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 <iostream>
#include <string>
#include <cassert>
#include <csignal>
#include <map>
typedef void (*sighandler_t)(int sig);
#include "services.h"
#include "impl_msgq.hpp"
#include "impl_zmq.hpp"
void sigpipe_handler(int sig) {
assert(sig == SIGPIPE);
std::cout << "SIGPIPE received" << std::endl;
}
static std::vector<std::string> get_services() {
std::vector<std::string> name_list;
for (const auto& it : services) {
std::string name = it.name;
if (name == "plusFrame" || name == "uiLayoutState") continue;
name_list.push_back(name);
}
return name_list;
}
int main(void){
signal(SIGPIPE, (sighandler_t)sigpipe_handler);
auto endpoints = get_services();
std::map<SubSocket*, PubSocket*> sub2pub;
Context *zmq_context = new ZMQContext();
Context *msgq_context = new MSGQContext();
Poller *poller = new MSGQPoller();
for (auto endpoint: endpoints){
SubSocket * msgq_sock = new MSGQSubSocket();
msgq_sock->connect(msgq_context, endpoint, "127.0.0.1", false);
poller->registerSocket(msgq_sock);
PubSocket * zmq_sock = new ZMQPubSocket();
zmq_sock->connect(zmq_context, endpoint);
sub2pub[msgq_sock] = zmq_sock;
}
while (true){
for (auto sub_sock : poller->poll(100)){
Message * msg = sub_sock->receive();
if (msg == NULL) continue;
sub2pub[sub_sock]->sendMessage(msg);
delete msg;
}
}
return 0;
}