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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2.0 KiB

#include <cassert>
#include "cereal/messaging/msgq_to_zmq.h"
#include "cereal/services.h"
#include "common/util.h"
ExitHandler do_exit;
static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
std::vector<std::string> service_list;
for (const auto& it : services) {
std::string name = it.second.name;
bool in_whitelist = whitelist_str.find(name) != std::string::npos;
if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) {
continue;
}
service_list.push_back(name);
}
return service_list;
}
void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &ip) {
MsgqToZmq bridge;
bridge.run(endpoints, ip);
}
void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
auto poller = std::make_unique<ZMQPoller>();
auto pub_context = std::make_unique<MSGQContext>();
auto sub_context = std::make_unique<ZMQContext>();
std::map<SubSocket *, PubSocket *> sub2pub;
for (auto endpoint : endpoints) {
auto pub_sock = new MSGQPubSocket();
auto sub_sock = new ZMQSubSocket();
pub_sock->connect(pub_context.get(), endpoint);
sub_sock->connect(sub_context.get(), endpoint, ip, false);
poller->registerSocket(sub_sock);
sub2pub[sub_sock] = pub_sock;
}
while (!do_exit) {
for (auto sub_sock : poller->poll(100)) {
std::unique_ptr<Message> msg(sub_sock->receive(true));
if (msg) {
sub2pub[sub_sock]->sendMessage(msg.get());
}
}
}
// Clean up allocated sockets
for (auto &[sub_sock, pub_sock] : sub2pub) {
delete sub_sock;
delete pub_sock;
}
}
int main(int argc, char **argv) {
bool is_zmq_to_msgq = argc > 2;
std::string ip = is_zmq_to_msgq ? argv[1] : "127.0.0.1";
std::string whitelist_str = is_zmq_to_msgq ? std::string(argv[2]) : "";
std::vector<std::string> endpoints = get_services(whitelist_str, is_zmq_to_msgq);
if (is_zmq_to_msgq) {
zmq_to_msgq(endpoints, ip);
} else {
msgq_to_zmq(endpoints, ip);
}
return 0;
}