From ab24d18c43312024f6f6b42f1c95d87a780124a3 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 2 Feb 2021 13:57:17 +0800
Subject: [PATCH] OmxEncoder: use c++ mutex&condition_variable (#19786)

* use c++ mutex&condition_variable

* rebase

* cleanup includes&use while

* remove include pthread.h
old-commit-hash: aa37e95341b0df8dcd378f6ca082014828edbbbf
---
 selfdrive/loggerd/omx_encoder.cc | 33 +++++++++++---------------------
 selfdrive/loggerd/omx_encoder.h  |  6 ++----
 2 files changed, 13 insertions(+), 26 deletions(-)

diff --git a/selfdrive/loggerd/omx_encoder.cc b/selfdrive/loggerd/omx_encoder.cc
index f8cf6f9b9b..bfbf12e004 100644
--- a/selfdrive/loggerd/omx_encoder.cc
+++ b/selfdrive/loggerd/omx_encoder.cc
@@ -8,8 +8,6 @@
 #include <sys/stat.h>
 #include <fcntl.h>
 
-#include <pthread.h>
-
 #include <OMX_Component.h>
 #include <OMX_IndexExt.h>
 #include <OMX_VideoExt.h>
@@ -34,11 +32,10 @@ extern ExitHandler do_exit;
 // ***** OMX callback functions *****
 
 void OmxEncoder::wait_for_state(OMX_STATETYPE state) {
-  pthread_mutex_lock(&this->state_lock);
+  std::unique_lock lk(this->state_lock);
   while (this->state != state) {
-    pthread_cond_wait(&this->state_cv, &this->state_lock);
+    this->state_cv.wait(lk);
   }
-  pthread_mutex_unlock(&this->state_lock);
 }
 
 static OMX_CALLBACKTYPE omx_callbacks = {
@@ -50,24 +47,19 @@ static OMX_CALLBACKTYPE omx_callbacks = {
 OMX_ERRORTYPE OmxEncoder::event_handler(OMX_HANDLETYPE component, OMX_PTR app_data, OMX_EVENTTYPE event,
                                    OMX_U32 data1, OMX_U32 data2, OMX_PTR event_data) {
   OmxEncoder *e = (OmxEncoder*)app_data;
-
-  switch (event) {
-  case OMX_EventCmdComplete:
+  if (event == OMX_EventCmdComplete) {
     assert(data1 == OMX_CommandStateSet);
     LOG("set state event 0x%x", data2);
-    pthread_mutex_lock(&e->state_lock);
-    e->state = (OMX_STATETYPE)data2;
-    pthread_cond_broadcast(&e->state_cv);
-    pthread_mutex_unlock(&e->state_lock);
-    break;
-  case OMX_EventError:
+    {
+      std::unique_lock lk(e->state_lock);
+      e->state = (OMX_STATETYPE)data2;
+    }
+    e->state_cv.notify_all();
+  } else if (event == OMX_EventError) {
     LOGE("OMX error 0x%08x", data1);
-    // assert(false);
-    break;
-  default:
-    LOGE("unhandled event %d", event);
+  } else {
+    LOGE("OMX unhandled event %d", event);
     assert(false);
-    break;
   }
 
   return OMX_ErrorNone;
@@ -172,9 +164,6 @@ OmxEncoder::OmxEncoder(const char* filename, int width, int height, int fps, int
   this->fps = fps;
   this->remuxing = !h265;
 
-  pthread_mutex_init(&this->state_lock, NULL);
-  pthread_cond_init(&this->state_cv, NULL);
-
   this->downscale = downscale;
   if (this->downscale) {
     this->y_ptr2 = (uint8_t *)malloc(this->width*this->height);
diff --git a/selfdrive/loggerd/omx_encoder.h b/selfdrive/loggerd/omx_encoder.h
index 39ccbfa95f..b1c6a4b5f8 100644
--- a/selfdrive/loggerd/omx_encoder.h
+++ b/selfdrive/loggerd/omx_encoder.h
@@ -3,8 +3,6 @@
 #include <stdio.h>
 #include <stdint.h>
 #include <stdbool.h>
-
-#include <pthread.h>
 #include <vector>
 #include <OMX_Component.h>
 
@@ -53,8 +51,8 @@ private:
   uint8_t *codec_config = NULL;
   bool wrote_codec_config;
 
-  pthread_mutex_t state_lock;
-  pthread_cond_t state_cv;
+  std::mutex state_lock;
+  std::condition_variable state_cv;
   OMX_STATETYPE state = OMX_StateLoaded;
 
   OMX_HANDLETYPE handle;