bridge builds with services.h

.gitignore

@@ -7,4 +7,5 @@ __pycache__
 .*.swo
 libcereal*.a
 libmessaging.a
+services.h
 

SConscript

@@ -26,3 +26,9 @@ env.Library('messaging', [
   ])
 
 env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=['messaging', 'yaml-cpp', 'zmq'])
+
+env.Command(
+  ['services.h'],
+  ['service_list.yaml', 'services.py'],
+  'python3 cereal/services.py > $TARGET')
+

messaging/bridge.cc

@@ -4,10 +4,7 @@
 #include <csignal>
 #include <map>
 
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wshadow"
-#include <yaml-cpp/yaml.h>
-#pragma GCC diagnostic pop
+#include "services.h"
 
 #include "impl_msgq.hpp"
 #include "impl_zmq.hpp"
@@ -18,27 +15,15 @@ void sigpipe_handler(int sig) {
 }
 
 static std::vector<std::string> get_services() {
-  char * base_dir_ptr = std::getenv("BASEDIR");
-
-  if (base_dir_ptr == NULL){
-    base_dir_ptr = std::getenv("PYTHONPATH");
-  }
-
-  assert(base_dir_ptr);
-  std::string base_dir = base_dir_ptr;
-  std::string service_list_path = base_dir + "/cereal/service_list.yaml";
-  YAML::Node service_list = YAML::LoadFile(service_list_path);
-
   std::vector<std::string> name_list;
 
-  for (const auto& it : service_list) {
-    auto name = it.first.as<std::string>();
+  for (const auto& it : services) {
+    std::string name = it.name;
     if (name == "plusFrame" || name == "uiLayoutState") continue;
     name_list.push_back(name);
   }
 
   return name_list;
-
 }
 
 

services.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import os
 import yaml
 
@@ -18,3 +19,12 @@ def __init__(self, port, should_log, frequency, decimation=None):
       decimation = v[3]
 
     service_list[k] = Service(v[0], v[1], v[2], decimation)
+
+if __name__ == "__main__":
+  print("/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT service_list.yaml */")
+  print("struct service { int port; bool should_log; int frequency; int decimation; char name[0x100]; };")
+  print("struct service services[] = {")
+  for k, v in service_list.items():
+    print('  { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },' % (k, v.port, "true" if v.should_log else "false", v.frequency, -1 if v.decimation is None else v.decimation))
+  print("};")
+