camerad: close file descriptors (#2065)

* close file descriptors

* fix struct indent

* add some new lines
old-commit-hash: 9f34d1ff66

selfdrive/camerad/cameras/camera_qcom.cc

@@ -548,7 +548,7 @@ static void imx298_ois_calibration(int ois_fd, uint8_t* eeprom) {
 static void sensors_init(MultiCameraState *s) {
   int err;
 
-  int sensorinit_fd = -1;
+  unique_fd sensorinit_fd;
   if (s->device == DEVICE_LP3) {
     sensorinit_fd = open("/dev/v4l-subdev11", O_RDWR | O_NONBLOCK);
   } else {
@@ -1866,13 +1866,13 @@ void cameras_open(MultiCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *c
   assert(camera_bufs_rear);
   assert(camera_bufs_front);
 
-  int msmcfg_fd = open("/dev/media0", O_RDWR | O_NONBLOCK);
-  assert(msmcfg_fd >= 0);
+  s->msmcfg_fd = open("/dev/media0", O_RDWR | O_NONBLOCK);
+  assert(s->msmcfg_fd >= 0);
 
   sensors_init(s);
 
-  int v4l_fd = open("/dev/video0", O_RDWR | O_NONBLOCK);
-  assert(v4l_fd >= 0);
+  s->v4l_fd = open("/dev/video0", O_RDWR | O_NONBLOCK);
+  assert(s->v4l_fd >= 0);
 
   if (s->device == DEVICE_LP3) {
     s->ispif_fd = open("/dev/v4l-subdev15", O_RDWR | O_NONBLOCK);

selfdrive/camerad/cameras/camera_qcom.h

@@ -15,6 +15,7 @@
 #include "common/mat.h"
 #include "common/visionbuf.h"
 #include "common/buffering.h"
+#include "common/utilpp.h"
 
 #include "camera_common.h"
 
@@ -69,13 +70,13 @@ typedef struct CameraState {
   uint32_t line_length_pclk;
   unsigned int max_gain;
 
-  int csid_fd;
-  int csiphy_fd;
-  int sensor_fd;
-  int isp_fd;
-  int eeprom_fd;
+  unique_fd csid_fd;
+  unique_fd csiphy_fd;
+  unique_fd sensor_fd;
+  unique_fd isp_fd;
+  unique_fd eeprom_fd;
   // rear only
-  int ois_fd, actuator_fd;
+  unique_fd ois_fd, actuator_fd;
   uint16_t infinity_dac;
 
   struct msm_vfe_axi_stream_cfg_cmd stream_cfg;
@@ -126,7 +127,9 @@ typedef struct CameraState {
 typedef struct MultiCameraState {
   int device;
 
-  int ispif_fd;
+  unique_fd ispif_fd;
+  unique_fd msmcfg_fd;
+  unique_fd v4l_fd;
 
   CameraState rear;
   CameraState front;

selfdrive/camerad/cameras/camera_qcom2.h

@@ -9,6 +9,7 @@
 #include "common/mat.h"
 #include "common/visionbuf.h"
 #include "common/buffering.h"
+#include "common/utilpp.h"
 
 #include "camera_common.h"
 
@@ -40,12 +41,12 @@ typedef struct CameraState {
   int device_iommu;
   int cdm_iommu;
 
-  int video0_fd;
-  int video1_fd;
-  int isp_fd;
+  unique_fd video0_fd;
+  unique_fd video1_fd;
+  unique_fd isp_fd;
 
-  int sensor_fd;
-  int csiphy_fd;
+  unique_fd sensor_fd;
+  unique_fd csiphy_fd;
 
   int camera_num;
 
@@ -75,9 +76,9 @@ typedef struct CameraState {
 typedef struct MultiCameraState {
   int device;
 
-  int video0_fd;
-  int video1_fd;
-  int isp_fd;
+  unique_fd video0_fd;
+  unique_fd video1_fd;
+  unique_fd isp_fd;
 
   CameraState rear;
   CameraState front;

selfdrive/common/utilpp.h

@@ -1,5 +1,4 @@
-#ifndef UTILPP_H
-#define UTILPP_H
+#pragma once
 
 #include <cstdio>
 #include <unistd.h>
@@ -63,4 +62,16 @@ inline std::string readlink(std::string path) {
 
 }
 
-#endif
+struct unique_fd {
+  unique_fd(int fd = -1) : fd_(fd) {}
+  unique_fd& operator=(unique_fd&& uf) {
+    fd_ = uf.fd_;
+    uf.fd_ = -1;
+    return *this;
+  }
+  ~unique_fd() {
+    if (fd_ != -1) close(fd_);
+  }
+  operator int() const { return fd_; }
+  int fd_;
+};