nopenpilot/selfdrive/debug/internal/messaging/zmq/receiver.cc

50 lines
931 B
C++

#include <future>
#include <iostream>
#include <cstring>
#include <zmq.h>
// #define IPC
void *sub_sock(void *ctx, const char *endpoint) {
void* sock = zmq_socket(ctx, ZMQ_SUB);
zmq_connect(sock, endpoint);
zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
return sock;
}
void *pub_sock(void *ctx, const char *endpoint){
void * sock = zmq_socket(ctx, ZMQ_PUB);
zmq_bind(sock, endpoint);
return sock;
}
int main(int argc, char *argv[]) {
auto ctx = zmq_ctx_new();
#ifdef IPC
auto s_sock = sub_sock(ctx, "ipc:///tmp/q0");
auto p_sock = pub_sock(ctx, "ipc:///tmp/q1");
#else
auto s_sock = sub_sock(ctx, "tcp://localhost:10005");
auto p_sock = pub_sock(ctx, "tcp://*:10004");
#endif
zmq_msg_t msg;
zmq_msg_init(&msg);
while (true){
zmq_msg_recv(&msg, s_sock, 0);
zmq_msg_send(&msg, p_sock, ZMQ_DONTWAIT);
}
zmq_msg_close(&msg);
zmq_close(p_sock);
zmq_close(s_sock);
return 0;
}