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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#!/usr/bin/env python3
import zmq
import cereal.messaging as messaging
from selfdrive.swaglog import get_le_handler
def main():
le_handler = get_le_handler()
le_level = 20 # logging.INFO
ctx = zmq.Context().instance()
sock = ctx.socket(zmq.PULL)
sock.bind("ipc:///tmp/logmessage")
# and we publish them
pub_sock = messaging.pub_sock('logMessage')
while True:
dat = b''.join(sock.recv_multipart())
dat = dat.decode('utf8')
# print "RECV", repr(dat)
levelnum = ord(dat[0])
dat = dat[1:]
if levelnum >= le_level:
# push to logentries
# TODO: push to athena instead
le_handler.emit_raw(dat)
# then we publish them
msg = messaging.new_message()
msg.logMessage = dat
pub_sock.send(msg.to_bytes())
if __name__ == "__main__":
main()