sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

improved safe_ioctl (#35908)

Browse Source 
* improved safe_ioctl

* readability

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* use correct ioctl command

* ameliorated api

* use try/catch to prevent spi_fd leak

* Update common/util.h

* use correct ioctl command

* error log message is more readable

---------

Co-authored-by: Test User <test@example.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
pull/35919/head
pencilpusher 3 days ago committed by GitHub
parent f06c98018f
commit be0626f7e3
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
4 changed files with 54 additions and 71 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 8
      common/util.cc
  2. 2
      common/util.h
  3. 76
      selfdrive/pandad/spi.cc
  4. 39
      system/loggerd/encoder/v4l_encoder.cc

8
common/util.cc
Unescape View File

@ -1,4 +1,5 @@
#include "common/util.h"
#include "common/swaglog.h"
#include <sys/ioctl.h>
#include <sys/stat.h>
@ -151,11 +152,16 @@ int safe_fflush(FILE *stream) {
return ret;
}
int safe_ioctl(int fd, unsigned long request, void *argp) {
int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg) {
int ret;
do {
ret = ioctl(fd, request, argp);
} while ((ret == -1) && (errno == EINTR));
if (ret == -1 && exception_msg) {
LOGE("safe_ioctl error: %s %s(%d) (fd: %d request: %lx argp: %p)", exception_msg, strerror(errno), errno, fd, request, argp);
throw std::runtime_error(exception_msg);
}
return ret;
}

2
common/util.h
Unescape View File

@ -88,7 +88,7 @@ int write_file(const char* path, const void* data, size_t size, int flags = O_WR
FILE* safe_fopen(const char* filename, const char* mode);
size_t safe_fwrite(const void * ptr, size_t size, size_t count, FILE * stream);
int safe_fflush(FILE *stream);
int safe_ioctl(int fd, unsigned long request, void *argp);
int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg = nullptr);
std::string readlink(const std::string& path);
bool file_exists(const std::string& fn);

76
selfdrive/pandad/spi.cc
Unescape View File

@ -66,58 +66,44 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
// 50MHz is the max of the 845. note that some older
// revs of the comma three may not support this speed
uint32_t spi_speed = 50000000;
try {
if (!util::file_exists(SPI_DEVICE)) {
throw std::runtime_error("Error connecting to panda: SPI device not found");
}
if (!util::file_exists(SPI_DEVICE)) {
goto fail;
}
spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
if (spi_fd < 0) {
LOGE("failed opening SPI device %d", spi_fd);
goto fail;
}
// SPI settings
ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode);
if (ret < 0) {
LOGE("failed setting SPI mode %d", ret);
goto fail;
}
ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
if (ret < 0) {
LOGE("failed setting SPI speed");
goto fail;
}
spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
if (spi_fd < 0) {
LOGE("failed opening SPI device %d", spi_fd);
throw std::runtime_error("Error connecting to panda: failed to open SPI device");
}
ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word);
if (ret < 0) {
LOGE("failed setting SPI bits per word");
goto fail;
}
// SPI settings
util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode, "failed setting SPI mode");
util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed, "failed setting SPI speed");
util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word, "failed setting SPI bits per word");
// get hw UID/serial
ret = control_read(0xc3, 0, 0, uid, uid_len, 100);
if (ret == uid_len) {
std::stringstream stream;
for (int i = 0; i < uid_len; i++) {
stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]);
}
hw_serial = stream.str();
} else {
LOGD("failed to get serial %d", ret);
throw std::runtime_error("Error connecting to panda: failed to get serial");
}
// get hw UID/serial
ret = control_read(0xc3, 0, 0, uid, uid_len, 100);
if (ret == uid_len) {
std::stringstream stream;
for (int i = 0; i < uid_len; i++) {
stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]);
if (!serial.empty() && (serial != hw_serial)) {
throw std::runtime_error("Error connecting to panda: serial mismatch");
}
hw_serial = stream.str();
} else {
LOGD("failed to get serial %d", ret);
goto fail;
}
if (!serial.empty() && (serial != hw_serial)) {
goto fail;
} catch (...) {
cleanup();
throw;
}
return;
fail:
cleanup();
throw std::runtime_error("Error connecting to panda");
}
PandaSpiHandle::~PandaSpiHandle() {

39
system/loggerd/encoder/v4l_encoder.cc
Unescape View File

@ -24,14 +24,6 @@
*/
const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0;
static void checked_ioctl(int fd, unsigned long request, void *argp) {
int ret = util::safe_ioctl(fd, request, argp);
if (ret != 0) {
LOGE("checked_ioctl failed with error %d (%d %lx %p)", errno, fd, request, argp);
assert(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};
v4l2_buffer v4l_buf = {
@ -40,7 +32,7 @@ static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=N
.m = { .planes = &plane, },
.length = 1,
};
checked_ioctl(fd, VIDIOC_DQBUF, &v4l_buf);
util::safe_ioctl(fd, VIDIOC_DQBUF, &v4l_buf, "VIDIOC_DQBUF failed");
if (index) *index = v4l_buf.index;
if (bytesused) *bytesused = v4l_buf.m.planes[0].bytesused;
@ -66,8 +58,7 @@ static void queue_buffer(int fd, v4l2_buf_type buf_type, unsigned int index, Vis
.flags = V4L2_BUF_FLAG_TIMESTAMP_COPY,
.timestamp = timestamp
};
checked_ioctl(fd, VIDIOC_QBUF, &v4l_buf);
util::safe_ioctl(fd, VIDIOC_QBUF, &v4l_buf, "VIDIOC_QBUF failed");
}
static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count) {
@ -76,7 +67,7 @@ static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count)
.memory = V4L2_MEMORY_USERPTR,
.count = count
};
checked_ioctl(fd, VIDIOC_REQBUFS, &reqbuf);
util::safe_ioctl(fd, VIDIOC_REQBUFS, &reqbuf, "VIDIOC_REQBUFS failed");
}
void V4LEncoder::dequeue_handler(V4LEncoder *e) {
@ -159,7 +150,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
assert(fd >= 0);
struct v4l2_capability cap;
checked_ioctl(fd, VIDIOC_QUERYCAP, &cap);
util::safe_ioctl(fd, VIDIOC_QUERYCAP, &cap, "VIDIOC_QUERYCAP failed");
LOGD("opened encoder device %s %s = %d", cap.driver, cap.card, fd);
assert(strcmp((const char *)cap.driver, "msm_vidc_driver") == 0);
assert(strcmp((const char *)cap.card, "msm_vidc_venc") == 0);
@ -177,7 +168,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
}
}
};
checked_ioctl(fd, VIDIOC_S_FMT, &fmt_out);
util::safe_ioctl(fd, VIDIOC_S_FMT, &fmt_out, "VIDIOC_S_FMT failed");
v4l2_streamparm streamparm = {
.type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE,
@ -191,7 +182,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
}
}
};
checked_ioctl(fd, VIDIOC_S_PARM, &streamparm);
util::safe_ioctl(fd, VIDIOC_S_PARM, &streamparm, "VIDIOC_S_PARM failed");
struct v4l2_format fmt_in = {
.type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE,
@ -205,7 +196,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
}
}
};
checked_ioctl(fd, VIDIOC_S_FMT, &fmt_in);
util::safe_ioctl(fd, VIDIOC_S_FMT, &fmt_in, "VIDIOC_S_FMT failed");
LOGD("in buffer size %d, out buffer size %d",
fmt_in.fmt.pix_mp.plane_fmt[0].sizeimage,
@ -221,7 +212,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
{ .id = V4L2_CID_MPEG_VIDC_VIDEO_IDR_PERIOD, .value = 1},
};
for (auto ctrl : ctrls) {
checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl);
util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
}
}
@ -234,7 +225,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
{ .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = 0},
};
for (auto ctrl : ctrls) {
checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl);
util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
}
} else {
struct v4l2_control ctrls[] = {
@ -250,7 +241,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
{ .id = V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MODE, .value = 0},
};
for (auto ctrl : ctrls) {
checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl);
util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
}
}
@ -260,9 +251,9 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
// start encoder
v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
checked_ioctl(fd, VIDIOC_STREAMON, &buf_type);
util::safe_ioctl(fd, VIDIOC_STREAMON, &buf_type, "VIDIOC_STREAMON failed");
buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
checked_ioctl(fd, VIDIOC_STREAMON, &buf_type);
util::safe_ioctl(fd, VIDIOC_STREAMON, &buf_type, "VIDIOC_STREAMON failed");
// queue up output buffers
for (unsigned int i = 0; i < BUF_OUT_COUNT; i++) {
@ -305,7 +296,7 @@ void V4LEncoder::encoder_close() {
for (int i = 0; i < BUF_IN_COUNT; i++) free_buf_in.push(i);
// no frames, stop the encoder
struct v4l2_encoder_cmd encoder_cmd = { .cmd = V4L2_ENC_CMD_STOP };
checked_ioctl(fd, VIDIOC_ENCODER_CMD, &encoder_cmd);
util::safe_ioctl(fd, VIDIOC_ENCODER_CMD, &encoder_cmd, "VIDIOC_ENCODER_CMD failed");
// join waits for V4L2_QCOM_BUF_FLAG_EOS
dequeue_handler_thread.join();
assert(extras.empty());
@ -316,10 +307,10 @@ void V4LEncoder::encoder_close() {
V4LEncoder::~V4LEncoder() {
encoder_close();
v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
checked_ioctl(fd, VIDIOC_STREAMOFF, &buf_type);
util::safe_ioctl(fd, VIDIOC_STREAMOFF, &buf_type, "VIDIOC_STREAMOFF failed");
request_buffers(fd, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, 0);
buf_type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
checked_ioctl(fd, VIDIOC_STREAMOFF, &buf_type);
util::safe_ioctl(fd, VIDIOC_STREAMOFF, &buf_type, "VIDIOC_STREAMOFF failed");
request_buffers(fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, 0);
close(fd);

Write Preview
Loading…
Cancel
Save