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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#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <assert.h>
#include <unistd.h>
#include <fcntl.h>
#include <dirent.h>
#include <sys/poll.h>
#include <linux/input.h>
#include "touch.h"
/* this macro is used to tell if "bit" is set in "array"
* it selects a byte from the array, and does a boolean AND
* operation with a byte that only has the relevant bit set.
* eg. to check for the 12th bit, we do (array[1] & 1<<4)
*/
#define test_bit(bit, array) (array[bit/8] & (1<<(bit%8)))
static int find_dev() {
int err;
int ret = -1;
DIR *dir = opendir("/dev/input");
assert(dir);
struct dirent* de = NULL;
while ((de = readdir(dir))) {
if (strncmp(de->d_name, "event", 5)) continue;
int fd = openat(dirfd(dir), de->d_name, O_RDONLY);
assert(fd >= 0);
unsigned char ev_bits[KEY_MAX / 8 + 1];
err = ioctl(fd, EVIOCGBIT(EV_ABS, sizeof(ev_bits)), ev_bits);
assert(err >= 0);
if (test_bit(ABS_MT_POSITION_X, ev_bits) && test_bit(ABS_MT_POSITION_Y, ev_bits)) {
ret = fd;
break;
}
close(fd);
}
closedir(dir);
return ret;
}
void touch_init(TouchState *s) {
s->fd = find_dev();
assert(s->fd >= 0);
}
int touch_poll(TouchState *s, int* out_x, int* out_y, int timeout) {
assert(out_x && out_y);
bool up = false;
while (true) {
struct pollfd polls[] = {{
.fd = s->fd,
.events = POLLIN,
}};
int err = poll(polls, 1, timeout);
if (err < 0) {
return -1;
}
if (!(polls[0].revents & POLLIN)) {
break;
}
struct input_event event;
err = read(polls[0].fd, &event, sizeof(event));
if (err < sizeof(event)) {
return -1;
}
switch (event.type) {
case EV_ABS:
if (event.code == ABS_MT_POSITION_X) {
s->last_x = event.value;
} else if (event.code == ABS_MT_POSITION_Y) {
s->last_y = event.value;
} else if (event.code == ABS_MT_TRACKING_ID && event.value != -1) {
up = true;
}
break;
default:
break;
}
}
if (up) {
// adjust for flippening
*out_x = s->last_y;
*out_y = 1080 - s->last_x;
}
return up;
}
int touch_read(TouchState *s, int* out_x, int* out_y) {
assert(out_x && out_y);
struct input_event event;
int err = read(s->fd, &event, sizeof(event));
if (err < sizeof(event)) {
return -1;
}
bool up = false;
switch (event.type) {
case EV_ABS:
if (event.code == ABS_MT_POSITION_X) {
s->last_x = event.value;
} else if (event.code == ABS_MT_POSITION_Y) {
s->last_y = event.value;
}
up = true;
break;
default:
break;
}
if (up) {
// adjust for flippening
*out_x = s->last_y;
*out_y = 1080 - s->last_x;
}
return up;
}