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import java.io.*;
import lcm.lcm.*;
import exlcm.*;
public class MySubscriber implements LCMSubscriber
{
LCM lcm;
public MySubscriber()
throws IOException
{
this.lcm = new LCM();
this.lcm.subscribe("EXAMPLE", this);
}
public void messageReceived(LCM lcm, String channel, LCMDataInputStream ins)
{
System.out.println("Received message on channel " + channel);
try {
if (channel.equals("EXAMPLE")) {
example_t msg = new example_t(ins);
System.out.println(" timestamp = " + msg.timestamp);
System.out.println(" position = [ " + msg.position[0] +
", " + msg.position[1] + ", " + msg.position[2] + " ]");
System.out.println(" orientation = [ " + msg.orientation[0] +
", " + msg.orientation[1] +
", " + msg.orientation[2] +
", " + msg.orientation[3] + " ]");
System.out.print(" ranges = [ ");
for (int i=0; i<msg.num_ranges; i++) {
System.out.print("" + msg.ranges[i]);
if (i < msg.num_ranges-1)
System.out.print (", ");
}
System.out.println (" ]");
System.out.println(" name = '" + msg.name + "'");
System.out.println(" enabled = '" + msg.enabled + "'");
}
} catch (IOException ex) {
System.out.println("Exception: " + ex);
}
}
public static void main(String args[])
{
try {
MySubscriber m = new MySubscriber();
while(true) {
Thread.sleep(1000);
}
} catch (IOException ex) {
System.out.println("Exception: " + ex);
} catch (InterruptedException ex) { }
}
}
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