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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1.6 KiB

#include <stdlib.h>
#include <stdio.h>
#include <GLES3/gl3.h>
#include "glutil.h"
GLuint load_shader(GLenum shaderType, const char *src) {
GLint status = 0, len = 0;
GLuint shader;
if (!(shader = glCreateShader(shaderType)))
return 0;
glShaderSource(shader, 1, &src, NULL);
glCompileShader(shader);
glGetShaderiv(shader, GL_COMPILE_STATUS, &status);
if (status)
return shader;
glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &len);
if (len) {
char *msg = (char*)malloc(len);
if (msg) {
glGetShaderInfoLog(shader, len, NULL, msg);
msg[len-1] = 0;
fprintf(stderr, "error compiling shader:\n%s\n", msg);
free(msg);
}
}
glDeleteShader(shader);
return 0;
}
GLuint load_program(const char *vert_src, const char *frag_src) {
GLuint vert, frag, prog;
GLint status = 0, len = 0;
if (!(vert = load_shader(GL_VERTEX_SHADER, vert_src)))
return 0;
if (!(frag = load_shader(GL_FRAGMENT_SHADER, frag_src)))
goto fail_frag;
if (!(prog = glCreateProgram()))
goto fail_prog;
glAttachShader(prog, vert);
glAttachShader(prog, frag);
glLinkProgram(prog);
glGetProgramiv(prog, GL_LINK_STATUS, &status);
if (status)
return prog;
glGetProgramiv(prog, GL_INFO_LOG_LENGTH, &len);
if (len) {
char *buf = (char*) malloc(len);
if (buf) {
glGetProgramInfoLog(prog, len, NULL, buf);
buf[len-1] = 0;
fprintf(stderr, "error linking program:\n%s\n", buf);
free(buf);
}
}
glDeleteProgram(prog);
fail_prog:
glDeleteShader(frag);
fail_frag:
glDeleteShader(vert);
return 0;
}