86 lines
1.7 KiB
C++
86 lines
1.7 KiB
C++
#include "selfdrive/common/util.h"
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#include <errno.h>
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#include <sstream>
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#ifdef __linux__
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#include <sys/prctl.h>
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#include <sys/syscall.h>
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#ifndef __USE_GNU
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#define __USE_GNU
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#endif
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#include <sched.h>
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#endif // __linux__
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void set_thread_name(const char* name) {
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#ifdef __linux__
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// pthread_setname_np is dumb (fails instead of truncates)
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prctl(PR_SET_NAME, (unsigned long)name, 0, 0, 0);
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#endif
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}
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int set_realtime_priority(int level) {
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#ifdef __linux__
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long tid = syscall(SYS_gettid);
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// should match python using chrt
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struct sched_param sa;
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memset(&sa, 0, sizeof(sa));
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sa.sched_priority = level;
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return sched_setscheduler(tid, SCHED_FIFO, &sa);
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#else
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return -1;
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#endif
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}
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int set_core_affinity(int core) {
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#ifdef __linux__
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long tid = syscall(SYS_gettid);
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cpu_set_t rt_cpu;
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CPU_ZERO(&rt_cpu);
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CPU_SET(core, &rt_cpu);
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return sched_setaffinity(tid, sizeof(rt_cpu), &rt_cpu);
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#else
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return -1;
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#endif
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}
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namespace util {
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std::string read_file(const std::string& fn) {
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std::ifstream ifs(fn, std::ios::binary | std::ios::ate);
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if (ifs) {
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std::ifstream::pos_type pos = ifs.tellg();
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if (pos != std::ios::beg) {
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std::string result;
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result.resize(pos);
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ifs.seekg(0, std::ios::beg);
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ifs.read(result.data(), pos);
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if (ifs) {
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return result;
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}
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}
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}
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ifs.close();
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// fallback for files created on read, e.g. procfs
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std::ifstream f(fn);
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std::stringstream buffer;
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buffer << f.rdbuf();
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return buffer.str();
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}
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int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) {
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int fd = open(path, flags, mode);
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if (fd == -1) {
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return -1;
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}
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ssize_t n = write(fd, data, size);
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close(fd);
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return (n >= 0 && (size_t)n == size) ? 0 : -1;
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}
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} // namespace util
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