LCM
Classes | Macros | Typedefs | Functions

Publish and receive messages. More...

Classes

struct  lcm_recv_buf_t
 

Macros

#define LCM_MAJOR_VERSION   1
 LCM release major version - the X in version X.Y.Z.
 
#define LCM_MINOR_VERSION   3
 LCM release minor version - the Y in version X.Y.Z.
 
#define LCM_MICRO_VERSION   0
 LCM release micro version - the Z in version X.Y.Z.
 

Typedefs

typedef struct _lcm_t lcm_t
 
typedef struct _lcm_subscription_t lcm_subscription_t
 
typedef void(* lcm_msg_handler_t) (const lcm_recv_buf_t *rbuf, const char *channel, void *user_data)
 Callback function prototype. More...
 

Functions

lcm_tlcm_create (const char *provider)
 Constructor. More...
 
void lcm_destroy (lcm_t *lcm)
 Destructor.
 
int lcm_get_fileno (lcm_t *lcm)
 Returns a file descriptor or socket that can be used with select(), poll(), or other event loops for asynchronous notification of incoming messages. More...
 
lcm_subscription_tlcm_subscribe (lcm_t *lcm, const char *channel, lcm_msg_handler_t handler, void *userdata)
 Subscribe a callback function to a channel, without automatic message decoding. More...
 
int lcm_unsubscribe (lcm_t *lcm, lcm_subscription_t *handler)
 Unsubscribe a message handler. More...
 
int lcm_publish (lcm_t *lcm, const char *channel, const void *data, unsigned int datalen)
 Publish a message, specified as a raw byte buffer. More...
 
int lcm_handle (lcm_t *lcm)
 Wait for and dispatch the next incoming message. More...
 
int lcm_handle_timeout (lcm_t *lcm, int timeout_millis)
 Wait for and dispatch the next incoming message, up to a time limit. More...
 
int lcm_subscription_set_queue_capacity (lcm_subscription_t *handler, int num_messages)
 Adjusts the maximum number of received messages that can be queued up for a subscription. More...
 

Detailed Description

Publish and receive messages.

All LCM functions are internally synchronized and thread-safe.

#include <lcm/lcm.h>

Linking: pkg-config --libs lcm

Typedef Documentation

typedef void(* lcm_msg_handler_t) (const lcm_recv_buf_t *rbuf, const char *channel, void *user_data)

Callback function prototype.

Pass instances of this to lcm_subscribe()

Parameters
rbufthe message timestamp and payload
channelthe channel the message was received on
user_datathe user-specified parameter passed to lcm_subscribe()
typedef struct _lcm_subscription_t lcm_subscription_t

An opaque data structure that identifies an LCM subscription.

typedef struct _lcm_t lcm_t

Opaque data structure containing the LCM context.

Function Documentation

lcm_t* lcm_create ( const char *  provider)

Constructor.

Allocates and initializes a lcm_t. provider must be either NULL, or a string of the form

"provider://network?option1=value1&option2=value2&...&optionN=valueN"

Parameters
providerInitializationg string specifying the LCM network provider. If this is NULL, and the environment variable "LCM_DEFAULT_URL" is defined, then the environment variable is used instead. If this is NULL and the environment variable is not defined, then default settings are used.

The currently supported providers are:

udpm://
    UDP Multicast provider
    network can be of the form "multicast_address:port".  Either the
    multicast address or the port may be ommitted for the default.

    options:
        recv_buf_size = N
            size of the kernel UDP receive buffer to request.  Defaults to
            operating system defaults

        ttl = N
            time to live of transmitted packets.  Default 0

    examples:
        "udpm://239.255.76.67:7667"
            Default initialization string

        "udpm://239.255.76.67:7667?ttl=1"
            Sets the multicast TTL to 1 so that packets published will enter
            the local network.
file://
    LCM Log file-based provider
    network should be the path to the log file

    Events are read from or written to the log file.  In read mode, events
    are generated from the log file in real-time, or at the rate specified
    by the speed option.  In write mode, events published to the LCM instance
    will be written to the log file in real-time.

    options:
        speed = N
            Scale factor controlling the playback speed of the log file.
            Defaults to 1.  If less than or equal to zero, then the events
            in the log file are played back as fast as possible.  Events are
            never skipped in read mode, so actual playback speed may be slower
            than requested, depending on the handlers.

        mode = r | w
            Specifies the log file mode.  Defaults to 'r'

        start_timestamp = USEC
            Seeks to USEC microseconds in the logfile, where USEC is given in
            microseconds since 00:00:00 UTC on 1 January 1970.  If USEC is
            before the first event, then playback begins at the start of the
            log file.  If it is after the last event, calls to lcm_handle will
            return -1.

    examples:
        "file:///home/albert/path/to/logfile"
            Loads the file "/home/albert/path/to/logfile" as an LCM event
            source.

        "file:///home/albert/path/to/logfile?speed=4"
            Loads the file "/home/albert/path/to/logfile" as an LCM event
            source.  Events are played back at 4x speed.
memq://
   Memory queue test provider

   This provider is primarily useful for testing, especially unit testing code
   that uses LCM.  It provides a pub/sub interface that is private to the LCM
   instance, and does _not_ provide any interprocess communication, or even
   inter-instance communication.  Use this provider to implement unit tests
   that require deterministic and predictable behavior that is independent of
   a system's network configuration.

   example:
       "memq://"
           This is the only valid way to instantiate this provider.
Returns
a newly allocated lcm_t instance, or NULL on failure. Free with lcm_destroy() when no longer needed.
int lcm_get_fileno ( lcm_t lcm)

Returns a file descriptor or socket that can be used with select(), poll(), or other event loops for asynchronous notification of incoming messages.

Each LCM instance has a file descriptor that can be used to asynchronously receive notification when incoming messages have been received. This file descriptor can typically be incorporated into an application event loop (e.g., GTK+, QT, etc.) For an example using select(), see examples/c/listener-async.c

Returns
a file descriptor suitable for use with select, poll, etc.
int lcm_handle ( lcm_t lcm)

Wait for and dispatch the next incoming message.

Message handlers are invoked one at a time from the thread that calls this function, and in the order that they were subscribed.

This function waits indefinitely. If you want timeout behavior, (e.g., wait 100ms for a message) then consider using lcm_get_fileno() together with select() or poll()

Recursive calls to lcm_handle are not allowed – do not call lcm_handle from within a message handler. All other functions are okay (e.g., it is okay to call lcm_publish from within a message handler).

Parameters
lcmthe LCM object
Returns
0 normally, or -1 when an error has occurred.
int lcm_handle_timeout ( lcm_t lcm,
int  timeout_millis 
)

Wait for and dispatch the next incoming message, up to a time limit.

This function is equivalent to lcm_handle(), but if no messages are received and handled by the time timeout_millis milliseconds elapses, then the function returns.

This function largely exists for convenience, and its behavior can be replicated by using lcm_fileno() and lcm_handle() in conjunction with select() or poll().

New in LCM 1.1.0.

Parameters
lcmthe LCM object
timeout_millisthe maximum amount of time to wait for a message, in milliseconds. If 0, then dispatches any available messages and then returns immediately. Values less than 0 are not allowed.
Returns
>0 if a message was handled, 0 if the function timed out, and <0 if an error occured.
int lcm_publish ( lcm_t lcm,
const char *  channel,
const void *  data,
unsigned int  datalen 
)

Publish a message, specified as a raw byte buffer.

In general, you probably don't want to use this function, as it does not automatically encode messages. Instead, use the message-specific publish function generated by lcm-gen. Use this function only when you want to publish raw byte buffers.

Parameters
lcmThe LCM object
channelThe channel to publish on
dataThe raw byte buffer
datalenSize of the byte buffer
Returns
0 on success, -1 on failure.
lcm_subscription_t* lcm_subscribe ( lcm_t lcm,
const char *  channel,
lcm_msg_handler_t  handler,
void *  userdata 
)

Subscribe a callback function to a channel, without automatic message decoding.

In general, you probably don't want to use this function, as it does not automatically decode messages. Instead, use the message-specific subscribe function generated by lcm-gen. Use this function only when you want to work with the raw message itself. TODO link to example or more details.

The callback function will be invoked during calls to lcm_handle() any time a message on the specified channel is received. Multiple callbacks can be subscribed for the same channel.

Parameters
lcmthe LCM object
channelthe channel to listen on. This can also be a GLib regular expression, and is treated as a regex implicitly surrounded by '^' and '$'
handlerthe callback function to be invoked when a message is received on the specified channel
userdatathis will be passed to the callback function
Returns
a lcm_subscription_t to identify the new subscription, which can be passed to lcm_unsubscribe(). The lcm_t instance owns the subscription object.
int lcm_subscription_set_queue_capacity ( lcm_subscription_t handler,
int  num_messages 
)

Adjusts the maximum number of received messages that can be queued up for a subscription.

In general, you probably don't want to use this function. Instead, use the message-specific set_queue_capacity function generated by lcm-gen. Use this function only when you want to work with untyped subscriptions. TODO link to example or more details.

Setting this to a low number may reduce overall latency at the expense of dropping more messages. Conversely, setting this to a high number may drop fewer messages at the expense of increased latency. A value of 0 indicates no limit, and should be used carefully.

Parameters
handlerthe subscription object
num_messagesthe maximum queue size, in messages. The default is 30.
int lcm_unsubscribe ( lcm_t lcm,
lcm_subscription_t handler 
)

Unsubscribe a message handler.

In general, you probably don't want to use this function. Instead, use the message-specific unsubscribe function generated by lcm-gen. Use this function only when you want to work with the raw message itself. TODO link to example or more details.

The callback function for the subscription will no longer be invoked when messages on the corresponding channel are received. After this function returns, handler is no longer valid and should not be used anymore.

Returns
0 on success, or -1 if handler is not a valid subscription.