diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 81782123ac..d4259dec17 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -64,7 +64,7 @@ repos: - --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/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces + - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces - repo: local hooks: - id: test_translations diff --git a/scripts/dump_pll.c b/scripts/dump_pll.c index 325ee2b4c0..3e2190235a 100644 --- a/scripts/dump_pll.c +++ b/scripts/dump_pll.c @@ -39,9 +39,9 @@ void hexdump(uint32_t *d, int l) { int main() { int fd = open("/dev/mem", O_RDWR); - volatile uint32_t *mb = (uint32_t*)mmap(0,0x1000,PROT_READ | PROT_WRITE,MAP_SHARED,fd,0x06400000); - volatile uint32_t *mc = (uint32_t*)mmap(0,0x1000,PROT_READ | PROT_WRITE,MAP_SHARED,fd,0x06480000); - volatile uint32_t *md = (uint32_t*)mmap(0,0x1000,PROT_READ | PROT_WRITE,MAP_SHARED,fd,0x09A20000); + volatile uint32_t *mb = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x06400000); + volatile uint32_t *mc = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x06480000); + volatile uint32_t *md = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x09A20000); while (1) { printf("PLL MODE:%x L_VAL:%x ALPHA:%x USER_CTL:%x CONFIG_CTL:%x CONFIG_CTL_HI:%x STATUS:%x TEST_CTL_LO:%x TEST_CTL_HI:%x\n", mb[C0_PLL_MODE/4], mb[C0_PLL_L_VAL/4], mb[C0_PLL_ALPHA/4], diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc index d1769c4bec..9a5862fbf5 100644 --- a/selfdrive/modeld/modeld.cc +++ b/selfdrive/modeld/modeld.cc @@ -30,7 +30,7 @@ mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camer static const auto calib_from_medmodel = (Eigen::Matrix() << 0.00000000e+00, 0.00000000e+00, 1.00000000e+00, 1.09890110e-03, 0.00000000e+00, -2.81318681e-01, - -2.25466395e-20, 1.09890110e-03,-5.23076923e-02).finished(); + -2.25466395e-20, 1.09890110e-03, -5.23076923e-02).finished(); static const auto calib_from_sbigmodel = (Eigen::Matrix() << 0.00000000e+00, 7.31372216e-19, 1.00000000e+00, diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index 72137c4a97..136bd255c3 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -157,7 +157,7 @@ void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMet softmax(meta_data.desire_pred_prob[i].array.data(), desire_pred_softmax.data() + (i * DESIRE_LEN), DESIRE_LEN); } - std::array lat_long_t = {2,4,6,8,10}; + std::array lat_long_t = {2, 4, 6, 8, 10}; std::array gas_disengage_sigmoid, brake_disengage_sigmoid, steer_override_sigmoid, brake_3ms2_sigmoid, brake_4ms2_sigmoid, brake_5ms2_sigmoid; for (int i=0; i &input) { FILE * pFile; string filepath="/data/ipt/quantize_samples/sample_input_"+std::to_string(index); - pFile = fopen(filepath.c_str(),"rb"); + pFile = fopen(filepath.c_str(), "rb"); int length = 1*6*160*320*4; float * frame_buffer = new float[length/4]; // 32/8 fread(frame_buffer, length, 1, pFile); @@ -164,7 +164,7 @@ void testrun(char* modelfile) { for (int i=0; i<10000; i++) { std::unique_ptr input; input = zdl::SNPE::SNPEFactory::getTensorFactory().createTensor(inputShape); - get_testframe(i,input); + get_testframe(i, input); snpe->execute(input.get(), outputTensorMap); zdl::DlSystem::StringList tensorNames = outputTensorMap.getTensorNames(); std::for_each(tensorNames.begin(), tensorNames.end(), [&](const char* name) { diff --git a/selfdrive/ui/qt/widgets/keyboard.cc b/selfdrive/ui/qt/widgets/keyboard.cc index 162d27db02..370e9a53cc 100644 --- a/selfdrive/ui/qt/widgets/keyboard.cc +++ b/selfdrive/ui/qt/widgets/keyboard.cc @@ -104,37 +104,37 @@ Keyboard::Keyboard(QWidget *parent) : QFrame(parent) { // lowercase std::vector> lowercase = { - {"q","w","e","r","t","y","u","i","o","p"}, - {"a","s","d","f","g","h","j","k","l"}, - {"↑","z","x","c","v","b","n","m",BACKSPACE_KEY}, - {"123"," ",".",ENTER_KEY}, + {"q", "w", "e", "r", "t", "y", "u", "i", "o", "p"}, + {"a", "s", "d", "f", "g", "h", "j", "k", "l"}, + {"↑", "z", "x", "c", "v", "b", "n", "m", BACKSPACE_KEY}, + {"123", " ", ".", ENTER_KEY}, }; main_layout->addWidget(new KeyboardLayout(this, lowercase)); // uppercase std::vector> uppercase = { - {"Q","W","E","R","T","Y","U","I","O","P"}, - {"A","S","D","F","G","H","J","K","L"}, - {"↓","Z","X","C","V","B","N","M",BACKSPACE_KEY}, - {"123"," ",".",ENTER_KEY}, + {"Q", "W", "E", "R", "T", "Y", "U", "I", "O", "P"}, + {"A", "S", "D", "F", "G", "H", "J", "K", "L"}, + {"↓", "Z", "X", "C", "V", "B", "N", "M", BACKSPACE_KEY}, + {"123", " ", ".", ENTER_KEY}, }; main_layout->addWidget(new KeyboardLayout(this, uppercase)); // numbers + specials std::vector> numbers = { - {"1","2","3","4","5","6","7","8","9","0"}, - {"-","/",":",";","(",")","$","&&","@","\""}, - {"#+=",".",",","?","!","`",BACKSPACE_KEY}, - {"ABC"," ",".",ENTER_KEY}, + {"1", "2", "3", "4", "5", "6", "7", "8", "9", "0"}, + {"-", "/", ":", ";", "(", ")", "$", "&&", "@", "\""}, + {"#+=", ".", ",", "?", "!", "`", BACKSPACE_KEY}, + {"ABC", " ", ".", ENTER_KEY}, }; main_layout->addWidget(new KeyboardLayout(this, numbers)); // extra specials std::vector> specials = { - {"[","]","{","}","#","%","^","*","+","="}, - {"_","\\","|","~","<",">","€","£","¥","•"}, - {"123",".",",","?","!","'",BACKSPACE_KEY}, - {"ABC"," ",".",ENTER_KEY}, + {"[", "]", "{", "}", "#", "%", "^", "*", "+", "="}, + {"_", "\\", "|", "~", "<", ">", "€", "£", "¥", "•"}, + {"123", ".", ",", "?", "!", "'", BACKSPACE_KEY}, + {"ABC", " ", ".", ENTER_KEY}, }; main_layout->addWidget(new KeyboardLayout(this, specials)); diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index fa857c769b..03df2cf57a 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -169,15 +169,15 @@ static void update_state(UIState *s) { Eigen::Matrix3d device_from_calib = euler2rot(rpy); Eigen::Matrix3d wide_from_device = euler2rot(wfde); Eigen::Matrix3d view_from_device; - view_from_device << 0,1,0, - 0,0,1, - 1,0,0; + view_from_device << 0, 1, 0, + 0, 0, 1, + 1, 0, 0; Eigen::Matrix3d view_from_calib = view_from_device * device_from_calib; Eigen::Matrix3d view_from_wide_calib = view_from_device * wide_from_device * device_from_calib; for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { - scene.view_from_calib.v[i*3 + j] = view_from_calib(i,j); - scene.view_from_wide_calib.v[i*3 + j] = view_from_wide_calib(i,j); + scene.view_from_calib.v[i*3 + j] = view_from_calib(i, j); + scene.view_from_wide_calib.v[i*3 + j] = view_from_wide_calib(i, j); } } scene.calibration_valid = live_calib.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED; diff --git a/system/camerad/test/ae_gray_test.h b/system/camerad/test/ae_gray_test.h index fb54cd9584..8953fb017f 100644 --- a/system/camerad/test/ae_gray_test.h +++ b/system/camerad/test/ae_gray_test.h @@ -5,14 +5,13 @@ #define TONE_SPLITS 3 -float gts[TONE_SPLITS*TONE_SPLITS*TONE_SPLITS*TONE_SPLITS] = { - 0.917969,0.917969,0.375000,0.917969,0.375000,0.375000,0.187500,0.187500,0.187500,0.917969, - 0.375000,0.375000,0.187500,0.187500,0.187500,0.187500,0.187500,0.187500,0.093750,0.093750, - 0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.917969,0.375000,0.375000, - 0.187500,0.187500,0.187500,0.187500,0.187500,0.187500,0.093750,0.093750,0.093750,0.093750, - 0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750, - 0.093750,0.093750,0.093750,0.093750,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, - 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, - 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, - 0.000000 -}; +float gts[TONE_SPLITS * TONE_SPLITS * TONE_SPLITS * TONE_SPLITS] = { + 0.917969, 0.917969, 0.375000, 0.917969, 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.917969, + 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, + 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.917969, 0.375000, 0.375000, + 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, 0.093750, 0.093750, + 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, + 0.093750, 0.093750, 0.093750, 0.093750, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, + 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, + 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, + 0.000000}; diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc index b09fa1e6ba..b5329bb8f1 100644 --- a/system/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -19,7 +19,7 @@ // echo 0x7fffffff > /sys/kernel/debug/msm_vidc/debug_level const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0; -#define checked_ioctl(x,y,z) { int _ret = HANDLE_EINTR(ioctl(x,y,z)); if (_ret!=0) { LOGE("checked_ioctl failed %d %lx %p", x, y, z); } assert(_ret==0); } +#define checked_ioctl(x, y, z) { int _ret = HANDLE_EINTR(ioctl(x, y, z)); if (_ret!=0) { LOGE("checked_ioctl failed %d %lx %p", x, y, z); } assert(_ret==0); } static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=NULL, unsigned int *bytesused=NULL, unsigned int *flags=NULL, struct timeval *timestamp=NULL) { v4l2_plane plane = {0}; diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 7c20186594..cd663f0e45 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -15,7 +15,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0 ,0, 0, 0); + main_layout->setContentsMargins(0, 0, 0, 0); QHBoxLayout *title_layout = new QHBoxLayout(); num_msg_label = new QLabel(this); diff --git a/tools/cabana/util.h b/tools/cabana/util.h index 696319b3a8..db681f80f9 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -59,7 +59,7 @@ public: private: std::pair get_minmax(int n, int left, int right, int range_left, int range_right) const; void build_tree(const QVector &arr, int n, int left, int right); - std::vector> tree; + std::vector> tree; int size = 0; };