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 <cstddef>
#include <vector>
#include <string>
#define MSG_MULTIPLE_PUBLISHERS 100
class Context {
public:
virtual void * getRawContext() = 0;
static Context * create();
virtual ~Context(){};
};
class Message {
public:
virtual void init(size_t size) = 0;
virtual void init(char * data, size_t size) = 0;
virtual void close() = 0;
virtual size_t getSize() = 0;
virtual char * getData() = 0;
virtual ~Message(){};
};
class SubSocket {
public:
virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false) = 0;
virtual void setTimeout(int timeout) = 0;
virtual Message *receive(bool non_blocking=false) = 0;
virtual void * getRawSocket() = 0;
static SubSocket * create();
static SubSocket * create(Context * context, std::string endpoint);
static SubSocket * create(Context * context, std::string endpoint, std::string address);
static SubSocket * create(Context * context, std::string endpoint, std::string address, bool conflate);
virtual ~SubSocket(){};
};
class PubSocket {
public:
virtual int connect(Context *context, std::string endpoint) = 0;
virtual int sendMessage(Message *message) = 0;
virtual int send(char *data, size_t size) = 0;
static PubSocket * create();
static PubSocket * create(Context * context, std::string endpoint);
virtual ~PubSocket(){};
};
class Poller {
public:
virtual void registerSocket(SubSocket *socket) = 0;
virtual std::vector<SubSocket*> poll(int timeout) = 0;
static Poller * create();
static Poller * create(std::vector<SubSocket*> sockets);
virtual ~Poller(){};
};