add function read_db_bytes (#1662)

old-commit-hash: 90d97de74d

selfdrive/boardd/boardd.cc

@@ -85,45 +85,39 @@ void *safety_setter_thread(void *s) {
   libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::ELM327), 0, NULL, 0, TIMEOUT);
   pthread_mutex_unlock(&usb_lock);
 
-  char *value_vin;
-  size_t value_vin_sz = 0;
-
   // switch to SILENT when CarVin param is read
   while (1) {
     if (do_exit) return NULL;
-    const int result = read_db_value("CarVin", &value_vin, &value_vin_sz);
+    std::vector<char> value_vin = read_db_bytes("CarVin");
-    if (value_vin_sz > 0) {
+    if (value_vin.size() > 0) {
       // sanity check VIN format
-      assert(value_vin_sz == 17);
+      assert(value_vin.size() == 17);
+      std::string str_vin(value_vin.begin(), value_vin.end());
+      LOGW("got CarVin %s", str_vin.c_str());
       break;
     }
     usleep(100*1000);
   }
-  LOGW("got CarVin %s", value_vin);
-  free(value_vin);
 
   // VIN query done, stop listening to OBDII
   pthread_mutex_lock(&usb_lock);
   libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::NO_OUTPUT), 0, NULL, 0, TIMEOUT);
   pthread_mutex_unlock(&usb_lock);
 
-  char *value;
+  std::vector<char> params;
-  size_t value_sz = 0;
-
   LOGW("waiting for params to set safety model");
   while (1) {
     if (do_exit) return NULL;
 
-    const int result = read_db_value("CarParams", &value, &value_sz);
+    params = read_db_bytes("CarParams");
-    if (value_sz > 0) break;
+    if (params.size() > 0) break;
     usleep(100*1000);
   }
-  LOGW("got %d bytes CarParams", value_sz);
+  LOGW("got %d bytes CarParams", params.size());
 
   // format for board, make copy due to alignment issues, will be freed on out of scope
-  auto amsg = kj::heapArray<capnp::word>((value_sz / sizeof(capnp::word)) + 1);
+  auto amsg = kj::heapArray<capnp::word>((params.size() / sizeof(capnp::word)) + 1);
-  memcpy(amsg.begin(), value, value_sz);
+  memcpy(amsg.begin(), params.data(), params.size());
-  free(value);
 
   capnp::FlatArrayMessageReader cmsg(amsg);
   cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
@@ -407,10 +401,8 @@ void can_health(PubMaster &pm) {
   bool cdp_mode = health.usb_power_mode == (uint8_t)(cereal::HealthData::UsbPowerMode::CDP);
   bool no_ignition_exp = no_ignition_cnt > NO_IGNITION_CNT_MAX;
   if ((no_ignition_exp || (voltage_f < VBATT_PAUSE_CHARGING)) && cdp_mode && !ignition) {
-    char *disable_power_down = NULL;
+    std::vector<char> disable_power_down = read_db_bytes("DisablePowerDown");
-    size_t disable_power_down_sz = 0;
+    if (disable_power_down.size() != 1 || disable_power_down[0] != '1') {
-    const int result = read_db_value("DisablePowerDown", &disable_power_down, &disable_power_down_sz);
-    if (disable_power_down_sz != 1 || disable_power_down[0] != '1') {
       printf("TURN OFF CHARGING!\n");
       pthread_mutex_lock(&usb_lock);
       libusb_control_transfer(dev_handle, 0xc0, 0xe6, (uint16_t)(cereal::HealthData::UsbPowerMode::CLIENT), 0, NULL, 0, TIMEOUT);
@@ -418,7 +410,6 @@ void can_health(PubMaster &pm) {
       printf("POWER DOWN DEVICE\n");
       system("service call power 17 i32 0 i32 1");
     }
-    if (disable_power_down) free(disable_power_down);
   }
   if (!no_ignition_exp && (voltage_f > VBATT_START_CHARGING) && !cdp_mode) {
     printf("TURN ON CHARGING!\n");

selfdrive/common/params.cc

@@ -13,6 +13,7 @@
 
 #include <map>
 #include <string>
+#include <string.h>
 
 #include "common/util.h"
 #include "common/utilpp.h"
@@ -353,3 +354,15 @@ int read_db_all(std::map<std::string, std::string> *params, bool persistent_para
   close(lock_fd);
   return 0;
 }
+
+std::vector<char> read_db_bytes(const char* param_name, bool persistent_param) {
+  std::vector<char> bytes;
+  char* value;
+  size_t sz;
+  int result = read_db_value(param_name, &value, &sz, persistent_param);
+  if (result == 0) {
+    bytes.assign(value, value+sz);
+    free(value);
+  }
+  return bytes;
+}

selfdrive/common/params.h

@@ -1,6 +1,4 @@
-#ifndef _SELFDRIVE_COMMON_PARAMS_H_
+#pragma once
-#define _SELFDRIVE_COMMON_PARAMS_H_
-
 #include <stddef.h>
 
 #ifdef __cplusplus
@@ -39,7 +37,7 @@ void read_db_value_blocking(const char* key, char** value, size_t* value_sz, boo
 #ifdef __cplusplus
 #include <map>
 #include <string>
+#include <vector>
 int read_db_all(std::map<std::string, std::string> *params, bool persistent_param = false);
+std::vector<char> read_db_bytes(const char* param_name, bool persistent_param = false);
 #endif
-
-#endif  // _SELFDRIVE_COMMON_PARAMS_H_

selfdrive/locationd/paramsd.cc

@@ -31,40 +31,33 @@ int main(int argc, char *argv[]) {
   Localizer localizer;
 
   // Read car params
-  char *value;
+  std::vector<char> params;
-  size_t value_sz = 0;
-
   LOGW("waiting for params to set vehicle model");
   while (true) {
-    read_db_value("CarParams", &value, &value_sz);
+    params = read_db_bytes("CarParams");
-    if (value_sz > 0) break;
+    if (params.size() > 0) break;
     usleep(100*1000);
   }
-  LOGW("got %d bytes CarParams", value_sz);
+  LOGW("got %d bytes CarParams", params.size());
 
   // make copy due to alignment issues
-  auto amsg = kj::heapArray<capnp::word>((value_sz / sizeof(capnp::word)) + 1);
+  auto amsg = kj::heapArray<capnp::word>((params.size() / sizeof(capnp::word)) + 1);
-  memcpy(amsg.begin(), value, value_sz);
+  memcpy(amsg.begin(), params.data(), params.size());
-  free(value);
   
   capnp::FlatArrayMessageReader cmsg(amsg);
   cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
 
   // Read params from previous run
-  const int result = read_db_value("LiveParameters", &value, &value_sz);
-
   std::string fingerprint = car_params.getCarFingerprint();
   std::string vin = car_params.getCarVin();
   double sR = car_params.getSteerRatio();
   double x = 1.0;
   double ao = 0.0;
   double posenet_invalid_count = 0;
-
+  std::vector<char> live_params = read_db_bytes("LiveParameters");
-  if (result == 0){
+  if (live_params.size() > 0){
-    auto str = std::string(value, value_sz);
-    free(value);
-
     std::string err;
+    std::string str(live_params.begin(), live_params.end());
     auto json = json11::Json::parse(str, err);
     if (json.is_null() || !err.empty()) {
       std::string log = "Error parsing json: " + err;

selfdrive/loggerd/loggerd.cc

@@ -91,11 +91,8 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
   int err;
 
   if (front) {
-    char *value;
+    std::vector<char> value = read_db_bytes("RecordFront");
-    const int result = read_db_value("RecordFront", &value, NULL);
+    if (value.size() == 0 || value[0] != '1') return;
-    if (result != 0) return;
-    if (value[0] != '1') { free(value); return; }
-    free(value);
     LOGW("recording front camera");
 
     set_thread_name("FrontCameraEncoder");
@@ -454,30 +451,23 @@ kj::Array<capnp::word> gen_init_data() {
     init.setDirty(true);
   }
 
-  char* git_commit = NULL;
+  std::vector<char> git_commit = read_db_bytes("GitCommit");
-  size_t size;
+  if (git_commit.size() > 0) {
-  read_db_value("GitCommit", &git_commit, &size);
+    init.setGitCommit(capnp::Text::Reader(git_commit.data(), git_commit.size()));
-  if (git_commit) {
-    init.setGitCommit(capnp::Text::Reader(git_commit, size));
   }
 
-  char* git_branch = NULL;
+  std::vector<char> git_branch = read_db_bytes("GitBranch");
-  read_db_value("GitBranch", &git_branch, &size);
+  if (git_branch.size() > 0) {
-  if (git_branch) {
+    init.setGitBranch(capnp::Text::Reader(git_branch.data(), git_branch.size()));
-    init.setGitBranch(capnp::Text::Reader(git_branch, size));
   }
 
-  char* git_remote = NULL;
+  std::vector<char> git_remote = read_db_bytes("GitRemote");
-  read_db_value("GitRemote", &git_remote, &size);
+  if (git_remote.size() > 0) {
-  if (git_remote) {
+    init.setGitRemote(capnp::Text::Reader(git_remote.data(), git_remote.size()));
-    init.setGitRemote(capnp::Text::Reader(git_remote, size));
   }
 
-  char* passive = NULL;
+  std::vector<char> passive = read_db_bytes("Passive");
-  read_db_value("Passive", &passive, NULL);
+  init.setPassive(passive.size() > 0 && passive[0] == '1');
-  init.setPassive(passive && strlen(passive) && passive[0] == '1');
-
-
   {
     // log params
     std::map<std::string, std::string> params;
@@ -491,27 +481,7 @@ kj::Array<capnp::word> gen_init_data() {
       i++;
     }
   }
-
+  return capnp::messageToFlatArray(msg);
-
-  auto words = capnp::messageToFlatArray(msg);
-
-  if (git_commit) {
-    free((void*)git_commit);
-  }
-
-  if (git_branch) {
-    free((void*)git_branch);
-  }
-
-  if (git_remote) {
-    free((void*)git_remote);
-  }
-
-  if (passive) {
-    free((void*)passive);
-  }
-
-  return words;
 }
 
 static int clear_locks_fn(const char* fpath, const struct stat *sb, int tyupeflag) {

selfdrive/modeld/models/driving.cc

@@ -60,11 +60,9 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context, int t
   for (int i = 0; i < TRAFFIC_CONVENTION_LEN; i++) s->traffic_convention[i] = 0.0;
   s->m->addTrafficConvention(s->traffic_convention, TRAFFIC_CONVENTION_LEN);
 
-  char *string;
+  std::vector<char> result = read_db_bytes("IsRHD");
-  const int result = read_db_value("IsRHD", &string, NULL);
+  if (result.size() > 0) {
-  if (result == 0) {
+    bool is_rhd = result[0] == '1';
-    bool is_rhd = string[0] == '1';
-    free(string);
     if (is_rhd) {
       s->traffic_convention[1] = 1.0;
     } else {