You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
134 lines
3.3 KiB
134 lines
3.3 KiB
#pragma once
|
|
|
|
#include <fcntl.h>
|
|
#include <unistd.h>
|
|
|
|
#include <algorithm>
|
|
#include <atomic>
|
|
#include <chrono>
|
|
#include <csignal>
|
|
#include <ctime>
|
|
#include <map>
|
|
#include <memory>
|
|
#include <string>
|
|
#include <thread>
|
|
|
|
#ifndef sighandler_t
|
|
typedef void (*sighandler_t)(int sig);
|
|
#endif
|
|
|
|
void set_thread_name(const char* name);
|
|
|
|
int set_realtime_priority(int level);
|
|
int set_core_affinity(int core);
|
|
|
|
namespace util {
|
|
|
|
// ***** Time helpers *****
|
|
struct tm get_time();
|
|
bool time_valid(struct tm sys_time);
|
|
|
|
// ***** math helpers *****
|
|
|
|
// map x from [a1, a2] to [b1, b2]
|
|
template <typename T>
|
|
T map_val(T x, T a1, T a2, T b1, T b2) {
|
|
x = std::clamp(x, a1, a2);
|
|
T ra = a2 - a1;
|
|
T rb = b2 - b1;
|
|
return (x - a1) * rb / ra + b1;
|
|
}
|
|
|
|
// ***** string helpers *****
|
|
|
|
inline bool starts_with(const std::string& s, const std::string& prefix) {
|
|
return s.compare(0, prefix.size(), prefix) == 0;
|
|
}
|
|
|
|
template <typename... Args>
|
|
std::string string_format(const std::string& format, Args... args) {
|
|
size_t size = snprintf(nullptr, 0, format.c_str(), args...) + 1;
|
|
std::unique_ptr<char[]> buf(new char[size]);
|
|
snprintf(buf.get(), size, format.c_str(), args...);
|
|
return std::string(buf.get(), buf.get() + size - 1);
|
|
}
|
|
|
|
std::string getenv_default(const char* env_var, const char* suffix, const char* default_val);
|
|
std::string tohex(const uint8_t* buf, size_t buf_size);
|
|
std::string hexdump(const std::string& in);
|
|
std::string base_name(std::string const& path);
|
|
std::string dir_name(std::string const& path);
|
|
bool is_valid_dongle_id(std::string const& dongle_id);
|
|
|
|
// **** file fhelpers *****
|
|
std::string read_file(const std::string& fn);
|
|
int read_files_in_dir(const std::string& path, std::map<std::string, std::string>* contents);
|
|
int write_file(const char* path, const void* data, size_t size, int flags = O_WRONLY, mode_t mode = 0777);
|
|
std::string readlink(const std::string& path);
|
|
bool file_exists(const std::string& fn);
|
|
|
|
inline void sleep_for(const int milliseconds) {
|
|
std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
|
|
}
|
|
|
|
} // namespace util
|
|
|
|
class ExitHandler {
|
|
public:
|
|
ExitHandler() {
|
|
std::signal(SIGINT, (sighandler_t)set_do_exit);
|
|
std::signal(SIGTERM, (sighandler_t)set_do_exit);
|
|
|
|
#ifndef __APPLE__
|
|
std::signal(SIGPWR, (sighandler_t)set_do_exit);
|
|
#endif
|
|
};
|
|
inline static std::atomic<bool> power_failure = false;
|
|
inline static std::atomic<int> signal = 0;
|
|
inline operator bool() { return do_exit; }
|
|
inline ExitHandler& operator=(bool v) {
|
|
signal = 0;
|
|
do_exit = v;
|
|
return *this;
|
|
}
|
|
private:
|
|
static void set_do_exit(int sig) {
|
|
#ifndef __APPLE__
|
|
power_failure = (sig == SIGPWR);
|
|
#endif
|
|
signal = sig;
|
|
do_exit = true;
|
|
}
|
|
inline static std::atomic<bool> do_exit = false;
|
|
};
|
|
|
|
struct unique_fd {
|
|
unique_fd(int fd = -1) : fd_(fd) {}
|
|
unique_fd& operator=(unique_fd&& uf) {
|
|
fd_ = uf.fd_;
|
|
uf.fd_ = -1;
|
|
return *this;
|
|
}
|
|
~unique_fd() {
|
|
if (fd_ != -1) close(fd_);
|
|
}
|
|
operator int() const { return fd_; }
|
|
int fd_;
|
|
};
|
|
|
|
class FirstOrderFilter {
|
|
public:
|
|
FirstOrderFilter(float x0, float ts, float dt) {
|
|
k_ = (dt / ts) / (1.0 + dt / ts);
|
|
x_ = x0;
|
|
}
|
|
inline float update(float x) {
|
|
x_ = (1. - k_) * x_ + k_ * x;
|
|
return x_;
|
|
}
|
|
inline void reset(float x) { x_ = x; }
|
|
inline float x(){ return x_; }
|
|
|
|
private:
|
|
float x_, k_;
|
|
};
|
|
|