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// file: read_log.c
//
// LCM example program. Demonstrates how to read and decode messages directly
// from a log file in C. It is also possible to use the log file provider --
// see the documentation on lcm_create() for details on that method.
//
// compile with:
// $ gcc -o read_log read_log.c -llcm
//
// On a system with pkg-config, you can also use:
// $ gcc -o read_log read_log.c `pkg-config --cflags --libs lcm`
#include <stdio.h>
#include <inttypes.h>
#include <string.h>
#include <lcm/lcm.h>
#include "exlcm_example_t.h"
int main(int argc, char ** argv)
{
lcm_eventlog_t * log;
if(argc < 2) {
fprintf(stderr, "usage: read_log <logfile>\n");
return 1;
}
log = lcm_eventlog_create(argv[1], "r");
if(!log) {
fprintf(stderr, "couldn't open log file\n");
return 1;
}
while(1) {
exlcm_example_t msg;
int i;
lcm_eventlog_event_t *event = lcm_eventlog_read_next_event(log);
if(!event)
break;
if(0 != strcmp(event->channel, "EXAMPLE"))
continue;
exlcm_example_t_decode(event->data, 0, event->datalen, &msg);
printf("Message:\n");
printf(" timestamp = %"PRId64"\n", msg.timestamp);
printf(" position = (%f, %f, %f)\n",
msg.position[0], msg.position[1], msg.position[2]);
printf(" orientation = (%f, %f, %f, %f)\n",
msg.orientation[0], msg.orientation[1], msg.orientation[2],
msg.orientation[3]);
printf(" ranges:");
for(i = 0; i < msg.num_ranges; i++)
printf(" %d", msg.ranges[i]);
printf("\n");
printf(" name = '%s'\n", msg.name);
printf(" enabled = %d\n", msg.enabled);
exlcm_example_t_decode_cleanup(&msg);
lcm_eventlog_free_event(event);
}
lcm_eventlog_destroy(log);
return 0;
}
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