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#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#ifdef WIN32
#include <winsock2.h>
#else
#include <sys/select.h>
#endif
#include <fcntl.h>
#include <lcm/lcm.h>
int test_count = 0;
int test_count2 = 0;
int catchall_count = 0;
void test_handler (const lcm_recv_buf_t *rbuf, const char *channel, void *u)
{
printf ("handling [%s] msg (content: %s)\n", channel, (char*)rbuf->data);
test_count++;
}
void test_handler2 (const lcm_recv_buf_t *rbuf, const char *channel, void *u)
{
printf ("handling [%s] msg (content: %s)\n", channel, (char*)rbuf->data);
test_count2++;
}
void catchall_handler (const lcm_recv_buf_t *rbuf, const char *channel, void *u)
{
catchall_count++;
}
int main (int argc, char **argv)
{
char *data = "payload";
int datalen = strlen(data) + 1;
lcm_t *lcm = lcm_create (NULL);
if (! lcm) {
fprintf (stderr, "couldn't allocate lcm_t\n");
return 1;
}
lcm_subscription_t * s = lcm_subscribe (lcm, "TEST", test_handler, 0);
lcm_subscribe (lcm, "TEST", test_handler2, 0);
lcm_unsubscribe ( lcm, s);
// lcm_subscribe (lcm, ".*", catchall_handler, 0);
int fd = lcm_get_fileno (lcm);
int ntransmitted = 0;
while (ntransmitted < 5) {
struct timeval timeout = { 1, 0 };
fd_set readfds;
FD_ZERO (&readfds);
FD_SET (fd,&readfds);
int status=select (fd + 1,&readfds,0,0,&timeout);
if (0 == status) {
printf ("sending\n");
lcm_publish (lcm, "TEST", data, datalen);
lcm_publish (lcm, "12345", data, datalen);
ntransmitted++;
} else if (FD_ISSET (fd,&readfds)) {
lcm_handle (lcm);
printf ("=====================================================\n");
}
}
lcm_destroy (lcm);
printf ("transmitted: %d\n", ntransmitted);
printf ("test: %d test2: %d catchall: %d\n",
test_count, test_count2, catchall_count);
return 0;
}
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