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.
52 lines
1.2 KiB
52 lines
1.2 KiB
import zmq
|
|
|
|
from cereal import log
|
|
from common import realtime
|
|
|
|
def new_message():
|
|
dat = log.Event.new_message()
|
|
dat.logMonoTime = int(realtime.sec_since_boot() * 1e9)
|
|
return dat
|
|
|
|
def pub_sock(context, port, addr="*"):
|
|
sock = context.socket(zmq.PUB)
|
|
sock.bind("tcp://%s:%d" % (addr, port))
|
|
return sock
|
|
|
|
def sub_sock(context, port, poller=None, addr="127.0.0.1"):
|
|
sock = context.socket(zmq.SUB)
|
|
sock.connect("tcp://%s:%d" % (addr, port))
|
|
sock.setsockopt(zmq.SUBSCRIBE, "")
|
|
if poller is not None:
|
|
poller.register(sock, zmq.POLLIN)
|
|
return sock
|
|
|
|
def drain_sock(sock, wait_for_one=False):
|
|
ret = []
|
|
while 1:
|
|
try:
|
|
if wait_for_one and len(ret) == 0:
|
|
dat = sock.recv()
|
|
else:
|
|
dat = sock.recv(zmq.NOBLOCK)
|
|
dat = log.Event.from_bytes(dat)
|
|
ret.append(dat)
|
|
except zmq.error.Again:
|
|
break
|
|
return ret
|
|
|
|
|
|
# TODO: print when we drop packets?
|
|
def recv_sock(sock, wait=False):
|
|
dat = None
|
|
while 1:
|
|
try:
|
|
if wait and dat is None:
|
|
dat = sock.recv()
|
|
else:
|
|
dat = sock.recv(zmq.NOBLOCK)
|
|
except zmq.error.Again:
|
|
break
|
|
if dat is not None:
|
|
dat = log.Event.from_bytes(dat)
|
|
return dat
|
|
|