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improved safe_ioctl (#35908)

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* improved safe_ioctl

* readability

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* use correct ioctl command

* ameliorated api

* use try/catch to prevent spi_fd leak

* Update common/util.h

* use correct ioctl command

* error log message is more readable

---------

Co-authored-by: Test User <test@example.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
This commit is contained in:
pencilpusher
2025-08-04 15:25:24 -05:00
committed by GitHub
parent f06c98018f
commit be0626f7e3
4 changed files with 57 additions and 74 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
common/util.cc
View File

@@ -1,4 +1,5 @@
#include "common/util.h"
#include "common/swaglog.h"
#include <sys/ioctl.h>
#include <sys/stat.h>
@@ -151,11 +152,16 @@ int safe_fflush(FILE *stream) {
return ret;
}
int safe_ioctl(int fd, unsigned long request, void *argp) {
int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg) {
int ret;
do {
ret = ioctl(fd, request, argp);
} while ((ret == -1) && (errno == EINTR));
if (ret == -1 && exception_msg) {
LOGE("safe_ioctl error: %s %s(%d) (fd: %d request: %lx argp: %p)", exception_msg, strerror(errno), errno, fd, request, argp);
throw std::runtime_error(exception_msg);
}
return ret;
}

2
common/util.h
View File

@@ -88,7 +88,7 @@ int write_file(const char* path, const void* data, size_t size, int flags = O_WR
FILE* safe_fopen(const char* filename, const char* mode);
size_t safe_fwrite(const void * ptr, size_t size, size_t count, FILE * stream);
int safe_fflush(FILE *stream);
int safe_ioctl(int fd, unsigned long request, void *argp);
int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg = nullptr);
std::string readlink(const std::string& path);
bool file_exists(const std::string& fn);

82
selfdrive/pandad/spi.cc
View File

@@ -66,58 +66,44 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
// 50MHz is the max of the 845. note that some older
// revs of the comma three may not support this speed
uint32_t spi_speed = 50000000;
if (!util::file_exists(SPI_DEVICE)) {
goto fail;
}
spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
if (spi_fd < 0) {
LOGE("failed opening SPI device %d", spi_fd);
goto fail;
}
// SPI settings
ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode);
if (ret < 0) {
LOGE("failed setting SPI mode %d", ret);
goto fail;
}
ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
if (ret < 0) {
LOGE("failed setting SPI speed");
goto fail;
}
ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word);
if (ret < 0) {
LOGE("failed setting SPI bits per word");
goto fail;
}
// get hw UID/serial
ret = control_read(0xc3, 0, 0, uid, uid_len, 100);
if (ret == uid_len) {
std::stringstream stream;
for (int i = 0; i < uid_len; i++) {
stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]);
try {
if (!util::file_exists(SPI_DEVICE)) {
throw std::runtime_error("Error connecting to panda: SPI device not found");
}
hw_serial = stream.str();
} else {
LOGD("failed to get serial %d", ret);
goto fail;
}
if (!serial.empty() && (serial != hw_serial)) {
goto fail;
}
spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
if (spi_fd < 0) {
LOGE("failed opening SPI device %d", spi_fd);
throw std::runtime_error("Error connecting to panda: failed to open SPI device");
}
// SPI settings
util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode, "failed setting SPI mode");
util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed, "failed setting SPI speed");
util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word, "failed setting SPI bits per word");
// get hw UID/serial
ret = control_read(0xc3, 0, 0, uid, uid_len, 100);
if (ret == uid_len) {
std::stringstream stream;
for (int i = 0; i < uid_len; i++) {
stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]);
}
hw_serial = stream.str();
} else {
LOGD("failed to get serial %d", ret);
throw std::runtime_error("Error connecting to panda: failed to get serial");
}
if (!serial.empty() && (serial != hw_serial)) {
throw std::runtime_error("Error connecting to panda: serial mismatch");
}
} catch (...) {
cleanup();
throw;
}
return;
fail:
cleanup();
throw std::runtime_error("Error connecting to panda");
}
PandaSpiHandle::~PandaSpiHandle() {

39
system/loggerd/encoder/v4l_encoder.cc
View File

@@ -24,14 +24,6 @@
*/
const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0;
static void checked_ioctl(int fd, unsigned long request, void *argp) {
int ret = util::safe_ioctl(fd, request, argp);
if (ret != 0) {
LOGE("checked_ioctl failed with error %d (%d %lx %p)", errno, fd, request, argp);
assert(0);
}
}
static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=NULL, unsigned int *bytesused=NULL, unsigned int *flags=NULL, struct timeval *timestamp=NULL) {
v4l2_plane plane = {0};
v4l2_buffer v4l_buf = {
@@ -40,7 +32,7 @@ static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=N
.m = { .planes = &plane, },
.length = 1,
};
checked_ioctl(fd, VIDIOC_DQBUF, &v4l_buf);
util::safe_ioctl(fd, VIDIOC_DQBUF, &v4l_buf, "VIDIOC_DQBUF failed");
if (index) *index = v4l_buf.index;
if (bytesused) *bytesused = v4l_buf.m.planes[0].bytesused;
@@ -66,8 +58,7 @@ static void queue_buffer(int fd, v4l2_buf_type buf_type, unsigned int index, Vis
.flags = V4L2_BUF_FLAG_TIMESTAMP_COPY,
.timestamp = timestamp
};
checked_ioctl(fd, VIDIOC_QBUF, &v4l_buf);
util::safe_ioctl(fd, VIDIOC_QBUF, &v4l_buf, "VIDIOC_QBUF failed");
}
static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count) {
@@ -76,7 +67,7 @@ static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count)
.memory = V4L2_MEMORY_USERPTR,
.count = count
};
checked_ioctl(fd, VIDIOC_REQBUFS, &reqbuf);
util::safe_ioctl(fd, VIDIOC_REQBUFS, &reqbuf, "VIDIOC_REQBUFS failed");
}
void V4LEncoder::dequeue_handler(V4LEncoder *e) {
@@ -159,7 +150,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
assert(fd >= 0);
struct v4l2_capability cap;
checked_ioctl(fd, VIDIOC_QUERYCAP, &cap);
util::safe_ioctl(fd, VIDIOC_QUERYCAP, &cap, "VIDIOC_QUERYCAP failed");
LOGD("opened encoder device %s %s = %d", cap.driver, cap.card, fd);
assert(strcmp((const char *)cap.driver, "msm_vidc_driver") == 0);
assert(strcmp((const char *)cap.card, "msm_vidc_venc") == 0);
@@ -177,7 +168,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
}
}
};
checked_ioctl(fd, VIDIOC_S_FMT, &fmt_out);
util::safe_ioctl(fd, VIDIOC_S_FMT, &fmt_out, "VIDIOC_S_FMT failed");
v4l2_streamparm streamparm = {
.type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE,
@@ -191,7 +182,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
}
}
};
checked_ioctl(fd, VIDIOC_S_PARM, &streamparm);
util::safe_ioctl(fd, VIDIOC_S_PARM, &streamparm, "VIDIOC_S_PARM failed");
struct v4l2_format fmt_in = {
.type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE,
@@ -205,7 +196,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
}
}
};
checked_ioctl(fd, VIDIOC_S_FMT, &fmt_in);
util::safe_ioctl(fd, VIDIOC_S_FMT, &fmt_in, "VIDIOC_S_FMT failed");
LOGD("in buffer size %d, out buffer size %d",
fmt_in.fmt.pix_mp.plane_fmt[0].sizeimage,
@@ -221,7 +212,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
{ .id = V4L2_CID_MPEG_VIDC_VIDEO_IDR_PERIOD, .value = 1},
};
for (auto ctrl : ctrls) {
checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl);
util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
}
}
@@ -234,7 +225,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
{ .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = 0},
};
for (auto ctrl : ctrls) {
checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl);
util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
}
} else {
struct v4l2_control ctrls[] = {
@@ -250,7 +241,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
{ .id = V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MODE, .value = 0},
};
for (auto ctrl : ctrls) {
checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl);
util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
}
}
@@ -260,9 +251,9 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
// start encoder
v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
checked_ioctl(fd, VIDIOC_STREAMON, &buf_type);
util::safe_ioctl(fd, VIDIOC_STREAMON, &buf_type, "VIDIOC_STREAMON failed");
buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
checked_ioctl(fd, VIDIOC_STREAMON, &buf_type);
util::safe_ioctl(fd, VIDIOC_STREAMON, &buf_type, "VIDIOC_STREAMON failed");
// queue up output buffers
for (unsigned int i = 0; i < BUF_OUT_COUNT; i++) {
@@ -305,7 +296,7 @@ void V4LEncoder::encoder_close() {
for (int i = 0; i < BUF_IN_COUNT; i++) free_buf_in.push(i);
// no frames, stop the encoder
struct v4l2_encoder_cmd encoder_cmd = { .cmd = V4L2_ENC_CMD_STOP };
checked_ioctl(fd, VIDIOC_ENCODER_CMD, &encoder_cmd);
util::safe_ioctl(fd, VIDIOC_ENCODER_CMD, &encoder_cmd, "VIDIOC_ENCODER_CMD failed");
// join waits for V4L2_QCOM_BUF_FLAG_EOS
dequeue_handler_thread.join();
assert(extras.empty());
@@ -316,10 +307,10 @@ void V4LEncoder::encoder_close() {
V4LEncoder::~V4LEncoder() {
encoder_close();
v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
checked_ioctl(fd, VIDIOC_STREAMOFF, &buf_type);
util::safe_ioctl(fd, VIDIOC_STREAMOFF, &buf_type, "VIDIOC_STREAMOFF failed");
request_buffers(fd, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, 0);
buf_type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
checked_ioctl(fd, VIDIOC_STREAMOFF, &buf_type);
util::safe_ioctl(fd, VIDIOC_STREAMOFF, &buf_type, "VIDIOC_STREAMOFF failed");
request_buffers(fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, 0);
close(fd);