From 4aa291c406752169f4d836e952708eeccbb36c5d Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 13 Dec 2021 21:16:53 +0800
Subject: [PATCH] Use std::unique_ptr to manage memory (#23168)

* use unique_ptr

* trigger ci

* move down loggerdstate
---
 selfdrive/boardd/boardd.cc    | 25 ++++++++-----------------
 selfdrive/locationd/ubloxd.cc | 12 ++++--------
 selfdrive/loggerd/loggerd.cc  | 10 ++++------
 selfdrive/loggerd/loggerd.h   |  1 -
 4 files changed, 16 insertions(+), 32 deletions(-)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 51471b8a2..d09738a70 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -208,14 +208,14 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
   util::set_thread_name("boardd_can_send");
 
   AlignedBuffer aligned_buf;
-  Context * context = Context::create();
-  SubSocket * subscriber = SubSocket::create(context, "sendcan");
+  std::unique_ptr<Context> context(Context::create());
+  std::unique_ptr<SubSocket> subscriber(SubSocket::create(context.get(), "sendcan"));
   assert(subscriber != NULL);
   subscriber->setTimeout(100);
 
   // run as fast as messages come in
   while (!do_exit && check_all_connected(pandas)) {
-    Message * msg = subscriber->receive();
+    std::unique_ptr<Message> msg(subscriber->receive());
     if (!msg) {
       if (errno == EINTR) {
         do_exit = true;
@@ -223,23 +223,16 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
       continue;
     }
 
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg));
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get()));
     cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
 
     //Dont send if older than 1 second
-    if (nanos_since_boot() - event.getLogMonoTime() < 1e9) {
-      if (!fake_send) {
-        for (const auto& panda : pandas) {
-          panda->can_send(event.getSendcan());
-        }
+    if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) {
+      for (const auto& panda : pandas) {
+        panda->can_send(event.getSendcan());
       }
     }
-
-    delete msg;
   }
-
-  delete subscriber;
-  delete context;
 }
 
 void can_recv_thread(std::vector<Panda *> pandas) {
@@ -552,7 +545,7 @@ void pigeon_thread(Panda *panda) {
   PubMaster pm({"ubloxRaw"});
   bool ignition_last = false;
 
-  Pigeon *pigeon = Hardware::TICI() ? Pigeon::connect("/dev/ttyHS0") : Pigeon::connect(panda);
+  std::unique_ptr<Pigeon> pigeon(Hardware::TICI() ? Pigeon::connect("/dev/ttyHS0") : Pigeon::connect(panda));
 
   std::unordered_map<char, uint64_t> last_recv_time;
   std::unordered_map<char, int64_t> cls_max_dt = {
@@ -620,8 +613,6 @@ void pigeon_thread(Panda *panda) {
     // 10ms - 100 Hz
     util::sleep_for(10);
   }
-
-  delete pigeon;
 }
 
 int main(int argc, char *argv[]) {
diff --git a/selfdrive/locationd/ubloxd.cc b/selfdrive/locationd/ubloxd.cc
index bcf33b3f7..ae07284c8 100644
--- a/selfdrive/locationd/ubloxd.cc
+++ b/selfdrive/locationd/ubloxd.cc
@@ -17,14 +17,14 @@ int main() {
 
   PubMaster pm({"ubloxGnss", "gpsLocationExternal"});
 
-  Context * context = Context::create();
-  SubSocket * subscriber = SubSocket::create(context, "ubloxRaw");
+  std::unique_ptr<Context> context(Context::create());
+  std::unique_ptr<SubSocket> subscriber(SubSocket::create(context.get(), "ubloxRaw"));
   assert(subscriber != NULL);
   subscriber->setTimeout(100);
 
 
   while (!do_exit) {
-    Message * msg = subscriber->receive();
+    std::unique_ptr<Message> msg(subscriber->receive());
     if (!msg) {
       if (errno == EINTR) {
         do_exit = true;
@@ -32,7 +32,7 @@ int main() {
       continue;
     }
 
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg));
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get()));
     cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
     auto ubloxRaw = event.getUbloxRaw();
 
@@ -58,11 +58,7 @@ int main() {
       }
       bytes_consumed += bytes_consumed_this_time;
     }
-    delete msg;
   }
 
-  delete subscriber;
-  delete context;
-
   return 0;
 }
diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc
index 8b6cf9e55..37f03ef4e 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@@ -185,15 +185,14 @@ void loggerd_thread() {
   } QlogState;
   std::unordered_map<SubSocket*, QlogState> qlog_states;
 
-  LoggerdState s;
-  s.ctx = Context::create();
-  Poller * poller = Poller::create();
+  std::unique_ptr<Context> ctx(Context::create());
+  std::unique_ptr<Poller> poller(Poller::create());
 
   // subscribe to all socks
   for (const auto& it : services) {
     if (!it.should_log) continue;
 
-    SubSocket * sock = SubSocket::create(s.ctx, it.name);
+    SubSocket * sock = SubSocket::create(ctx.get(), it.name);
     assert(sock != NULL);
     poller->registerSocket(sock);
     qlog_states[sock] = {
@@ -203,6 +202,7 @@ void loggerd_thread() {
     };
   }
 
+  LoggerdState s;
   // init logger
   logger_init(&s.logger, "rlog", true);
   logger_rotate(&s);
@@ -266,6 +266,4 @@ void loggerd_thread() {
 
   // messaging cleanup
   for (auto &[sock, qs] : qlog_states) delete sock;
-  delete poller;
-  delete s.ctx;
 }
diff --git a/selfdrive/loggerd/loggerd.h b/selfdrive/loggerd/loggerd.h
index 0101a91a5..bdf5ef8f9 100644
--- a/selfdrive/loggerd/loggerd.h
+++ b/selfdrive/loggerd/loggerd.h
@@ -108,7 +108,6 @@ const LogCameraInfo qcam_info = {
 };
 
 struct LoggerdState {
-  Context *ctx;
   LoggerState logger = {};
   char segment_path[4096];
   std::mutex rotate_lock;