lcm.h

#ifndef __lightweight_communications_h__
#define __lightweight_communications_h__
 
#include <stdint.h>
 
#include "lcm_c_namespace.h"
#include "lcm_version.h"
 
#ifdef LCM_PYTHON
#define LCM_EXPORT
#else
#include "lcm_export.h"
#endif
 
#include "eventlog.h"
 
#define LCM_MAX_MESSAGE_SIZE (1 << 28)
 
#define LCM_MAX_CHANNEL_NAME_LENGTH 63
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define lcm_create LCM_C_NAMESPACED(create)
#define lcm_destroy LCM_C_NAMESPACED(destroy)
#define lcm_get_fileno LCM_C_NAMESPACED(get_fileno)
#define lcm_subscribe LCM_C_NAMESPACED(subscribe)
#define lcm_unsubscribe LCM_C_NAMESPACED(unsubscribe)
#define lcm_publish LCM_C_NAMESPACED(publish)
#define lcm_handle LCM_C_NAMESPACED(handle)
#define lcm_handle_timeout LCM_C_NAMESPACED(handle_timeout)
#define lcm_subscription_set_queue_capacity LCM_C_NAMESPACED(subscription_set_queue_capacity)
#define lcm_subscription_get_queue_size LCM_C_NAMESPACED(subscription_get_queue_size)
 
typedef struct _lcm_t lcm_t;
 
typedef struct _lcm_subscription_t lcm_subscription_t;
 
typedef struct _lcm_recv_buf_t lcm_recv_buf_t;
struct _lcm_recv_buf_t {
    void *data;
    uint32_t data_size;
    int64_t recv_utime;
    lcm_t *lcm;
};
 
typedef void (*lcm_msg_handler_t)(const lcm_recv_buf_t *rbuf, const char *channel, void *user_data);
 
LCM_EXPORT
lcm_t *lcm_create(const char *provider);
 
LCM_EXPORT
void lcm_destroy(lcm_t *lcm);
 
LCM_EXPORT
int lcm_get_fileno(lcm_t *lcm);
 
LCM_EXPORT
lcm_subscription_t *lcm_subscribe(lcm_t *lcm, const char *channel, lcm_msg_handler_t handler,
                                  void *userdata);
 
LCM_EXPORT
int lcm_unsubscribe(lcm_t *lcm, lcm_subscription_t *handler);
 
LCM_EXPORT
int lcm_publish(lcm_t *lcm, const char *channel, const void *data, unsigned int datalen);
 
LCM_EXPORT
int lcm_handle(lcm_t *lcm);
 
LCM_EXPORT
int lcm_handle_timeout(lcm_t *lcm, int timeout_millis);
 
LCM_EXPORT
int lcm_subscription_set_queue_capacity(lcm_subscription_t *handler, int num_messages);
 
LCM_EXPORT
int lcm_subscription_get_queue_size(lcm_subscription_t *handler);
 
#ifdef __cplusplus
}
#endif
 
#endif