diff --git a/selfdrive/camerad/cameras/camera_frame_stream.cc b/selfdrive/camerad/cameras/camera_frame_stream.cc index d6d44748ff..443461edf1 100644 --- a/selfdrive/camerad/cameras/camera_frame_stream.cc +++ b/selfdrive/camerad/cameras/camera_frame_stream.cc @@ -35,7 +35,7 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = { }; void camera_init(VisionIpcServer * v, CameraState *s, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type) { - assert(camera_id < ARRAYSIZE(cameras_supported)); + assert(camera_id < std::size(cameras_supported)); s->ci = cameras_supported[camera_id]; assert(s->ci.frame_width != 0); diff --git a/selfdrive/camerad/cameras/camera_qcom.cc b/selfdrive/camerad/cameras/camera_qcom.cc index 77fc4d9882..f47942ffac 100644 --- a/selfdrive/camerad/cameras/camera_qcom.cc +++ b/selfdrive/camerad/cameras/camera_qcom.cc @@ -127,7 +127,7 @@ static int imx298_apply_exposure(CameraState *s, int gain, int integ_lines, uint // REG_HOLD {0x104,0x0,0}, }; - return sensor_write_regs(s, reg_array, ARRAYSIZE(reg_array), MSM_CAMERA_I2C_BYTE_DATA); + return sensor_write_regs(s, reg_array, std::size(reg_array), MSM_CAMERA_I2C_BYTE_DATA); } static int ov8865_apply_exposure(CameraState *s, int gain, int integ_lines, uint32_t frame_length) { @@ -137,7 +137,7 @@ static int ov8865_apply_exposure(CameraState *s, int gain, int integ_lines, uint // get bitmaps from iso static const int gains[] = {0, 100, 200, 400, 800}; int i; - for (i = 1; i < ARRAYSIZE(gains); i++) { + for (i = 1; i < std::size(gains); i++) { if (gain >= gains[i - 1] && gain < gains[i]) break; } @@ -162,7 +162,7 @@ static int ov8865_apply_exposure(CameraState *s, int gain, int integ_lines, uint //{0x104,0x0,0}, }; - return sensor_write_regs(s, reg_array, ARRAYSIZE(reg_array), MSM_CAMERA_I2C_BYTE_DATA); + return sensor_write_regs(s, reg_array, std::size(reg_array), MSM_CAMERA_I2C_BYTE_DATA); } static void camera_init(VisionIpcServer *v, CameraState *s, int camera_id, int camera_num, @@ -172,7 +172,7 @@ static void camera_init(VisionIpcServer *v, CameraState *s, int camera_id, int c s->camera_num = camera_num; s->camera_id = camera_id; - assert(camera_id < ARRAYSIZE(cameras_supported)); + assert(camera_id < std::size(cameras_supported)); s->ci = cameras_supported[camera_id]; assert(s->ci.frame_width != 0); @@ -501,7 +501,7 @@ static void camera_open(CameraState *s, bool is_road_cam) { // SENSOR: stop stream struct msm_camera_i2c_reg_setting stop_settings = { .reg_setting = stop_reg_array, - .size = ARRAYSIZE(stop_reg_array), + .size = std::size(stop_reg_array), .addr_type = MSM_CAMERA_I2C_WORD_ADDR, .data_type = MSM_CAMERA_I2C_BYTE_DATA, .delay = 0 @@ -518,9 +518,9 @@ static void camera_open(CameraState *s, bool is_road_cam) { // SENSOR: send i2c configuration if (s->camera_id == CAMERA_ID_IMX298) { - err = sensor_write_regs(s, init_array_imx298, ARRAYSIZE(init_array_imx298), MSM_CAMERA_I2C_BYTE_DATA); + err = sensor_write_regs(s, init_array_imx298, std::size(init_array_imx298), MSM_CAMERA_I2C_BYTE_DATA); } else if (s->camera_id == CAMERA_ID_OV8865) { - err = sensor_write_regs(s, init_array_ov8865, ARRAYSIZE(init_array_ov8865), MSM_CAMERA_I2C_BYTE_DATA); + err = sensor_write_regs(s, init_array_ov8865, std::size(init_array_ov8865), MSM_CAMERA_I2C_BYTE_DATA); } else { assert(false); } @@ -587,7 +587,7 @@ static void camera_open(CameraState *s, bool is_road_cam) { } if (s->camera_id == CAMERA_ID_IMX298) { - err = sensor_write_regs(s, mode_setting_array_imx298, ARRAYSIZE(mode_setting_array_imx298), MSM_CAMERA_I2C_BYTE_DATA); + err = sensor_write_regs(s, mode_setting_array_imx298, std::size(mode_setting_array_imx298), MSM_CAMERA_I2C_BYTE_DATA); LOG("sensor setup: %d", err); } @@ -728,7 +728,7 @@ static void camera_open(CameraState *s, bool is_road_cam) { static void road_camera_start(CameraState *s) { set_exposure(s, 1.0, 1.0); - int err = sensor_write_regs(s, start_reg_array, ARRAYSIZE(start_reg_array), MSM_CAMERA_I2C_BYTE_DATA); + int err = sensor_write_regs(s, start_reg_array, std::size(start_reg_array), MSM_CAMERA_I2C_BYTE_DATA); LOG("sensor start regs: %d", err); int inf_step = 512 - INFINITY_DAC; @@ -905,7 +905,7 @@ void camera_autoexposure(CameraState *s, float grey_frac) { static void driver_camera_start(CameraState *s) { set_exposure(s, 1.0, 1.0); - int err = sensor_write_regs(s, start_reg_array, ARRAYSIZE(start_reg_array), MSM_CAMERA_I2C_BYTE_DATA); + int err = sensor_write_regs(s, start_reg_array, std::size(start_reg_array), MSM_CAMERA_I2C_BYTE_DATA); LOG("sensor start regs: %d", err); } @@ -1124,7 +1124,7 @@ void cameras_run(MultiCameraState *s) { while (!do_exit) { struct pollfd fds[2] = {{.fd = cameras[0]->isp_fd, .events = POLLPRI}, {.fd = cameras[1]->isp_fd, .events = POLLPRI}}; - int ret = poll(fds, ARRAYSIZE(fds), 1000); + int ret = poll(fds, std::size(fds), 1000); if (ret < 0) { if (errno == EINTR || errno == EAGAIN) continue; LOGE("poll failed (%d - %d)", ret, errno); diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc index dc59c38f45..0bddfdfb55 100644 --- a/selfdrive/camerad/cameras/camera_qcom2.cc +++ b/selfdrive/camerad/cameras/camera_qcom2.cc @@ -515,7 +515,7 @@ void enqueue_req_multi(struct CameraState *s, int start, int n, bool dp) { static void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, CameraState *s, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type) { LOGD("camera init %d", camera_num); s->multi_cam_state = multi_cam_state; - assert(camera_id < ARRAYSIZE(cameras_supported)); + assert(camera_id < std::size(cameras_supported)); s->ci = cameras_supported[camera_id]; assert(s->ci.frame_width != 0); @@ -1104,7 +1104,7 @@ void cameras_run(MultiCameraState *s) { fds[0].fd = s->video0_fd; fds[0].events = POLLPRI; - int ret = poll(fds, ARRAYSIZE(fds), 1000); + int ret = poll(fds, std::size(fds), 1000); if (ret < 0) { if (errno == EINTR || errno == EAGAIN) continue; LOGE("poll failed (%d - %d)", ret, errno); diff --git a/selfdrive/camerad/cameras/camera_webcam.cc b/selfdrive/camerad/cameras/camera_webcam.cc index cf0f8c6da9..054d3451a5 100644 --- a/selfdrive/camerad/cameras/camera_webcam.cc +++ b/selfdrive/camerad/cameras/camera_webcam.cc @@ -60,7 +60,7 @@ void camera_close(CameraState *s) { } void camera_init(VisionIpcServer * v, CameraState *s, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type) { - assert(camera_id < ARRAYSIZE(cameras_supported)); + assert(camera_id < std::size(cameras_supported)); s->ci = cameras_supported[camera_id]; assert(s->ci.frame_width != 0); diff --git a/selfdrive/common/util.h b/selfdrive/common/util.h index 98406e0f4b..b5a37427c2 100644 --- a/selfdrive/common/util.h +++ b/selfdrive/common/util.h @@ -20,8 +20,6 @@ typedef void (*sighandler_t)(int sig); #endif -#define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0])) - #undef ALIGN #define ALIGN(x, align) (((x) + (align)-1) & ~((align)-1))