openpilot v0.9.6 release

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

system/sensord/sensors/sensor.h

@@ -0,0 +1,22 @@
+#pragma once
+
+#include "cereal/messaging/messaging.h"
+
+class Sensor {
+public:
+  int gpio_fd = -1;
+  uint64_t start_ts = 0;
+  uint64_t init_delay = 500e6; // default dealy 500ms
+  virtual ~Sensor() {}
+  virtual int init() = 0;
+  virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0;
+  virtual bool has_interrupt_enabled() = 0;
+  virtual int shutdown() = 0;
+
+  virtual bool is_data_valid(uint64_t current_ts) {
+    if (start_ts == 0) {
+      start_ts = current_ts;
+    }
+    return (current_ts - start_ts) > init_delay;
+  }
+};