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 <string.h>
#include <assert.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#ifdef __linux__
#include <sys/prctl.h>
#include <sys/syscall.h>
#define __USE_GNU
#include <sched.h>
#endif
void* read_file(const char* path, size_t* out_len) {
FILE* f = fopen(path, "r");
if (!f) {
return NULL;
}
fseek(f, 0, SEEK_END);
long f_len = ftell(f);
rewind(f);
// malloc one extra byte so the file will always be NULL terminated
// cl_cached_program_from_file relies on this
char* buf = (char*)malloc(f_len+1);
assert(buf);
size_t num_read = fread(buf, f_len, 1, f);
fclose(f);
if (num_read != 1) {
free(buf);
return NULL;
}
buf[f_len] = '\0';
if (out_len) {
*out_len = f_len;
}
return buf;
}
int write_file(const char* path, const void* data, size_t size) {
int fd = open(path, O_WRONLY);
if (fd == -1) {
return -1;
}
ssize_t n = write(fd, data, size);
close(fd);
return n == size ? 0 : -1;
}
void set_thread_name(const char* name) {
#ifdef __linux__
// pthread_setname_np is dumb (fails instead of truncates)
prctl(PR_SET_NAME, (unsigned long)name, 0, 0, 0);
#endif
}
int set_realtime_priority(int level) {
#ifdef __linux__
long tid = syscall(SYS_gettid);
// should match python using chrt
struct sched_param sa;
memset(&sa, 0, sizeof(sa));
sa.sched_priority = level;
return sched_setscheduler(tid, SCHED_FIFO, &sa);
#else
return -1;
#endif
}
int set_core_affinity(int core) {
#ifdef __linux__
long tid = syscall(SYS_gettid);
cpu_set_t rt_cpu;
CPU_ZERO(&rt_cpu);
CPU_SET(core, &rt_cpu);
return sched_setaffinity(tid, sizeof(rt_cpu), &rt_cpu);
#else
return -1;
#endif
}