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 "messaging.hpp"
#include "impl_zmq.hpp"
#include "impl_msgq.hpp"
Context * Context::create(){
Context * c;
if (std::getenv("MSGQ")){
c = new MSGQContext();
} else {
c = new ZMQContext();
}
return c;
}
SubSocket * SubSocket::create(){
SubSocket * s;
if (std::getenv("MSGQ")){
s = new MSGQSubSocket();
} else {
s = new ZMQSubSocket();
}
return s;
}
SubSocket * SubSocket::create(Context * context, std::string endpoint){
SubSocket *s = SubSocket::create();
int r = s->connect(context, endpoint, "127.0.0.1");
if (r == 0) {
return s;
} else {
delete s;
return NULL;
}
}
SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address){
SubSocket *s = SubSocket::create();
int r = s->connect(context, endpoint, address);
if (r == 0) {
return s;
} else {
delete s;
return NULL;
}
}
SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate){
SubSocket *s = SubSocket::create();
int r = s->connect(context, endpoint, address, conflate);
if (r == 0) {
return s;
} else {
delete s;
return NULL;
}
}
PubSocket * PubSocket::create(){
PubSocket * s;
if (std::getenv("MSGQ")){
s = new MSGQPubSocket();
} else {
s = new ZMQPubSocket();
}
return s;
}
PubSocket * PubSocket::create(Context * context, std::string endpoint){
PubSocket *s = PubSocket::create();
int r = s->connect(context, endpoint);
if (r == 0) {
return s;
} else {
delete s;
return NULL;
}
}
Poller * Poller::create(){
Poller * p;
if (std::getenv("MSGQ")){
p = new MSGQPoller();
} else {
p = new ZMQPoller();
}
return p;
}
Poller * Poller::create(std::vector<SubSocket*> sockets){
Poller * p = Poller::create();
for (auto s : sockets){
p->registerSocket(s);
}
return p;
}
extern "C" Context * messaging_context_create() {
return Context::create();
}
extern "C" SubSocket * messaging_subsocket_create(Context* context, const char* endpoint) {
return SubSocket::create(context, std::string(endpoint));
}
extern "C" PubSocket * messaging_pubsocket_create(Context* context, const char* endpoint) {
return PubSocket::create(context, std::string(endpoint));
}
extern "C" Poller * messaging_poller_create(SubSocket** sockets, int size) {
std::vector<SubSocket*> socketsVec(sockets, sockets + size);
return Poller::create(socketsVec);
}