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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/*
* Copyright (C) 2010 The Android Open Source Project
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef ANDROID_GUI_SENSOR_CHANNEL_H
#define ANDROID_GUI_SENSOR_CHANNEL_H
#include <stdint.h>
#include <sys/types.h>
#include <utils/Errors.h>
#include <utils/RefBase.h>
#include <cutils/log.h>
namespace android {
// ----------------------------------------------------------------------------
class Parcel;
class BitTube : public RefBase
{
public:
// creates a BitTube with a default (4KB) send buffer
BitTube();
// creates a BitTube with a a specified send and receive buffer size
explicit BitTube(size_t bufsize);
explicit BitTube(const Parcel& data);
virtual ~BitTube();
// check state after construction
status_t initCheck() const;
// get receive file-descriptor
int getFd() const;
// get the send file-descriptor.
int getSendFd() const;
// send objects (sized blobs). All objects are guaranteed to be written or the call fails.
template <typename T>
static ssize_t sendObjects(const sp<BitTube>& tube,
T const* events, size_t count) {
return sendObjects(tube, events, count, sizeof(T));
}
// receive objects (sized blobs). If the receiving buffer isn't large enough,
// excess messages are silently discarded.
template <typename T>
static ssize_t recvObjects(const sp<BitTube>& tube,
T* events, size_t count) {
return recvObjects(tube, events, count, sizeof(T));
}
// parcels this BitTube
status_t writeToParcel(Parcel* reply) const;
private:
void init(size_t rcvbuf, size_t sndbuf);
// send a message. The write is guaranteed to send the whole message or fail.
ssize_t write(void const* vaddr, size_t size);
// receive a message. the passed buffer must be at least as large as the
// write call used to send the message, excess data is silently discarded.
ssize_t read(void* vaddr, size_t size);
int mSendFd;
mutable int mReceiveFd;
static ssize_t sendObjects(const sp<BitTube>& tube,
void const* events, size_t count, size_t objSize);
static ssize_t recvObjects(const sp<BitTube>& tube,
void* events, size_t count, size_t objSize);
};
// ----------------------------------------------------------------------------
}; // namespace android
#endif // ANDROID_GUI_SENSOR_CHANNEL_H