Vehicle Researcher
6adb63b915
date: 2026-06-04T09:49:56 master commit: c0ab3550eca2e9daf197c46b7e4b24aa9637cf2e
37 lines
849 B
C++
37 lines
849 B
C++
#pragma once
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#include <condition_variable>
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#include <map>
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#include <memory>
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#include <mutex>
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#include <string>
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#include <vector>
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#include "msgq/impl_msgq.h"
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#include "cereal/messaging/bridge_zmq.h"
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class MsgqToZmq {
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public:
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MsgqToZmq() {}
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void run(const std::vector<std::string> &endpoints, const std::string &ip);
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protected:
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void registerSockets();
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void zmqMonitorThread();
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struct SocketPair {
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std::string endpoint;
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std::unique_ptr<BridgeZmqPubSocket> pub_sock;
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std::unique_ptr<MSGQSubSocket> sub_sock;
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int connected_clients = 0;
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};
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std::unique_ptr<Context> msgq_context;
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std::unique_ptr<BridgeZmqContext> zmq_context;
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std::mutex mutex;
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std::condition_variable cv;
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std::unique_ptr<MSGQPoller> msgq_poller;
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std::map<SubSocket *, BridgeZmqPubSocket *> sub2pub;
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std::vector<SocketPair> socket_pairs;
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};
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