openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

cereal/visionipc/visionipc_client.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#include <set>
+#include <string>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionbuf.h"
+
+class VisionIpcClient {
+private:
+  std::string name;
+  Context * msg_ctx;
+  SubSocket * sock;
+  Poller * poller;
+
+  cl_device_id device_id = nullptr;
+  cl_context ctx = nullptr;
+
+public:
+  bool connected = false;
+  VisionStreamType type;
+  int num_buffers = 0;
+  VisionBuf buffers[VISIONIPC_MAX_FDS];
+  VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
+  ~VisionIpcClient();
+  VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
+  bool connect(bool blocking=true);
+  bool is_connected() { return connected; }
+  static std::set<VisionStreamType> getAvailableStreams(const std::string &name, bool blocking = true);
+};