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 <set>
#include <string>
#include "msgq/ipc.h"
#include "msgq/visionipc/visionbuf.h"
class VisionIpcClient {
private:
std::string name;
Context * msg_ctx;
SubSocket * sock;
Poller * poller;
cl_device_id device_id = nullptr;
cl_context ctx = nullptr;
public:
bool connected = false;
VisionStreamType type;
int num_buffers = 0;
VisionBuf buffers[VISIONIPC_MAX_FDS];
VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
~VisionIpcClient();
VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
bool connect(bool blocking=true);
bool is_connected() { return connected; }
static std::set<VisionStreamType> getAvailableStreams(const std::string &name, bool blocking = true);
};