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// file: lcm_source.c
// desc: utility to basically spew garbage on the LC channels to use up
// bandwidth.
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#ifdef WIN32
#include <winsock2.h>
#endif
#ifndef WIN32
#include <signal.h>
#endif
#include <getopt.h>
#include <time.h>
#include <lcm/lcm.h>
#define DEFAULT_TRANSMIT_INTERVAL_USEC 10000
static int g_quit = 0;
static void
make_msg_channel (char *buf, int maxlen)
{
char *cset = "abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ";
int i;
int ind;
int nchars = strlen(cset);
if (0 == maxlen) return;
for (i=0; i<maxlen-1; i++) {
ind = (int) (nchars * ((double)rand() / (RAND_MAX + 1.0)));
buf[i] = cset[ind];
}
buf[maxlen-1] = 0;
}
static void
usage()
{
printf("usage: lcm_source [OPTIONS]\n"
"\n"
"periodically transmits LC messages.\n"
"\n"
" -h prints this help text and exits\n"
" -m s transmits messages on channel s (otherwise random channel)\n"
" -p t wait t microseconds between transmissions (default %d)\n"
" -s n transmit packets of size n bytes. If n is 0 (default),\n"
" then packets are randomly sized between 1 and 65,000\n"
" bytes\n"
" -v verbose mode. Prints a summary of each packet\n",
DEFAULT_TRANSMIT_INTERVAL_USEC);
exit(1);
}
#ifndef WIN32
void on_signal(int signum)
{
g_quit = 1;
}
#endif
int main(int argc, char **argv)
{
int verbose = 0;
int random_channel = 1;
char channel[80];
uint8_t *data = NULL;
int transmit_interval_usec = DEFAULT_TRANSMIT_INTERVAL_USEC;
int packet_sz = 0;
// memset (data, 0, sizeof(data));
char *optstring = "hm:p:s:v";
char c;
#ifndef WIN32
signal(SIGINT, on_signal);
#endif
while ((c = getopt(argc, argv, optstring)) >= 0)
{
switch (c) {
case 'h':
usage();
break;
case 'm':
random_channel = 0;
strncpy (channel, optarg, sizeof(channel));
break;
case 'p':
transmit_interval_usec = atoi(optarg);
if (transmit_interval_usec < 0) {
usage();
}
break;
case 's':
packet_sz = atoi (optarg);
if (packet_sz < 0) usage();
break;
case 'v':
verbose = 1;
break;
default:
usage();
break;
};
}
if (0 == packet_sz) {
data = (uint8_t*) malloc(65536);
} else {
data = (uint8_t*) malloc(packet_sz);
memset(data, 0, packet_sz);
}
lcm_t *lcm = lcm_create(NULL);
if (! lcm) {
fprintf(stderr, "couldn't allocate lcm_t\n");
return 1;
}
srand(time(NULL));
uint32_t seqno = 0;
while(!g_quit) {
int sz = 0;
// pick a random message type if no fixed type was specified...
if (random_channel) {
make_msg_channel (channel, 10);
}
// pick a random or fixed packet size (depending on cmd-line option)
if (0 == packet_sz) {
sz = 1 + (int) (65000 * ((double)rand() / (RAND_MAX + 1.0)));
} else {
sz = packet_sz;
}
if (sz >= sizeof (seqno)) memcpy (data, &seqno, sizeof (seqno));
// spew
lcm_publish (lcm, channel, data, sz);
if (verbose) {
printf("packet type: [%s] size: %d\n", channel, sz);
}
if (transmit_interval_usec > 0) {
// sleep...
#ifdef WIN32
Sleep(transmit_interval_usec / 1000);
#else
struct timespec ts = {
.tv_sec = (int) (transmit_interval_usec / 1000000),
.tv_nsec = (transmit_interval_usec % 1000000) * 1000
};
if (0 != nanosleep (&ts, NULL)) {
perror ("nanosleep");
}
#endif
}
seqno++;
}
printf("Transmitted %d messages\n", seqno);
free(data);
lcm_destroy (lcm);
return 0;
}
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