misc gc pass

Author: adeebshihadeh

SConscript

@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'common')
+Import('env', 'envCython', 'common')
 
 
 visionipc_dir = Dir('msgq/visionipc')
@@ -12,11 +12,11 @@ msgq_objects = env.SharedObject([
   'msgq/msgq.cc',
 ])
 msgq = env.Library('msgq', msgq_objects)
-msgq_python = envCython.Program('msgq/ipc_pyx.so', 'msgq/ipc_pyx.pyx', LIBS=envCython["LIBS"]+[msgq, common])
+envCython.Program('msgq/ipc_pyx.so', 'msgq/ipc_pyx.pyx', LIBS=envCython["LIBS"]+[msgq]+common)
 
 # Build Vision IPC
 vipc_files = ['visionipc.cc', 'visionipc_server.cc', 'visionipc_client.cc']
-if arch == "larch64":
+if File('/dev/ion').exists():
   vipc_files += ['visionbuf_ion.cc']
 else:
   vipc_files += ['visionbuf.cc']
@@ -26,11 +26,9 @@ vipc_objects = env.SharedObject(vipc_sources)
 visionipc = env.Library('visionipc', vipc_objects)
 
 
-vipc_libs = envCython["LIBS"] + [visionipc, msgq, common]
+vipc_libs = envCython["LIBS"] + [visionipc, msgq] + common
 envCython.Program(f'{visionipc_dir.abspath}/visionipc_pyx.so', f'{visionipc_dir.abspath}/visionipc_pyx.pyx',
                   LIBS=vipc_libs)
 
 if GetOption('extras'):
-  env.Program('msgq/test_runner', ['msgq/test_runner.cc', 'msgq/msgq_tests.cc'], LIBS=[msgq, common])
-
-Export('visionipc', 'msgq', 'msgq_python')
+  env.Program('msgq/test_runner', ['msgq/test_runner.cc', 'msgq/msgq_tests.cc'], LIBS=[msgq]+common)

SConstruct

@@ -8,11 +8,11 @@ arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
 
-common = ''
+common = []
 
 cpppath = [
   catch2.INCLUDE_DIR,
-  f"#/",
+  "#/",
   '#msgq/',
   '/usr/lib/include',
   sysconfig.get_paths()['include'],

msgq/__init__.py

@@ -5,13 +5,26 @@
 
 from typing import Optional, List, Union
 
-assert MultiplePublishersError
-assert IpcError
-assert toggle_fake_events
-assert set_fake_prefix
-assert get_fake_prefix
-assert delete_fake_prefix
-assert wait_for_one_event
+__all__ = [
+  "Context",
+  "Poller",
+  "SubSocket",
+  "PubSocket",
+  "SocketEventHandle",
+  "MultiplePublishersError",
+  "IpcError",
+  "toggle_fake_events",
+  "set_fake_prefix",
+  "get_fake_prefix",
+  "delete_fake_prefix",
+  "wait_for_one_event",
+  "NO_TRAVERSAL_LIMIT",
+  "context",
+  "fake_event_handle",
+  "pub_sock",
+  "sub_sock",
+  "drain_sock_raw",
+]
 
 NO_TRAVERSAL_LIMIT = 2**64-1
 

msgq/ipc_pyx.pyx

@@ -1,7 +1,6 @@
 # distutils: language = c++
 # cython: c_string_encoding=ascii, language_level=3
 
-import sys
 import time
 from libcpp.string cimport string
 from libcpp.vector cimport vector
@@ -56,9 +55,6 @@ def wait_for_one_event(list events, int timeout=-1):
 cdef class Event:
   cdef cppEvent event;
 
-  def __cinit__(self):
-    pass
-
   cdef setEvent(self, cppEvent event):
     self.event = event
 

msgq/msgq.cc

@@ -79,8 +79,6 @@ void msgq_wait_for_subscriber(msgq_queue_t *q){
   while (*q->num_readers == 0){
     // wait for subscriber
   }
-
-  return;
 }
 
 int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){

msgq/visionipc/__init__.py

@@ -1,6 +1,9 @@
 from msgq.visionipc.visionipc_pyx import VisionBuf, VisionIpcClient, VisionIpcServer, VisionStreamType, get_endpoint_name
-assert VisionBuf
-assert VisionIpcClient
-assert VisionIpcServer
-assert VisionStreamType
-assert get_endpoint_name
+
+__all__ = [
+  "VisionBuf",
+  "VisionIpcClient",
+  "VisionIpcServer",
+  "VisionStreamType",
+  "get_endpoint_name",
+]

msgq/visionipc/visionipc_pyx.pyx

@@ -1,7 +1,6 @@
 # distutils: language = c++
 # cython: c_string_encoding=ascii, language_level=3
 
-import sys
 from libc.string cimport memcpy
 from libc.stdint cimport uint32_t, uint64_t
 from libcpp cimport bool

msgq/visionipc/visionipc_server.cc

@@ -38,13 +38,9 @@ void VisionIpcServer::create_buffers(VisionStreamType type, size_t num_buffers,
   // TODO: assert that this type is not created yet
   assert(num_buffers < VISIONIPC_MAX_FDS);
 
-  size_t size = 0;
-  size_t stride = 0;
-  size_t uv_offset = 0;
-
-  size = width * height * 3 / 2;
-  stride = width;
-  uv_offset = width * height;
+  size_t size = width * height * 3 / 2;
+  size_t stride = width;
+  size_t uv_offset = width * height;
 
   create_buffers_with_sizes(type, num_buffers, width, height, size, stride, uv_offset);
 }

pyproject.toml

@@ -1,7 +1,7 @@
 [project]
 name = "msgq"
 version = "0.0.1"
-description = "Code powering the comma.ai panda"
+description = "Lock-free IPC pub/sub message queue"
 readme = "README.md"
 requires-python = ">=3.11,<3.13"
 license = {text = "MIT"}