openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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#ifndef _CALCULATOR_STUB_H
#define _CALCULATOR_STUB_H
#include "calculator.h"
// remote.h
#include <stdint.h>
#include <sys/types.h>
typedef uint32_t remote_handle;
typedef uint64_t remote_handle64;
typedef struct {
void *pv;
size_t nLen;
} remote_buf;
typedef struct {
int32_t fd;
uint32_t offset;
} remote_dma_handle;
typedef union {
remote_buf buf;
remote_handle h;
remote_handle64 h64;
remote_dma_handle dma;
} remote_arg;
int remote_handle_open(const char* name, remote_handle *ph);
int remote_handle_invoke(remote_handle h, uint32_t dwScalars, remote_arg *pra);
int remote_handle_close(remote_handle h);
#define REMOTE_SCALARS_MAKEX(nAttr,nMethod,nIn,nOut,noIn,noOut) \
((((uint32_t) (nAttr) & 0x7) << 29) | \
(((uint32_t) (nMethod) & 0x1f) << 24) | \
(((uint32_t) (nIn) & 0xff) << 16) | \
(((uint32_t) (nOut) & 0xff) << 8) | \
(((uint32_t) (noIn) & 0x0f) << 4) | \
((uint32_t) (noOut) & 0x0f))
#ifndef _QAIC_ENV_H
#define _QAIC_ENV_H
#ifdef __GNUC__
#ifdef __clang__
#pragma GCC diagnostic ignored "-Wunknown-pragmas"
#else
#pragma GCC diagnostic ignored "-Wpragmas"
#endif
#pragma GCC diagnostic ignored "-Wuninitialized"
#pragma GCC diagnostic ignored "-Wunused-parameter"
#pragma GCC diagnostic ignored "-Wunused-function"
#endif
#ifndef _ATTRIBUTE_UNUSED
#ifdef _WIN32
#define _ATTRIBUTE_UNUSED
#else
#define _ATTRIBUTE_UNUSED __attribute__ ((unused))
#endif
#endif // _ATTRIBUTE_UNUSED
#ifndef __QAIC_REMOTE
#define __QAIC_REMOTE(ff) ff
#endif //__QAIC_REMOTE
#ifndef __QAIC_HEADER
#define __QAIC_HEADER(ff) ff
#endif //__QAIC_HEADER
#ifndef __QAIC_HEADER_EXPORT
#define __QAIC_HEADER_EXPORT
#endif // __QAIC_HEADER_EXPORT
#ifndef __QAIC_HEADER_ATTRIBUTE
#define __QAIC_HEADER_ATTRIBUTE
#endif // __QAIC_HEADER_ATTRIBUTE
#ifndef __QAIC_IMPL
#define __QAIC_IMPL(ff) ff
#endif //__QAIC_IMPL
#ifndef __QAIC_IMPL_EXPORT
#define __QAIC_IMPL_EXPORT
#endif // __QAIC_IMPL_EXPORT
#ifndef __QAIC_IMPL_ATTRIBUTE
#define __QAIC_IMPL_ATTRIBUTE
#endif // __QAIC_IMPL_ATTRIBUTE
#ifndef __QAIC_STUB
#define __QAIC_STUB(ff) ff
#endif //__QAIC_STUB
#ifndef __QAIC_STUB_EXPORT
#define __QAIC_STUB_EXPORT
#endif // __QAIC_STUB_EXPORT
#ifndef __QAIC_STUB_ATTRIBUTE
#define __QAIC_STUB_ATTRIBUTE
#endif // __QAIC_STUB_ATTRIBUTE
#ifndef __QAIC_SKEL
#define __QAIC_SKEL(ff) ff
#endif //__QAIC_SKEL__
#ifndef __QAIC_SKEL_EXPORT
#define __QAIC_SKEL_EXPORT
#endif // __QAIC_SKEL_EXPORT
#ifndef __QAIC_SKEL_ATTRIBUTE
#define __QAIC_SKEL_ATTRIBUTE
#endif // __QAIC_SKEL_ATTRIBUTE
#ifdef __QAIC_DEBUG__
#ifndef __QAIC_DBG_PRINTF__
#include <stdio.h>
#define __QAIC_DBG_PRINTF__( ee ) do { printf ee ; } while(0)
#endif
#else
#define __QAIC_DBG_PRINTF__( ee ) (void)0
#endif
#define _OFFSET(src, sof) ((void*)(((char*)(src)) + (sof)))
#define _COPY(dst, dof, src, sof, sz) \
do {\
struct __copy { \
char ar[sz]; \
};\
*(struct __copy*)_OFFSET(dst, dof) = *(struct __copy*)_OFFSET(src, sof);\
} while (0)
#define _COPYIF(dst, dof, src, sof, sz) \
do {\
if(_OFFSET(dst, dof) != _OFFSET(src, sof)) {\
_COPY(dst, dof, src, sof, sz); \
} \
} while (0)
_ATTRIBUTE_UNUSED
static __inline void _qaic_memmove(void* dst, void* src, int size) {
int i;
for(i = 0; i < size; ++i) {
((char*)dst)[i] = ((char*)src)[i];
}
}
#define _MEMMOVEIF(dst, src, sz) \
do {\
if(dst != src) {\
_qaic_memmove(dst, src, sz);\
} \
} while (0)
#define _ASSIGN(dst, src, sof) \
do {\
dst = OFFSET(src, sof); \
} while (0)
#define _STD_STRLEN_IF(str) (str == 0 ? 0 : strlen(str))
#define AEE_SUCCESS 0
#define AEE_EOFFSET 0x80000400
#define AEE_EBADPARM (AEE_EOFFSET + 0x00E)
#define _TRY(ee, func) \
do { \
if (AEE_SUCCESS != ((ee) = func)) {\
__QAIC_DBG_PRINTF__((__FILE__ ":%d:error:%d:%s\n", __LINE__, (int)(ee),#func));\
goto ee##bail;\
} \
} while (0)
#define _CATCH(exception) exception##bail: if (exception != AEE_SUCCESS)
#define _ASSERT(nErr, ff) _TRY(nErr, 0 == (ff) ? AEE_EBADPARM : AEE_SUCCESS)
#ifdef __QAIC_DEBUG__
#define _ALLOCATE(nErr, pal, size, alignment, pv) _TRY(nErr, _allocator_alloc(pal, __FILE_LINE__, size, alignment, (void**)&pv))
#else
#define _ALLOCATE(nErr, pal, size, alignment, pv) _TRY(nErr, _allocator_alloc(pal, 0, size, alignment, (void**)&pv))
#endif
#endif // _QAIC_ENV_H
#ifndef _ALLOCATOR_H
#define _ALLOCATOR_H
#include <stdlib.h>
#include <stdint.h>
typedef struct _heap _heap;
struct _heap {
_heap* pPrev;
const char* loc;
uint64_t buf;
};
typedef struct _allocator {
_heap* pheap;
uint8_t* stack;
uint8_t* stackEnd;
int nSize;
} _allocator;
_ATTRIBUTE_UNUSED
static __inline int _heap_alloc(_heap** ppa, const char* loc, int size, void** ppbuf) {
_heap* pn = 0;
pn = malloc(size + sizeof(_heap) - sizeof(uint64_t));
if(pn != 0) {
pn->pPrev = *ppa;
pn->loc = loc;
*ppa = pn;
*ppbuf = (void*)&(pn->buf);
return 0;
} else {
return -1;
}
}
#define _ALIGN_SIZE(x, y) (((x) + (y-1)) & ~(y-1))
_ATTRIBUTE_UNUSED
static __inline int _allocator_alloc(_allocator* me,
const char* loc,
int size,
unsigned int al,
void** ppbuf) {
if(size < 0) {
return -1;
} else if (size == 0) {
*ppbuf = 0;
return 0;
}
if((_ALIGN_SIZE((uintptr_t)me->stackEnd, al) + size) < (uintptr_t)me->stack + me->nSize) {
*ppbuf = (uint8_t*)_ALIGN_SIZE((uintptr_t)me->stackEnd, al);
me->stackEnd = (uint8_t*)_ALIGN_SIZE((uintptr_t)me->stackEnd, al) + size;
return 0;
} else {
return _heap_alloc(&me->pheap, loc, size, ppbuf);
}
}
_ATTRIBUTE_UNUSED
static __inline void _allocator_deinit(_allocator* me) {
_heap* pa = me->pheap;
while(pa != 0) {
_heap* pn = pa;
const char* loc = pn->loc;
(void)loc;
pa = pn->pPrev;
free(pn);
}
}
_ATTRIBUTE_UNUSED
static __inline void _allocator_init(_allocator* me, uint8_t* stack, int stackSize) {
me->stack = stack;
me->stackEnd = stack + stackSize;
me->nSize = stackSize;
me->pheap = 0;
}
#endif // _ALLOCATOR_H
#ifndef SLIM_H
#define SLIM_H
#include <stdint.h>
//a C data structure for the idl types that can be used to implement
//static and dynamic language bindings fairly efficiently.
//
//the goal is to have a minimal ROM and RAM footprint and without
//doing too many allocations. A good way to package these things seemed
//like the module boundary, so all the idls within one module can share
//all the type references.
#define PARAMETER_IN 0x0
#define PARAMETER_OUT 0x1
#define PARAMETER_INOUT 0x2
#define PARAMETER_ROUT 0x3
#define PARAMETER_INROUT 0x4
//the types that we get from idl
#define TYPE_OBJECT 0x0
#define TYPE_INTERFACE 0x1
#define TYPE_PRIMITIVE 0x2
#define TYPE_ENUM 0x3
#define TYPE_STRING 0x4
#define TYPE_WSTRING 0x5
#define TYPE_STRUCTURE 0x6
#define TYPE_UNION 0x7
#define TYPE_ARRAY 0x8
#define TYPE_SEQUENCE 0x9
//these require the pack/unpack to recurse
//so it's a hint to those languages that can optimize in cases where
//recursion isn't necessary.
#define TYPE_COMPLEX_STRUCTURE (0x10 | TYPE_STRUCTURE)
#define TYPE_COMPLEX_UNION (0x10 | TYPE_UNION)
#define TYPE_COMPLEX_ARRAY (0x10 | TYPE_ARRAY)
#define TYPE_COMPLEX_SEQUENCE (0x10 | TYPE_SEQUENCE)
typedef struct Type Type;
#define INHERIT_TYPE\
int32_t nativeSize; /*in the simple case its the same as wire size and alignment*/\
union {\
struct {\
const uintptr_t p1;\
const uintptr_t p2;\
} _cast;\
struct {\
uint32_t iid;\
uint32_t bNotNil;\
} object;\
struct {\
const Type *arrayType;\
int32_t nItems;\
} array;\
struct {\
const Type *seqType;\
int32_t nMaxLen;\
} seqSimple; \
struct {\
uint32_t bFloating;\
uint32_t bSigned;\
} prim; \
const SequenceType* seqComplex;\
const UnionType *unionType;\
const StructType *structType;\
int32_t stringMaxLen;\
uint8_t bInterfaceNotNil;\
} param;\
uint8_t type;\
uint8_t nativeAlignment\
typedef struct UnionType UnionType;
typedef struct StructType StructType;
typedef struct SequenceType SequenceType;
struct Type {
INHERIT_TYPE;
};
struct SequenceType {
const Type * seqType;
uint32_t nMaxLen;
uint32_t inSize;
uint32_t routSizePrimIn;
uint32_t routSizePrimROut;
};
//byte offset from the start of the case values for
//this unions case value array. it MUST be aligned
//at the alignment requrements for the descriptor
//
//if negative it means that the unions cases are
//simple enumerators, so the value read from the descriptor
//can be used directly to find the correct case
typedef union CaseValuePtr CaseValuePtr;
union CaseValuePtr {
const uint8_t* value8s;
const uint16_t* value16s;
const uint32_t* value32s;
const uint64_t* value64s;
};
//these are only used in complex cases
//so I pulled them out of the type definition as references to make
//the type smaller
struct UnionType {
const Type *descriptor;
uint32_t nCases;
const CaseValuePtr caseValues;
const Type * const *cases;
int32_t inSize;
int32_t routSizePrimIn;
int32_t routSizePrimROut;
uint8_t inAlignment;
uint8_t routAlignmentPrimIn;
uint8_t routAlignmentPrimROut;
uint8_t inCaseAlignment;
uint8_t routCaseAlignmentPrimIn;
uint8_t routCaseAlignmentPrimROut;
uint8_t nativeCaseAlignment;
uint8_t bDefaultCase;
};
struct StructType {
uint32_t nMembers;
const Type * const *members;
int32_t inSize;
int32_t routSizePrimIn;
int32_t routSizePrimROut;
uint8_t inAlignment;
uint8_t routAlignmentPrimIn;
uint8_t routAlignmentPrimROut;
};
typedef struct Parameter Parameter;
struct Parameter {
INHERIT_TYPE;
uint8_t mode;
uint8_t bNotNil;
};
#define SLIM_IFPTR32(is32,is64) (sizeof(uintptr_t) == 4 ? (is32) : (is64))
#define SLIM_SCALARS_IS_DYNAMIC(u) (((u) & 0x00ffffff) == 0x00ffffff)
typedef struct Method Method;
struct Method {
uint32_t uScalars; //no method index
int32_t primInSize;
int32_t primROutSize;
int maxArgs;
int numParams;
const Parameter * const *params;
uint8_t primInAlignment;
uint8_t primROutAlignment;
};
typedef struct Interface Interface;
struct Interface {
int nMethods;
const Method * const *methodArray;
int nIIds;
const uint32_t *iids;
const uint16_t* methodStringArray;
const uint16_t* methodStrings;
const char* strings;
};
#endif //SLIM_H
#ifndef _CALCULATOR_SLIM_H
#define _CALCULATOR_SLIM_H
// remote.h
#include <stdint.h>
#ifndef __QAIC_SLIM
#define __QAIC_SLIM(ff) ff
#endif
#ifndef __QAIC_SLIM_EXPORT
#define __QAIC_SLIM_EXPORT
#endif
static const Type types[1];
static const Type types[1] = {{0x1,{{(const uintptr_t)0,(const uintptr_t)0}}, 2,0x1}};
static const Parameter parameters[3] = {{0x4,{{(const uintptr_t)0,(const uintptr_t)0}}, 2,0x4,3,0},{SLIM_IFPTR32(0x8,0x10),{{(const uintptr_t)&(types[0]),(const uintptr_t)0x0}}, 9,SLIM_IFPTR32(0x4,0x8),0,0},{SLIM_IFPTR32(0x8,0x10),{{(const uintptr_t)&(types[0]),(const uintptr_t)0x0}}, 9,SLIM_IFPTR32(0x4,0x8),3,0}};
static const Parameter* const parameterArrays[3] = {(&(parameters[1])),(&(parameters[2])),(&(parameters[0]))};
static const Method methods[2] = {{REMOTE_SCALARS_MAKEX(0,0,0x0,0x1,0x0,0x0),0x0,0x4,1,1,(&(parameterArrays[2])),0x1,0x4},{REMOTE_SCALARS_MAKEX(0,0,0x2,0x1,0x0,0x0),0x8,0x0,5,2,(&(parameterArrays[0])),0x4,0x1}};
static const Method* const methodArrays[2] = {&(methods[0]),&(methods[1])};
static const char strings[41] = "extract_and_match\0features\0leet\0init\0img\0";
static const uint16_t methodStrings[5] = {0,37,18,32,27};
static const uint16_t methodStringsArrays[2] = {3,0};
__QAIC_SLIM_EXPORT const Interface __QAIC_SLIM(calculator_slim) = {2,&(methodArrays[0]),0,0,&(methodStringsArrays [0]),methodStrings,strings};
#endif //_CALCULATOR_SLIM_H
#ifdef __cplusplus
extern "C" {
#endif
#ifndef _const_calculator_handle
#define _const_calculator_handle ((remote_handle)-1)
#endif //_const_calculator_handle
static void _calculator_pls_dtor(void* data) {
remote_handle* ph = (remote_handle*)data;
if(_const_calculator_handle != *ph) {
(void)__QAIC_REMOTE(remote_handle_close)(*ph);
*ph = _const_calculator_handle;
}
}
static int _calculator_pls_ctor(void* ctx, void* data) {
remote_handle* ph = (remote_handle*)data;
*ph = _const_calculator_handle;
if(*ph == (remote_handle)-1) {
return __QAIC_REMOTE(remote_handle_open)((const char*)ctx, ph);
}
return 0;
}
#if (defined __qdsp6__) || (defined __hexagon__)
#pragma weak adsp_pls_add_lookup
extern int adsp_pls_add_lookup(uint32_t type, uint32_t key, int size, int (*ctor)(void* ctx, void* data), void* ctx, void (*dtor)(void* ctx), void** ppo);
#pragma weak HAP_pls_add_lookup
extern int HAP_pls_add_lookup(uint32_t type, uint32_t key, int size, int (*ctor)(void* ctx, void* data), void* ctx, void (*dtor)(void* ctx), void** ppo);
__QAIC_STUB_EXPORT remote_handle _calculator_handle(void) {
remote_handle* ph;
if(adsp_pls_add_lookup) {
if(0 == adsp_pls_add_lookup((uint32_t)_calculator_handle, 0, sizeof(*ph), _calculator_pls_ctor, "calculator", _calculator_pls_dtor, (void**)&ph)) {
return *ph;
}
return (remote_handle)-1;
} else if(HAP_pls_add_lookup) {
if(0 == HAP_pls_add_lookup((uint32_t)_calculator_handle, 0, sizeof(*ph), _calculator_pls_ctor, "calculator", _calculator_pls_dtor, (void**)&ph)) {
return *ph;
}
return (remote_handle)-1;
}
return(remote_handle)-1;
}
#else //__qdsp6__ || __hexagon__
uint32_t _calculator_atomic_CompareAndExchange(uint32_t * volatile puDest, uint32_t uExchange, uint32_t uCompare);
#ifdef _WIN32
#include "Windows.h"
uint32_t _calculator_atomic_CompareAndExchange(uint32_t * volatile puDest, uint32_t uExchange, uint32_t uCompare) {
return (uint32_t)InterlockedCompareExchange((volatile LONG*)puDest, (LONG)uExchange, (LONG)uCompare);
}
#elif __GNUC__
uint32_t _calculator_atomic_CompareAndExchange(uint32_t * volatile puDest, uint32_t uExchange, uint32_t uCompare) {
return __sync_val_compare_and_swap(puDest, uCompare, uExchange);
}
#endif //_WIN32
__QAIC_STUB_EXPORT remote_handle _calculator_handle(void) {
static remote_handle handle = _const_calculator_handle;
if((remote_handle)-1 != handle) {
return handle;
} else {
remote_handle tmp;
int nErr = _calculator_pls_ctor("calculator", (void*)&tmp);
if(nErr) {
return (remote_handle)-1;
}
if(((remote_handle)-1 != handle) || ((remote_handle)-1 != (remote_handle)_calculator_atomic_CompareAndExchange((uint32_t*)&handle, (uint32_t)tmp, (uint32_t)-1))) {
_calculator_pls_dtor(&tmp);
}
return handle;
}
}
#endif //__qdsp6__
__QAIC_STUB_EXPORT int __QAIC_STUB(calculator_skel_invoke)(uint32_t _sc, remote_arg* _pra) __QAIC_STUB_ATTRIBUTE {
return __QAIC_REMOTE(remote_handle_invoke)(_calculator_handle(), _sc, _pra);
}
#ifdef __cplusplus
}
#endif
#ifdef __cplusplus
extern "C" {
#endif
extern int remote_register_dma_handle(int, uint32_t);
static __inline int _stub_method(remote_handle _handle, uint32_t _mid, uint32_t _rout0[1]) {
int _numIn[1];
remote_arg _pra[1];
uint32_t _primROut[1];
int _nErr = 0;
_numIn[0] = 0;
_pra[(_numIn[0] + 0)].buf.pv = (void*)_primROut;
_pra[(_numIn[0] + 0)].buf.nLen = sizeof(_primROut);
_TRY(_nErr, __QAIC_REMOTE(remote_handle_invoke)(_handle, REMOTE_SCALARS_MAKEX(0, _mid, 0, 1, 0, 0), _pra));
_COPY(_rout0, 0, _primROut, 0, 4);
_CATCH(_nErr) {}
return _nErr;
}
__QAIC_STUB_EXPORT int __QAIC_STUB(calculator_init)(uint32* leet) __QAIC_STUB_ATTRIBUTE {
uint32_t _mid = 0;
return _stub_method(_calculator_handle(), _mid, (uint32_t*)leet);
}
static __inline int _stub_method_1(remote_handle _handle, uint32_t _mid, char* _in0[1], uint32_t _in0Len[1], char* _rout1[1], uint32_t _rout1Len[1]) {
int _numIn[1];
remote_arg _pra[3];
uint32_t _primIn[2];
remote_arg* _praIn;
remote_arg* _praROut;
int _nErr = 0;
_numIn[0] = 1;
_pra[0].buf.pv = (void*)_primIn;
_pra[0].buf.nLen = sizeof(_primIn);
_COPY(_primIn, 0, _in0Len, 0, 4);
_praIn = (_pra + 1);
_praIn[0].buf.pv = _in0[0];
_praIn[0].buf.nLen = (1 * _in0Len[0]);
_COPY(_primIn, 4, _rout1Len, 0, 4);
_praROut = (_praIn + _numIn[0] + 0);
_praROut[0].buf.pv = _rout1[0];
_praROut[0].buf.nLen = (1 * _rout1Len[0]);
_TRY(_nErr, __QAIC_REMOTE(remote_handle_invoke)(_handle, REMOTE_SCALARS_MAKEX(0, _mid, 2, 1, 0, 0), _pra));
_CATCH(_nErr) {}
return _nErr;
}
__QAIC_STUB_EXPORT int __QAIC_STUB(calculator_extract_and_match)(const uint8* img, int imgLen, uint8* features, int featuresLen) __QAIC_STUB_ATTRIBUTE {
uint32_t _mid = 1;
return _stub_method_1(_calculator_handle(), _mid, (char**)&img, (uint32_t*)&imgLen, (char**)&features, (uint32_t*)&featuresLen);
}
#ifdef __cplusplus
}
#endif
#endif //_CALCULATOR_STUB_H