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.
102 lines
3.3 KiB
102 lines
3.3 KiB
#pragma once
|
|
|
|
#include <cstddef>
|
|
#include <map>
|
|
#include <string>
|
|
#include <vector>
|
|
#include <utility>
|
|
|
|
#include <capnp/serialize.h>
|
|
|
|
#include "cereal/gen/cpp/log.capnp.h"
|
|
#include "common/timing.h"
|
|
#include "msgq/ipc.h"
|
|
|
|
class SubMaster {
|
|
public:
|
|
SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
|
|
const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
|
|
void update(int timeout = 1000);
|
|
void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
|
|
inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
|
|
inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
|
|
inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
|
|
void drain();
|
|
~SubMaster();
|
|
|
|
uint64_t frame = 0;
|
|
bool updated(const char *name) const;
|
|
bool alive(const char *name) const;
|
|
bool valid(const char *name) const;
|
|
uint64_t rcv_frame(const char *name) const;
|
|
uint64_t rcv_time(const char *name) const;
|
|
cereal::Event::Reader &operator[](const char *name) const;
|
|
|
|
private:
|
|
bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
|
|
Poller *poller_ = nullptr;
|
|
struct SubMessage;
|
|
std::map<SubSocket *, SubMessage *> messages_;
|
|
std::map<std::string, SubMessage *> services_;
|
|
};
|
|
|
|
class MessageBuilder : public capnp::MallocMessageBuilder {
|
|
public:
|
|
MessageBuilder() = default;
|
|
|
|
cereal::Event::Builder initEvent(bool valid = true) {
|
|
cereal::Event::Builder event = initRoot<cereal::Event>();
|
|
event.setLogMonoTime(nanos_since_boot());
|
|
event.setValid(valid);
|
|
return event;
|
|
}
|
|
|
|
kj::ArrayPtr<capnp::byte> toBytes() {
|
|
heapArray_ = capnp::messageToFlatArray(*this);
|
|
return heapArray_.asBytes();
|
|
}
|
|
|
|
size_t getSerializedSize() {
|
|
return capnp::computeSerializedSizeInWords(*this) * sizeof(capnp::word);
|
|
}
|
|
|
|
int serializeToBuffer(unsigned char *buffer, size_t buffer_size) {
|
|
size_t serialized_size = getSerializedSize();
|
|
if (serialized_size > buffer_size) { return -1; }
|
|
kj::ArrayOutputStream out(kj::ArrayPtr<capnp::byte>(buffer, buffer_size));
|
|
capnp::writeMessage(out, *this);
|
|
return serialized_size;
|
|
}
|
|
|
|
private:
|
|
kj::Array<capnp::word> heapArray_;
|
|
};
|
|
|
|
class PubMaster {
|
|
public:
|
|
PubMaster(const std::vector<const char *> &service_list);
|
|
inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
|
|
int send(const char *name, MessageBuilder &msg);
|
|
~PubMaster();
|
|
|
|
private:
|
|
std::map<std::string, PubSocket *> sockets_;
|
|
};
|
|
|
|
class AlignedBuffer {
|
|
public:
|
|
kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size) {
|
|
words_size = size / sizeof(capnp::word) + 1;
|
|
if (aligned_buf.size() < words_size) {
|
|
aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
|
|
}
|
|
memcpy(aligned_buf.begin(), data, size);
|
|
return aligned_buf.slice(0, words_size);
|
|
}
|
|
inline kj::ArrayPtr<const capnp::word> align(Message *m) {
|
|
return align(m->getData(), m->getSize());
|
|
}
|
|
private:
|
|
kj::Array<capnp::word> aligned_buf;
|
|
size_t words_size;
|
|
};
|
|
|