The Lua LCM API

The Lua API wraps the LCM C API, and is meant to mirror its functionality and organization. The bulk of the Lua API is represented by the LCM userdata, which basically wraps lcm_t and related functions.

LCM Userdata

The LCM userdata manages an internal lcm_t and any number of subscriptions.

Initializer

Methods

new

Parameters

  • provider Optional. The LCM provider.

Return Values

  • The new LCM userdata.

Description

This is the userdata initializer; it creates a new userdata.

Example Code

local lcm = require('lcm')

local lc = lcm.lcm.new()
local lc2 = lcm.lcm.new('udpm://239.255.76.67:7667?ttl=1')

publish

Parameters

  • channel The channel to publish to.

  • message The encoded message to send.

Return Values

  • (None.)

Description

This method publishes a message to a channel. If the message cannot be published, an error is raised.

Example Code

local lcm = require('lcm')
local msg_t = require('msg_t') -- or any other message type

local lc = lcm.lcm.new()

local msg = msg_t:new()
local encoded_msg = msg:encode()

lc:publish('somechannel', encoded_msg)

subscribe

Parameters

  • channel The channel to subscribe to.

  • handler The callback.

Return Values

  • The subscription reference.

Description

This method creates a subscription to a channel. There may be multiple subscriptions per channel. Creating a subscription involves registering a callback, which is invoked once per received message on the specified channel. The callback is invoked during calls to handle or timedhandle.

Notice that this function does not return an actual subscription, but a reference to one. This function returns an integer which is used to index an internal table of subscriptions. The lifetime of the internal subscription is not dependent on the reference, so subscriptions cannot be garbage collected. Subscriptions can only be removed by being unsubscribed.

Example Code

local lcm = require('lcm')
local msg_t = require('msg_t') -- or any other message type

local lc = lcm.lcm.new()

local function handler(channel, encoded_msg)
  local msg = msg_t.decode(encoded_msg)
  -- ...
end

local sub = lc:subscribe('somechannel', handler)

unsubscribe

Parameters

  • sub The subscription reference to unsubscribe.

Return Values

  • (None.)

Description

The method removes a subscription created by subscribe. Also note that all subscriptions are automatically unsubscribed when the LCM userdata is garbage collected.

Example Code

local lcm = require('lcm')
local msg_t = require('msg_t') -- or any other message type

local lc = lcm.lcm.new()

local function handler(channel, encoded_msg)
  local msg = msg_t.decode(encoded_msg)
  -- ...
end

local sub = lc:subscribe('somechannel', handler)

--- ...

lc:unsubscribe(sub)

handle

Parameters

  • (None.)

Return Values

  • (None.)

Description

Waits for an incomming message, and dispatches handler callbacks as necessary. This method will block indefinitely until a message is received. When a message is received, all of the handler callbacks for the message’s channel are invoked, in the same order they were subscribed.

Example Code

local lcm = require('lcm')

local lc = lcm.lcm.new()

lc:handle()

handle_timeout

Parameters

  • time The time to block, in milliseconds.

Return Values

  • A boolean: true if a message was received and handled, false otherwise.

Description

This method is like the normal handle except it only blocks for a specified amount of time.

Example Code

local lcm = require('lcm')

local lc = lcm.lcm.new()

local ok = lc:handle_timeout(500)
if not ok then
  print('timed out!')
 end

timedhandle (Deprecated)

This function is deprecated! Please use handle_timeout instead!

Parameters

  • time The time to block, in seconds.

Return Values

  • A boolean: true if a message was received and handled, false otherwise.

Description

This method is like the normal handle except it only blocks for a specified amount of time.

Example Code

local lcm = require('lcm')

local lc = lcm.lcm.new()

local ok = lc:timedhandle(0.5)
if not ok then
  print('timed out!')
 end