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112 lines
3.5 KiB
112 lines
3.5 KiB
#pragma once
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#include <cstddef>
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#include <map>
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#include <string>
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#include <vector>
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#include <utility>
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#include <time.h>
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#include <capnp/serialize.h>
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#include "cereal/gen/cpp/log.capnp.h"
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#include "msgq/ipc.h"
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#ifdef __APPLE__
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#define CLOCK_BOOTTIME CLOCK_MONOTONIC
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#endif
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#define MSG_MULTIPLE_PUBLISHERS 100
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class SubMaster {
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public:
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SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
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const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
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void update(int timeout = 1000);
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void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
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inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
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inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
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inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
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void drain();
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~SubMaster();
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uint64_t frame = 0;
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bool updated(const char *name) const;
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bool alive(const char *name) const;
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bool valid(const char *name) const;
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uint64_t rcv_frame(const char *name) const;
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uint64_t rcv_time(const char *name) const;
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cereal::Event::Reader &operator[](const char *name) const;
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private:
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bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
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Poller *poller_ = nullptr;
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struct SubMessage;
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std::map<SubSocket *, SubMessage *> messages_;
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std::map<std::string, SubMessage *> services_;
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};
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class MessageBuilder : public capnp::MallocMessageBuilder {
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public:
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MessageBuilder() = default;
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cereal::Event::Builder initEvent(bool valid = true) {
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cereal::Event::Builder event = initRoot<cereal::Event>();
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struct timespec t;
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clock_gettime(CLOCK_BOOTTIME, &t);
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uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
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event.setLogMonoTime(current_time);
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event.setValid(valid);
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return event;
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}
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kj::ArrayPtr<capnp::byte> toBytes() {
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heapArray_ = capnp::messageToFlatArray(*this);
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return heapArray_.asBytes();
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}
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size_t getSerializedSize() {
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return capnp::computeSerializedSizeInWords(*this) * sizeof(capnp::word);
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}
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int serializeToBuffer(unsigned char *buffer, size_t buffer_size) {
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size_t serialized_size = getSerializedSize();
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if (serialized_size > buffer_size) { return -1; }
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kj::ArrayOutputStream out(kj::ArrayPtr<capnp::byte>(buffer, buffer_size));
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capnp::writeMessage(out, *this);
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return serialized_size;
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}
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private:
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kj::Array<capnp::word> heapArray_;
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};
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class PubMaster {
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public:
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PubMaster(const std::vector<const char *> &service_list);
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inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
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int send(const char *name, MessageBuilder &msg);
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~PubMaster();
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private:
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std::map<std::string, PubSocket *> sockets_;
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};
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class AlignedBuffer {
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public:
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kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size) {
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words_size = size / sizeof(capnp::word) + 1;
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if (aligned_buf.size() < words_size) {
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aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
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}
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memcpy(aligned_buf.begin(), data, size);
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return aligned_buf.slice(0, words_size);
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}
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inline kj::ArrayPtr<const capnp::word> align(Message *m) {
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return align(m->getData(), m->getSize());
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}
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private:
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kj::Array<capnp::word> aligned_buf;
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size_t words_size;
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};
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