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 <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <assert.h>
#include <sys/poll.h>
#include <linux/input.h>
#include "touch.h"
void touch_init(TouchState *s) {
// synaptics touch screen on oneplus 3
s->fd = open("/dev/input/event4", O_RDONLY);
assert(s->fd >= 0);
}
int touch_poll(TouchState *s, int* out_x, int* out_y) {
assert(out_x && out_y);
bool up = false;
while (true) {
struct pollfd polls[] = {{
.fd = s->fd,
.events = POLLIN,
}};
int err = poll(polls, 1, 0);
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;
}
break;
case EV_KEY:
if (event.code == BTN_TOOL_FINGER && event.value == 0) {
// finger up
up = true;
}
break;
default:
break;
}
}
if (up) {
// adjust for landscape
*out_x = 1920 - s->last_y;
*out_y = s->last_x;
}
return up;
}