Move ipc cython to Python and C++

SConscript

@@ -15,34 +15,9 @@ msgq_objects = env.SharedObject([
   'msgq/msgq.cc',
 ])
 msgq = env.Library('msgq', msgq_objects)
-msgq_python = envCython.Program('msgq/ipc_pyx.so', 'msgq/ipc_pyx.pyx', LIBS=envCython["LIBS"]+[msgq, "zmq", common])
-
-# Build Vision IPC
-vipc_files = ['visionipc.cc', 'visionipc_server.cc', 'visionipc_client.cc', 'visionbuf.cc']
-vipc_sources = [f'{visionipc_dir.abspath}/{f}' for f in vipc_files]
-
-if arch == "larch64":
-  vipc_sources += [f'{visionipc_dir.abspath}/visionbuf_ion.cc']
-else:
-  vipc_sources += [f'{visionipc_dir.abspath}/visionbuf_cl.cc']
-
-vipc_objects = env.SharedObject(vipc_sources)
-visionipc = env.Library('visionipc', vipc_objects)
-
-
-vipc_frameworks = []
-vipc_libs = envCython["LIBS"] + [visionipc, msgq, common, "zmq"]
-if arch == "Darwin":
-  vipc_frameworks.append('OpenCL')
-else:
-  vipc_libs.append('OpenCL')
-envCython.Program(f'{visionipc_dir.abspath}/visionipc_pyx.so', f'{visionipc_dir.abspath}/visionipc_pyx.pyx',
-                  LIBS=vipc_libs, FRAMEWORKS=vipc_frameworks)
+msgq_c = env.Program('msgq/libmsgq_c.so', ['msgq/ipc_capi.cc'], LIBS=[msgq, "zmq", common], LINKFLAGS=['-shared'])
 
 if GetOption('extras'):
   env.Program('msgq/test_runner', ['msgq/test_runner.cc', 'msgq/msgq_tests.cc'], LIBS=[msgq, common])
-  env.Program(f'{visionipc_dir.abspath}/test_runner',
-             [f'{visionipc_dir.abspath}/test_runner.cc', f'{visionipc_dir.abspath}/visionipc_tests.cc'],
-              LIBS=['pthread'] + vipc_libs, FRAMEWORKS=vipc_frameworks)
 
-Export('visionipc', 'msgq', 'msgq_python')
+Export('msgq', 'msgq_c')

msgq/__init__.py

@@ -1,61 +1,13 @@
-# must be built with scons
-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
-from msgq.ipc_pyx import MultiplePublishersError, IpcError
-
-from typing import Optional, List
-
-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
-
-NO_TRAVERSAL_LIMIT = 2**64-1
-
-context = Context()
-
-
-def fake_event_handle(endpoint: str, identifier: Optional[str] = None, override: bool = True, enable: bool = False) -> SocketEventHandle:
-  identifier = identifier or get_fake_prefix()
-  handle = SocketEventHandle(endpoint, identifier, override)
-  if override:
-    handle.enabled = enable
-
-  return handle
-
-def pub_sock(endpoint: str) -> PubSocket:
-  sock = PubSocket()
-  sock.connect(context, endpoint)
-  return sock
-
-
-def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
-             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
-  sock = SubSocket()
-  sock.connect(context, endpoint, addr.encode('utf8'), conflate)
-
-  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
+from .ipc import (
+    Context, SubSocket, PubSocket, Poller, Event, SocketEventHandle,
+    IpcError, MultiplePublishersError,
+    toggle_fake_events, set_fake_prefix, get_fake_prefix, delete_fake_prefix,
+    wait_for_one_event, fake_event_handle, pub_sock, sub_sock, drain_sock_raw,
+)
+
+__all__ = [
+    "Context", "SubSocket", "PubSocket", "Poller", "Event", "SocketEventHandle",
+    "IpcError", "MultiplePublishersError",
+    "toggle_fake_events", "set_fake_prefix", "get_fake_prefix", "delete_fake_prefix",
+    "wait_for_one_event", "fake_event_handle", "pub_sock", "sub_sock", "drain_sock_raw",
+]