LCM

lcm.h
1 #ifndef __lightweight_communications_h__
2 #define __lightweight_communications_h__
3
4 #include <stdint.h>
5
6 #include "lcm_version.h"
7
8 #ifdef LCM_PYTHON
9 #define LCM_EXPORT
10 #else
11 #include "lcm_export.h"
12 #endif
13
14 #include "eventlog.h"
15
16 #define LCM_MAX_MESSAGE_SIZE (1 << 28)
17
18 #define LCM_MAX_CHANNEL_NAME_LENGTH 63
19
20 #ifdef __cplusplus
21 extern "C" {
22 #endif
23
50 typedef struct _lcm_t lcm_t;
51
55 typedef struct _lcm_subscription_t lcm_subscription_t;
56
61 typedef struct _lcm_recv_buf_t lcm_recv_buf_t;
62 struct _lcm_recv_buf_t {
66 void *data;
70 uint32_t data_size;
75 int64_t recv_utime;
79 lcm_t *lcm;
80 };
81
91 typedef void (*lcm_msg_handler_t)(const lcm_recv_buf_t *rbuf, const char *channel, void *user_data);
92
190 LCM_EXPORT
191 lcm_t *lcm_create(const char *provider);
192
196 LCM_EXPORT
197 void lcm_destroy(lcm_t *lcm);
198
212 LCM_EXPORT
213 int lcm_get_fileno(lcm_t *lcm);
214
240 LCM_EXPORT
241 lcm_subscription_t *lcm_subscribe(lcm_t *lcm, const char *channel, lcm_msg_handler_t handler,
242 void *userdata);
243
259 LCM_EXPORT
260 int lcm_unsubscribe(lcm_t *lcm, lcm_subscription_t *handler);
261
277 LCM_EXPORT
278 int lcm_publish(lcm_t *lcm, const char *channel, const void *data, unsigned int datalen);
279
298 LCM_EXPORT
299 int lcm_handle(lcm_t *lcm);
300
322 LCM_EXPORT
323 int lcm_handle_timeout(lcm_t *lcm, int timeout_millis);
324
343 LCM_EXPORT
344 int lcm_subscription_set_queue_capacity(lcm_subscription_t *handler, int num_messages);
345
349 LCM_EXPORT
350 int lcm_subscription_get_queue_size(lcm_subscription_t *handler);
351
356 #ifdef __cplusplus
357 }
358 #endif
359
360 #endif
lcm_subscription_get_queue_size
int lcm_subscription_get_queue_size(lcm_subscription_t *handler)
Query the current number of unhandled messages queued up for a subscription.
lcm_subscription_t
struct _lcm_subscription_t lcm_subscription_t
Definition: lcm.h:55
lcm_subscribe
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.
lcm_create
lcm_t * lcm_create(const char *provider)
Constructor.
lcm_subscription_set_queue_capacity
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.
lcm_get_fileno
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 ...
lcm_publish
int lcm_publish(lcm_t *lcm, const char *channel, const void *data, unsigned int datalen)
Publish a message, specified as a raw byte buffer.
lcm_msg_handler_t
void(* lcm_msg_handler_t)(const lcm_recv_buf_t *rbuf, const char *channel, void *user_data)
Callback function prototype.
Definition: lcm.h:91
lcm_unsubscribe
int lcm_unsubscribe(lcm_t *lcm, lcm_subscription_t *handler)
Unsubscribe a message handler.
lcm_handle
int lcm_handle(lcm_t *lcm)
Wait for and dispatch the next incoming message.
lcm_handle_timeout
int lcm_handle_timeout(lcm_t *lcm, int timeout_millis)
Wait for and dispatch the next incoming message, up to a time limit.
_lcm_recv_buf_t::data
void * data
Definition: lcm.h:66
_lcm_recv_buf_t
Definition: lcm.h:62
_lcm_recv_buf_t::recv_utime
int64_t recv_utime
Definition: lcm.h:75
lcm_t
struct _lcm_t lcm_t
Definition: lcm.h:50
_lcm_recv_buf_t::data_size
uint32_t data_size
Definition: lcm.h:70
lcm_destroy
void lcm_destroy(lcm_t *lcm)
Destructor.
_lcm_recv_buf_t::lcm
lcm_t * lcm
Definition: lcm.h:79