IQ.Pilot Prebuilt Release @ 7e87bc7

artifacts/package_runtime/msgq/__init__.py

@@ -0,0 +1,69 @@
+import os
+
+INCLUDE_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), ".."))
+LIB_PATH = os.path.join(os.path.dirname(__file__), "libmsgq.a")
+VISIONIPC_LIB_PATH = os.path.join(os.path.dirname(__file__), "visionipc", "libvisionipc.a")
+PYTHON_LIB_PATH = os.path.join(os.path.dirname(__file__), "ipc_pyx.so")
+
+from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event, \
+                                context_is_zmq
+from msgq.ipc_pyx import MultiplePublishersError, IpcError
+
+from typing import Optional, List, Union
+
+assert MultiplePublishersError
+assert IpcError
+assert toggle_fake_events
+assert set_fake_prefix
+assert get_fake_prefix
+assert delete_fake_prefix
+assert wait_for_one_event
+assert context_is_zmq
+
+NO_TRAVERSAL_LIMIT = 2**64-1
+
+context = Context()
+
+
+def fake_event_handle(endpoint: str, identifier: Optional[Union[str, bytes]] = None, override: bool = True, enable: bool = False) -> SocketEventHandle:
+  ident = identifier if identifier is not None else get_fake_prefix()
+  handle = SocketEventHandle(endpoint, ident, override)
+  if override:
+    handle.enabled = enable
+
+  return handle
+
+def pub_sock(endpoint: str, segment_size: int = 0) -> PubSocket:
+  sock = PubSocket()
+  sock.connect(context, endpoint, segment_size)
+  return sock
+
+
+def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: Optional[int] = None, segment_size: int = 0) -> SubSocket:
+  sock = SubSocket()
+  sock.connect(context, endpoint, addr.encode('utf8'), conflate, segment_size)
+
+  if timeout is not None:
+    sock.setTimeout(timeout)
+
+  if poller is not None:
+    poller.registerSocket(sock)
+  return sock
+
+def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
+  """Receive all message currently available on the queue"""
+  ret: List[bytes] = []
+  while 1:
+    if wait_for_one and len(ret) == 0:
+      dat = sock.receive()
+    else:
+      dat = sock.receive(non_blocking=True)
+
+    if dat is None:
+      break
+
+    ret.append(dat)
+
+  return ret