7fa972be6a
version: sunnypilot v2025.003.000 (dev) date: 2026-02-09T02:04:38 master commit: 254f55ac15a40343d7255f2f098de3442e0c4a6f
69 lines
1.5 KiB
C++
69 lines
1.5 KiB
C++
#pragma once
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#include <zmq.h>
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#include <string>
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#include <vector>
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#include "msgq/ipc.h"
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#define MAX_POLLERS 128
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class ZMQContext : public Context {
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private:
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void * context = NULL;
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public:
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ZMQContext();
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void * getRawContext() {return context;}
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~ZMQContext();
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};
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class ZMQMessage : public Message {
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private:
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char * data;
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size_t size;
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public:
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void init(size_t size);
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void init(char *data, size_t size);
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size_t getSize(){return size;}
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char * getData(){return data;}
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void close();
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~ZMQMessage();
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};
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class ZMQSubSocket : public SubSocket {
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private:
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void * sock;
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std::string full_endpoint;
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public:
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int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true, size_t segment_size=0);
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void setTimeout(int timeout);
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void * getRawSocket() {return sock;}
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Message *receive(bool non_blocking=false);
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~ZMQSubSocket();
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};
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class ZMQPubSocket : public PubSocket {
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private:
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void * sock;
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std::string full_endpoint;
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int pid = -1;
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public:
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int connect(Context *context, std::string endpoint, bool check_endpoint=true, size_t segment_size=0);
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int sendMessage(Message *message);
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int send(char *data, size_t size);
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bool all_readers_updated();
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~ZMQPubSocket();
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};
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class ZMQPoller : public Poller {
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private:
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std::vector<SubSocket*> sockets;
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zmq_pollitem_t polls[MAX_POLLERS];
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size_t num_polls = 0;
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public:
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void registerSocket(SubSocket *socket);
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std::vector<SubSocket*> poll(int timeout);
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~ZMQPoller(){}
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};
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