openpilot v0.9.6 release

date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5

rednose/helpers/__init__.py

@@ -0,0 +1,33 @@
+import os
+import platform
+from cffi import FFI
+
+TEMPLATE_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), '..', 'templates'))
+
+
+def write_code(folder, name, code, header):
+  if not os.path.exists(folder):
+    os.mkdir(folder)
+
+  open(os.path.join(folder, f"{name}.cpp"), 'w', encoding='utf-8').write(code)
+  open(os.path.join(folder, f"{name}.h"), 'w', encoding='utf-8').write(header)
+
+
+def load_code(folder, name):
+  shared_ext = "dylib" if platform.system() == "Darwin" else "so"
+  shared_fn = os.path.join(folder, f"lib{name}.{shared_ext}")
+  header_fn = os.path.join(folder, f"{name}.h")
+
+  with open(header_fn, encoding='utf-8') as f:
+    header = f.read()
+
+  # is the only thing that can be parsed by cffi
+  header = "\n".join([line for line in header.split("\n") if line.startswith("void ")])
+
+  ffi = FFI()
+  ffi.cdef(header)
+  return (ffi, ffi.dlopen(shared_fn))
+
+
+class KalmanError(Exception):
+  pass