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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#ifndef COMMON_UTIL_H
#define COMMON_UTIL_H
#include <stdio.h>
#ifndef sighandler_t
typedef void (*sighandler_t)(int sig);
#endif
#ifndef __cplusplus
#define min(a,b) \
({ __typeof__ (a) _a = (a); \
__typeof__ (b) _b = (b); \
_a < _b ? _a : _b; })
#define max(a,b) \
({ __typeof__ (a) _a = (a); \
__typeof__ (b) _b = (b); \
_a > _b ? _a : _b; })
#endif
#define clamp(a,b,c) \
({ __typeof__ (a) _a = (a); \
__typeof__ (b) _b = (b); \
__typeof__ (c) _c = (c); \
_a < _b ? _b : (_a > _c ? _c : _a); })
#define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
#undef ALIGN
#define ALIGN(x, align) (((x) + (align)-1) & ~((align)-1))
#ifdef __cplusplus
extern "C" {
#endif
// Reads a file into a newly allocated buffer.
//
// Returns NULL on failure, otherwise the NULL-terminated file contents.
// The result must be freed by the caller.
void* read_file(const char* path, size_t* out_len);
int write_file(const char* path, const void* data, size_t size);
void set_thread_name(const char* name);
int set_realtime_priority(int level);
int set_core_affinity(int core);
#ifdef __cplusplus
}
#endif
#endif