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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6 years ago
#include <boost/interprocess/ipc/message_queue.hpp>
#include <iostream>
#include <vector>
#include <thread>
using namespace boost::interprocess;
#define N 1024
message_queue *sub_queue(const char *name){
while (true){
try {
message_queue *mq = new message_queue(open_only, name);
return mq;
}
catch(interprocess_exception &ex){
std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
}
}
message_queue *pub_queue(const char *name){
message_queue::remove(name);
message_queue *mq = new message_queue(create_only, name, 100, N);
return mq;
}
int main ()
{
message_queue::remove("queue_1");
message_queue::remove("queue_2");
message_queue *pq = pub_queue("queue_2");
message_queue *sq = sub_queue("queue_1");
std::cout << "Ready" << std::endl;
unsigned int priority;
std::size_t recvd_size;
char * rcv_msg = new char[N];
while (true){
sq->receive(rcv_msg, N, recvd_size, priority);
assert(N == recvd_size);
pq->send(rcv_msg, N, 0);
}
return 0;
}