openpilot v0.5.1 release

old-commit-hash: 6f3d10a4c4

selfdrive/common/efd.c

@@ -0,0 +1,56 @@
+#include <stdlib.h>
+#include <assert.h>
+
+#ifdef __linux__
+#include <sys/eventfd.h>
+#else
+#include <sys/time.h>
+#include <sys/event.h>
+#define EVENT_IDENT 42
+#endif
+
+#include "efd.h"
+
+
+int efd_init() {
+#ifdef __linux__
+  return eventfd(0, EFD_CLOEXEC);
+#else
+  int fd = kqueue();
+  assert(fd >= 0);
+
+  struct kevent kev;
+  EV_SET(&kev, EVENT_IDENT, EVFILT_USER, EV_ADD | EV_CLEAR, 0, 0, NULL);
+
+  struct timespec timeout = {0, 0};
+  int err = kevent(fd, &kev, 1, NULL, 0, &timeout);
+  assert(err != -1);
+
+  return fd;
+#endif
+}
+
+void efd_write(int fd) {
+#ifdef __linux__
+  eventfd_write(fd, 1);
+#else
+  struct kevent kev;
+  EV_SET(&kev, EVENT_IDENT, EVFILT_USER, 0, NOTE_TRIGGER, 0, NULL);
+
+  struct timespec timeout = {0, 0};
+  int err = kevent(fd, &kev, 1, NULL, 0, &timeout);
+  assert(err != -1);
+#endif
+}
+
+void efd_clear(int fd) {
+#ifdef __linux__
+  eventfd_t efd_cnt;
+  eventfd_read(fd, &efd_cnt);
+#else
+  struct kevent kev;
+  struct timespec timeout = {0, 0};
+  int nfds = kevent(fd, NULL, 0, &kev, 1, &timeout);
+  assert(nfds != -1);
+#endif
+}

selfdrive/common/efd.h

@@ -0,0 +1,17 @@
+#ifndef EFD_H
+#define EFD_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// event fd: a semaphore that can be poll()'d
+int efd_init();
+void efd_write(int fd);
+void efd_clear(int fd);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

selfdrive/common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.5-release"
+#define COMMA_VERSION "0.5.1-release"