setup clang tidy (#19533)

* setup clang tidy

* config

* some cleanup

* little more

* remove that

* fix qcom build
old-commit-hash: 87950eb312

.clang-tidy

@@ -0,0 +1,19 @@
+---
+Checks: '
+bugprone-*,
+-bugprone-integer-division,
+-bugprone-narrowing-conversions,
+performance-*,
+clang-analyzer-*,
+misc-*,
+-misc-unused-parameters,
+modernize-*,
+-modernize-avoid-c-arrays,
+-modernize-deprecated-headers,
+-modernize-use-auto,
+-modernize-use-using,
+-modernize-use-nullptr,
+-modernize-use-trailing-return-type,
+'
+CheckOptions:
+...

.gitignore

@@ -31,6 +31,7 @@ a.out
 *.vcd
 config.json
 clcache
+compile_commands.json
 
 persist
 board/obj/

SConstruct

@@ -21,6 +21,10 @@ AddOption('--clazy',
           action='store_true',
           help='build with clazy')
 
+AddOption('--compile_db',
+          action='store_true',
+          help='build clang compilation database')
+
 real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
@@ -186,7 +190,7 @@ env = Environment(
   tools=["default", "cython", "compilation_db"],
 )
 
-if GetOption('test'):
+if GetOption('compile_db'):
   env.CompilationDatabase('compile_commands.json')
 
 if os.environ.get('SCONS_CACHE'):

selfdrive/boardd/boardd.cc

@@ -72,7 +72,7 @@ void safety_setter_thread() {
   panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327);
 
   // switch to SILENT when CarVin param is read
-  while (1) {
+  while (true) {
     if (do_exit || !panda->connected){
       safety_setter_thread_running = false;
       return;
@@ -94,7 +94,7 @@ void safety_setter_thread() {
 
   std::vector<char> params;
   LOGW("waiting for params to set safety model");
-  while (1) {
+  while (true) {
     if (do_exit || !panda->connected){
       safety_setter_thread_running = false;
       return;

selfdrive/boardd/pigeon.cc

@@ -37,14 +37,14 @@ void Pigeon::init() {
   LOGW("panda GPS start");
 
   // power off pigeon
-  set_power(0);
+  set_power(false);
   util::sleep_for(100);
 
   // 9600 baud at init
   set_baud(9600);
 
   // power on pigeon
-  set_power(1);
+  set_power(true);
   util::sleep_for(500);
 
   // baud rate upping

selfdrive/camerad/cameras/camera_common.cc

@@ -123,11 +123,11 @@ CameraBuf::~CameraBuf() {
   for (int i = 0; i < frame_buf_count; i++) {
     visionbuf_free(&camera_bufs[i]);
   }
-  for (int i = 0; i < UI_BUF_COUNT; i++) {
-    visionbuf_free(&rgb_bufs[i]);
+  for (auto &buf : rgb_bufs) {
+    visionbuf_free(&buf);
   }
-  for (int i = 0; i < YUV_COUNT; i++) {
-    visionbuf_free(&yuv_ion[i]);
+  for (auto &buf : yuv_ion) {
+    visionbuf_free(&buf);
   }
   rgb_to_yuv_destroy(&rgb_to_yuv_state);
 

selfdrive/camerad/cameras/camera_qcom.cc

@@ -427,7 +427,6 @@ static void do_autoexposure(CameraState *s, float grey_frac) {
     pthread_mutex_unlock(&s->frame_info_lock);
 
     set_exposure(s, s->cur_exposure_frac, cur_gain_frac);
-
   } else { // keep the old for others
     float new_exposure = s->cur_exposure_frac;
     new_exposure *= pow(1.05, (target_grey - grey_frac) / 0.05 );
@@ -534,8 +533,6 @@ static void imx298_ois_calibration(int ois_fd, uint8_t* eeprom) {
 }
 
 
-
-
 static void sensors_init(MultiCameraState *s) {
   int err;
 
@@ -782,7 +779,6 @@ static void sensors_init(MultiCameraState *s) {
   LOG("sensor init cfg (rear): %d", err);
   assert(err >= 0);
 
-
   struct msm_camera_sensor_slave_info slave_info2 = {0};
   if (s->device == DEVICE_LP3) {
     slave_info2 = (struct msm_camera_sensor_slave_info){
@@ -1987,10 +1983,10 @@ const char* get_isp_event_name(unsigned int type) {
 
 static FrameMetadata get_frame_metadata(CameraState *s, uint32_t frame_id) {
   pthread_mutex_lock(&s->frame_info_lock);
-  for (int i=0; i<METADATA_BUF_COUNT; i++) {
-    if (s->frame_metadata[i].frame_id == frame_id) {
+  for (auto &i : s->frame_metadata) {
+    if (i.frame_id == frame_id) {
       pthread_mutex_unlock(&s->frame_info_lock);
-      return s->frame_metadata[i];
+      return i;
     }
   }
   pthread_mutex_unlock(&s->frame_info_lock);

selfdrive/camerad/main.cc

@@ -72,13 +72,13 @@ static CameraBuf *get_camerabuf_by_type(VisionState *s, VisionStreamType type) {
 // visionserver
 void* visionserver_client_thread(void* arg) {
   int err;
-  VisionClientState *client = (VisionClientState*)arg;
+  auto *client = (VisionClientState*)arg;
   VisionState *s = client->s;
   int fd = client->fd;
 
   set_thread_name("clientthread");
 
-  VisionClientStreamState streams[VISION_STREAM_MAX] = {{0}};
+  VisionClientStreamState streams[VISION_STREAM_MAX] = {{false}};
 
   LOGW("client start fd %d", fd);
 
@@ -215,12 +215,12 @@ void* visionserver_client_thread(void* arg) {
 
   LOGW("client end fd %d", fd);
 
-  for (int i=0; i<VISION_STREAM_MAX; i++) {
-    if (!streams[i].subscribed) continue;
-    if (streams[i].tb) {
-      tbuffer_release_all(streams[i].tbuffer);
+  for (auto &stream : streams) {
+    if (!stream.subscribed) continue;
+    if (stream.tb) {
+      tbuffer_release_all(stream.tbuffer);
     } else {
-      pool_release_queue(streams[i].queue);
+      pool_release_queue(stream.queue);
     }
   }
 
@@ -286,12 +286,12 @@ void* visionserver_thread(void* arg) {
     pthread_mutex_unlock(&s->clients_lock);
   }
 
-  for (int i=0; i<MAX_CLIENTS; i++) {
+  for (auto &client : s->clients) {
     pthread_mutex_lock(&s->clients_lock);
-    bool running = s->clients[i].running;
+    bool running = client.running;
     pthread_mutex_unlock(&s->clients_lock);
     if (running) {
-      err = pthread_join(s->clients[i].thread_handle, NULL);
+      err = pthread_join(client.thread_handle, NULL);
       assert(err == 0);
     }
   }

selfdrive/common/params.cc

@@ -257,7 +257,7 @@ std::string Params::get(std::string key, bool block){
   size_t size;
   int r;
 
-  if (block){
+  if (block) {
     r = read_db_value_blocking((const char*)key.c_str(), &value, &size);
   } else {
     r = read_db_value((const char*)key.c_str(), &value, &size);