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53 lines
1.2 KiB
53 lines
1.2 KiB
9 years ago
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import zmq
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from cereal import log
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from common import realtime
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def new_message():
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dat = log.Event.new_message()
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dat.logMonoTime = int(realtime.sec_since_boot() * 1e9)
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return dat
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def pub_sock(context, port, addr="*"):
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sock = context.socket(zmq.PUB)
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sock.bind("tcp://%s:%d" % (addr, port))
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return sock
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def sub_sock(context, port, poller=None, addr="127.0.0.1"):
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sock = context.socket(zmq.SUB)
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sock.connect("tcp://%s:%d" % (addr, port))
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sock.setsockopt(zmq.SUBSCRIBE, "")
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if poller is not None:
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poller.register(sock, zmq.POLLIN)
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return sock
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def drain_sock(sock, wait_for_one=False):
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ret = []
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while 1:
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try:
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if wait_for_one and len(ret) == 0:
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dat = sock.recv()
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else:
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dat = sock.recv(zmq.NOBLOCK)
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dat = log.Event.from_bytes(dat)
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ret.append(dat)
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except zmq.error.Again:
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break
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return ret
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# TODO: print when we drop packets?
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def recv_sock(sock, wait=False):
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dat = None
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while 1:
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try:
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if wait and dat is None:
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dat = sock.recv()
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else:
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dat = sock.recv(zmq.NOBLOCK)
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except zmq.error.Again:
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break
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if dat is not None:
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dat = log.Event.from_bytes(dat)
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return dat
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