Use C++ header files instead of C header files. (#21192)

* use cstring instead of string.h

* use cstdio instead of stdio.h

* remove inttypes.h

* use cstdlib instead of stdlib.h

* use cstdint instead of stdint.h

* #include <cstddef>

* cstdlib

* use cmath

* remove stddef.h

* use cassert

* use csignal

* use ctime

* use cerror

* rebase master
old-commit-hash: c53cb5d570

selfdrive/boardd/boardd.cc

@@ -1,8 +1,4 @@
-#include <errno.h>
 #include <sched.h>
-#include <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
 #include <sys/cdefs.h>
 #include <sys/resource.h>
 #include <sys/types.h>
@@ -12,6 +8,10 @@
 #include <atomic>
 #include <bitset>
 #include <cassert>
+#include <cerrno>
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
 #include <thread>
 #include <unordered_map>
 

selfdrive/boardd/pigeon.cc

@@ -1,11 +1,11 @@
 #include "selfdrive/boardd/pigeon.h"
 
-#include <errno.h>
 #include <fcntl.h>
 #include <termios.h>
 #include <unistd.h>
 
 #include <cassert>
+#include <cerrno>
 #include <optional>
 
 #include "selfdrive/common/gpio.h"

selfdrive/camerad/cameras/camera_common.cc

@@ -1,8 +1,9 @@
 #include "selfdrive/camerad/cameras/camera_common.h"
 
-#include <assert.h>
-#include <stdio.h>
 #include <unistd.h>
+
+#include <cassert>
+#include <cstdio>
 #include <chrono>
 #include <thread>
 

selfdrive/camerad/cameras/camera_common.h

@@ -1,8 +1,7 @@
 #pragma once
 
-#include <stdint.h>
-#include <stdlib.h>
-
+#include <cstdint>
+#include <cstdlib>
 #include <memory>
 #include <thread>
 

selfdrive/camerad/cameras/camera_qcom.cc

@@ -1,15 +1,15 @@
 #include "selfdrive/camerad/cameras/camera_qcom.h"
 
-#include <assert.h>
 #include <fcntl.h>
-#include <math.h>
 #include <poll.h>
-#include <stdio.h>
 #include <sys/ioctl.h>
 #include <unistd.h>
 
 #include <algorithm>
 #include <atomic>
+#include <cassert>
+#include <cmath>
+#include <cstdio>
 
 #include <cutils/properties.h>
 #include <linux/media.h>

selfdrive/camerad/cameras/camera_qcom.h

@@ -1,8 +1,7 @@
 #pragma once
 
-#include <stdint.h>
-
 #include <atomic>
+#include <cstdint>
 #include <memory>
 
 #include "cereal/messaging/messaging.h"

selfdrive/camerad/cameras/camera_qcom2.cc

@@ -1,31 +1,28 @@
 #include "selfdrive/camerad/cameras/camera_qcom2.h"
 
-#include <stdio.h>
-#include <string.h>
-#include <errno.h>
-#include <unistd.h>
-#include <assert.h>
 #include <fcntl.h>
+#include <poll.h>
 #include <sys/ioctl.h>
 #include <sys/mman.h>
-#include <poll.h>
-#include <math.h>
+#include <unistd.h>
+
 #include <atomic>
+#include <cassert>
+#include <cerrno>
+#include <cmath>
+#include <cstdio>
+#include <cstring>
 
 #include "media/cam_defs.h"
 #include "media/cam_isp.h"
 #include "media/cam_isp_ife.h"
-#include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sensor.h"
+#include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sync.h"
-#include "sensor2_i2c.h"
-
 #include "selfdrive/common/swaglog.h"
+#include "selfdrive/camerad/cameras/sensor2_i2c.h"
 
-#define FRAME_WIDTH  1928
-#define FRAME_HEIGHT 1208
 //#define FRAME_STRIDE 1936 // for 8 bit output
-#define FRAME_STRIDE 2416  // for 10 bit output
 
 #define MIPI_SETTLE_CNT 33  // Calculated by camera_freqs.py
 

selfdrive/camerad/cameras/camera_qcom2.h

@@ -1,8 +1,9 @@
 #pragma once
 
-#include <stdint.h>
 #include <pthread.h>
 
+#include <cstdint>
+
 #include <media/cam_req_mgr.h>
 
 #include "selfdrive/camerad/cameras/camera_common.h"

selfdrive/camerad/cameras/camera_webcam.cc

@@ -1,9 +1,10 @@
 #include "selfdrive/camerad/cameras/camera_webcam.h"
 
-#include <assert.h>
-#include <string.h>
 #include <unistd.h>
 
+#include <cassert>
+#include <cstring>
+
 #pragma clang diagnostic push
 #pragma clang diagnostic ignored "-Wundefined-inline"
 #include <opencv2/core.hpp>

selfdrive/camerad/imgproc/utils.cc

@@ -1,11 +1,10 @@
 #include "selfdrive/camerad/imgproc/utils.h"
 
-#include <assert.h>
-#include <stdio.h>
-#include <string.h>
-
 #include <algorithm>
+#include <cassert>
+#include <cstdio>
 #include <cmath>
+#include <cstring>
 
 const int16_t lapl_conv_krnl[9] = {0, 1, 0,
                                    1, -4, 1,

selfdrive/camerad/imgproc/utils.h

@@ -1,8 +1,7 @@
 #pragma once
 
-#include <stddef.h>
-#include <stdint.h>
-
+#include <cstddef>
+#include <cstdint>
 #include <vector>
 
 #include "selfdrive/common/clutil.h"

selfdrive/camerad/main.cc

@@ -1,9 +1,9 @@
-#include <assert.h>
 #include <poll.h>
-#include <stdio.h>
 #include <sys/socket.h>
 #include <unistd.h>
 
+#include <cassert>
+#include <cstdio>
 #include <thread>
 
 #include "libyuv.h"

selfdrive/camerad/transforms/rgb_to_yuv.cc

@@ -1,6 +1,7 @@
 #include "selfdrive/camerad/transforms/rgb_to_yuv.h"
 
-#include <assert.h>
+#include <cassert>
+#include <cstdio>
 
 Rgb2Yuv::Rgb2Yuv(cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride) {
   assert(width % 2 == 0 && height % 2 == 0);

selfdrive/camerad/transforms/rgb_to_yuv_test.cc

@@ -1,11 +1,11 @@
 #include <fcntl.h>
 #include <getopt.h>
-#include <math.h>
 #include <memory.h>
-#include <signal.h>
 #include <unistd.h>
 
 #include <cassert>
+#include <cmath>
+#include <csignal>
 #include <cstdint>
 #include <cstdlib>
 #include <fstream>

selfdrive/clocksd/clocksd.cc

@@ -1,9 +1,10 @@
-#include <stdint.h>
-#include <stdio.h>
 #include <sys/resource.h>
 #include <sys/time.h>
 #include <unistd.h>
 
+#include <cstdint>
+#include <cstdio>
+
 // Apple doesn't have timerfd
 #ifdef __APPLE__
 #include <thread>

selfdrive/common/clutil.cc

@@ -1,10 +1,9 @@
 #include "selfdrive/common/clutil.h"
 
-#include <assert.h>
-#include <inttypes.h>
-#include <string.h>
 #include <sys/stat.h>
 
+#include <cassert>
+#include <cstring>
 #include <iostream>
 #include <memory>
 #include <vector>

selfdrive/common/clutil.h

@@ -1,8 +1,7 @@
 #pragma once
 
-#include <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
+#include <cstdint>
+#include <cstdlib>
 
 #ifdef __APPLE__
 #include <OpenCL/cl.h>

selfdrive/common/glutil.cc

@@ -1,9 +1,8 @@
 #include "selfdrive/common/glutil.h"
 
-#include <assert.h>
-#include <stdio.h>
-#include <stdlib.h>
-
+#include <cassert>
+#include <cstdio>
+#include <cstdlib>
 #include <string>
 
 static GLuint load_shader(GLenum shaderType, const char *src) {

selfdrive/common/gpio.cc

@@ -1,9 +1,10 @@
 #include "selfdrive/common/gpio.h"
 
 #include <fcntl.h>
-#include <string.h>
 #include <unistd.h>
 
+#include <cstring>
+
 #include "selfdrive/common/util.h"
 
 // We assume that all pins have already been exported on boot,

selfdrive/common/i2c.cc

@@ -1,11 +1,11 @@
 #include "selfdrive/common/i2c.h"
 
 #include <fcntl.h>
-#include <stdio.h>
 #include <sys/ioctl.h>
 #include <unistd.h>
 
 #include <cassert>
+#include <cstdio>
 #include <stdexcept>
 
 #include "selfdrive/common/swaglog.h"

selfdrive/common/i2c.h

@@ -1,6 +1,7 @@
 #pragma once
 
-#include <stdint.h>
+#include <cstdint>
+
 #include <sys/types.h>
 
 class I2CBus {

selfdrive/common/params.cc

@@ -5,14 +5,14 @@
 #endif  // _GNU_SOURCE
 
 #include <dirent.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
 #include <sys/file.h>
 #include <sys/stat.h>
 #include <unistd.h>
 
 #include <csignal>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
 #include <mutex>
 #include <unordered_map>
 

selfdrive/common/params.h

@@ -1,7 +1,5 @@
 #pragma once
 
-#include <stddef.h>
-
 #include <map>
 #include <sstream>
 #include <string>

selfdrive/common/swaglog.cc

@@ -4,8 +4,8 @@
 
 #include "selfdrive/common/swaglog.h"
 
-#include <assert.h>
-#include <string.h>
+#include <cassert>
+#include <cstring>
 #include <mutex>
 #include <string>
 

selfdrive/common/timing.h

@@ -1,7 +1,7 @@
 #pragma once
 
-#include <stdint.h>
-#include <time.h>
+#include <cstdint>
+#include <ctime>
 
 #ifdef __APPLE__
 #define CLOCK_BOOTTIME CLOCK_MONOTONIC

selfdrive/common/util.cc

@@ -1,8 +1,7 @@
 #include "selfdrive/common/util.h"
 
-#include <errno.h>
-
 #include <cassert>
+#include <cerrno>
 #include <cstring>
 #include <dirent.h>
 #include <fstream>

selfdrive/locationd/locationd.cc

@@ -1,6 +1,8 @@
 #include <sys/time.h>
 #include <sys/resource.h>
 
+#include <cmath>
+
 #include "locationd.h"
 
 using namespace EKFS;
@@ -357,11 +359,11 @@ void Localizer::finite_check(double current_time) {
 }
 
 void Localizer::time_check(double current_time) {
-  if (isnan(this->last_reset_time)) {
+  if (std::isnan(this->last_reset_time)) {
     this->last_reset_time = current_time;
   }
   double filter_time = this->kf->get_filter_time();
-  bool big_time_gap = !isnan(filter_time) && (current_time - filter_time > 10);
+  bool big_time_gap = !std::isnan(filter_time) && (current_time - filter_time > 10);
   if (big_time_gap){
     LOGE("Time gap of over 10s detected, kalman reset");
     this->reset_kalman(current_time);

selfdrive/locationd/locationd.h

@@ -12,7 +12,6 @@
 #include "selfdrive/common/swaglog.h"
 #include "selfdrive/common/timing.h"
 #include "selfdrive/common/util.h"
-#include <math.h>
 
 #include "selfdrive/sensord/sensors/constants.h"
 #define VISION_DECIMATION 2

selfdrive/loggerd/bootlog.cc

@@ -1,5 +1,4 @@
-#include <assert.h>
-
+#include <cassert>
 #include <string>
 
 #include "cereal/messaging/messaging.h"

selfdrive/loggerd/logger.cc

@@ -1,15 +1,15 @@
 #include "selfdrive/loggerd/logger.h"
 
-#include <assert.h>
-#include <errno.h>
-#include <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
 #include <sys/stat.h>
-#include <time.h>
 #include <unistd.h>
 
+#include <cassert>
+#include <cerrno>
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <ctime>
 #include <fstream>
 #include <iostream>
 #include <streambuf>

selfdrive/loggerd/logger.h

@@ -2,9 +2,9 @@
 
 #include <cassert>
 #include <pthread.h>
-#include <stdint.h>
-#include <stdio.h>
 
+#include <cstdint>
+#include <cstdio>
 #include <memory>
 
 #include <bzlib.h>

selfdrive/loggerd/loggerd.cc

@@ -1,17 +1,16 @@
-#include <errno.h>
 #include <ftw.h>
-#include <inttypes.h>
 #include <pthread.h>
-#include <string.h>
 #include <sys/resource.h>
 #include <unistd.h>
 
 #include <atomic>
 #include <cassert>
+#include <cerrno>
 #include <condition_variable>
 #include <cstdint>
 #include <cstdio>
 #include <cstdlib>
+#include <cstring>
 #include <mutex>
 #include <random>
 #include <string>

selfdrive/loggerd/omx_encoder.cc

@@ -2,13 +2,14 @@
 
 #include "selfdrive/loggerd/omx_encoder.h"
 
-#include <assert.h>
 #include <fcntl.h>
-#include <stdio.h>
-#include <stdlib.h>
 #include <sys/stat.h>
 #include <unistd.h>
 
+#include <cassert>
+#include <cstdlib>
+#include <cstdio>
+
 #include <OMX_Component.h>
 #include <OMX_IndexExt.h>
 #include <OMX_QCOMExtns.h>

selfdrive/loggerd/omx_encoder.h

@@ -1,8 +1,7 @@
 #pragma once
 
-#include <stdint.h>
-#include <stdio.h>
-
+#include <cstdint>
+#include <cstdio>
 #include <vector>
 
 #include <OMX_Component.h>

selfdrive/modeld/dmonitoringmodeld.cc

@@ -1,8 +1,9 @@
-#include <stdio.h>
-#include <stdlib.h>
 #include <sys/resource.h>
 #include <limits.h>
 
+#include <cstdio>
+#include <cstdlib>
+
 #include "cereal/visionipc/visionipc_client.h"
 #include "selfdrive/common/swaglog.h"
 #include "selfdrive/common/util.h"

selfdrive/modeld/modeld.cc

@@ -1,6 +1,5 @@
-#include <stdio.h>
-#include <stdlib.h>
-
+#include <cstdio>
+#include <cstdlib>
 #include <mutex>
 
 #include <eigen3/Eigen/Dense>

selfdrive/modeld/models/commonmodel.cc

@@ -1,9 +1,8 @@
 #include "selfdrive/modeld/models/commonmodel.h"
 
-#include <assert.h>
-#include <math.h>
-
 #include <algorithm>
+#include <cassert>
+#include <cmath>
 
 #include "selfdrive/common/clutil.h"
 #include "selfdrive/common/mat.h"

selfdrive/modeld/models/commonmodel.h

@@ -1,7 +1,7 @@
 #pragma once
 
-#include <float.h>
-#include <stdlib.h>
+#include <cfloat>
+#include <cstdlib>
 
 #define CL_USE_DEPRECATED_OPENCL_1_2_APIS
 #ifdef __APPLE__

selfdrive/modeld/models/dmonitoring.cc

@@ -1,6 +1,6 @@
 #include "selfdrive/modeld/models/dmonitoring.h"
 
-#include <string.h>
+#include <cstring>
 
 #include "libyuv.h"
 

selfdrive/modeld/models/driving.cc

@@ -1,10 +1,11 @@
 #include "selfdrive/modeld/models/driving.h"
 
-#include <assert.h>
 #include <fcntl.h>
-#include <string.h>
 #include <unistd.h>
 
+#include <cassert>
+#include <cstring>
+
 #include <eigen3/Eigen/Dense>
 
 #include "selfdrive/common/clutil.h"

selfdrive/modeld/runners/onnxmodel.cc

@@ -1,13 +1,13 @@
 #include "selfdrive/modeld/runners/onnxmodel.h"
 
 #include <poll.h>
-#include <signal.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
 #include <unistd.h>
 
 #include <cassert>
+#include <csignal>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
 #include <stdexcept>
 #include <string>
 

selfdrive/modeld/runners/onnxmodel.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include <stdlib.h>
+#include <cstdlib>
 
 #include "selfdrive/modeld/runners/runmodel.h"
 

selfdrive/modeld/runners/snpemodel.cc

@@ -2,10 +2,9 @@
 
 #include "selfdrive/modeld/runners/snpemodel.h"
 
-#include <stdlib.h>
-#include <string.h>
-
 #include <cassert>
+#include <cstdlib>
+#include <cstring>
 
 #include "selfdrive/common/util.h"
 

selfdrive/modeld/runners/thneedmodel.cc

@@ -1,6 +1,6 @@
 #include "selfdrive/modeld/runners/thneedmodel.h"
 
-#include <assert.h>
+#include <cassert>
 
 ThneedModel::ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime) {
   thneed = new Thneed(true);

selfdrive/modeld/test/dmon_lag/repro.cc

@@ -1,14 +1,15 @@
 // clang++ -O2 repro.cc && ./a.out
 
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdint.h>
-#include <time.h>
 #include <sched.h>
 #include <sys/types.h>
 #include <unistd.h>
 
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <ctime>
+
 static inline double millis_since_boot() {
   struct timespec t;
   clock_gettime(CLOCK_BOOTTIME, &t);

selfdrive/modeld/test/tf_test/main.cc

@@ -1,6 +1,6 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <assert.h>
+#include <cassert>
+#include <cstdio>
+#include <cstdlib>
 #include "tensorflow/c/c_api.h"
 
 void* read_file(const char* path, size_t* out_len) {

selfdrive/modeld/thneed/compile.cc

@@ -1,4 +1,4 @@
-#include <string.h>
+#include <cstring>
 
 #include "selfdrive/modeld/runners/snpemodel.h"
 #include "selfdrive/modeld/thneed/thneed.h"

selfdrive/modeld/thneed/serialize.cc

@@ -1,5 +1,4 @@
-#include <assert.h>
-
+#include <cassert>
 #include <set>
 
 #include "json11.hpp"

selfdrive/modeld/thneed/thneed.cc

@@ -1,11 +1,11 @@
 #include "selfdrive/modeld/thneed/thneed.h"
 
 #include <dlfcn.h>
-#include <errno.h>
-#include <string.h>
 #include <sys/mman.h>
 
 #include <cassert>
+#include <cerrno>
+#include <cstring>
 #include <map>
 #include <string>
 

selfdrive/modeld/thneed/thneed.h

@@ -4,14 +4,14 @@
 #define __user __attribute__(())
 #endif
 
-#include <CL/cl.h>
-#include <stdint.h>
-#include <stdlib.h>
-
+#include <cstdint>
+#include <cstdlib>
 #include <memory>
 #include <string>
 #include <vector>
 
+#include <CL/cl.h>
+
 #include "selfdrive/modeld/thneed/include/msm_kgsl.h"
 
 #define THNEED_RECORD 1

selfdrive/modeld/transforms/loadyuv.cc

@@ -1,7 +1,8 @@
 #include "selfdrive/modeld/transforms/loadyuv.h"
 
-#include <assert.h>
-#include <string.h>
+#include <cassert>
+#include <cstdio>
+#include <cstring>
 
 void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
   memset(s, 0, sizeof(*s));

selfdrive/modeld/transforms/loadyuv.h

@@ -1,7 +1,5 @@
 #pragma once
 
-#include <inttypes.h>
-
 #include "selfdrive/common/clutil.h"
 
 typedef struct {

selfdrive/modeld/transforms/transform.cc

@@ -1,7 +1,7 @@
 #include "selfdrive/modeld/transforms/transform.h"
 
-#include <assert.h>
-#include <string.h>
+#include <cassert>
+#include <cstring>
 
 #include "selfdrive/common/clutil.h"
 

selfdrive/modeld/transforms/transform.h

@@ -1,7 +1,5 @@
 #pragma once
 
-#include <inttypes.h>
-
 #define CL_USE_DEPRECATED_OPENCL_1_2_APIS
 #ifdef __APPLE__
 #include <OpenCL/cl.h>

selfdrive/sensord/sensors_qcom.cc

@@ -1,10 +1,5 @@
-#include <assert.h>
 #include <cutils/log.h>
 #include <hardware/sensors.h>
-#include <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
 #include <sys/cdefs.h>
 #include <sys/resource.h>
 #include <sys/time.h>
@@ -12,6 +7,11 @@
 #include <unistd.h>
 #include <utils/Timers.h>
 
+#include <cassert>
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
 #include <map>
 #include <set>
 

selfdrive/ui/paint.cc

@@ -1,8 +1,7 @@
 #include "selfdrive/ui/paint.h"
 
-#include <assert.h>
-
 #include <algorithm>
+#include <cassert>
 
 #ifdef __APPLE__
 #include <OpenGL/gl3.h>

selfdrive/ui/qt/offroad/wifiManager.cc

@@ -1,9 +1,8 @@
 #include "selfdrive/ui/qt/offroad/wifiManager.h"
 
-#include <stdlib.h>
-
 #include <algorithm>
 #include <set>
+#include <cstdlib>
 
 #include "selfdrive/common/params.h"
 #include "selfdrive/common/swaglog.h"

selfdrive/ui/qt/setup/setup.cc

@@ -1,7 +1,7 @@
 #include "selfdrive/ui/qt/setup/setup.h"
 
-#include <stdio.h>
-#include <stdlib.h>
+#include <cstdio>
+#include <cstdlib>
 
 #include <QApplication>
 #include <QLabel>

selfdrive/ui/qt/setup/wifi.cc

@@ -1,8 +1,9 @@
 #include "selfdrive/ui/qt/setup/wifi.h"
 
 #include <curl/curl.h>
-#include <stdio.h>
-#include <stdlib.h>
+
+#include <cstdio>
+#include <cstdlib>
 
 #include <QApplication>
 #include <QLabel>

selfdrive/ui/qt/spinner.cc

@@ -1,6 +1,6 @@
 #include "selfdrive/ui/qt/spinner.h"
 
-#include <stdio.h>
+#include <cstdio>
 #include <iostream>
 #include <string>
 

selfdrive/ui/replay/framereader.cc

@@ -1,10 +1,10 @@
 #include "selfdrive/ui/replay/framereader.h"
 
-#include <assert.h>
 #include <unistd.h>
 
-#include <QDebug>
+#include <cassert>
 
+#include <QDebug>
 
 static int ffmpeg_lockmgr_cb(void **arg, enum AVLockOp op) {
   std::mutex *mutex = (std::mutex *)*arg;

selfdrive/ui/ui.cc

@@ -1,10 +1,10 @@
 #include "selfdrive/ui/ui.h"
 
-#include <assert.h>
-#include <stdio.h>
 #include <unistd.h>
 
+#include <cassert>
 #include <cmath>
+#include <cstdio>
 
 #include "selfdrive/common/swaglog.h"
 #include "selfdrive/common/util.h"