %d", err);
// setup signal handlers
signal(SIGINT, (sighandler_t)set_do_exit);
signal(SIGTERM, (sighandler_t)set_do_exit);
// check the environment
if (getenv("STARTED")) {
spoofing_started = true;

4
selfdrive/camerad/cameras/camera_common.cc
Unescape View File

@ -1,6 +1,5 @@
#include <thread>
#include <stdio.h>
#include <signal.h>
#include <assert.h>
#include <unistd.h>
@ -22,6 +21,7 @@
#include "common/params.h"
#include "common/swaglog.h"
#include "common/util.h"
#include "common/utilpp.h"
#include "imgproc/utils.h"
const int env_xmin = getenv("XMIN") ? atoi(getenv("XMIN")) : 0;
@ -349,7 +349,7 @@ void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, int x_start, in
camera_autoexposure(c, lum_med / 256.0);
}
extern volatile sig_atomic_t do_exit;
extern ExitHandler do_exit;
void *processing_thread(MultiCameraState *cameras, const char *tname,
CameraState *cs, process_thread_cb callback) {

4
selfdrive/camerad/cameras/camera_frame_stream.cc
Unescape View File

@ -3,12 +3,12 @@
#include <unistd.h>
#include <cassert>
#include <string.h>
#include <signal.h>
#include <libyuv.h>
#include "messaging.hpp"
#include "common/util.h"
#include "common/utilpp.h"
#include "common/timing.h"
#include "common/swaglog.h"
#include "buffering.h"
@ -17,7 +17,7 @@ extern "C" {
#include <libavcodec/avcodec.h>
}
extern volatile sig_atomic_t do_exit;
extern ExitHandler do_exit;
#define FRAME_WIDTH 1164
#define FRAME_HEIGHT 874

2
selfdrive/camerad/cameras/camera_qcom.cc
Unescape View File

@ -34,7 +34,7 @@
#include "camera_qcom.h"
extern volatile sig_atomic_t do_exit;
extern ExitHandler do_exit;
// global var for AE/AF ops
std::atomic<CameraExpInfo> rear_exp{{0}};

3
selfdrive/camerad/cameras/camera_qcom2.cc
Unescape View File

@ -3,7 +3,6 @@
#include <string.h>
#include <errno.h>
#include <unistd.h>
#include <signal.h>
#include <assert.h>
#include <fcntl.h>
#include <sys/ioctl.h>
@ -32,7 +31,7 @@
#define FRAME_STRIDE 2416 // for 10 bit output
extern volatile sig_atomic_t do_exit;
extern ExitHandler do_exit;
// global var for AE ops
std::atomic<CameraExpInfo> cam_exp[3] = {{{0}}};

4
selfdrive/camerad/cameras/camera_webcam.cc
Unescape View File

@ -3,10 +3,10 @@
#include <unistd.h>
#include <assert.h>
#include <string.h>
#include <signal.h>
#include <pthread.h>
#include "common/util.h"
#include "common/utilpp.h"
#include "common/timing.h"
#include "common/clutil.h"
#include "common/swaglog.h"
@ -20,7 +20,7 @@
#pragma clang diagnostic pop
extern volatile sig_atomic_t do_exit;
extern ExitHandler do_exit;
#define FRAME_WIDTH 1164
#define FRAME_HEIGHT 874

11
selfdrive/camerad/main.cc
Unescape View File

@ -1,6 +1,5 @@
#include <thread>
#include <stdio.h>
#include <signal.h>
#include <poll.h>
#include <assert.h>
#include <unistd.h>
@ -23,15 +22,12 @@
#include "common/params.h"
#include "common/swaglog.h"
#include "common/util.h"
#include "common/utilpp.h"
#include "common/visionipc.h"
#define MAX_CLIENTS 6
volatile sig_atomic_t do_exit = 0;
static void set_do_exit(int sig) {
do_exit = 1;
}
ExitHandler do_exit;
struct VisionState;
@ -331,9 +327,6 @@ int main(int argc, char *argv[]) {
set_core_affinity(6);
#endif
signal(SIGINT, (sighandler_t)set_do_exit);
signal(SIGTERM, (sighandler_t)set_do_exit);
cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
// TODO: do this for QCOM2 too

12
selfdrive/clocksd/clocksd.cc
Unescape View File

@ -1,6 +1,5 @@
#include <stdio.h>
#include <stdint.h>
#include <signal.h>
#include <unistd.h>
#include <sys/resource.h>
#include <sys/time.h>
@ -18,12 +17,9 @@
#include "messaging.hpp"
#include "common/timing.h"
#include "common/util.h"
#include "common/utilpp.h"
volatile sig_atomic_t do_exit = 0;
static void set_do_exit(int sig) {
do_exit = 1;
}
ExitHandler do_exit;
#ifdef QCOM
namespace {
@ -37,10 +33,6 @@ namespace {
int main() {
setpriority(PRIO_PROCESS, 0, -13);
signal(SIGINT, (sighandler_t)set_do_exit);
signal(SIGTERM, (sighandler_t)set_do_exit);
PubMaster pm({"clocks"});
#ifndef __APPLE__

4
selfdrive/common/util.h
Unescape View File

@ -3,10 +3,6 @@
#include <stdio.h>
#ifndef sighandler_t
typedef void (*sighandler_t)(int sig);
#endif
#ifndef __cplusplus
#define min(a,b) \

23
selfdrive/common/utilpp.h
Unescape View File

@ -2,14 +2,19 @@
#include <cstdio>
#include <unistd.h>
#include <csignal>
#include <string>
#include <memory>
#include <atomic>
#include <sstream>
#include <fstream>
#include <thread>
#include <chrono>
#ifndef sighandler_t
typedef void (*sighandler_t)(int sig);
#endif
namespace util {
inline bool starts_with(std::string s, std::string prefix) {
@ -76,6 +81,22 @@ inline void sleep_for(const int milliseconds) {
}
}
class ExitHandler {
public:
ExitHandler() {
std::signal(SIGINT, (sighandler_t)set_do_exit);
std::signal(SIGTERM, (sighandler_t)set_do_exit);
};
inline operator bool() { return do_exit; }
inline ExitHandler& operator=(bool v) {
do_exit = v;
return *this;
}
private:
static void set_do_exit(int sig) { do_exit = true; }
inline static std::atomic<bool> do_exit = false;
};
struct unique_fd {
unique_fd(int fd = -1) : fd_(fd) {}
unique_fd& operator=(unique_fd&& uf) {

11
selfdrive/locationd/ubloxd_main.cc
Unescape View File

@ -1,7 +1,6 @@
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <signal.h>
#include <unistd.h>
#include <errno.h>
#include <sys/time.h>
@ -14,23 +13,17 @@
#include "messaging.hpp"
#include "common/util.h"
#include "common/utilpp.h"
#include "common/params.h"
#include "common/swaglog.h"
#include "common/timing.h"
#include "ublox_msg.h"
volatile sig_atomic_t do_exit = 0; // Flag for process exit on signal
void set_do_exit(int sig) {
do_exit = 1;
}
ExitHandler do_exit;
using namespace ublox;
int ubloxd_main(poll_ubloxraw_msg_func poll_func, send_gps_event_func send_func) {
LOGW("starting ubloxd");
signal(SIGINT, (sighandler_t) set_do_exit);
signal(SIGTERM, (sighandler_t) set_do_exit);
UbloxMsgParser parser;

11
selfdrive/logcatd/logcatd_android.cc
Unescape View File

@ -11,20 +11,13 @@
#include <log/logprint.h>
#include "common/timing.h"
#include "common/utilpp.h"
#include "messaging.hpp"
volatile sig_atomic_t do_exit = 0;
static void set_do_exit(int sig) {
do_exit = 1;
}
ExitHandler do_exit;
int main() {
int err;
// setup signal handlers
signal(SIGINT, (sighandler_t)set_do_exit);
signal(SIGTERM, (sighandler_t)set_do_exit);
struct logger_list *logger_list = android_logger_list_alloc(ANDROID_LOG_RDONLY | ANDROID_LOG_NONBLOCK, 0, 0);
assert(logger_list);
struct logger *main_logger = android_logger_open(logger_list, LOG_ID_MAIN);

12
selfdrive/logcatd/logcatd_systemd.cc
Unescape View File

@ -8,20 +8,12 @@
#include <systemd/sd-journal.h>
#include "common/timing.h"
#include "common/utilpp.h"
#include "messaging.hpp"
volatile sig_atomic_t do_exit = 0;
static void set_do_exit(int sig) {
do_exit = 1;
}
ExitHandler do_exit;
int main(int argc, char *argv[]) {
// setup signal handlers
signal(SIGINT, (sighandler_t)set_do_exit);
signal(SIGTERM, (sighandler_t)set_do_exit);
PubMaster pm({"androidLog"});
sd_journal *journal;

11
selfdrive/loggerd/loggerd.cc
Unescape View File

@ -3,7 +3,6 @@
#include <cstdint>
#include <cassert>
#include <unistd.h>
#include <signal.h>
#include <errno.h>
#include <poll.h>
#include <string.h>
@ -120,11 +119,7 @@ double randrange(double a, double b) {
return dist(gen);
}
volatile sig_atomic_t do_exit = 0;
static void set_do_exit(int sig) {
do_exit = 1;
}
ExitHandler do_exit;
static bool file_exists(const std::string& fn) {
std::ifstream f(fn);
@ -541,10 +536,6 @@ int main(int argc, char** argv) {
clear_locks();
signal(SIGINT, (sighandler_t)set_do_exit);
signal(SIGTERM, (sighandler_t)set_do_exit);
typedef struct QlogState {
int counter, freq;
} QlogState;

10
selfdrive/modeld/dmonitoringmodeld.cc
Unescape View File

@ -1,7 +1,6 @@
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <signal.h>
#include <cassert>
#include <sys/resource.h>
@ -17,19 +16,12 @@
#endif
volatile sig_atomic_t do_exit = 0;
static void set_do_exit(int sig) {
do_exit = 1;
}
ExitHandler do_exit;
int main(int argc, char **argv) {
int err;
setpriority(PRIO_PROCESS, 0, -15);
signal(SIGINT, (sighandler_t)set_do_exit);
signal(SIGTERM, (sighandler_t)set_do_exit);
PubMaster pm({"driverState"});
// init the models

10
selfdrive/modeld/modeld.cc
Unescape View File

@ -1,6 +1,5 @@
#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include <unistd.h>
#include <eigen3/Eigen/Dense>
@ -13,11 +12,7 @@
#include "models/driving.h"
#include "messaging.hpp"
volatile sig_atomic_t do_exit = 0;
static void set_do_exit(int sig) {
do_exit = 1;
}
ExitHandler do_exit;
// globals
bool run_model;
mat3 cur_transform;
@ -103,9 +98,6 @@ int main(int argc, char **argv) {
set_core_affinity(4);
#endif
signal(SIGINT, (sighandler_t)set_do_exit);
signal(SIGTERM, (sighandler_t)set_do_exit);
pthread_mutex_init(&transform_lock, NULL);
// start calibration thread

12
selfdrive/proclogd/proclogd.cc
Unescape View File

@ -5,7 +5,6 @@
#include <cstdlib>
#include <climits>
#include <cassert>
#include <csignal>
#include <memory>
#include <utility>
#include <sstream>
@ -20,15 +19,9 @@
#include "common/util.h"
#include "common/utilpp.h"
volatile sig_atomic_t do_exit = 0;
ExitHandler do_exit;
namespace {
static void set_do_exit(int sig) {
do_exit = 1;
}
struct ProcCache {
std::string name;
std::vector<std::string> cmdline;
@ -38,9 +31,6 @@ struct ProcCache {
}
int main() {
signal(SIGINT, (sighandler_t)set_do_exit);
signal(SIGTERM, (sighandler_t)set_do_exit);
PubMaster publisher({"procLog"});
double jiffy = sysconf(_SC_CLK_TCK);

11
selfdrive/sensord/gpsd.cc
Unescape View File

@ -1,7 +1,6 @@
#include <stdio.h>
#include <stdint.h>
#include <string.h>
#include <signal.h>
#include <unistd.h>
#include <assert.h>
#include <sys/time.h>
@ -18,9 +17,10 @@
#include "messaging.hpp"
#include "common/timing.h"
#include "common/utilpp.h"
#include "common/swaglog.h"
volatile sig_atomic_t do_exit = 0;
ExitHandler do_exit;
namespace {
@ -29,10 +29,6 @@ PubMaster *pm;
const GpsInterface* gGpsInterface = NULL;
const AGpsInterface* gAGpsInterface = NULL;
void set_do_exit(int sig) {
do_exit = 1;
}
void nmea_callback(GpsUtcTime timestamp, const char* nmea, int length) {
uint64_t log_time_wall = nanos_since_epoch();
@ -149,9 +145,6 @@ void gps_destroy() {
int main() {
setpriority(PRIO_PROCESS, 0, -13);
signal(SIGINT, (sighandler_t)set_do_exit);
signal(SIGTERM, (sighandler_t)set_do_exit);
gps_init();
while(!do_exit) pause();

10
selfdrive/sensord/sensors_qcom.cc
Unescape View File

@ -2,7 +2,6 @@
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <signal.h>
#include <unistd.h>
#include <assert.h>
#include <sys/time.h>
@ -19,6 +18,7 @@
#include "messaging.hpp"
#include "common/timing.h"
#include "common/utilpp.h"
#include "common/swaglog.h"
// ACCELEROMETER_UNCALIBRATED is only in Android O
@ -32,15 +32,11 @@
#define SENSOR_PROXIMITY 6
#define SENSOR_LIGHT 7
volatile sig_atomic_t do_exit = 0;
ExitHandler do_exit;
volatile sig_atomic_t re_init_sensors = 0;
namespace {
void set_do_exit(int sig) {
do_exit = 1;
}
void sigpipe_handler(int sig) {
LOGE("SIGPIPE received");
re_init_sensors = true;
@ -224,8 +220,6 @@ void sensor_loop() {
int main(int argc, char *argv[]) {
setpriority(PRIO_PROCESS, 0, -13);
signal(SIGINT, (sighandler_t)set_do_exit);
signal(SIGTERM, (sighandler_t)set_do_exit);
signal(SIGPIPE, (sighandler_t)sigpipe_handler);
sensor_loop();

11
selfdrive/sensord/sensors_qcom2.cc
Unescape View File

@ -1,5 +1,4 @@
#include <vector>
#include <csignal>
#include <chrono>
#include <thread>
#include <sys/resource.h>
@ -7,6 +6,7 @@
#include "messaging.hpp"
#include "common/i2c.h"
#include "common/timing.h"
#include "common/utilpp.h"
#include "common/swaglog.h"
#include "sensors/sensor.hpp"
@ -25,11 +25,7 @@
#define I2C_BUS_IMU 1
volatile sig_atomic_t do_exit = 0;
void set_do_exit(int sig) {
do_exit = 1;
}
ExitHandler do_exit;
int sensor_loop() {
I2CBus *i2c_bus_imu;
@ -98,8 +94,5 @@ int sensor_loop() {
int main(int argc, char *argv[]) {
setpriority(PRIO_PROCESS, 0, -13);
signal(SIGINT, set_do_exit);
signal(SIGTERM, set_do_exit);
return sensor_loop();
}

7
selfdrive/ui/android/ui.cc
Unescape View File

@ -15,11 +15,7 @@
#include "paint.hpp"
#include "android/sl_sound.hpp"
volatile sig_atomic_t do_exit = 0;
static void set_do_exit(int sig) {
do_exit = 1;
}
ExitHandler do_exit;
static void ui_set_brightness(UIState *s, int brightness) {
static int last_brightness = -1;
if (last_brightness != brightness && (s->awake || brightness == 0)) {
@ -114,7 +110,6 @@ static void update_offroad_layout_state(UIState *s, PubMaster *pm) {
int main(int argc, char* argv[]) {
setpriority(PRIO_PROCESS, 0, -14);
signal(SIGINT, (sighandler_t)set_do_exit);
SLSound sound;
UIState uistate = {};

Write Preview
Loading…
Cancel
Save