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Add braces to C++ single-line loops and conditionals (NFC) (#2973)

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This makes code easier to read and more consistent between C++ and Java.
Also update clang-format settings to always add a line break (even if no braces are used).
This commit is contained in:
Peter Johnson
2020-12-28 12:58:06 -08:00
committed by GitHub
parent 0291a3ff56
commit 2aed432b4b
634 changed files with 10716 additions and 3938 deletions
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28
cscore/src/main/native/linux/NetworkListener.cpp
View File

@@ -47,7 +47,9 @@ class NetworkListener::Impl {
NetworkListener::NetworkListener(wpi::Logger& logger, Notifier& notifier)
: m_impl(std::make_unique<Impl>(logger, notifier)) {}
NetworkListener::~NetworkListener() { Stop(); }
NetworkListener::~NetworkListener() {
Stop();
}
void NetworkListener::Start() {
m_impl->m_owner.Start(m_impl->m_logger, m_impl->m_notifier);
@@ -57,7 +59,9 @@ void NetworkListener::Stop() {
// Wake up thread
if (auto thr = m_impl->m_owner.GetThread()) {
thr->m_active = false;
if (thr->m_command_fd >= 0) eventfd_write(thr->m_command_fd, 1);
if (thr->m_command_fd >= 0) {
eventfd_write(thr->m_command_fd, 1);
}
}
m_impl->m_owner.Stop();
}
@@ -114,25 +118,35 @@ void NetworkListener::Impl::Thread::Main() {
}
// Double-check to see if we're shutting down
if (!m_active) break;
if (!m_active) {
break;
}
if (!FD_ISSET(sd, &readfds)) continue;
if (!FD_ISSET(sd, &readfds)) {
continue;
}
std::memset(&addr, 0, sizeof(addr));
struct iovec iov = {buf, sizeof(buf)};
struct msghdr msg = {&addr, sizeof(addr), &iov, 1, nullptr, 0, 0};
int len = ::recvmsg(sd, &msg, 0);
if (len < 0) {
if (errno == EWOULDBLOCK || errno == EAGAIN) continue;
if (errno == EWOULDBLOCK || errno == EAGAIN) {
continue;
}
ERROR(
"NetworkListener: could not read netlink: " << std::strerror(errno));
break; // XXX: is this the right thing to do here?
}
if (len == 0) continue; // EOF?
if (len == 0) {
continue; // EOF?
}
unsigned int ulen = static_cast<unsigned int>(len);
for (struct nlmsghdr* nh = reinterpret_cast<struct nlmsghdr*>(buf);
NLMSG_OK(nh, ulen); nh = NLMSG_NEXT(nh, ulen)) {
if (nh->nlmsg_type == NLMSG_DONE) break;
if (nh->nlmsg_type == NLMSG_DONE) {
break;
}
if (nh->nlmsg_type == RTM_NEWLINK || nh->nlmsg_type == RTM_DELLINK ||
nh->nlmsg_type == RTM_NEWADDR || nh->nlmsg_type == RTM_DELADDR) {
m_notifier.NotifyNetworkInterfacesChanged();

16
cscore/src/main/native/linux/NetworkUtil.cpp
View File

@@ -13,17 +13,25 @@ namespace cs {
std::vector<std::string> GetNetworkInterfaces() {
struct ifaddrs* ifa;
if (::getifaddrs(&ifa) != 0) return std::vector<std::string>{};
if (::getifaddrs(&ifa) != 0) {
return {};
}
std::vector<std::string> rv;
char buf[256];
for (struct ifaddrs* i = ifa; i; i = i->ifa_next) {
if (!i->ifa_addr) continue; // no address
if (i->ifa_addr->sa_family != AF_INET) continue; // only return IPv4
if (!i->ifa_addr) {
continue; // no address
}
if (i->ifa_addr->sa_family != AF_INET) {
continue; // only return IPv4
}
struct sockaddr_in* addr_in = reinterpret_cast<sockaddr_in*>(i->ifa_addr);
const char* addr =
::inet_ntop(addr_in->sin_family, &addr_in->sin_addr, buf, sizeof(buf));
if (!addr) continue; // error converting address
if (!addr) {
continue; // error converting address
}
rv.emplace_back(addr);
}

4
cscore/src/main/native/linux/UsbCameraBuffer.h
View File

@@ -35,7 +35,9 @@ class UsbCameraBuffer {
}
~UsbCameraBuffer() {
if (m_data) munmap(m_data, m_length);
if (m_data) {
munmap(m_data, m_length);
}
}
friend void swap(UsbCameraBuffer& first, UsbCameraBuffer& second) noexcept {

318
cscore/src/main/native/linux/UsbCameraImpl.cpp
View File

@@ -96,7 +96,9 @@ static __u32 FromPixelFormat(VideoMode::PixelFormat pixelFormat) {
}
static bool IsPercentageProperty(wpi::StringRef name) {
if (name.startswith("raw_")) name = name.substr(4);
if (name.startswith("raw_")) {
name = name.substr(4);
}
return name == "brightness" || name == "contrast" || name == "saturation" ||
name == "hue" || name == "sharpness" || name == "gain" ||
name == "exposure_absolute" || name == "exposure_time_absolute";
@@ -122,7 +124,9 @@ int UsbCameraImpl::RawToPercentage(const UsbCameraProperty& rawProp,
rawProp.minimum == 5 && rawProp.maximum == 20000) {
int nelems = wpi::array_lengthof(quirkLifeCamHd3000);
for (int i = 0; i < nelems; ++i) {
if (rawValue < quirkLifeCamHd3000[i]) return 100.0 * i / nelems;
if (rawValue < quirkLifeCamHd3000[i]) {
return 100.0 * i / nelems;
}
}
return 100;
}
@@ -137,8 +141,12 @@ int UsbCameraImpl::PercentageToRaw(const UsbCameraProperty& rawProp,
rawProp.minimum == 5 && rawProp.maximum == 20000) {
int nelems = wpi::array_lengthof(quirkLifeCamHd3000);
int ndx = nelems * percentValue / 100.0;
if (ndx < 0) ndx = 0;
if (ndx >= nelems) ndx = nelems - 1;
if (ndx < 0) {
ndx = 0;
}
if (ndx >= nelems) {
ndx = nelems - 1;
}
return quirkLifeCamHd3000[ndx];
}
return rawProp.minimum +
@@ -153,18 +161,28 @@ static bool GetVendorProduct(int dev, int* vendor, int* product) {
}
int fd = open(ifpath.c_str(), O_RDONLY);
if (fd < 0) return false;
if (fd < 0) {
return false;
}
char readBuf[128];
ssize_t n = read(fd, readBuf, sizeof(readBuf));
close(fd);
if (n <= 0) return false;
if (n <= 0) {
return false;
}
wpi::StringRef readStr{readBuf};
if (readStr.substr(readStr.find('v')).substr(1, 4).getAsInteger(16, *vendor))
if (readStr.substr(readStr.find('v'))
.substr(1, 4)
.getAsInteger(16, *vendor)) {
return false;
if (readStr.substr(readStr.find('p')).substr(1, 4).getAsInteger(16, *product))
}
if (readStr.substr(readStr.find('p'))
.substr(1, 4)
.getAsInteger(16, *product)) {
return false;
}
return true;
}
@@ -177,13 +195,17 @@ static bool GetDescriptionSysV4L(int dev, std::string* desc) {
}
int fd = open(ifpath.c_str(), O_RDONLY);
if (fd < 0) return false;
if (fd < 0) {
return false;
}
char readBuf[128];
ssize_t n = read(fd, readBuf, sizeof(readBuf));
close(fd);
if (n <= 0) return false;
if (n <= 0) {
return false;
}
*desc = wpi::StringRef(readBuf, n).rtrim();
return true;
@@ -191,7 +213,9 @@ static bool GetDescriptionSysV4L(int dev, std::string* desc) {
static bool GetDescriptionIoctl(const char* cpath, std::string* desc) {
int fd = open(cpath, O_RDWR);
if (fd < 0) return false;
if (fd < 0) {
return false;
}
struct v4l2_capability vcap;
std::memset(&vcap, 0, sizeof(vcap));
@@ -222,7 +246,9 @@ static bool GetDescriptionIoctl(const char* cpath, std::string* desc) {
static bool IsVideoCaptureDevice(const char* cpath) {
int fd = open(cpath, O_RDWR);
if (fd < 0) return false;
if (fd < 0) {
return false;
}
struct v4l2_capability vcap;
std::memset(&vcap, 0, sizeof(vcap));
@@ -255,9 +281,13 @@ static int GetDeviceNum(const char* cpath) {
}
path = wpi::sys::path::filename(path);
if (!path.startswith("video")) return -1;
if (!path.startswith("video")) {
return -1;
}
int dev = -1;
if (path.substr(5).getAsInteger(10, dev)) return -1;
if (path.substr(5).getAsInteger(10, dev)) {
return -1;
}
return dev;
}
@@ -267,11 +297,15 @@ static std::string GetDescriptionImpl(const char* cpath) {
int dev = GetDeviceNum(cpath);
if (dev >= 0) {
// Sometimes the /sys tree gives a better name.
if (GetDescriptionSysV4L(dev, &rv)) return rv;
if (GetDescriptionSysV4L(dev, &rv)) {
return rv;
}
}
// Otherwise use an ioctl to query the caps and get the card name
if (GetDescriptionIoctl(cpath, &rv)) return rv;
if (GetDescriptionIoctl(cpath, &rv)) {
return rv;
}
return std::string{};
}
@@ -305,17 +339,23 @@ UsbCameraImpl::~UsbCameraImpl() {
Send(Message{Message::kNone});
// join camera thread
if (m_cameraThread.joinable()) m_cameraThread.join();
if (m_cameraThread.joinable()) {
m_cameraThread.join();
}
// close command fd
int fd = m_command_fd.exchange(-1);
if (fd >= 0) close(fd);
if (fd >= 0) {
close(fd);
}
}
static inline void DoFdSet(int fd, fd_set* set, int* nfds) {
if (fd >= 0) {
FD_SET(fd, set);
if ((fd + 1) > *nfds) *nfds = fd + 1;
if ((fd + 1) > *nfds) {
*nfds = fd + 1;
}
}
}
@@ -357,12 +397,16 @@ void UsbCameraImpl::CameraThreadMain() {
while (m_active) {
// If not connected, try to reconnect
if (m_fd < 0) DeviceConnect();
if (m_fd < 0) {
DeviceConnect();
}
// Make copies of fd's in case they go away
int command_fd = m_command_fd.load();
int fd = m_fd.load();
if (!m_active) break;
if (!m_active) {
break;
}
// Reset notified flag and restart streaming if necessary
if (fd >= 0) {
@@ -395,7 +439,9 @@ void UsbCameraImpl::CameraThreadMain() {
fd_set readfds;
FD_ZERO(&readfds);
DoFdSet(command_fd, &readfds, &nfds);
if (m_streaming) DoFdSet(fd, &readfds, &nfds);
if (m_streaming) {
DoFdSet(fd, &readfds, &nfds);
}
DoFdSet(notify_fd, &readfds, &nfds);
if (select(nfds, &readfds, nullptr, nullptr, &tv) < 0) {
@@ -404,7 +450,9 @@ void UsbCameraImpl::CameraThreadMain() {
}
// Double-check to see if we're shutting down
if (!m_active) break;
if (!m_active) {
break;
}
// Handle notify events
if (notify_fd >= 0 && FD_ISSET(notify_fd, &readfds)) {
@@ -508,10 +556,14 @@ void UsbCameraImpl::CameraThreadMain() {
void UsbCameraImpl::DeviceDisconnect() {
int fd = m_fd.exchange(-1);
if (fd < 0) return; // already disconnected
if (fd < 0) {
return; // already disconnected
}
// Unmap buffers
for (int i = 0; i < kNumBuffers; ++i) m_buffers[i] = UsbCameraBuffer{};
for (int i = 0; i < kNumBuffers; ++i) {
m_buffers[i] = UsbCameraBuffer{};
}
// Close device
close(fd);
@@ -521,14 +573,20 @@ void UsbCameraImpl::DeviceDisconnect() {
}
void UsbCameraImpl::DeviceConnect() {
if (m_fd >= 0) return;
if (m_fd >= 0) {
return;
}
if (m_connectVerbose) SINFO("Connecting to USB camera on " << m_path);
if (m_connectVerbose) {
SINFO("Connecting to USB camera on " << m_path);
}
// Try to open the device
SDEBUG3("opening device");
int fd = open(m_path.c_str(), O_RDWR);
if (fd < 0) return;
if (fd < 0) {
return;
}
m_fd = fd;
// Get capabilities
@@ -537,8 +595,9 @@ void UsbCameraImpl::DeviceConnect() {
std::memset(&vcap, 0, sizeof(vcap));
if (DoIoctl(fd, VIDIOC_QUERYCAP, &vcap) >= 0) {
m_capabilities = vcap.capabilities;
if (m_capabilities & V4L2_CAP_DEVICE_CAPS)
if (m_capabilities & V4L2_CAP_DEVICE_CAPS) {
m_capabilities = vcap.device_caps;
}
}
// Get or restore video mode
@@ -559,10 +618,12 @@ void UsbCameraImpl::DeviceConnect() {
for (size_t i = 0; i < m_propertyData.size(); ++i) {
const auto prop =
static_cast<const UsbCameraProperty*>(m_propertyData[i].get());
if (!prop || !prop->valueSet || !prop->device || prop->percentage)
if (!prop || !prop->valueSet || !prop->device || prop->percentage) {
continue;
if (!prop->DeviceSet(lock2, m_fd))
}
if (!prop->DeviceSet(lock2, m_fd)) {
SWARNING("failed to set property " << prop->name);
}
}
}
@@ -601,7 +662,9 @@ void UsbCameraImpl::DeviceConnect() {
if (!m_buffers[i].m_data) {
SWARNING("could not map buffer " << i);
// release other buffers
for (int j = 0; j < i; ++j) m_buffers[j] = UsbCameraBuffer{};
for (int j = 0; j < i; ++j) {
m_buffers[j] = UsbCameraBuffer{};
}
close(fd);
m_fd = -1;
return;
@@ -621,9 +684,13 @@ void UsbCameraImpl::DeviceConnect() {
}
bool UsbCameraImpl::DeviceStreamOn() {
if (m_streaming) return false; // ignore if already enabled
if (m_streaming) {
return false; // ignore if already enabled
}
int fd = m_fd.load();
if (fd < 0) return false;
if (fd < 0) {
return false;
}
// Queue buffers
SDEBUG3("queuing buffers");
@@ -660,11 +727,17 @@ bool UsbCameraImpl::DeviceStreamOn() {
}
bool UsbCameraImpl::DeviceStreamOff() {
if (!m_streaming) return false; // ignore if already disabled
if (!m_streaming) {
return false; // ignore if already disabled
}
int fd = m_fd.load();
if (fd < 0) return false;
if (fd < 0) {
return false;
}
int type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (DoIoctl(fd, VIDIOC_STREAMOFF, &type) != 0) return false;
if (DoIoctl(fd, VIDIOC_STREAMOFF, &type) != 0) {
return false;
}
SDEBUG4("disabled streaming");
m_streaming = false;
return true;
@@ -703,12 +776,16 @@ CS_StatusValue UsbCameraImpl::DeviceCmdSetMode(
m_mode = newMode;
lock.unlock();
bool wasStreaming = m_streaming;
if (wasStreaming) DeviceStreamOff();
if (wasStreaming) {
DeviceStreamOff();
}
if (m_fd >= 0) {
DeviceDisconnect();
DeviceConnect();
}
if (wasStreaming) DeviceStreamOn();
if (wasStreaming) {
DeviceStreamOn();
}
m_notifier.NotifySourceVideoMode(*this, newMode);
lock.lock();
} else if (newMode.fps != m_mode.fps) {
@@ -716,9 +793,13 @@ CS_StatusValue UsbCameraImpl::DeviceCmdSetMode(
lock.unlock();
// Need to stop streaming to set FPS
bool wasStreaming = m_streaming;
if (wasStreaming) DeviceStreamOff();
if (wasStreaming) {
DeviceStreamOff();
}
DeviceSetFPS();
if (wasStreaming) DeviceStreamOn();
if (wasStreaming) {
DeviceStreamOn();
}
m_notifier.NotifySourceVideoMode(*this, newMode);
lock.lock();
}
@@ -735,21 +816,25 @@ CS_StatusValue UsbCameraImpl::DeviceCmdSetProperty(
// Look up
auto prop = static_cast<UsbCameraProperty*>(GetProperty(property));
if (!prop) return CS_INVALID_PROPERTY;
if (!prop) {
return CS_INVALID_PROPERTY;
}
// If setting before we get, guess initial type based on set
if (prop->propKind == CS_PROP_NONE) {
if (setString)
if (setString) {
prop->propKind = CS_PROP_STRING;
else
} else {
prop->propKind = CS_PROP_INTEGER;
}
}
// Check kind match
if ((setString && prop->propKind != CS_PROP_STRING) ||
(!setString && (prop->propKind &
(CS_PROP_BOOLEAN | CS_PROP_INTEGER | CS_PROP_ENUM)) == 0))
(!setString && (prop->propKind & (CS_PROP_BOOLEAN | CS_PROP_INTEGER |
CS_PROP_ENUM)) == 0)) {
return CS_WRONG_PROPERTY_TYPE;
}
// Handle percentage property
int percentageProperty = prop->propPair;
@@ -766,17 +851,21 @@ CS_StatusValue UsbCameraImpl::DeviceCmdSetProperty(
// Actually set the new value on the device (if possible)
if (!prop->device) {
if (prop->id == kPropConnectVerboseId) m_connectVerbose = value;
if (prop->id == kPropConnectVerboseId) {
m_connectVerbose = value;
}
} else {
if (!prop->DeviceSet(lock, m_fd, value, valueStr))
if (!prop->DeviceSet(lock, m_fd, value, valueStr)) {
return CS_PROPERTY_WRITE_FAILED;
}
}
// Cache the set values
UpdatePropertyValue(property, setString, value, valueStr);
if (percentageProperty != 0)
if (percentageProperty != 0) {
UpdatePropertyValue(percentageProperty, setString, percentageValue,
valueStr);
}
return CS_OK;
}
@@ -787,12 +876,16 @@ CS_StatusValue UsbCameraImpl::DeviceCmdSetPath(
lock.unlock();
// disconnect and reconnect
bool wasStreaming = m_streaming;
if (wasStreaming) DeviceStreamOff();
if (wasStreaming) {
DeviceStreamOff();
}
if (m_fd >= 0) {
DeviceDisconnect();
DeviceConnect();
}
if (wasStreaming) DeviceStreamOn();
if (wasStreaming) {
DeviceStreamOn();
}
lock.lock();
return CS_OK;
}
@@ -819,15 +912,18 @@ CS_StatusValue UsbCameraImpl::DeviceProcessCommand(
void UsbCameraImpl::DeviceProcessCommands() {
std::unique_lock lock(m_mutex);
if (m_commands.empty()) return;
if (m_commands.empty()) {
return;
}
while (!m_commands.empty()) {
auto msg = std::move(m_commands.back());
m_commands.pop_back();
CS_StatusValue status = DeviceProcessCommand(lock, msg);
if (msg.kind != Message::kNumSinksChanged &&
msg.kind != Message::kNumSinksEnabledChanged)
msg.kind != Message::kNumSinksEnabledChanged) {
m_responses.emplace_back(msg.from, status);
}
}
lock.unlock();
m_responseCv.notify_all();
@@ -835,7 +931,9 @@ void UsbCameraImpl::DeviceProcessCommands() {
void UsbCameraImpl::DeviceSetMode() {
int fd = m_fd.load();
if (fd < 0) return;
if (fd < 0) {
return;
}
struct v4l2_format vfmt;
std::memset(&vfmt, 0, sizeof(vfmt));
@@ -866,25 +964,34 @@ void UsbCameraImpl::DeviceSetMode() {
void UsbCameraImpl::DeviceSetFPS() {
int fd = m_fd.load();
if (fd < 0) return;
if (fd < 0) {
return;
}
struct v4l2_streamparm parm;
std::memset(&parm, 0, sizeof(parm));
parm.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (DoIoctl(fd, VIDIOC_G_PARM, &parm) != 0) return;
if ((parm.parm.capture.capability & V4L2_CAP_TIMEPERFRAME) == 0) return;
if (DoIoctl(fd, VIDIOC_G_PARM, &parm) != 0) {
return;
}
if ((parm.parm.capture.capability & V4L2_CAP_TIMEPERFRAME) == 0) {
return;
}
std::memset(&parm, 0, sizeof(parm));
parm.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
parm.parm.capture.timeperframe = FPSToFract(m_mode.fps);
if (DoIoctl(fd, VIDIOC_S_PARM, &parm) != 0)
if (DoIoctl(fd, VIDIOC_S_PARM, &parm) != 0) {
SWARNING("could not set FPS to " << m_mode.fps);
else
} else {
SINFO("set FPS to " << m_mode.fps);
}
}
void UsbCameraImpl::DeviceCacheMode() {
int fd = m_fd.load();
if (fd < 0) return;
if (fd < 0) {
return;
}
// Get format
struct v4l2_format vfmt;
@@ -911,8 +1018,9 @@ void UsbCameraImpl::DeviceCacheMode() {
std::memset(&parm, 0, sizeof(parm));
parm.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (TryIoctl(fd, VIDIOC_G_PARM, &parm) == 0) {
if (parm.parm.capture.capability & V4L2_CAP_TIMEPERFRAME)
if (parm.parm.capture.capability & V4L2_CAP_TIMEPERFRAME) {
fps = FractToFPS(parm.parm.capture.timeperframe);
}
}
// Update format with user changes.
@@ -943,7 +1051,9 @@ void UsbCameraImpl::DeviceCacheMode() {
// Default to lowest known resolution (based on number of total pixels)
int numPixels = width * height;
for (const auto& mode : m_videoModes) {
if (mode.pixelFormat != pixelFormat) continue;
if (mode.pixelFormat != pixelFormat) {
continue;
}
int numPixelsHere = mode.width * mode.height;
if (numPixelsHere < numPixels) {
formatChanged = true;
@@ -970,8 +1080,12 @@ void UsbCameraImpl::DeviceCacheMode() {
m_mode.fps = fps;
}
if (formatChanged) DeviceSetMode();
if (fpsChanged) DeviceSetFPS();
if (formatChanged) {
DeviceSetMode();
}
if (fpsChanged) {
DeviceSetFPS();
}
m_notifier.NotifySourceVideoMode(*this, m_mode);
}
@@ -1024,8 +1138,9 @@ void UsbCameraImpl::DeviceCacheProperty(
rawProp->valueStr = perProp->valueStr; // copy
} else {
// Read current raw value and set percentage from it
if (!rawProp->DeviceGet(lock, m_fd))
if (!rawProp->DeviceGet(lock, m_fd)) {
SWARNING("failed to get property " << rawProp->name);
}
if (perProp) {
perProp->SetValue(RawToPercentage(*rawProp, rawProp->value));
@@ -1035,8 +1150,9 @@ void UsbCameraImpl::DeviceCacheProperty(
// Set value on device if user-configured
if (rawProp->valueSet) {
if (!rawProp->DeviceSet(lock, m_fd))
if (!rawProp->DeviceSet(lock, m_fd)) {
SWARNING("failed to set property " << rawProp->name);
}
}
// Update pointers since we released the lock
@@ -1076,12 +1192,16 @@ void UsbCameraImpl::DeviceCacheProperty(
}
NotifyPropertyCreated(*rawIndex, *rawPropPtr);
if (perPropPtr) NotifyPropertyCreated(*perIndex, *perPropPtr);
if (perPropPtr) {
NotifyPropertyCreated(*perIndex, *perPropPtr);
}
}
void UsbCameraImpl::DeviceCacheProperties() {
int fd = m_fd.load();
if (fd < 0) return;
if (fd < 0) {
return;
}
#ifdef V4L2_CTRL_FLAG_NEXT_COMPOUND
constexpr __u32 nextFlags =
@@ -1099,20 +1219,24 @@ void UsbCameraImpl::DeviceCacheProperties() {
if (id == nextFlags) {
// try just enumerating standard...
for (id = V4L2_CID_BASE; id < V4L2_CID_LASTP1; ++id) {
if (auto prop = UsbCameraProperty::DeviceQuery(fd, &id))
if (auto prop = UsbCameraProperty::DeviceQuery(fd, &id)) {
DeviceCacheProperty(std::move(prop));
}
}
// ... and custom controls
std::unique_ptr<UsbCameraProperty> prop;
for (id = V4L2_CID_PRIVATE_BASE;
(prop = UsbCameraProperty::DeviceQuery(fd, &id)); ++id)
(prop = UsbCameraProperty::DeviceQuery(fd, &id)); ++id) {
DeviceCacheProperty(std::move(prop));
}
}
}
void UsbCameraImpl::DeviceCacheVideoModes() {
int fd = m_fd.load();
if (fd < 0) return;
if (fd < 0) {
return;
}
std::vector<VideoMode> modes;
@@ -1122,7 +1246,9 @@ void UsbCameraImpl::DeviceCacheVideoModes() {
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
for (fmt.index = 0; TryIoctl(fd, VIDIOC_ENUM_FMT, &fmt) >= 0; ++fmt.index) {
VideoMode::PixelFormat pixelFormat = ToPixelFormat(fmt.pixelformat);
if (pixelFormat == VideoMode::kUnknown) continue;
if (pixelFormat == VideoMode::kUnknown) {
continue;
}
// Frame sizes
struct v4l2_frmsizeenum frmsize;
@@ -1130,7 +1256,9 @@ void UsbCameraImpl::DeviceCacheVideoModes() {
frmsize.pixel_format = fmt.pixelformat;
for (frmsize.index = 0; TryIoctl(fd, VIDIOC_ENUM_FRAMESIZES, &frmsize) >= 0;
++frmsize.index) {
if (frmsize.type != V4L2_FRMSIZE_TYPE_DISCRETE) continue;
if (frmsize.type != V4L2_FRMSIZE_TYPE_DISCRETE) {
continue;
}
// Frame intervals
struct v4l2_frmivalenum frmival;
@@ -1141,7 +1269,9 @@ void UsbCameraImpl::DeviceCacheVideoModes() {
for (frmival.index = 0;
TryIoctl(fd, VIDIOC_ENUM_FRAMEINTERVALS, &frmival) >= 0;
++frmival.index) {
if (frmival.type != V4L2_FRMIVAL_TYPE_DISCRETE) continue;
if (frmival.type != V4L2_FRMIVAL_TYPE_DISCRETE) {
continue;
}
modes.emplace_back(pixelFormat,
static_cast<int>(frmsize.discrete.width),
@@ -1180,7 +1310,9 @@ void UsbCameraImpl::DeviceCacheVideoModes() {
CS_StatusValue UsbCameraImpl::SendAndWait(Message&& msg) const {
int fd = m_command_fd.load();
// exit early if not possible to signal
if (fd < 0) return CS_SOURCE_IS_DISCONNECTED;
if (fd < 0) {
return CS_SOURCE_IS_DISCONNECTED;
}
auto from = msg.from;
@@ -1191,7 +1323,9 @@ CS_StatusValue UsbCameraImpl::SendAndWait(Message&& msg) const {
}
// Signal the camera thread
if (eventfd_write(fd, 1) < 0) return CS_SOURCE_IS_DISCONNECTED;
if (eventfd_write(fd, 1) < 0) {
return CS_SOURCE_IS_DISCONNECTED;
}
std::unique_lock lock(m_mutex);
while (m_active) {
@@ -1217,7 +1351,9 @@ CS_StatusValue UsbCameraImpl::SendAndWait(Message&& msg) const {
void UsbCameraImpl::Send(Message&& msg) const {
int fd = m_command_fd.load();
// exit early if not possible to signal
if (fd < 0) return;
if (fd < 0) {
return;
}
// Add the message to the command queue
{
@@ -1237,7 +1373,9 @@ std::unique_ptr<PropertyImpl> UsbCameraImpl::CreateEmptyProperty(
bool UsbCameraImpl::CacheProperties(CS_Status* status) const {
// Wake up camera thread; this will try to reconnect
*status = SendAndWait(Message{Message::kNone});
if (*status != CS_OK) return false;
if (*status != CS_OK) {
return false;
}
if (!m_properties_cached) {
*status = CS_SOURCE_IS_DISCONNECTED;
return false;
@@ -1473,7 +1611,9 @@ UsbCameraInfo GetUsbCameraInfo(CS_Source source, CS_Status* status) {
path += ep->d_name;
char* target = ::realpath(path.c_str(), nullptr);
if (target) {
if (keypath == target) info.otherPaths.emplace_back(path.str());
if (keypath == target) {
info.otherPaths.emplace_back(path.str());
}
std::free(target);
}
}
@@ -1496,10 +1636,14 @@ std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status) {
if (DIR* dp = ::opendir("/dev")) {
while (struct dirent* ep = ::readdir(dp)) {
wpi::StringRef fname{ep->d_name};
if (!fname.startswith("video")) continue;
if (!fname.startswith("video")) {
continue;
}
unsigned int dev = 0;
if (fname.substr(5).getAsInteger(10, dev)) continue;
if (fname.substr(5).getAsInteger(10, dev)) {
continue;
}
UsbCameraInfo info;
info.dev = dev;
@@ -1508,14 +1652,20 @@ std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status) {
path += fname;
info.path = path.str();
if (!IsVideoCaptureDevice(path.c_str())) continue;
if (!IsVideoCaptureDevice(path.c_str())) {
continue;
}
info.name = GetDescriptionImpl(path.c_str());
if (info.name.empty()) continue;
if (info.name.empty()) {
continue;
}
GetVendorProduct(dev, &info.vendorId, &info.productId);
if (dev >= retval.size()) retval.resize(info.dev + 1);
if (dev >= retval.size()) {
retval.resize(info.dev + 1);
}
retval[info.dev] = std::move(info);
}
::closedir(dp);

53
cscore/src/main/native/linux/UsbCameraProperty.cpp
View File

@@ -26,7 +26,9 @@ static int GetIntCtrlIoctl(int fd, unsigned id, int type, int64_t* value) {
ctrls.count = 1;
ctrls.controls = &ctrl;
int rc = DoIoctl(fd, VIDIOC_G_EXT_CTRLS, &ctrls);
if (rc < 0) return rc;
if (rc < 0) {
return rc;
}
*value = ctrl.value;
} else {
// Use normal control
@@ -34,7 +36,9 @@ static int GetIntCtrlIoctl(int fd, unsigned id, int type, int64_t* value) {
std::memset(&ctrl, 0, sizeof(ctrl));
ctrl.id = id;
int rc = DoIoctl(fd, VIDIOC_G_CTRL, &ctrl);
if (rc < 0) return rc;
if (rc < 0) {
return rc;
}
*value = ctrl.value;
}
return 0;
@@ -51,10 +55,11 @@ static int SetIntCtrlIoctl(int fd, unsigned id, int type, int64_t value) {
std::memset(&ctrl, 0, sizeof(ctrl));
std::memset(&ctrls, 0, sizeof(ctrls));
ctrl.id = id;
if (type == V4L2_CTRL_TYPE_INTEGER64)
if (type == V4L2_CTRL_TYPE_INTEGER64) {
ctrl.value64 = value;
else
} else {
ctrl.value = static_cast<__s32>(value);
}
ctrls.ctrl_class = ctrl_class;
ctrls.count = 1;
ctrls.controls = &ctrl;
@@ -117,7 +122,9 @@ static wpi::StringRef NormalizeName(wpi::StringRef name,
bool newWord = false;
for (auto ch : name) {
if (std::isalnum(ch)) {
if (newWord) buf.push_back('_');
if (newWord) {
buf.push_back('_');
}
newWord = false;
buf.push_back(std::tolower(ch));
} else if (!buf.empty()) {
@@ -163,7 +170,9 @@ UsbCameraProperty::UsbCameraProperty(const struct v4l2_query_ext_ctrl& ctrl)
// name
size_t len = 0;
while (len < sizeof(ctrl.name) && ctrl.name[len] != '\0') ++len;
while (len < sizeof(ctrl.name) && ctrl.name[len] != '\0') {
++len;
}
wpi::SmallString<64> name_buf;
name = NormalizeName(wpi::StringRef(ctrl.name, len), name_buf);
}
@@ -201,7 +210,9 @@ UsbCameraProperty::UsbCameraProperty(const struct v4l2_queryctrl& ctrl)
// name
size_t len = 0;
while (len < sizeof(ctrl.name) && ctrl.name[len] != '\0') ++len;
while (len < sizeof(ctrl.name) && ctrl.name[len] != '\0') {
++len;
}
wpi::SmallString<64> name_buf;
name = NormalizeName(
wpi::StringRef(reinterpret_cast<const char*>(ctrl.name), len), name_buf);
@@ -219,7 +230,9 @@ std::unique_ptr<UsbCameraProperty> UsbCameraProperty::DeviceQuery(int fd,
if (rc == 0) {
*id = qc_ext.id; // copy back
// We don't support array types
if (qc_ext.elems > 1 || qc_ext.nr_of_dims > 0) return nullptr;
if (qc_ext.elems > 1 || qc_ext.nr_of_dims > 0) {
return nullptr;
}
prop = std::make_unique<UsbCameraProperty>(qc_ext);
}
#endif
@@ -230,7 +243,9 @@ std::unique_ptr<UsbCameraProperty> UsbCameraProperty::DeviceQuery(int fd,
qc.id = *id;
rc = TryIoctl(fd, VIDIOC_QUERYCTRL, &qc);
*id = qc.id; // copy back
if (rc != 0) return nullptr;
if (rc != 0) {
return nullptr;
}
prop = std::make_unique<UsbCameraProperty>(qc);
}
@@ -242,7 +257,9 @@ std::unique_ptr<UsbCameraProperty> UsbCameraProperty::DeviceQuery(int fd,
qmenu.id = *id;
for (int i = prop->minimum; i <= prop->maximum; ++i) {
qmenu.index = static_cast<__u32>(i);
if (TryIoctl(fd, VIDIOC_QUERYMENU, &qmenu) != 0) continue;
if (TryIoctl(fd, VIDIOC_QUERYMENU, &qmenu) != 0) {
continue;
}
if (prop->intMenu) {
wpi::raw_string_ostream os(prop->enumChoices[i]);
os << qmenu.value;
@@ -256,7 +273,9 @@ std::unique_ptr<UsbCameraProperty> UsbCameraProperty::DeviceQuery(int fd,
}
bool UsbCameraProperty::DeviceGet(std::unique_lock<wpi::mutex>& lock, int fd) {
if (fd < 0) return true;
if (fd < 0) {
return true;
}
unsigned idCopy = id;
int rv = 0;
@@ -269,7 +288,9 @@ bool UsbCameraProperty::DeviceGet(std::unique_lock<wpi::mutex>& lock, int fd) {
lock.unlock();
rv = GetIntCtrlIoctl(fd, idCopy, typeCopy, &newValue);
lock.lock();
if (rv >= 0) value = newValue;
if (rv >= 0) {
value = newValue;
}
break;
}
case CS_PROP_STRING: {
@@ -278,7 +299,9 @@ bool UsbCameraProperty::DeviceGet(std::unique_lock<wpi::mutex>& lock, int fd) {
lock.unlock();
rv = GetStringCtrlIoctl(fd, idCopy, maximumCopy, &newValueStr);
lock.lock();
if (rv >= 0) valueStr = std::move(newValueStr);
if (rv >= 0) {
valueStr = std::move(newValueStr);
}
break;
}
default:
@@ -298,7 +321,9 @@ bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock, int fd,
int newValue,
const wpi::Twine& newValueStr) const {
if (!device || fd < 0) return true;
if (!device || fd < 0) {
return true;
}
unsigned idCopy = id;
int rv = 0;

18
cscore/src/main/native/linux/UsbUtil.cpp
View File

@@ -21,7 +21,9 @@ namespace cs {
static wpi::StringRef GetUsbNameFromFile(int vendor, int product,
wpi::SmallVectorImpl<char>& buf) {
int fd = open("/var/lib/usbutils/usb.ids", O_RDONLY);
if (fd < 0) return wpi::StringRef{};
if (fd < 0) {
return {};
}
wpi::raw_svector_ostream os{buf};
wpi::raw_fd_istream is{fd, true};
@@ -37,9 +39,13 @@ static wpi::StringRef GetUsbNameFromFile(int vendor, int product,
bool foundVendor = false;
for (;;) {
auto line = is.getline(lineBuf, 4096);
if (is.has_error()) break;
if (is.has_error()) {
break;
}
if (line.empty()) continue;
if (line.empty()) {
continue;
}
// look for vendor at start of line
if (line.startswith(vendorStr)) {
@@ -63,14 +69,16 @@ static wpi::StringRef GetUsbNameFromFile(int vendor, int product,
}
}
return wpi::StringRef{};
return {};
}
wpi::StringRef GetUsbNameFromId(int vendor, int product,
wpi::SmallVectorImpl<char>& buf) {
// try reading usb.ids
wpi::StringRef rv = GetUsbNameFromFile(vendor, product, buf);
if (!rv.empty()) return rv;
if (!rv.empty()) {
return rv;
}
// Fall back to internal database
wpi::raw_svector_ostream os{buf};