diff --git a/SConstruct b/SConstruct index 933a540020..168e41bd0f 100644 --- a/SConstruct +++ b/SConstruct @@ -114,6 +114,7 @@ env = Environment( "-g", "-fPIC", "-O2", + "-Wunused", "-Werror", "-Wno-deprecated-register", "-Wno-inconsistent-missing-override", diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 0bdf207b7a..c44af47364 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -61,14 +61,17 @@ bool fake_send = false; bool loopback_can = false; cereal::HealthData::HwType hw_type = cereal::HealthData::HwType::UNKNOWN; bool is_pigeon = false; -const uint32_t NO_IGNITION_CNT_MAX = 2 * 60 * 60 * 30; // turn off charge after 30 hrs -const float VBATT_START_CHARGING = 11.5; -const float VBATT_PAUSE_CHARGING = 11.0; float voltage_f = 12.5; // filtered voltage uint32_t no_ignition_cnt = 0; bool connected_once = false; bool ignition_last = false; +#ifndef __x86_64__ +const uint32_t NO_IGNITION_CNT_MAX = 2 * 60 * 60 * 30; // turn off charge after 30 hrs +const float VBATT_START_CHARGING = 11.5; +const float VBATT_PAUSE_CHARGING = 11.0; +#endif + bool safety_setter_thread_initialized = false; pthread_t safety_setter_thread_handle; @@ -277,7 +280,6 @@ void can_recv(PubMaster &pm) { int err; uint32_t data[RECV_SIZE/4]; int recv; - uint32_t f1, f2; uint64_t start_time = nanos_since_boot(); @@ -455,7 +457,7 @@ void can_health(PubMaster &pm) { uint16_t fan_speed_rpm = 0; pthread_mutex_lock(&usb_lock); - int sz = libusb_control_transfer(dev_handle, 0xc0, 0xb2, 0, 0, (unsigned char*)&fan_speed_rpm, sizeof(fan_speed_rpm), TIMEOUT); + libusb_control_transfer(dev_handle, 0xc0, 0xb2, 0, 0, (unsigned char*)&fan_speed_rpm, sizeof(fan_speed_rpm), TIMEOUT); pthread_mutex_unlock(&usb_lock); // Write to rtc once per minute when no ignition present @@ -721,6 +723,7 @@ void *hardware_control_thread(void *crap) { #define pigeon_send(x) _pigeon_send(x, sizeof(x)-1) +void hexdump(unsigned char *d, int l) __attribute__((unused)); void hexdump(unsigned char *d, int l) { for (int i = 0; i < l; i++) { if (i!=0 && i%0x10 == 0) printf("\n"); diff --git a/selfdrive/camerad/cameras/camera_frame_stream.cc b/selfdrive/camerad/cameras/camera_frame_stream.cc index cea6272b4a..45e5013206 100644 --- a/selfdrive/camerad/cameras/camera_frame_stream.cc +++ b/selfdrive/camerad/cameras/camera_frame_stream.cc @@ -32,9 +32,7 @@ void camera_close(CameraState *s) { tbuffer_stop(&s->camera_tb); } -void camera_release_buffer(void *cookie, int buf_idx) { - CameraState *s = static_cast(cookie); -} +void camera_release_buffer(void *cookie, int buf_idx) {} void camera_init(CameraState *s, int camera_id, unsigned int fps) { assert(camera_id < ARRAYSIZE(cameras_supported)); @@ -48,7 +46,6 @@ void camera_init(CameraState *s, int camera_id, unsigned int fps) { } void run_frame_stream(DualCameraState *s) { - int err; SubMaster sm({"frame"}); CameraState *const rear_camera = &s->rear; @@ -121,7 +118,6 @@ void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_front) { assert(camera_bufs_rear); assert(camera_bufs_front); - int err; // LOG("*** open front ***"); camera_open(&s->front, camera_bufs_front, false); diff --git a/selfdrive/camerad/cameras/camera_qcom.cc b/selfdrive/camerad/cameras/camera_qcom.cc index 1a6d0ae2c9..79e6c8f097 100644 --- a/selfdrive/camerad/cameras/camera_qcom.cc +++ b/selfdrive/camerad/cameras/camera_qcom.cc @@ -163,16 +163,6 @@ static int imx298_apply_exposure(CameraState *s, int gain, int integ_lines, int //printf("%5d/%5d %5d %f\n", s->cur_integ_lines, s->cur_frame_length, analog_gain, s->digital_gain); - int digital_gain = 0x100; - - float white_balance[] = {0.4609375, 1.0, 0.546875}; - //float white_balance[] = {1.0, 1.0, 1.0}; - - int digital_gain_gr = digital_gain / white_balance[1]; - int digital_gain_gb = digital_gain / white_balance[1]; - int digital_gain_r = digital_gain / white_balance[0]; - int digital_gain_b = digital_gain / white_balance[2]; - struct msm_camera_i2c_reg_array reg_array[] = { // REG_HOLD {0x104,0x1,0}, diff --git a/selfdrive/camerad/main.cc b/selfdrive/camerad/main.cc index d1e659b465..4e1ce307c8 100644 --- a/selfdrive/camerad/main.cc +++ b/selfdrive/camerad/main.cc @@ -171,7 +171,7 @@ void* frontview_thread(void *arg) { int rgb_idx = ui_idx; FrameMetadata frame_data = s->cameras.front.camera_bufs_metadata[buf_idx]; - double t1 = millis_since_boot(); + //double t1 = millis_since_boot(); cl_event debayer_event; if (s->cameras.front.ci.bayer) { @@ -329,8 +329,7 @@ void* frontview_thread(void *arg) { tbuffer_dispatch(&s->ui_front_tb, ui_idx); - double t2 = millis_since_boot(); - + //double t2 = millis_since_boot(); //LOGD("front process: %.2fms", t2-t1); } @@ -514,8 +513,6 @@ void* processing_thread(void *arg) { s->yuv_metas[yuv_idx] = frame_data; uint8_t* yuv_ptr_y = s->yuv_bufs[yuv_idx].y; - uint8_t* yuv_ptr_u = s->yuv_bufs[yuv_idx].u; - uint8_t* yuv_ptr_v = s->yuv_bufs[yuv_idx].v; cl_mem yuv_cl = s->yuv_cl[yuv_idx]; rgb_to_yuv_queue(&s->rgb_to_yuv_state, q, s->rgb_bufs_cl[rgb_idx], yuv_cl); visionbuf_sync(&s->yuv_ion[yuv_idx], VISIONBUF_SYNC_FROM_DEVICE); @@ -1252,7 +1249,6 @@ void party(VisionState *s) { } int main(int argc, char *argv[]) { - int err; set_realtime_priority(51); zsys_handler_set(NULL); diff --git a/selfdrive/common/clutil.c b/selfdrive/common/clutil.c index 22c9b45de1..9a80c9067b 100644 --- a/selfdrive/common/clutil.c +++ b/selfdrive/common/clutil.c @@ -175,6 +175,7 @@ cl_program cl_cached_program_from_hash(cl_context ctx, cl_device_id device_id, u return prg; } +#ifndef CLU_NO_CACHE static uint8_t* get_program_binary(cl_program prg, size_t *out_size) { int err; @@ -199,6 +200,7 @@ static uint8_t* get_program_binary(cl_program prg, size_t *out_size) { *out_size = binary_size; return binary_buf; } +#endif cl_program cl_cached_program_from_string(cl_context ctx, cl_device_id device_id, const char* src, const char* args, @@ -265,13 +267,14 @@ cl_program cl_cached_program_from_file(cl_context ctx, cl_device_id device_id, c return ret; } +#ifndef CLU_NO_CACHE static void add_index(uint64_t index_hash, uint64_t src_hash) { FILE *f = fopen("/tmp/clcache/index.cli", "a"); assert(f); fprintf(f, "%016" PRIx64 " %016" PRIx64 "\n", index_hash, src_hash); fclose(f); } - +#endif cl_program cl_program_from_index(cl_context ctx, cl_device_id device_id, uint64_t index_hash) { int err; diff --git a/selfdrive/common/ipc.c b/selfdrive/common/ipc.c index 28a30d1a10..a5993598d2 100644 --- a/selfdrive/common/ipc.c +++ b/selfdrive/common/ipc.c @@ -60,8 +60,6 @@ int ipc_bind(const char* socket_path) { int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds, int *out_num_fds) { - int err; - char control_buf[CMSG_SPACE(sizeof(int) * num_fds)]; memset(control_buf, 0, CMSG_SPACE(sizeof(int) * num_fds)); diff --git a/selfdrive/locationd/paramsd.cc b/selfdrive/locationd/paramsd.cc index bb45ea2b4b..aee957bc81 100644 --- a/selfdrive/locationd/paramsd.cc +++ b/selfdrive/locationd/paramsd.cc @@ -43,7 +43,7 @@ int main(int argc, char *argv[]) { // make copy due to alignment issues auto amsg = kj::heapArray((params.size() / sizeof(capnp::word)) + 1); memcpy(amsg.begin(), params.data(), params.size()); - + capnp::FlatArrayMessageReader cmsg(amsg); cereal::CarParams::Reader car_params = cmsg.getRoot(); @@ -53,7 +53,6 @@ int main(int argc, char *argv[]) { double sR = car_params.getSteerRatio(); double x = 1.0; double ao = 0.0; - double posenet_invalid_count = 0; std::vector live_params = read_db_bytes("LiveParameters"); if (live_params.size() > 0){ std::string err; diff --git a/selfdrive/loggerd/encoder.c b/selfdrive/loggerd/encoder.c index 3b9beb4d61..297f65cf85 100644 --- a/selfdrive/loggerd/encoder.c +++ b/selfdrive/loggerd/encoder.c @@ -96,6 +96,7 @@ static OMX_CALLBACKTYPE omx_callbacks = { #define PORT_INDEX_IN 0 #define PORT_INDEX_OUT 1 +static const char* omx_color_fomat_name(uint32_t format) __attribute__((unused)); static const char* omx_color_fomat_name(uint32_t format) { switch (format) { case OMX_COLOR_FormatUnused: return "OMX_COLOR_FormatUnused"; @@ -397,9 +398,9 @@ static void handle_out_buf(EncoderState *s, OMX_BUFFERHEADERTYPE *out_buf) { } if (s->stream_sock_raw) { - uint64_t current_time = nanos_since_boot(); - uint64_t diff = current_time - out_buf->nTimeStamp*1000LL; - double msdiff = (double) diff / 1000000.0; + //uint64_t current_time = nanos_since_boot(); + //uint64_t diff = current_time - out_buf->nTimeStamp*1000LL; + //double msdiff = (double) diff / 1000000.0; // printf("encoded latency to tsEof: %f\n", msdiff); zmq_send(s->stream_sock_raw, &out_buf->nTimeStamp, sizeof(out_buf->nTimeStamp), ZMQ_SNDMORE); zmq_send(s->stream_sock_raw, buf_data, out_buf->nFilledLen, 0); diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc index d575db9900..9cc3043a70 100644 --- a/selfdrive/loggerd/loggerd.cc +++ b/selfdrive/loggerd/loggerd.cc @@ -61,6 +61,7 @@ namespace { +double randrange(double a, double b) __attribute__((unused)); double randrange(double a, double b) { static std::mt19937 gen(millis_since_boot()); @@ -165,9 +166,9 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) { break; } - uint64_t current_time = nanos_since_boot(); - uint64_t diff = current_time - extra.timestamp_eof; - double msdiff = (double) diff / 1000000.0; + //uint64_t current_time = nanos_since_boot(); + //uint64_t diff = current_time - extra.timestamp_eof; + //double msdiff = (double) diff / 1000000.0; // printf("logger latency to tsEof: %f\n", msdiff); uint8_t *y = (uint8_t*)buf->addr; diff --git a/selfdrive/modeld/dmonitoringmodeld.cc b/selfdrive/modeld/dmonitoringmodeld.cc index e39fba1689..140b567ad3 100644 --- a/selfdrive/modeld/dmonitoringmodeld.cc +++ b/selfdrive/modeld/dmonitoringmodeld.cc @@ -25,6 +25,9 @@ int main(int argc, char **argv) { int err; set_realtime_priority(51); + signal(SIGINT, (sighandler_t)set_do_exit); + signal(SIGTERM, (sighandler_t)set_do_exit); + // messaging SubMaster sm({"dMonitoringState"}); PubMaster pm({"driverState"}); diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc index 691d3f32e8..5cf8ae0881 100644 --- a/selfdrive/modeld/modeld.cc +++ b/selfdrive/modeld/modeld.cc @@ -1,5 +1,6 @@ #include #include +#include #include #include "common/visionbuf.h" @@ -20,7 +21,6 @@ mat3 cur_transform; pthread_mutex_t transform_lock; void* live_thread(void *arg) { - int err; set_thread_name("live"); SubMaster sm({"liveCalibration"}); @@ -75,6 +75,9 @@ int main(int argc, char **argv) { int err; set_realtime_priority(51); + signal(SIGINT, (sighandler_t)set_do_exit); + signal(SIGTERM, (sighandler_t)set_do_exit); + // start calibration thread pthread_t live_thread_handle; err = pthread_create(&live_thread_handle, NULL, live_thread, NULL); diff --git a/selfdrive/modeld/models/commonmodel.c b/selfdrive/modeld/models/commonmodel.c index 1b93718c88..93fceb3ad5 100644 --- a/selfdrive/modeld/models/commonmodel.c +++ b/selfdrive/modeld/models/commonmodel.c @@ -36,7 +36,6 @@ float *frame_prepare(ModelFrame* frame, cl_command_queue q, cl_mem yuv_cl, int width, int height, mat3 transform) { int err; - int i = 0; transform_queue(&frame->transform, q, yuv_cl, width, height, frame->transformed_y_cl, frame->transformed_u_cl, frame->transformed_v_cl, diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc index 19740f9a93..5a92d94bf4 100644 --- a/selfdrive/modeld/runners/snpemodel.cc +++ b/selfdrive/modeld/runners/snpemodel.cc @@ -6,7 +6,6 @@ #include "snpemodel.h" void PrintErrorStringAndExit() { - const char* const errStr = zdl::DlSystem::getLastErrorString(); std::cerr << zdl::DlSystem::getLastErrorString() << std::endl; std::exit(EXIT_FAILURE); } diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h index 11aa14ccb5..f7f217cdc6 100644 --- a/selfdrive/modeld/runners/snpemodel.h +++ b/selfdrive/modeld/runners/snpemodel.h @@ -38,7 +38,9 @@ private: Thneed *thneed = NULL; #endif +#ifdef QCOM zdl::DlSystem::Runtime_t Runtime; +#endif // snpe model stuff std::unique_ptr snpe; diff --git a/selfdrive/modeld/thneed/thneed.cc b/selfdrive/modeld/thneed/thneed.cc index 9a593d9e04..11f10cfeb5 100644 --- a/selfdrive/modeld/thneed/thneed.cc +++ b/selfdrive/modeld/thneed/thneed.cc @@ -99,7 +99,7 @@ GPUMalloc::GPUMalloc(int size, int fd) { memset(&alloc, 0, sizeof(alloc)); alloc.size = size; alloc.flags = 0x10000a00; - int ret = ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc); + ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc); void *addr = mmap64(NULL, alloc.mmapsize, 0x3, 0x1, fd, alloc.id*0x1000); assert(addr != MAP_FAILED); diff --git a/selfdrive/proclogd/proclogd.cc b/selfdrive/proclogd/proclogd.cc index 7c77c12ceb..c8e5f65a50 100644 --- a/selfdrive/proclogd/proclogd.cc +++ b/selfdrive/proclogd/proclogd.cc @@ -29,7 +29,6 @@ struct ProcCache { } int main() { - int err; PubMaster publisher({"procLog"}); double jiffy = sysconf(_SC_CLK_TCK); @@ -61,8 +60,8 @@ int main() { unsigned long utime, ntime, stime, itime; unsigned long iowtime, irqtime, sirqtime; - int count = sscanf(stat_line.data(), "cpu%d %lu %lu %lu %lu %lu %lu %lu", - &id, &utime, &ntime, &stime, &itime, &iowtime, &irqtime, &sirqtime); + sscanf(stat_line.data(), "cpu%d %lu %lu %lu %lu %lu %lu %lu", + &id, &utime, &ntime, &stime, &itime, &iowtime, &irqtime, &sirqtime); auto ltimeo = orphanage.newOrphan(); auto ltime = ltimeo.get(); diff --git a/selfdrive/sensord/gpsd.cc b/selfdrive/sensord/gpsd.cc index 7fdad45c6b..4bf71faf61 100644 --- a/selfdrive/sensord/gpsd.cc +++ b/selfdrive/sensord/gpsd.cc @@ -155,7 +155,6 @@ void gps_destroy() { } int main() { - int err = 0; setpriority(PRIO_PROCESS, 0, -13); signal(SIGINT, (sighandler_t)set_do_exit); diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc index b577d78be8..8c17b4cf98 100644 --- a/selfdrive/ui/paint.cc +++ b/selfdrive/ui/paint.cc @@ -437,6 +437,7 @@ static void ui_draw_vision_maxspeed(UIState *s) { } } +#ifdef SHOW_SPEEDLIMIT static void ui_draw_vision_speedlimit(UIState *s) { char speedlim_str[32]; float speedlimit = s->scene.speedlimit; @@ -493,6 +494,7 @@ static void ui_draw_vision_speedlimit(UIState *s) { ui_draw_text(s->vg, text_x, viz_speedlim_y + (is_speedlim_valid ? 170 : 165), "N/A", 42*2.5, color, s->font_sans_semibold); } } +#endif static void ui_draw_vision_speed(UIState *s) { const UIScene *scene = &s->scene; @@ -542,12 +544,14 @@ static void ui_draw_vision_event(UIState *s) { } } +#ifdef SHOW_SPEEDLIMIT static void ui_draw_vision_map(UIState *s) { const int map_size = 96; const int map_x = (s->scene.ui_viz_rx + (map_size * 3) + (bdr_s * 3)); const int map_y = (footer_y + ((footer_h - map_size) / 2)); ui_draw_circle_image(s->vg, map_x, map_y, map_size, s->img_map, s->scene.map_valid); } +#endif static void ui_draw_vision_face(UIState *s) { const int face_size = 96; diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index cdea7b4538..4bd1fa20dc 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -664,7 +664,7 @@ static void* light_sensor_thread(void *args) { // need to do this struct sensor_t const* list; - int count = module->get_sensors_list(module, &list); + module->get_sensors_list(module, &list); int SENSOR_LIGHT = 7;