openpilot release

selfdrive/messaging.py

@@ -0,0 +1,52 @@
+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