Wunused (#1841)

* enable Wunused, first pass

* unused stuff in snpe model

* these are used on phone

* handle sigint and sigterm in modeld

* fix phone build

* camera qcom

* QCOM build works

* delete unused camerad vars

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: eb1aa3d831fd0d7fffd9aacec1accb0a5bdb0304

SConstruct

@@ -114,6 +114,7 @@ env = Environment(
     "-g",
     "-fPIC",
     "-O2",
+    "-Wunused",
     "-Werror",
     "-Wno-deprecated-register",
     "-Wno-inconsistent-missing-override",

selfdrive/boardd/boardd.cc

@@ -61,14 +61,17 @@ bool fake_send = false;
 bool loopback_can = false;
 cereal::HealthData::HwType hw_type = cereal::HealthData::HwType::UNKNOWN;
 bool is_pigeon = false;
-const uint32_t NO_IGNITION_CNT_MAX = 2 * 60 * 60 * 30;  // turn off charge after 30 hrs
-const float VBATT_START_CHARGING = 11.5;
-const float VBATT_PAUSE_CHARGING = 11.0;
 float voltage_f = 12.5;  // filtered voltage
 uint32_t no_ignition_cnt = 0;
 bool connected_once = false;
 bool ignition_last = false;
 
+#ifndef __x86_64__
+const uint32_t NO_IGNITION_CNT_MAX = 2 * 60 * 60 * 30;  // turn off charge after 30 hrs
+const float VBATT_START_CHARGING = 11.5;
+const float VBATT_PAUSE_CHARGING = 11.0;
+#endif
+
 bool safety_setter_thread_initialized = false;
 pthread_t safety_setter_thread_handle;
 
@@ -277,7 +280,6 @@ void can_recv(PubMaster &pm) {
   int err;
   uint32_t data[RECV_SIZE/4];
   int recv;
-  uint32_t f1, f2;
 
   uint64_t start_time = nanos_since_boot();
 
@@ -455,7 +457,7 @@ void can_health(PubMaster &pm) {
   uint16_t fan_speed_rpm = 0;
 
   pthread_mutex_lock(&usb_lock);
-  int sz = libusb_control_transfer(dev_handle, 0xc0, 0xb2, 0, 0, (unsigned char*)&fan_speed_rpm, sizeof(fan_speed_rpm), TIMEOUT);
+  libusb_control_transfer(dev_handle, 0xc0, 0xb2, 0, 0, (unsigned char*)&fan_speed_rpm, sizeof(fan_speed_rpm), TIMEOUT);
   pthread_mutex_unlock(&usb_lock);
 
   // Write to rtc once per minute when no ignition present
@@ -721,6 +723,7 @@ void *hardware_control_thread(void *crap) {
 
 #define pigeon_send(x) _pigeon_send(x, sizeof(x)-1)
 
+void hexdump(unsigned char *d, int l) __attribute__((unused));
 void hexdump(unsigned char *d, int l) {
   for (int i = 0; i < l; i++) {
     if (i!=0 && i%0x10 == 0) printf("\n");

selfdrive/camerad/cameras/camera_frame_stream.cc

@@ -32,9 +32,7 @@ void camera_close(CameraState *s) {
   tbuffer_stop(&s->camera_tb);
 }
 
-void camera_release_buffer(void *cookie, int buf_idx) {
-  CameraState *s = static_cast<CameraState *>(cookie);
-}
+void camera_release_buffer(void *cookie, int buf_idx) {}
 
 void camera_init(CameraState *s, int camera_id, unsigned int fps) {
   assert(camera_id < ARRAYSIZE(cameras_supported));
@@ -48,7 +46,6 @@ void camera_init(CameraState *s, int camera_id, unsigned int fps) {
 }
 
 void run_frame_stream(DualCameraState *s) {
-  int err;
   SubMaster sm({"frame"});
 
   CameraState *const rear_camera = &s->rear;
@@ -121,7 +118,6 @@ void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear,
                   VisionBuf *camera_bufs_front) {
   assert(camera_bufs_rear);
   assert(camera_bufs_front);
-  int err;
 
   // LOG("*** open front ***");
   camera_open(&s->front, camera_bufs_front, false);

selfdrive/camerad/cameras/camera_qcom.cc

@@ -163,16 +163,6 @@ static int imx298_apply_exposure(CameraState *s, int gain, int integ_lines, int
 
   //printf("%5d/%5d %5d %f\n", s->cur_integ_lines, s->cur_frame_length, analog_gain, s->digital_gain);
 
-  int digital_gain = 0x100;
-
-  float white_balance[] = {0.4609375, 1.0, 0.546875};
-  //float white_balance[] = {1.0, 1.0, 1.0};
-
-  int digital_gain_gr = digital_gain / white_balance[1];
-  int digital_gain_gb = digital_gain / white_balance[1];
-  int digital_gain_r = digital_gain / white_balance[0];
-  int digital_gain_b = digital_gain / white_balance[2];
-
   struct msm_camera_i2c_reg_array reg_array[] = {
     // REG_HOLD
     {0x104,0x1,0},

selfdrive/camerad/main.cc

@@ -171,7 +171,7 @@ void* frontview_thread(void *arg) {
     int rgb_idx = ui_idx;
     FrameMetadata frame_data = s->cameras.front.camera_bufs_metadata[buf_idx];
 
-    double t1 = millis_since_boot();
+    //double t1 = millis_since_boot();
 
     cl_event debayer_event;
     if (s->cameras.front.ci.bayer) {
@@ -329,8 +329,7 @@ void* frontview_thread(void *arg) {
 
     tbuffer_dispatch(&s->ui_front_tb, ui_idx);
 
-    double t2 = millis_since_boot();
-
+    //double t2 = millis_since_boot();
     //LOGD("front process: %.2fms", t2-t1);
   }
 
@@ -514,8 +513,6 @@ void* processing_thread(void *arg) {
     s->yuv_metas[yuv_idx] = frame_data;
 
     uint8_t* yuv_ptr_y = s->yuv_bufs[yuv_idx].y;
-    uint8_t* yuv_ptr_u = s->yuv_bufs[yuv_idx].u;
-    uint8_t* yuv_ptr_v = s->yuv_bufs[yuv_idx].v;
     cl_mem yuv_cl = s->yuv_cl[yuv_idx];
     rgb_to_yuv_queue(&s->rgb_to_yuv_state, q, s->rgb_bufs_cl[rgb_idx], yuv_cl);
     visionbuf_sync(&s->yuv_ion[yuv_idx], VISIONBUF_SYNC_FROM_DEVICE);
@@ -1252,7 +1249,6 @@ void party(VisionState *s) {
 }
 
 int main(int argc, char *argv[]) {
-  int err;
   set_realtime_priority(51);
 
   zsys_handler_set(NULL);

selfdrive/common/clutil.c

@@ -175,6 +175,7 @@ cl_program cl_cached_program_from_hash(cl_context ctx, cl_device_id device_id, u
   return prg;
 }
 
+#ifndef CLU_NO_CACHE
 static uint8_t* get_program_binary(cl_program prg, size_t *out_size) {
   int err;
 
@@ -199,6 +200,7 @@ static uint8_t* get_program_binary(cl_program prg, size_t *out_size) {
   *out_size = binary_size;
   return binary_buf;
 }
+#endif
 
 cl_program cl_cached_program_from_string(cl_context ctx, cl_device_id device_id,
                                          const char* src, const char* args,
@@ -265,13 +267,14 @@ cl_program cl_cached_program_from_file(cl_context ctx, cl_device_id device_id, c
   return ret;
 }
 
+#ifndef CLU_NO_CACHE
 static void add_index(uint64_t index_hash, uint64_t src_hash) {
   FILE *f = fopen("/tmp/clcache/index.cli", "a");
   assert(f);
   fprintf(f, "%016" PRIx64 " %016" PRIx64 "\n", index_hash, src_hash);
   fclose(f);
 }
-
+#endif
 
 cl_program cl_program_from_index(cl_context ctx, cl_device_id device_id, uint64_t index_hash) {
   int err;

selfdrive/common/ipc.c

@@ -60,8 +60,6 @@ int ipc_bind(const char* socket_path) {
 
 int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
                           int *out_num_fds) {
-  int err;
-
   char control_buf[CMSG_SPACE(sizeof(int) * num_fds)];
   memset(control_buf, 0, CMSG_SPACE(sizeof(int) * num_fds));
 

selfdrive/locationd/paramsd.cc

@@ -43,7 +43,7 @@ int main(int argc, char *argv[]) {
   // make copy due to alignment issues
   auto amsg = kj::heapArray<capnp::word>((params.size() / sizeof(capnp::word)) + 1);
   memcpy(amsg.begin(), params.data(), params.size());
-  
+
   capnp::FlatArrayMessageReader cmsg(amsg);
   cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
 
@@ -53,7 +53,6 @@ int main(int argc, char *argv[]) {
   double sR = car_params.getSteerRatio();
   double x = 1.0;
   double ao = 0.0;
-  double posenet_invalid_count = 0;
   std::vector<char> live_params = read_db_bytes("LiveParameters");
   if (live_params.size() > 0){
     std::string err;

selfdrive/loggerd/encoder.c

@@ -96,6 +96,7 @@ static OMX_CALLBACKTYPE omx_callbacks = {
 #define PORT_INDEX_IN 0
 #define PORT_INDEX_OUT 1
 
+static const char* omx_color_fomat_name(uint32_t format) __attribute__((unused));
 static const char* omx_color_fomat_name(uint32_t format) {
   switch (format) {
   case OMX_COLOR_FormatUnused: return "OMX_COLOR_FormatUnused";
@@ -397,9 +398,9 @@ static void handle_out_buf(EncoderState *s, OMX_BUFFERHEADERTYPE *out_buf) {
   }
 
   if (s->stream_sock_raw) {
-    uint64_t current_time = nanos_since_boot();
-    uint64_t diff = current_time - out_buf->nTimeStamp*1000LL;
-    double msdiff = (double) diff / 1000000.0;
+    //uint64_t current_time = nanos_since_boot();
+    //uint64_t diff = current_time - out_buf->nTimeStamp*1000LL;
+    //double msdiff = (double) diff / 1000000.0;
     // printf("encoded latency to tsEof: %f\n", msdiff);
     zmq_send(s->stream_sock_raw, &out_buf->nTimeStamp, sizeof(out_buf->nTimeStamp), ZMQ_SNDMORE);
     zmq_send(s->stream_sock_raw, buf_data, out_buf->nFilledLen, 0);

selfdrive/loggerd/loggerd.cc

@@ -61,6 +61,7 @@
 
 namespace {
 
+double randrange(double a, double b) __attribute__((unused));
 double randrange(double a, double b) {
   static std::mt19937 gen(millis_since_boot());
 
@@ -165,9 +166,9 @@ void encoder_thread(bool is_streaming, bool raw_clips, bool front) {
         break;
       }
 
-      uint64_t current_time = nanos_since_boot();
-      uint64_t diff = current_time - extra.timestamp_eof;
-      double msdiff = (double) diff / 1000000.0;
+      //uint64_t current_time = nanos_since_boot();
+      //uint64_t diff = current_time - extra.timestamp_eof;
+      //double msdiff = (double) diff / 1000000.0;
       // printf("logger latency to tsEof: %f\n", msdiff);
 
       uint8_t *y = (uint8_t*)buf->addr;

selfdrive/modeld/dmonitoringmodeld.cc

@@ -25,6 +25,9 @@ int main(int argc, char **argv) {
   int err;
   set_realtime_priority(51);
 
+  signal(SIGINT, (sighandler_t)set_do_exit);
+  signal(SIGTERM, (sighandler_t)set_do_exit);
+
   // messaging
   SubMaster sm({"dMonitoringState"});
   PubMaster pm({"driverState"});

selfdrive/modeld/modeld.cc

@@ -1,5 +1,6 @@
 #include <stdio.h>
 #include <stdlib.h>
+#include <signal.h>
 #include <eigen3/Eigen/Dense>
 
 #include "common/visionbuf.h"
@@ -20,7 +21,6 @@ mat3 cur_transform;
 pthread_mutex_t transform_lock;
 
 void* live_thread(void *arg) {
-  int err;
   set_thread_name("live");
 
   SubMaster sm({"liveCalibration"});
@@ -75,6 +75,9 @@ int main(int argc, char **argv) {
   int err;
   set_realtime_priority(51);
 
+  signal(SIGINT, (sighandler_t)set_do_exit);
+  signal(SIGTERM, (sighandler_t)set_do_exit);
+
   // start calibration thread
   pthread_t live_thread_handle;
   err = pthread_create(&live_thread_handle, NULL, live_thread, NULL);

selfdrive/modeld/models/commonmodel.c

@@ -36,7 +36,6 @@ float *frame_prepare(ModelFrame* frame, cl_command_queue q,
                            cl_mem yuv_cl, int width, int height,
                            mat3 transform) {
   int err;
-  int i = 0;
   transform_queue(&frame->transform, q,
                   yuv_cl, width, height,
                   frame->transformed_y_cl, frame->transformed_u_cl, frame->transformed_v_cl,

selfdrive/modeld/runners/snpemodel.cc

@@ -6,7 +6,6 @@
 #include "snpemodel.h"
 
 void PrintErrorStringAndExit() {
-  const char* const errStr = zdl::DlSystem::getLastErrorString();
   std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
   std::exit(EXIT_FAILURE);
 }

selfdrive/modeld/runners/snpemodel.h

@@ -38,7 +38,9 @@ private:
   Thneed *thneed = NULL;
 #endif
 
+#ifdef QCOM
   zdl::DlSystem::Runtime_t Runtime;
+#endif
 
   // snpe model stuff
   std::unique_ptr<zdl::SNPE::SNPE> snpe;

selfdrive/modeld/thneed/thneed.cc

@@ -99,7 +99,7 @@ GPUMalloc::GPUMalloc(int size, int fd) {
   memset(&alloc, 0, sizeof(alloc));
   alloc.size = size;
   alloc.flags = 0x10000a00;
-  int ret = ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc);
+  ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc);
   void *addr = mmap64(NULL, alloc.mmapsize, 0x3, 0x1, fd, alloc.id*0x1000);
   assert(addr != MAP_FAILED);
 

selfdrive/proclogd/proclogd.cc

@@ -29,7 +29,6 @@ struct ProcCache {
 }
 
 int main() {
-  int err;
   PubMaster publisher({"procLog"});
 
   double jiffy = sysconf(_SC_CLK_TCK);
@@ -61,8 +60,8 @@ int main() {
           unsigned long utime, ntime, stime, itime;
           unsigned long iowtime, irqtime, sirqtime;
 
-          int count = sscanf(stat_line.data(), "cpu%d %lu %lu %lu %lu %lu %lu %lu",
-            &id, &utime, &ntime, &stime, &itime, &iowtime, &irqtime, &sirqtime);
+          sscanf(stat_line.data(), "cpu%d %lu %lu %lu %lu %lu %lu %lu",
+                 &id, &utime, &ntime, &stime, &itime, &iowtime, &irqtime, &sirqtime);
 
           auto ltimeo = orphanage.newOrphan<cereal::ProcLog::CPUTimes>();
           auto ltime = ltimeo.get();

selfdrive/sensord/gpsd.cc

@@ -155,7 +155,6 @@ void gps_destroy() {
 }
 
 int main() {
-  int err = 0;
   setpriority(PRIO_PROCESS, 0, -13);
 
   signal(SIGINT, (sighandler_t)set_do_exit);

selfdrive/ui/paint.cc

@@ -437,6 +437,7 @@ static void ui_draw_vision_maxspeed(UIState *s) {
   }
 }
 
+#ifdef SHOW_SPEEDLIMIT
 static void ui_draw_vision_speedlimit(UIState *s) {
   char speedlim_str[32];
   float speedlimit = s->scene.speedlimit;
@@ -493,6 +494,7 @@ static void ui_draw_vision_speedlimit(UIState *s) {
     ui_draw_text(s->vg, text_x, viz_speedlim_y + (is_speedlim_valid ? 170 : 165), "N/A", 42*2.5, color, s->font_sans_semibold);
   }
 }
+#endif
 
 static void ui_draw_vision_speed(UIState *s) {
   const UIScene *scene = &s->scene;
@@ -542,12 +544,14 @@ static void ui_draw_vision_event(UIState *s) {
   }
 }
 
+#ifdef SHOW_SPEEDLIMIT
 static void ui_draw_vision_map(UIState *s) {
   const int map_size = 96;
   const int map_x = (s->scene.ui_viz_rx + (map_size * 3) + (bdr_s * 3));
   const int map_y = (footer_y + ((footer_h - map_size) / 2));
   ui_draw_circle_image(s->vg, map_x, map_y, map_size, s->img_map, s->scene.map_valid);
 }
+#endif
 
 static void ui_draw_vision_face(UIState *s) {
   const int face_size = 96;

selfdrive/ui/ui.cc

@@ -664,7 +664,7 @@ static void* light_sensor_thread(void *args) {
 
   // need to do this
   struct sensor_t const* list;
-  int count = module->get_sensors_list(module, &list);
+  module->get_sensors_list(module, &list);
 
   int SENSOR_LIGHT = 7;