openpilot release

selfdrive/ui/Makefile

@@ -0,0 +1,73 @@
+CC = clang
+CXX = clang++
+
+
+PHONELIBS = ../../phonelibs
+
+WARN_FLAGS = -Werror=implicit-function-declaration \
+             -Werror=incompatible-pointer-types \
+             -Werror=int-conversion \
+             -Werror=return-type \
+             -Werror=format-extra-args
+
+CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS)
+
+ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
+ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
+           -l:libczmq.a -l:libzmq.a \
+           -lgnustl_shared
+
+CEREAL_CFLAGS = -I$(PHONELIBS)/capnp-c/include
+CEREAL_LIBS = -L$(PHONELIBS)/capnp-c/aarch64/lib -l:libcapn.a
+CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o
+
+NANOVG_FLAGS = -I$(PHONELIBS)/nanovg
+
+OPENGL_LIBS = -lGLESv3
+
+FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
+
+OBJS = ui.o \
+       touch.o \
+       ../common/visionipc.o \
+       ../common/framebuffer.o \
+       $(PHONELIBS)/nanovg/nanovg.o \
+       $(CEREAL_OBJS)
+
+DEPS := $(OBJS:.o=.d)
+
+all: ui
+
+ui: $(OBJS)
+	@echo "[ LINK ] $@"
+	$(CXX) -fPIC -o '$@' $^ \
+	      $(FRAMEBUFFER_LIBS) \
+	      $(CEREAL_LIBS) \
+	      $(ZMQ_LIBS) \
+        -L/system/vendor/lib64 \
+        $(OPENGL_LIBS) \
+        -lcutils -lm -llog
+
+../common/framebuffer.o: ../common/framebuffer.cc
+	@echo "[ CXX ] $@"
+	$(CXX) $(CXXFLAGS) -MMD \
+           -I$(PHONELIBS)/android_frameworks_native/include \
+           -I$(PHONELIBS)/android_system_core/include \
+           -I$(PHONELIBS)/android_hardware_libhardware/include \
+           -c -o '$@' '$<'
+
+%.o: %.c
+	@echo "[ CC ] $@"
+	$(CC) $(CFLAGS) -MMD \
+          -I.. -I../.. \
+          $(NANOVG_FLAGS) \
+          $(ZMQ_FLAGS) \
+          $(CEREAL_CFLAGS) \
+          -c -o '$@' '$<'
+
+.PHONY: clean
+clean:
+	rm -f ui $(OBJS) $(DEPS)
+
+-include $(DEPS)

selfdrive/ui/touch.c

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+#include <stdbool.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <assert.h>
+#include <sys/poll.h>
+#include <linux/input.h>
+
+#include "touch.h"
+
+void touch_init(TouchState *s) {
+  // synaptics touch screen on oneplus 3
+  s->fd = open("/dev/input/event4", O_RDONLY);
+  assert(s->fd >= 0);
+}
+
+int touch_poll(TouchState *s, int* out_x, int* out_y) {
+  assert(out_x && out_y);
+  bool up = false;
+  while (true) {
+    struct pollfd polls[] = {{
+      .fd = s->fd,
+      .events = POLLIN,
+    }};
+    int err = poll(polls, 1, 0);
+    if (err < 0) {
+      return -1;
+    }
+    if (!(polls[0].revents & POLLIN)) {
+      break;
+    }
+
+    struct input_event event;
+    err = read(polls[0].fd, &event, sizeof(event));
+    if (err < sizeof(event)) {
+      return -1;
+    }
+
+    switch (event.type) { 
+    case EV_ABS:
+      if (event.code == ABS_MT_POSITION_X) {
+        s->last_x = event.value;
+      } else if (event.code == ABS_MT_POSITION_Y) {
+        s->last_y = event.value;
+      }
+      break;
+    case EV_KEY:
+      if (event.code == BTN_TOOL_FINGER && event.value == 0) {
+        // finger up
+        up = true;
+      }
+      break;
+    default:
+      break;
+    }
+  }
+  if (up) {
+    // adjust for landscape
+    *out_x = 1920 - s->last_y;
+    *out_y = s->last_x;
+  }
+  return up;
+}
+

selfdrive/ui/touch.h

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+#ifndef TOUCH_H
+#define TOUCH_H
+
+typedef struct TouchState {
+  int fd;
+  int last_x, last_y;
+} TouchState;
+
+void touch_init(TouchState *s);
+int touch_poll(TouchState *s, int *out_x, int *out_y);
+
+#endif