Port complete CAN-aware risk pipeline to C++

include/latest_result.hpp

@@ -0,0 +1,20 @@
+#pragma once
+#include "frame_result.hpp"
+#include <atomic>
+#include <stdexcept>
+
+namespace cms {
+// One immutable result variable. Readers neither remove nor acknowledge results.
+class LatestResult {
+public:
+    void publish(FrameResultPtr result) {
+        if(!result)throw std::invalid_argument("Cannot publish a null result");
+        std::atomic_store_explicit(&latest_,std::move(result),std::memory_order_release);
+    }
+    FrameResultPtr load() const {
+        return std::atomic_load_explicit(&latest_,std::memory_order_acquire);
+    }
+private:
+    FrameResultPtr latest_;
+};
+}