1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
|
LCM Lite is a minimalist implementation of LCM designed to
minimize external dependencies and memory usage, making it the
easiest way to port LCM to a new platform, particularly
resource-limited embedded platforms.
There are two main differences between LCM-Lite and the standard
LCM:
1) The actual communications code must be provided by the
user. (However, see lcmlite_posix for an example of how to provide
this functionality for most POSIX systems). In short, you call an
lcmlite function whenever an LCM UDP packet arrives, and you
provide a function pointer that will transmit packets (which
LCMLite will call as necessary).
2) LCMLite itself does no runtime memory allocation; all memory
structures are allocated either at compile time or by the
caller. This means that the system does not need an implementation
of malloc(), and that issues of memory fragmentation are avoided.
Most of the memory is allocated with the lcmlite_t object. This can
be too large for many stacks, so it is recommended to declare this
as a static global variable. The memory footprint is determined by
the defines in lcmlite.h.
lcmlite.[ch]: Core lcm-lite implementation. See .h for
documentation. (No external dependencies).
lcmlite_posix.c: Example application for POSIX systems.
lcmlite_ios.[ch]: Example driver (but not application) for iOS systems.
This code is not intended to be particularly usable as-is, since
critical networking components must be provided. However, you can
compile the POSIX example with:
gcc -std=gnu99 lcmlite.c lcmlite_posix.c
|
