fix build warnings (#2355)

* fix build warnings

* cython fixes

* cleanup transformations build

* little more

SConstruct

@@ -202,6 +202,7 @@ if arch in ["x86_64", "Darwin", "larch64"]:
     ]
     qt_env["LINKFLAGS"] += ["-F" + QT_BASE + "lib"]
   else:
+    qt_env['QTDIR'] = "/usr"
     qt_dirs = [
       f"/usr/include/{real_arch}-linux-gnu/qt5",
       f"/usr/include/{real_arch}-linux-gnu/qt5/QtWidgets",

common/clock.pyx

@@ -1,3 +1,4 @@
+# cython: language_level = 3
 from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
 
 IF UNAME_SYSNAME == "Darwin":

common/common_pyx_setup.py

@@ -4,9 +4,9 @@ from Cython.Build import cythonize
 from common.cython_hacks import BuildExtWithoutPlatformSuffix
 
 sourcefiles = ['clock.pyx']
-extra_compile_args = ["-std=c++11", "-Wno-nullability-completeness"]
+extra_compile_args = ["-std=c++14"]
 
-setup(name='Common',
+setup(name='common',
       cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
       ext_modules=cythonize(
         Extension(
@@ -14,7 +14,7 @@ setup(name='Common',
           language="c++",
           sources=sourcefiles,
           extra_compile_args=extra_compile_args,
-        )
+        ),
+        nthreads=4,
       ),
-      nthreads=4,
 )

common/kalman/simple_kalman_impl.pxd

@@ -1,3 +1,5 @@
+# cython: language_level = 3
+
 cdef class KF1D:
   cdef public:
     double x0_0
@@ -13,4 +15,4 @@ cdef class KF1D:
     double A_K_0
     double A_K_1
     double A_K_2
-    double A_K_3
+    double A_K_3

common/kalman/simple_kalman_setup.py

@@ -7,5 +7,4 @@ from common.cython_hacks import BuildExtWithoutPlatformSuffix
 setup(name='Simple Kalman Implementation',
       cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
       ext_modules=cythonize(Extension("simple_kalman_impl",
-                                      ["simple_kalman_impl.pyx"],
-                                      extra_compile_args=["-Wno-nullability-completeness"])))
+                                      ["simple_kalman_impl.pyx"])))

common/params_pyx.pyx

@@ -1,4 +1,4 @@
-# distutils: langauge = c++
+# distutils: language = c++
 # cython: language_level = 3
 from libcpp cimport bool
 from libcpp.string cimport string

common/transformations/setup.py

@@ -1,42 +1,20 @@
-import os
 import numpy
-import sysconfig
 
 from Cython.Build import cythonize
-from Cython.Distutils import build_ext
 from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
-
-def get_ext_filename_without_platform_suffix(filename):
-  name, ext = os.path.splitext(filename)
-  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
-
-  if ext_suffix == ext:
-    return filename
-
-  ext_suffix = ext_suffix.replace(ext, '')
-  idx = name.find(ext_suffix)
-
-  if idx == -1:
-    return filename
-  else:
-    return name[:idx] + ext
-
-
-class BuildExtWithoutPlatformSuffix(build_ext):
-  def get_ext_filename(self, ext_name):
-    filename = super().get_ext_filename(ext_name)
-    return get_ext_filename_without_platform_suffix(filename)
-
+from common.cython_hacks import BuildExtWithoutPlatformSuffix
 
 setup(
   name='Cython transformations wrapper',
   cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
   ext_modules=cythonize(
-  Extension(
-    "transformations",
-    sources=["transformations.pyx"],
-    language="c++",
-    extra_compile_args=["-std=c++14", "-Wno-nullability-completeness"],
-    include_dirs=[numpy.get_include()],
+    Extension(
+      "transformations",
+      sources=["transformations.pyx"],
+      language="c++",
+      extra_compile_args=["-std=c++14", "-Wno-cpp"],
+      include_dirs=[numpy.get_include()],
+    ),
+    nthreads=4,
   )
-))
+)

common/transformations/transformations.pxd

@@ -1,3 +1,4 @@
+#cython: language_level=3
 from libcpp cimport bool
 
 cdef extern from "orientation.cc":

common/transformations/transformations.pyx

@@ -26,7 +26,7 @@ cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
         [m(2, 0), m(2, 1), m(2, 2)],
     ])
 
-cdef Matrix3 numpy2matrix (np.ndarray[double, ndim=2, mode="fortran"] m):
+cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
     assert m.shape[0] == 3
     assert m.shape[1] == 3
     return Matrix3(<double*>m.data)

selfdrive/common/params.cc

@@ -173,7 +173,7 @@ int Params::write_db_value(const char* key, const char* value, size_t value_size
   tmp_path = params_path + "/.tmp_value_XXXXXX";
   tmp_fd = mkstemp((char*)tmp_path.c_str());
   bytes_written = write(tmp_fd, value, value_size);
-  if (bytes_written != value_size) {
+  if (bytes_written < 0 || (size_t)bytes_written != value_size) {
     result = -20;
     goto cleanup;
   }

selfdrive/common/util.c

@@ -4,13 +4,16 @@
 #include <assert.h>
 #include <unistd.h>
 #include <fcntl.h>
-#include <errno.h> 
+#include <errno.h>
+
 #ifdef __linux__
 #include <sys/prctl.h>
 #include <sys/syscall.h>
+#ifndef __USE_GNU
 #define __USE_GNU
-#include <sched.h>
 #endif
+#include <sched.h>
+#endif // __linux__
 
 void* read_file(const char* path, size_t* out_len) {
   FILE* f = fopen(path, "r");