util: move all functions into util namespace (#23203)

old-commit-hash: 9decd3d8a2

selfdrive/boardd/boardd.cc

@@ -205,7 +205,7 @@ Panda *usb_connect(std::string serial="", uint32_t index=0) {
 }
 
 void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
-  set_thread_name("boardd_can_send");
+  util::set_thread_name("boardd_can_send");
 
   AlignedBuffer aligned_buf;
   Context * context = Context::create();
@@ -243,7 +243,7 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
 }
 
 void can_recv_thread(std::vector<Panda *> pandas) {
-  set_thread_name("boardd_can_recv");
+  util::set_thread_name("boardd_can_recv");
 
   // can = 8006
   PubMaster pm({"can"});
@@ -415,7 +415,7 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) {
 }
 
 void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofing_started) {
-  set_thread_name("boardd_panda_state");
+  util::set_thread_name("boardd_panda_state");
 
   Params params;
   Panda *peripheral_panda = pandas[0];
@@ -461,7 +461,7 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
 
 
 void peripheral_control_thread(Panda *panda) {
-  set_thread_name("boardd_peripheral_control");
+  util::set_thread_name("boardd_peripheral_control");
 
   SubMaster sm({"deviceState", "driverCameraState"});
 
@@ -547,7 +547,7 @@ static void pigeon_publish_raw(PubMaster &pm, const std::string &dat) {
 }
 
 void pigeon_thread(Panda *panda) {
-  set_thread_name("boardd_pigeon");
+  util::set_thread_name("boardd_pigeon");
 
   PubMaster pm({"ubloxRaw"});
   bool ignition_last = false;
@@ -629,9 +629,9 @@ int main(int argc, char *argv[]) {
 
   if (!Hardware::PC()) {
     int err;
-    err = set_realtime_priority(54);
+    err = util::set_realtime_priority(54);
     assert(err == 0);
-    err = set_core_affinity({Hardware::TICI() ? 4 : 3});
+    err = util::set_core_affinity({Hardware::TICI() ? 4 : 3});
     assert(err == 0);
   }
 

selfdrive/camerad/cameras/camera_common.cc

@@ -351,7 +351,7 @@ void *processing_thread(MultiCameraState *cameras, CameraState *cs, process_thre
   } else {
     thread_name = "WideRoadCamera";
   }
-  set_thread_name(thread_name);
+  util::set_thread_name(thread_name);
 
   uint32_t cnt = 0;
   while (!do_exit) {

selfdrive/camerad/cameras/camera_qcom.cc

@@ -1045,7 +1045,7 @@ static void ops_thread(MultiCameraState *s) {
   CameraExpInfo road_cam_op;
   CameraExpInfo driver_cam_op;
 
-  set_thread_name("camera_settings");
+  util::set_thread_name("camera_settings");
   SubMaster sm({"sensorEvents"});
   while(!do_exit) {
     road_cam_op = road_cam_exp.load();

selfdrive/camerad/cameras/camera_replay.cc

@@ -67,12 +67,12 @@ void run_camera(CameraState *s) {
 }
 
 void road_camera_thread(CameraState *s) {
-  set_thread_name("replay_road_camera_thread");
+  util::set_thread_name("replay_road_camera_thread");
   run_camera(s);
 }
 
 // void driver_camera_thread(CameraState *s) {
-//   set_thread_name("replay_driver_camera_thread");
+//   util::set_thread_name("replay_driver_camera_thread");
 //   run_camera(s);
 // }
 

selfdrive/camerad/cameras/camera_webcam.cc

@@ -97,7 +97,7 @@ void run_camera(CameraState *s, cv::VideoCapture &video_cap, float *ts) {
 }
 
 static void road_camera_thread(CameraState *s) {
-  set_thread_name("webcam_road_camera_thread");
+  util::set_thread_name("webcam_road_camera_thread");
 
   cv::VideoCapture cap_road(ROAD_CAMERA_ID, cv::CAP_V4L2); // road
   cap_road.set(cv::CAP_PROP_FRAME_WIDTH, 853);
@@ -186,7 +186,7 @@ void cameras_run(MultiCameraState *s) {
   threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera));
 
   std::thread t_rear = std::thread(road_camera_thread, &s->road_cam);
-  set_thread_name("webcam_thread");
+  util::set_thread_name("webcam_thread");
   driver_camera_thread(&s->driver_cam);
 
   t_rear.join();

selfdrive/camerad/main.cc

@@ -46,9 +46,9 @@ void party(cl_device_id device_id, cl_context context) {
 int main(int argc, char *argv[]) {
   if (!Hardware::PC()) {
     int ret;
-    ret = set_realtime_priority(53);
+    ret = util::set_realtime_priority(53);
     assert(ret == 0);
-    ret = set_core_affinity({Hardware::EON() ? 2 : 6});
+    ret = util::set_core_affinity({Hardware::EON() ? 2 : 6});
     assert(ret == 0 || Params().getBool("IsOffroad")); // failure ok while offroad due to offlining cores
   }
 

selfdrive/common/util.cc

@@ -20,6 +20,8 @@
 #include <sched.h>
 #endif  // __linux__
 
+namespace util {
+
 void set_thread_name(const char* name) {
 #ifdef __linux__
   // pthread_setname_np is dumb (fails instead of truncates)
@@ -56,8 +58,6 @@ int set_core_affinity(std::vector<int> cores) {
 #endif
 }
 
-namespace util {
-
 std::string read_file(const std::string& fn) {
   std::ifstream f(fn, std::ios::binary | std::ios::in);
   if (f.is_open()) {

selfdrive/common/util.h

@@ -37,13 +37,12 @@ const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE;
 const double METER_TO_MILE = KM_TO_MILE / 1000.0;
 const double METER_TO_FOOT = 3.28084;
 
-void set_thread_name(const char* name);
+namespace util {
 
+void set_thread_name(const char* name);
 int set_realtime_priority(int level);
 int set_core_affinity(std::vector<int> cores);
 
-namespace util {
-
 // ***** Time helpers *****
 struct tm get_time();
 bool time_valid(struct tm sys_time);

selfdrive/locationd/locationd.cc

@@ -531,7 +531,7 @@ int Localizer::locationd_thread() {
 }
 
 int main() {
-  set_realtime_priority(5);
+  util::set_realtime_priority(5);
 
   Localizer localizer;
   return localizer.locationd_thread();

selfdrive/loggerd/loggerd.cc

@@ -38,7 +38,7 @@ bool trigger_rotate_if_needed(LoggerdState *s, int cur_seg, uint32_t frame_id) {
 }
 
 void encoder_thread(LoggerdState *s, const LogCameraInfo &cam_info) {
-  set_thread_name(cam_info.filename);
+  util::set_thread_name(cam_info.filename);
 
   int cur_seg = -1;
   int encode_idx = 0;

selfdrive/loggerd/main.cc

@@ -7,10 +7,10 @@ int main(int argc, char** argv) {
     setpriority(PRIO_PROCESS, 0, -20);
   } else if (Hardware::TICI()) {
     int ret;
-    ret = set_core_affinity({0, 1, 2, 3});
+    ret = util::set_core_affinity({0, 1, 2, 3});
     assert(ret == 0);
     // TODO: why does this impact camerad timings?
-    //ret = set_realtime_priority(1);
+    //ret = util::set_realtime_priority(1);
     //assert(ret == 0);
   }
 

selfdrive/modeld/modeld.cc

@@ -20,8 +20,8 @@ mat3 cur_transform;
 std::mutex transform_lock;
 
 void calibration_thread(bool wide_camera) {
-  set_thread_name("calibration");
+  util::set_thread_name("calibration");
-  set_realtime_priority(50);
+  util::set_realtime_priority(50);
 
   SubMaster sm({"liveCalibration"});
 
@@ -133,9 +133,9 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) {
 int main(int argc, char **argv) {
   if (!Hardware::PC()) {
     int ret;
-    ret = set_realtime_priority(54);
+    ret = util::set_realtime_priority(54);
     assert(ret == 0);
-    set_core_affinity({Hardware::EON() ? 2 : 7});
+    util::set_core_affinity({Hardware::EON() ? 2 : 7});
     assert(ret == 0);
   }