93 lines
3.0 KiB
C++
93 lines
3.0 KiB
C++
#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 <capnp/serialize.h>
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#include "../gen/cpp/log.capnp.h"
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#define MSG_MULTIPLE_PUBLISHERS 100
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class Context {
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public:
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virtual void * getRawContext() = 0;
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static Context * create();
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virtual ~Context(){};
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};
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class Message {
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public:
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virtual void init(size_t size) = 0;
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virtual void init(char * data, size_t size) = 0;
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virtual void close() = 0;
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virtual size_t getSize() = 0;
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virtual char * getData() = 0;
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virtual ~Message(){};
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};
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class SubSocket {
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public:
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virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false) = 0;
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virtual void setTimeout(int timeout) = 0;
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virtual Message *receive(bool non_blocking=false) = 0;
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virtual void * getRawSocket() = 0;
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static SubSocket * create();
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static SubSocket * create(Context * context, std::string endpoint);
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static SubSocket * create(Context * context, std::string endpoint, std::string address);
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static SubSocket * create(Context * context, std::string endpoint, std::string address, bool conflate);
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virtual ~SubSocket(){};
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};
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class PubSocket {
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public:
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virtual int connect(Context *context, std::string endpoint) = 0;
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virtual int sendMessage(Message *message) = 0;
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virtual int send(char *data, size_t size) = 0;
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static PubSocket * create();
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static PubSocket * create(Context * context, std::string endpoint);
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virtual ~PubSocket(){};
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};
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class Poller {
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public:
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virtual void registerSocket(SubSocket *socket) = 0;
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virtual std::vector<SubSocket*> poll(int timeout) = 0;
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static Poller * create();
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static Poller * create(std::vector<SubSocket*> sockets);
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virtual ~Poller(){};
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};
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class SubMaster {
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public:
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SubMaster(const std::initializer_list<const char *> &service_list,
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const char *address = nullptr, const std::initializer_list<const char *> &ignore_alive = {});
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int update(int timeout = 1000);
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inline bool allAlive(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, false, true); }
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inline bool allValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, false); }
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inline bool allAliveAndValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, true); }
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bool updated(const char *name) const;
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void drain();
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cereal::Event::Reader &operator[](const char *name);
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~SubMaster();
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private:
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bool all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive);
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Poller *poller_ = nullptr;
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uint64_t frame_ = 0;
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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 PubMaster {
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public:
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PubMaster(const std::initializer_list<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, capnp::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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