mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-04 04:52:09 +08:00
Adeeb Shihadeh
5c213d7a38
* sensord: setup per-sensor threads * revert cereal * more cleanup * bump cereal * update test --------- Co-authored-by: Comma Device <device@comma.ai> old-commit-hash: 6a66b7555679c5cd3511e03ba6e1cb528706f84e
23 lines
537 B
C++
23 lines
537 B
C++
#pragma once
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#include "cereal/messaging/messaging.h"
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class Sensor {
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public:
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int gpio_fd = -1;
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uint64_t start_ts = 0;
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uint64_t init_delay = 500e6; // default dealy 500ms
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virtual ~Sensor() {}
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virtual int init() = 0;
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virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0;
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virtual bool has_interrupt_enabled() = 0;
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virtual int shutdown() = 0;
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virtual bool is_data_valid(uint64_t current_ts) {
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if (start_ts == 0) {
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start_ts = current_ts;
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}
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return (current_ts - start_ts) > init_delay;
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}
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};
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