loggerd: fix use after free and memory leaks (#19695)

* fix use after free and memory leaks

* cleanup

* fix typo

Co-authored-by: Comma Device <device@comma.ai>

selfdrive/loggerd/SConscript

@@ -7,9 +7,9 @@ libs = ['zmq', 'capnp', 'kj', 'z',
 
 if arch in ["aarch64", "larch64"]:
   src += ['encoder.cc']
-  libs += ['OmxVenc', 'OmxCore', 'gsl', 'CB'] + gpucommon
+  libs += ['OmxCore', 'gsl', 'CB'] + gpucommon
   if arch == "aarch64":
-    libs += ['cutils']
+    libs += ['OmxVenc', 'cutils']
   else:
     libs += ['pthread']
 else:

selfdrive/loggerd/encoder.cc

@@ -16,7 +16,6 @@
 #include <OMX_QCOMExtns.h>
 
 #include <libyuv.h>
-
 #include <msm_media_info.h>
 
 #include "common/mutex.h"
@@ -25,10 +24,6 @@
 #include "encoder.h"
 
 
-// encoder: lossey codec using hardware hevc
-
-
-
 // ***** OMX callback functions *****
 
 static void wait_for_state(EncoderState *s, OMX_STATETYPE state) {
@@ -282,26 +277,26 @@ void encoder_init(EncoderState *s, const char* filename, int width, int height,
   assert(err == OMX_ErrorNone);
 
   if (h265) {
-      // setup HEVC
+    // setup HEVC
-    #ifndef QCOM2
+  #ifndef QCOM2
-      OMX_VIDEO_PARAM_HEVCTYPE hecv_type = {0};
+    OMX_VIDEO_PARAM_HEVCTYPE hevc_type = {0};
-      OMX_INDEXTYPE index_type = (OMX_INDEXTYPE) OMX_IndexParamVideoHevc;
+    OMX_INDEXTYPE index_type = (OMX_INDEXTYPE) OMX_IndexParamVideoHevc;
-    #else
+  #else
-      OMX_VIDEO_PARAM_PROFILELEVELTYPE hecv_type = {0};
+    OMX_VIDEO_PARAM_PROFILELEVELTYPE hevc_type = {0};
-      OMX_INDEXTYPE index_type = OMX_IndexParamVideoProfileLevelCurrent;
+    OMX_INDEXTYPE index_type = OMX_IndexParamVideoProfileLevelCurrent;
-    #endif
+  #endif
-      hecv_type.nSize = sizeof(hecv_type);
+    hevc_type.nSize = sizeof(hevc_type);
-      hecv_type.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
+    hevc_type.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
-      err = OMX_GetParameter(s->handle, index_type,
+    err = OMX_GetParameter(s->handle, index_type,
-                             (OMX_PTR) &hecv_type);
+                           (OMX_PTR) &hevc_type);
-      assert(err == OMX_ErrorNone);
+    assert(err == OMX_ErrorNone);
 
-      hecv_type.eProfile = OMX_VIDEO_HEVCProfileMain;
+    hevc_type.eProfile = OMX_VIDEO_HEVCProfileMain;
-      hecv_type.eLevel = OMX_VIDEO_HEVCHighTierLevel5;
+    hevc_type.eLevel = OMX_VIDEO_HEVCHighTierLevel5;
 
-      err = OMX_SetParameter(s->handle, index_type,
+    err = OMX_SetParameter(s->handle, index_type,
-                             (OMX_PTR) &hecv_type);
+                           (OMX_PTR) &hevc_type);
-      assert(err == OMX_ErrorNone);
+    assert(err == OMX_ErrorNone);
   } else {
     // setup h264
     OMX_VIDEO_PARAM_AVCTYPE avc = { 0 };
@@ -588,11 +583,11 @@ void encoder_open(EncoderState *s, const char* path) {
   } else {
     s->of = fopen(s->vid_path, "wb");
     assert(s->of);
-    if (s->codec_config_len > 0) {
 #ifndef QCOM2
+    if (s->codec_config_len > 0) {
       fwrite(s->codec_config, s->codec_config_len, 1, s->of);
-#endif
     }
+#endif
   }
 
   // create camera lock file
@@ -699,6 +694,13 @@ void encoder_destroy(EncoderState *s) {
   err = OMX_FreeHandle(s->handle);
   assert(err == OMX_ErrorNone);
 
+  while (queue_try_pop(&s->free_in)); 
+  while (queue_try_pop(&s->done_out)); 
+
+  if (s->codec_config) {
+    free(s->codec_config);
+  }
+
   if (s->downscale) {
     free(s->y_ptr2);
     free(s->u_ptr2);

selfdrive/loggerd/encoder.h

@@ -14,6 +14,9 @@ extern "C" {
 #include "common/cqueue.h"
 #include "visionipc.h"
 
+// encoder: lossey codec using hardware hevc
+
+
 struct EncoderState {
   pthread_mutex_t lock;
   int width, height, fps;