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.
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
 
 
 
 
 
 

49 lines
931 B

#include <future>
#include <iostream>
#include <cstring>
#include <zmq.h>
// #define IPC
void *sub_sock(void *ctx, const char *endpoint) {
void* sock = zmq_socket(ctx, ZMQ_SUB);
zmq_connect(sock, endpoint);
zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
return sock;
}
void *pub_sock(void *ctx, const char *endpoint){
void * sock = zmq_socket(ctx, ZMQ_PUB);
zmq_bind(sock, endpoint);
return sock;
}
int main(int argc, char *argv[]) {
auto ctx = zmq_ctx_new();
#ifdef IPC
auto s_sock = sub_sock(ctx, "ipc:///tmp/q0");
auto p_sock = pub_sock(ctx, "ipc:///tmp/q1");
#else
auto s_sock = sub_sock(ctx, "tcp://localhost:10005");
auto p_sock = pub_sock(ctx, "tcp://*:10004");
#endif
zmq_msg_t msg;
zmq_msg_init(&msg);
while (true){
zmq_msg_recv(&msg, s_sock, 0);
zmq_msg_send(&msg, p_sock, ZMQ_DONTWAIT);
}
zmq_msg_close(&msg);
zmq_close(p_sock);
zmq_close(s_sock);
return 0;
}