merge utilpp.h into util.h (#19710)

common/params_pxd.pxd

@@ -4,7 +4,7 @@ from libcpp cimport bool
 cdef extern from "selfdrive/common/params.cc":
   pass
 
-cdef extern from "selfdrive/common/util.c":
+cdef extern from "selfdrive/common/util.cc":
   pass
 
 cdef extern from "selfdrive/common/params.h":

installer/updater/updater.cc

@@ -30,7 +30,7 @@
 
 #include "common/framebuffer.h"
 #include "common/touch.h"
-#include "common/utilpp.h"
+#include "common/util.h"
 
 #define USER_AGENT "NEOSUpdater-0.2"
 

release/files_common

@@ -190,7 +190,8 @@ selfdrive/common/glutil.[c,h]
 selfdrive/common/touch.[c,h]
 selfdrive/common/swaglog.h
 selfdrive/common/swaglog.cc
-selfdrive/common/util.[c,h]
+selfdrive/common/util.cc
+selfdrive/common/util.h
 selfdrive/common/cqueue.[c,h]
 selfdrive/common/clutil.cc
 selfdrive/common/clutil.h
@@ -201,7 +202,6 @@ selfdrive/common/mutex.h
 selfdrive/common/modeldata.h
 selfdrive/common/mat.h
 selfdrive/common/timing.h
-selfdrive/common/utilpp.h
 
 selfdrive/common/visionimg.cc
 selfdrive/common/visionimg.h

selfdrive/boardd/boardd.cc

@@ -21,7 +21,6 @@
 #include "cereal/gen/cpp/car.capnp.h"
 
 #include "common/util.h"
-#include "common/utilpp.h"
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "common/timing.h"

selfdrive/boardd/panda.cc

@@ -6,7 +6,7 @@
 
 #include "common/swaglog.h"
 #include "common/gpio.h"
-#include "common/utilpp.h"
+#include "common/util.h"
 #include "panda.h"
 
 #ifdef QCOM2

selfdrive/boardd/pigeon.cc

@@ -6,7 +6,7 @@
 
 #include "common/swaglog.h"
 #include "common/gpio.h"
-#include "common/utilpp.h"
+#include "common/util.h"
 
 #include "pigeon.h"
 

selfdrive/camerad/cameras/camera_common.cc

@@ -22,7 +22,6 @@
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "common/utilpp.h"
 #include "imgproc/utils.h"
 
 const int env_xmin = getenv("XMIN") ? atoi(getenv("XMIN")) : 0;

selfdrive/camerad/cameras/camera_frame_stream.cc

@@ -8,7 +8,6 @@
 #include "messaging.hpp"
 
 #include "common/util.h"
-#include "common/utilpp.h"
 #include "common/timing.h"
 #include "common/swaglog.h"
 

selfdrive/camerad/cameras/camera_qcom.cc

@@ -20,7 +20,6 @@
 #include "msm_cam_sensor.h"
 
 #include "common/util.h"
-#include "common/utilpp.h"
 #include "common/timing.h"
 #include "common/swaglog.h"
 #include "common/params.h"

selfdrive/camerad/cameras/camera_qcom.h

@@ -15,7 +15,7 @@
 #include "visionbuf.h"
 
 #include "common/mat.h"
-#include "common/utilpp.h"
+#include "common/util.h"
 
 #include "camera_common.h"
 

selfdrive/camerad/cameras/camera_qcom2.cc

@@ -12,7 +12,6 @@
 #include <atomic>
 
 #include "common/util.h"
-#include "common/utilpp.h"
 #include "common/swaglog.h"
 #include "camera_qcom2.h"
 

selfdrive/camerad/cameras/camera_webcam.cc

@@ -6,7 +6,6 @@
 #include <pthread.h>
 
 #include "common/util.h"
-#include "common/utilpp.h"
 #include "common/timing.h"
 #include "common/clutil.h"
 #include "common/swaglog.h"

selfdrive/camerad/main.cc

@@ -21,7 +21,6 @@
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "common/utilpp.h"
 #include "visionipc_server.h"
 
 ExitHandler do_exit;

selfdrive/clocksd/clocksd.cc

@@ -17,7 +17,6 @@
 #include "messaging.hpp"
 #include "common/timing.h"
 #include "common/util.h"
-#include "common/utilpp.h"
 
 ExitHandler do_exit;
 

selfdrive/common/SConscript

@@ -5,7 +5,7 @@ if SHARED:
 else:
   fxn = env.Library
 
-common_libs = ['params.cc', 'swaglog.cc', 'cqueue.c', 'util.c', 'gpio.cc', 'i2c.cc']
+common_libs = ['params.cc', 'swaglog.cc', 'cqueue.c', 'util.cc', 'gpio.cc', 'i2c.cc']
 
 _common = fxn('common', common_libs, LIBS="json11")
 

selfdrive/common/clutil.cc

@@ -7,7 +7,6 @@
 #include <iostream>
 #include <vector>
 #include "util.h"
-#include "utilpp.h"
 
 namespace {  // helper functions
 

selfdrive/common/params.cc

@@ -18,7 +18,6 @@
 #include <string.h>
 
 #include "common/util.h"
-#include "common/utilpp.h"
 
 
 #if defined(QCOM) || defined(QCOM2)

selfdrive/common/test_params.c

@@ -59,6 +59,6 @@ int main(int argc, const char* argv[]) {
 }
 
 // BUILD:
-// $ gcc -I$HOME/one selfdrive/common/test_params.c selfdrive/common/params.c selfdrive/common/util.c -o ./test_params
+// $ gcc -I$HOME/one selfdrive/common/test_params.c selfdrive/common/params.c selfdrive/common/util.cc -o ./test_params
 // $ seq 0 100000 | xargs -P20 -I{} ./test_params write /data/params DongleId {} && sleep 0.1 &
 // $ while ./test_params read /data/params DongleId; do sleep 0.05; done

selfdrive/common/util.h

@@ -1,20 +1,18 @@
-#ifndef COMMON_UTIL_H
-#define COMMON_UTIL_H
+#pragma once
 
 #include <stdio.h>
+#include <unistd.h>
+#include <csignal>
+#include <string>
+#include <memory>
+#include <atomic>
+#include <sstream>
+#include <fstream>
+#include <thread>
+#include <chrono>
 
-#ifndef __cplusplus
-
-#define min(a,b) \
- ({ __typeof__ (a) _a = (a); \
-     __typeof__ (b) _b = (b); \
-   _a < _b ? _a : _b; })
-
-#define max(a,b) \
- ({ __typeof__ (a) _a = (a); \
-     __typeof__ (b) _b = (b); \
-   _a > _b ? _a : _b; })
-
+#ifndef sighandler_t
+typedef void (*sighandler_t)(int sig);
 #endif
 
 #define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
@@ -22,10 +20,6 @@
 #undef ALIGN
 #define ALIGN(x, align) (((x) + (align)-1) & ~((align)-1))
 
-#ifdef __cplusplus
-extern "C" {
-#endif
-
 // Reads a file into a newly allocated buffer.
 //
 // Returns NULL on failure, otherwise the NULL-terminated file contents.
@@ -38,8 +32,98 @@ void set_thread_name(const char* name);
 int set_realtime_priority(int level);
 int set_core_affinity(int core);
 
-#ifdef __cplusplus
-}
-#endif
+namespace util {
 
-#endif
+inline bool starts_with(std::string s, std::string prefix) {
+  return s.compare(0, prefix.size(), prefix) == 0;
+}
+
+template<typename ... Args>
+inline std::string string_format( const std::string& format, Args ... args ) {
+    size_t size = snprintf( nullptr, 0, format.c_str(), args ... ) + 1;
+    std::unique_ptr<char[]> buf( new char[ size ] );
+    snprintf( buf.get(), size, format.c_str(), args ... );
+    return std::string( buf.get(), buf.get() + size - 1 );
+}
+
+inline std::string read_file(std::string fn) {
+  std::ifstream t(fn);
+  std::stringstream buffer;
+  buffer << t.rdbuf();
+  return buffer.str();
+}
+
+inline std::string tohex(const uint8_t* buf, size_t buf_size) {
+  std::unique_ptr<char[]> hexbuf(new char[buf_size*2+1]);
+  for (size_t i=0; i < buf_size; i++) {
+    sprintf(&hexbuf[i*2], "%02x", buf[i]);
+  }
+  hexbuf[buf_size*2] = 0;
+  return std::string(hexbuf.get(), hexbuf.get() + buf_size*2);
+}
+
+inline std::string base_name(std::string const & path) {
+  size_t pos = path.find_last_of("/");
+  if (pos == std::string::npos) return path;
+  return path.substr(pos + 1);
+}
+
+inline std::string dir_name(std::string const & path) {
+  size_t pos = path.find_last_of("/");
+  if (pos == std::string::npos) return "";
+  return path.substr(0, pos);
+}
+
+inline std::string readlink(std::string path) {
+  char buff[4096];
+  ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1);
+  if (len != -1) {
+    buff[len] = '\0';
+    return std::string(buff);
+  }
+  return "";
+}
+
+inline std::string getenv_default(const char* env_var, const char * suffix, const char* default_val) {
+  const char* env_val = getenv(env_var);
+  if (env_val != NULL){
+    return std::string(env_val) + std::string(suffix);
+  } else {
+    return std::string(default_val);
+  }
+}
+
+inline void sleep_for(const int milliseconds) {
+  std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
+}
+}
+
+class ExitHandler {
+public:
+  ExitHandler() {
+    std::signal(SIGINT, (sighandler_t)set_do_exit);
+    std::signal(SIGTERM, (sighandler_t)set_do_exit);
+  };
+  inline operator bool() { return do_exit; }
+  inline ExitHandler& operator=(bool v) {
+    do_exit = v;
+    return *this;
+  }
+private:
+  static void set_do_exit(int sig) { do_exit = true; }
+  inline static std::atomic<bool> do_exit = false;
+};
+
+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_;
+};

selfdrive/common/utilpp.h

@@ -1,112 +0,0 @@
-#pragma once
-
-#include <cstdio>
-#include <unistd.h>
-#include <csignal>
-#include <string>
-#include <memory>
-#include <atomic>
-#include <sstream>
-#include <fstream>
-#include <thread>
-#include <chrono>
-
-#ifndef sighandler_t
-typedef void (*sighandler_t)(int sig);
-#endif
-
-namespace util {
-
-inline bool starts_with(std::string s, std::string prefix) {
-  return s.compare(0, prefix.size(), prefix) == 0;
-}
-
-template<typename ... Args>
-inline std::string string_format( const std::string& format, Args ... args ) {
-    size_t size = snprintf( nullptr, 0, format.c_str(), args ... ) + 1;
-    std::unique_ptr<char[]> buf( new char[ size ] );
-    snprintf( buf.get(), size, format.c_str(), args ... );
-    return std::string( buf.get(), buf.get() + size - 1 );
-}
-
-inline std::string read_file(std::string fn) {
-  std::ifstream t(fn);
-  std::stringstream buffer;
-  buffer << t.rdbuf();
-  return buffer.str();
-}
-
-inline std::string tohex(const uint8_t* buf, size_t buf_size) {
-  std::unique_ptr<char[]> hexbuf(new char[buf_size*2+1]);
-  for (size_t i=0; i < buf_size; i++) {
-    sprintf(&hexbuf[i*2], "%02x", buf[i]);
-  }
-  hexbuf[buf_size*2] = 0;
-  return std::string(hexbuf.get(), hexbuf.get() + buf_size*2);
-}
-
-inline std::string base_name(std::string const & path) {
-  size_t pos = path.find_last_of("/");
-  if (pos == std::string::npos) return path;
-  return path.substr(pos + 1);
-}
-
-inline std::string dir_name(std::string const & path) {
-  size_t pos = path.find_last_of("/");
-  if (pos == std::string::npos) return "";
-  return path.substr(0, pos);
-}
-
-inline std::string readlink(std::string path) {
-  char buff[4096];
-  ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1);
-  if (len != -1) {
-    buff[len] = '\0';
-    return std::string(buff);
-  }
-  return "";
-}
-
-inline std::string getenv_default(const char* env_var, const char * suffix, const char* default_val) {
-  const char* env_val = getenv(env_var);
-  if (env_val != NULL){
-    return std::string(env_val) + std::string(suffix);
-  } else {
-    return std::string(default_val);
-  }
-}
-
-inline void sleep_for(const int milliseconds) {
-  std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
-}
-}
-
-class ExitHandler {
-public:
-  ExitHandler() {
-    std::signal(SIGINT, (sighandler_t)set_do_exit);
-    std::signal(SIGTERM, (sighandler_t)set_do_exit);
-  };
-  inline operator bool() { return do_exit; }
-  inline ExitHandler& operator=(bool v) {
-    do_exit = v;
-    return *this;
-  }
-private:
-  static void set_do_exit(int sig) { do_exit = true; }
-  inline static std::atomic<bool> do_exit = false;
-};
-
-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_;
-};

selfdrive/locationd/ubloxd_main.cc

@@ -13,7 +13,6 @@
 
 #include "messaging.hpp"
 #include "common/util.h"
-#include "common/utilpp.h"
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "common/timing.h"

selfdrive/logcatd/logcatd_android.cc

@@ -10,7 +10,7 @@
 #include <log/logprint.h>
 
 #include "common/timing.h"
-#include "common/utilpp.h"
+#include "common/util.h"
 #include "messaging.hpp"
 
 

selfdrive/logcatd/logcatd_systemd.cc

@@ -8,7 +8,7 @@
 #include <systemd/sd-journal.h>
 
 #include "common/timing.h"
-#include "common/utilpp.h"
+#include "common/util.h"
 #include "messaging.hpp"
 
 ExitHandler do_exit;

selfdrive/loggerd/loggerd.cc

@@ -28,7 +28,6 @@
 #include "common/timing.h"
 #include "common/params.h"
 #include "common/swaglog.h"
-#include "common/utilpp.h"
 #include "common/util.h"
 #include "camerad/cameras/camera_common.h"
 #include "logger.h"

selfdrive/loggerd/raw_logger.cc

@@ -16,7 +16,7 @@ extern "C" {
 }
 
 #include "common/swaglog.h"
-#include "common/utilpp.h"
+#include "common/util.h"
 
 #include "raw_logger.h"
 

selfdrive/loggerd/tests/testraw.cc

@@ -6,7 +6,7 @@
 
 #include "common/visionipc.h"
 #include "common/timing.h"
-#include "common/utilpp.h"
+#include "common/util.h"
 #include "RawLogger.h"
 
 int main() {

selfdrive/modeld/dmonitoringmodeld.cc

@@ -7,7 +7,7 @@
 #include "visionbuf.h"
 #include "visionipc_client.h"
 #include "common/swaglog.h"
-#include "common/utilpp.h"
+#include "common/util.h"
 
 #include "models/dmonitoring.h"
 

selfdrive/modeld/modeld.cc

@@ -7,7 +7,7 @@
 #include "visionipc_client.h"
 #include "common/swaglog.h"
 #include "common/clutil.h"
-#include "common/utilpp.h"
+#include "common/util.h"
 
 #include "models/driving.h"
 #include "messaging.hpp"

selfdrive/modeld/runners/onnxmodel.cc

@@ -8,7 +8,6 @@
 #include <stdlib.h>
 #include <stdexcept>
 #include "common/util.h"
-#include "common/utilpp.h"
 #include "common/swaglog.h"
 #include <cassert>
 

selfdrive/proclogd/proclogd.cc

@@ -17,7 +17,6 @@
 
 #include "common/timing.h"
 #include "common/util.h"
-#include "common/utilpp.h"
 
 ExitHandler do_exit;
 

selfdrive/sensord/gpsd.cc

@@ -17,7 +17,7 @@
 
 #include "messaging.hpp"
 #include "common/timing.h"
-#include "common/utilpp.h"
+#include "common/util.h"
 #include "common/swaglog.h"
 
 ExitHandler do_exit;

selfdrive/sensord/sensors/bmx055_magn.cc

@@ -3,7 +3,7 @@
 #include <unistd.h>
 
 #include "common/swaglog.h"
-#include "common/utilpp.h"
+#include "common/util.h"
 
 #include "bmx055_magn.hpp"
 

selfdrive/sensord/sensors_qcom.cc

@@ -18,7 +18,7 @@
 
 #include "messaging.hpp"
 #include "common/timing.h"
-#include "common/utilpp.h"
+#include "common/util.h"
 #include "common/swaglog.h"
 
 // ACCELEROMETER_UNCALIBRATED is only in Android O

selfdrive/sensord/sensors_qcom2.cc

@@ -6,7 +6,7 @@
 #include "messaging.hpp"
 #include "common/i2c.h"
 #include "common/timing.h"
-#include "common/utilpp.h"
+#include "common/util.h"
 #include "common/swaglog.h"
 
 #include "sensors/sensor.hpp"

selfdrive/ui/android/ui.cc

@@ -6,7 +6,6 @@
 #include <algorithm>
 
 #include "common/util.h"
-#include "common/utilpp.h"
 #include "common/params.h"
 #include "common/touch.h"
 #include "common/swaglog.h"

selfdrive/ui/qt/offroad/settings.cc

@@ -16,7 +16,7 @@
 #include "widgets/offroad_alerts.hpp"
 
 #include "common/params.h"
-#include "common/utilpp.h"
+#include "common/util.h"
 
 
 ParamsToggle::ParamsToggle(QString param, QString title, QString description, QString icon_path, QWidget *parent): QFrame(parent) , param(param) {

selfdrive/ui/qt/widgets/drive_stats.cc

@@ -17,7 +17,7 @@
 
 #include "drive_stats.hpp"
 #include "common/params.h"
-#include "common/utilpp.h"
+#include "common/util.h"
 
 
 constexpr double MILE_TO_KM = 1.60934;

selfdrive/ui/ui.cc

@@ -12,7 +12,6 @@
 #include "common/util.h"
 #include "common/swaglog.h"
 #include "common/visionimg.h"
-#include "common/utilpp.h"
 #include "ui.hpp"
 #include "paint.hpp"