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.
 
 
 
 
 
 

58 lines
1.2 KiB

#pragma once
#include <string>
#include <vector>
#define CEREAL_EVENTS_PREFIX std::string("cereal_events")
void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_path);
enum EventPurpose {
RECV_CALLED,
RECV_READY
};
struct EventState {
int fds[2];
bool enabled;
};
class Event {
private:
int event_fd = -1;
inline void throw_if_invalid() const {
if (!this->is_valid()) {
throw std::runtime_error("Event does not have valid file descriptor.");
}
}
public:
Event(int fd = -1);
void set() const;
int clear() const;
void wait(int timeout_sec = -1) const;
bool peek() const;
bool is_valid() const;
int fd() const;
static int wait_for_one(const std::vector<Event>& events, int timeout_sec = -1);
};
class SocketEventHandle {
private:
std::string shm_path;
EventState* state;
public:
SocketEventHandle(std::string endpoint, std::string identifier = "", bool override = true);
~SocketEventHandle();
bool is_enabled();
void set_enabled(bool enabled);
Event recv_called();
Event recv_ready();
static void toggle_fake_events(bool enabled);
static void set_fake_prefix(std::string prefix);
static std::string fake_prefix();
};