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add cpplint (#26855)

Browse Source 
* setup cpplint

* only start that

* check line length

* check these

* rm exceptions
old-commit-hash: 952d720b6e
beeps
Adeeb Shihadeh 2 years ago committed by GitHub
parent 03f174cd66
commit 701cd6f6fe
8 changed files with 62 additions and 42 deletions
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  1. 14
      .pre-commit-config.yaml
  2. 3
      selfdrive/locationd/locationd.cc
  3. 15
      selfdrive/ui/qt/offroad/settings.cc
  4. 5
      selfdrive/ui/qt/widgets/ssh_keys.cc
  5. 26
      selfdrive/ui/translations/main_de.ts
  6. 26
      selfdrive/ui/translations/main_ja.ts
  7. 8
      selfdrive/ui/translations/main_tr.ts
  8. 7
      system/camerad/cameras/camera_qcom2.cc

14
.pre-commit-config.yaml
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@ -53,6 +53,18 @@ repos:
- --quiet
- --force
- -j8
- repo: https://github.com/cpplint/cpplint
rev: 1.6.1
hooks:
- id: cpplint
exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
args:
- --quiet
- --counting=total
- --linelength=240
# https://google.github.io/styleguide/cppguide.html
# relevant rules are whitelisted, see all options with: cpplint --filter=
- --filter=-build,-legal,-readability,-runtime,-whitespace,+build/forward_decl,+build/deprecated,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body
- repo: local
hooks:
- id: test_translations
@ -66,5 +78,5 @@ repos:
- id: poetry-check
- id: poetry-lock
name: validate poetry lock
args:
args:
- --check

3
selfdrive/locationd/locationd.cc
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@ -498,7 +498,8 @@ void Localizer::reset_kalman(double current_time, VectorXd init_orient, VectorXd
init_P.block<STATE_ECEF_POS_ERR_LEN, STATE_ECEF_POS_ERR_LEN>(STATE_ECEF_POS_ERR_START, STATE_ECEF_POS_ERR_START).diagonal() = init_pos_R.diagonal();
init_P.block<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_ORIENTATION_ERR_START).diagonal() = reset_orientation_P.diagonal();
init_P.block<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>(STATE_ECEF_VELOCITY_ERR_START, STATE_ECEF_VELOCITY_ERR_START).diagonal() = init_vel_R.diagonal();
init_P.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal() = current_P.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal();
init_P.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal() = current_P.block(STATE_ANGULAR_VELOCITY_ERR_START,
STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal();
this->reset_kalman(current_time, current_x, init_P);
}

15
selfdrive/ui/qt/offroad/settings.cc
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@ -36,7 +36,8 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
tr("openpilot Longitudinal Control (Alpha)"),
QString("<b>%1</b><br><br>%2")
.arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
.arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
.arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
"Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
"../assets/offroad/icon_speed_limit.png",
},
{
@ -88,7 +89,8 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
std::vector<QString> longi_button_texts{tr("Aggressive"), tr("Standard"), tr("Relaxed")};
long_personality_setting = new ButtonParamControl("LongitudinalPersonality", tr("Driving Personality"),
tr("Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars."),
tr("Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. "
"In relaxed mode openpilot will stay further away from lead cars."),
"../assets/offroad/icon_speed_limit.png",
longi_button_texts);
for (auto &[param, title, desc, icon] : toggle_defs) {
@ -137,11 +139,12 @@ void TogglesPanel::updateToggles() {
.arg(tr("openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below:"))
.arg(tr("End-to-End Longitudinal Control" ))
.arg(tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. "
"Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected."))
"Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; "
"mistakes should be expected."))
.arg(tr("Navigate on openpilot"))
.arg(tr("When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. "
"Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. "
"These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc."))
.arg(tr("When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right "
"appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around "
"exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc."))
.arg(tr("New Driving Visualization"))
.arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. "
"When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green."));

5
selfdrive/ui/qt/widgets/ssh_keys.cc
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@ -4,7 +4,10 @@
#include "selfdrive/ui/qt/api.h"
#include "selfdrive/ui/qt/widgets/input.h"
SshControl::SshControl() : ButtonControl(tr("SSH Keys"), "", tr("Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.")) {
SshControl::SshControl() :
ButtonControl(tr("SSH Keys"), "", tr("Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username "
"other than your own. A comma employee will NEVER ask you to add their GitHub username.")) {
QObject::connect(this, &ButtonControl::clicked, [=]() {
if (text() == tr("ADD")) {
QString username = InputDialog::getText(tr("Enter your GitHub username"), this);

26
selfdrive/ui/translations/main_de.ts
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@ -1072,10 +1072,6 @@ This may take up to a minute.</source>
<source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
<translation>Der experimentelle Modus ist momentan für dieses Auto nicht verfügbar da es den eingebauten adaptiven Tempomaten des Autos benutzt.</translation>
</message>
<message>
<source>openpilot longitudinal control may come in a future update.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>openpilot Longitudinal Control (Alpha)</source>
<translation type="unfinished"></translation>
@ -1084,10 +1080,6 @@ This may take up to a minute.</source>
<source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Aggressive</source>
<translation type="unfinished"></translation>
@ -1104,12 +1096,16 @@ This may take up to a minute.</source>
<source>Driving Personality</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
<source>End-to-End Longitudinal Control</source>
<translation type="unfinished"></translation>
</message>
<message>
@ -1117,19 +1113,23 @@ This may take up to a minute.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
<source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>End-to-End Longitudinal Control</source>
<source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
<source>openpilot longitudinal control may come in a future update.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
<source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
<translation type="unfinished"></translation>
</message>
</context>

26
selfdrive/ui/translations/main_ja.ts
Unescape View File

@ -1064,10 +1064,6 @@ This may take up to a minute.</source>
<source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
<translation>この車のACCがアクセル制御を行うため実験モードを利用することができません。</translation>
</message>
<message>
<source>openpilot longitudinal control may come in a future update.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>openpilot Longitudinal Control (Alpha)</source>
<translation type="unfinished"></translation>
@ -1076,10 +1072,6 @@ This may take up to a minute.</source>
<source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Aggressive</source>
<translation type="unfinished"></translation>
@ -1096,12 +1088,16 @@ This may take up to a minute.</source>
<source>Driving Personality</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
<source>End-to-End Longitudinal Control</source>
<translation type="unfinished"></translation>
</message>
<message>
@ -1109,19 +1105,23 @@ This may take up to a minute.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
<source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>End-to-End Longitudinal Control</source>
<source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
<source>openpilot longitudinal control may come in a future update.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
<source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
<translation type="unfinished"></translation>
</message>
</context>

8
selfdrive/ui/translations/main_tr.ts
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@ -1048,10 +1048,6 @@ This may take up to a minute.</source>
<source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Experimental Mode</source>
<translation type="unfinished"></translation>
@ -1076,6 +1072,10 @@ This may take up to a minute.</source>
<source>Driving Personality</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
<translation type="unfinished"></translation>

7
system/camerad/cameras/camera_qcom2.cc
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@ -725,7 +725,8 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
LOGD("acquire csiphy dev");
// config ISP
alloc_w_mmu_hdl(multi_cam_state->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, multi_cam_state->device_iommu, multi_cam_state->cdm_iommu);
alloc_w_mmu_hdl(multi_cam_state->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS |
CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, multi_cam_state->device_iommu, multi_cam_state->cdm_iommu);
config_isp(0, 0, 1, buf0_handle, 0);
// config csiphy
@ -1273,9 +1274,9 @@ void cameras_run(MultiCameraState *s) {
if (ret == 0) {
if (ev.type == V4L_EVENT_CAM_REQ_MGR_EVENT) {
struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)ev.u.data;
// LOGD("v4l2 event: sess_hdl 0x%X, link_hdl 0x%X, frame_id %d, req_id %lld, timestamp 0x%llx, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl, event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp, event_data->u.frame_msg.sof_status);
if (env_debug_frames) {
printf("sess_hdl 0x%6X, link_hdl 0x%6X, frame_id %lu, req_id %lu, timestamp %.2f ms, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl, event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp/1e6, event_data->u.frame_msg.sof_status);
printf("sess_hdl 0x%6X, link_hdl 0x%6X, frame_id %lu, req_id %lu, timestamp %.2f ms, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl,
event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp/1e6, event_data->u.frame_msg.sof_status);
}
if (event_data->session_hdl == s->road_cam.session_handle) {

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