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6321cc5 Jul 4, 2011
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// file: listener.cpp
//
// LCM example program.
//
// compile with:
// $ gcc -o listener listener.cpp -llcm
//
// On a system with pkg-config, you can also use:
// $ gcc -o listener listener.cpp `pkg-config --cflags --libs lcm`
#include <stdio.h>
#include <lcm/lcm-cpp.hpp>
#include "exlcm/example_t.hpp"
class Handler
{
public:
~Handler() {}
void handleMessage(const lcm::ReceiveBuffer* rbuf,
const std::string& chan,
const exlcm::example_t* msg)
{
int i;
printf("Received message on channel \"%s\":\n", chan.c_str());
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(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);
}
};
int main(int argc, char** argv)
{
lcm::LCM lcm;
if(!lcm.good())
return 1;
Handler handlerObject;
lcm.subscribe("EXAMPLE", &Handler::handleMessage, &handlerObject);
while(0 == lcm.handle());
return 0;
}