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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#include <future>
#include <cassert>
#include <iostream>
#include <cstring>
#include <thread>
#include <nanomsg/nn.h>
#include <nanomsg/pubsub.h>
#include <nanomsg/tcp.h>
#define N 1024
int sub_sock(const char *endpoint) {
int sock = nn_socket(AF_SP, NN_SUB);
assert(sock >= 0);
nn_setsockopt(sock, NN_SUB, NN_SUB_SUBSCRIBE, "", 0);
assert(nn_connect(sock, endpoint) >= 0);
return sock;
}
int pub_sock(const char *endpoint){
int sock = nn_socket(AF_SP, NN_PUB);
assert(sock >= 0);
int b = 1;
nn_setsockopt(sock, NN_TCP, NN_TCP_NODELAY, &b, sizeof(b));
assert(nn_bind(sock, endpoint) >= 0);
return sock;
}
int main(int argc, char *argv[]) {
auto p_sock = pub_sock("tcp://*:10011");
auto s_sock = sub_sock("tcp://127.0.0.1:10010");
std::cout << "Ready!" << std::endl;
char * msg = new char[N];
while (true){
int bytes = nn_recv(s_sock, msg, N, 0);
nn_send(p_sock, msg, bytes, 0);
}
return 0;
}