mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
75 lines
2.0 KiB
Python
75 lines
2.0 KiB
Python
# must be built with scons
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from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
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set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
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from msgq.ipc_pyx import MultiplePublishersError, IpcError
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from typing import Optional, List, Union
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__all__ = [
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"Context",
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"Poller",
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"SubSocket",
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"PubSocket",
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"SocketEventHandle",
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"MultiplePublishersError",
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"IpcError",
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"toggle_fake_events",
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"set_fake_prefix",
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"get_fake_prefix",
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"delete_fake_prefix",
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"wait_for_one_event",
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"NO_TRAVERSAL_LIMIT",
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"context",
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"fake_event_handle",
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"pub_sock",
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"sub_sock",
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"drain_sock_raw",
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]
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NO_TRAVERSAL_LIMIT = 2**64-1
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context = Context()
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def fake_event_handle(endpoint: str, identifier: Optional[Union[str, bytes]] = None, override: bool = True, enable: bool = False) -> SocketEventHandle:
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ident = identifier if identifier is not None else get_fake_prefix()
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handle = SocketEventHandle(endpoint, ident, override)
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if override:
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handle.enabled = enable
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return handle
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def pub_sock(endpoint: str, segment_size: int = 0) -> PubSocket:
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sock = PubSocket()
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sock.connect(context, endpoint, segment_size)
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return sock
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def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
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conflate: bool = False, timeout: Optional[int] = None, segment_size: int = 0) -> SubSocket:
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sock = SubSocket()
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sock.connect(context, endpoint, addr.encode('utf8'), conflate, segment_size)
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if timeout is not None:
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sock.setTimeout(timeout)
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if poller is not None:
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poller.registerSocket(sock)
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return sock
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def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
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"""Receive all message currently available on the queue"""
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ret: List[bytes] = []
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while 1:
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if wait_for_one and len(ret) == 0:
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dat = sock.receive()
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else:
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dat = sock.receive(non_blocking=True)
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if dat is None:
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break
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ret.append(dat)
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return ret
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