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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// the c version of selfdrive/messaging.py
#include <zmq.h>
// TODO: refactor to take in service instead of endpoint?
void *sub_sock(void *ctx, const char *endpoint) {
void* sock = zmq_socket(ctx, ZMQ_SUB);
assert(sock);
zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
int reconnect_ivl = 500;
zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
zmq_connect(sock, endpoint);
return sock;
}