openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.

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#pragma once
#include <condition_variable>
#include <map>
#include <memory>
#include <mutex>
#include <string>
#include <vector>
#define private public
#include "msgq/impl_msgq.h"
#include "msgq/impl_zmq.h"
class MsgqToZmq {
public:
MsgqToZmq() {}
void run(const std::vector<std::string> &endpoints, const std::string &ip);
protected:
void registerSockets();
void zmqMonitorThread();
struct SocketPair {
std::string endpoint;
std::unique_ptr<ZMQPubSocket> pub_sock;
std::unique_ptr<MSGQSubSocket> sub_sock;
int connected_clients = 0;
};
std::unique_ptr<MSGQContext> msgq_context;
std::unique_ptr<ZMQContext> zmq_context;
std::mutex mutex;
std::condition_variable cv;
std::unique_ptr<MSGQPoller> msgq_poller;
std::map<SubSocket *, ZMQPubSocket *> sub2pub;
std::vector<SocketPair> socket_pairs;
};