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// file: read_log.cpp
//
// 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 the LCM class for details on that method.
//
// compile with:
// $ g++ -o read_log read_log.cpp -llcm
//
// On a system with pkg-config, you can also use:
// $ g++ -o read_log read_log.cpp `pkg-config --cflags --libs lcm`
#include <stdio.h>
#include <lcm/lcm-cpp.hpp>
#include "exlcm/example_t.hpp"
int main(int argc, char ** argv)
{
if(argc < 2) {
fprintf(stderr, "usage: read_log <logfile>\n");
return 1;
}
// Open the log file.
lcm::LogFile log(argv[1], "r");
if(!log.good()) {
perror("LogFile");
fprintf(stderr, "couldn't open log file %s\n", argv[1]);
return 1;
}
while(1) {
// Read a log event.
const lcm::LogEvent *event = log.readNextEvent();
if(!event)
break;
// Only process messages on the EXAMPLE channel.
if(event->channel != "EXAMPLE")
continue;
// Try to decode the message.
exlcm::example_t msg;
if(msg.decode(event->data, 0, event->datalen) != event->datalen)
continue;
// Decode success! Print out the message contents.
printf("Message:\n");
printf(" timestamp = %lld\n", (long long)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(int i = 0; i < msg.num_ranges; i++)
printf(" %d", msg.ranges[i]);
printf("\n");
printf(" name = '%s'\n", msg.name.c_str());
printf(" enabled = %d\n", msg.enabled);
}
// Log file is closed automatically when the log variable goes out of
// scope.
printf("done\n");
return 0;
}
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