/usr/include/lcm/lcm-cpp-impl.hpp is in liblcm-dev 1.3.1+repack1-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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#ifndef __lcm_cpp_impl_ok__
#error "Don't include this file"
#endif
// =============== implementation ===============
int
Subscription::setQueueCapacity(int num_messages)
{
return lcm_subscription_set_queue_capacity(c_subs, num_messages);
}
template <class MessageType, class ContextClass>
class LCMTypedSubscription : public Subscription {
friend class LCM;
private:
ContextClass context;
void (*handler)(const ReceiveBuffer *rbuf, const std::string& channel,
const MessageType*msg, ContextClass context);
static void cb_func(const lcm_recv_buf_t *rbuf, const char *channel,
void *user_data)
{
typedef LCMTypedSubscription<MessageType,ContextClass> SubsClass;
SubsClass *subs = static_cast<SubsClass *> (user_data);
MessageType msg;
int status = msg.decode(rbuf->data, 0, rbuf->data_size);
if (status < 0) {
fprintf (stderr, "error %d decoding %s!!!\n", status,
MessageType::getTypeName());
return;
}
const ReceiveBuffer rb = {
rbuf->data,
rbuf->data_size,
rbuf->recv_utime
};
subs->handler(&rb, channel, &msg, subs->context);
}
};
template <class ContextClass>
class LCMUntypedSubscription : public Subscription {
friend class LCM;
private:
ContextClass context;
void (*handler)(const ReceiveBuffer *rbuf, const std::string& channel,
ContextClass context);
static void cb_func(const lcm_recv_buf_t *rbuf, const char *channel,
void *user_data)
{
typedef LCMUntypedSubscription<ContextClass> SubsClass;
SubsClass *subs = static_cast<SubsClass *> (user_data);
const ReceiveBuffer rb = {
rbuf->data,
rbuf->data_size,
rbuf->recv_utime
};
subs->handler(&rb, channel, subs->context);
}
};
template <class MessageType, class MessageHandlerClass>
class LCMMHSubscription : public Subscription {
friend class LCM;
private:
MessageHandlerClass* handler;
void (MessageHandlerClass::*handlerMethod)(const ReceiveBuffer* rbuf, const std::string& channel, const MessageType* msg);
static void cb_func(const lcm_recv_buf_t *rbuf, const char *channel,
void *user_data)
{
LCMMHSubscription<MessageType,MessageHandlerClass> *subs =
static_cast<LCMMHSubscription<MessageType,MessageHandlerClass> *>(user_data);
MessageType msg;
int status = msg.decode(rbuf->data, 0, rbuf->data_size);
if (status < 0) {
fprintf (stderr, "error %d decoding %s!!!\n", status,
MessageType::getTypeName());
return;
}
const ReceiveBuffer rb = {
rbuf->data,
rbuf->data_size,
rbuf->recv_utime
};
std::string chan_str(channel);
(subs->handler->*subs->handlerMethod)(&rb, chan_str, &msg);
}
};
template<class MessageHandlerClass>
class LCMMHUntypedSubscription : public Subscription {
friend class LCM;
private:
MessageHandlerClass* handler;
void (MessageHandlerClass::*handlerMethod)(const ReceiveBuffer* rbuf, const std::string& channel);
static void cb_func(const lcm_recv_buf_t *rbuf, const char *channel, void *user_data)
{
LCMMHUntypedSubscription<MessageHandlerClass> *subs =
static_cast<LCMMHUntypedSubscription<MessageHandlerClass> *>(user_data);
const ReceiveBuffer rb = {
rbuf->data,
rbuf->data_size,
rbuf->recv_utime
};
std::string chan_str(channel);
(subs->handler->*subs->handlerMethod)(&rb, chan_str);
}
};
inline
LCM::LCM(std::string lcm_url):
owns_lcm(true)
{
this->lcm = lcm_create(lcm_url.c_str());
}
inline
LCM::LCM(lcm_t * lcm_in):
owns_lcm(false)
{
this->lcm = lcm_in;
}
inline bool
LCM::good() const
{
return this->lcm != NULL;
}
inline
LCM::~LCM() {
for(int i=0, n=subscriptions.size(); i<n; i++) {
delete subscriptions[i];
}
if(this->lcm && this->owns_lcm) {
lcm_destroy(this->lcm);
}
}
inline int
LCM::publish(const std::string& channel, const void *data, unsigned int datalen) {
if(!this->lcm) {
fprintf(stderr,
"LCM instance not initialized. Ignoring call to publish()\n");
return -1;
}
return lcm_publish(this->lcm, channel.c_str(), data, datalen);
}
template<class MessageType>
inline int
LCM::publish(const std::string& channel, const MessageType *msg) {
unsigned int datalen = msg->getEncodedSize();
uint8_t *buf = new uint8_t[datalen];
msg->encode(buf, 0, datalen);
int status = this->publish(channel, buf, datalen);
delete[] buf;
return status;
}
inline int
LCM::unsubscribe(Subscription *subscription) {
if(!this->lcm) {
fprintf(stderr,
"LCM instance not initialized. Ignoring call to unsubscribe()\n");
return -1;
}
std::vector<Subscription*>::iterator iter;
std::vector<Subscription*>::iterator eiter = subscriptions.end();
for(iter=subscriptions.begin(); iter!= eiter; ++iter) {
if(*iter == subscription) {
int status = lcm_unsubscribe(lcm, subscription->c_subs);
subscriptions.erase(iter);
delete subscription;
return status;
}
}
return -1;
}
inline int
LCM::getFileno() {
if(!this->lcm) {
fprintf(stderr,
"LCM instance not initialized. Ignoring call to fileno()\n");
return -1;
}
return lcm_get_fileno(this->lcm);
}
inline int
LCM::handle() {
if(!this->lcm) {
fprintf(stderr,
"LCM instance not initialized. Ignoring call to handle()\n");
return -1;
}
return lcm_handle(this->lcm);
}
inline int
LCM::handleTimeout(int timeout_millis) {
if(!this->lcm) {
fprintf(stderr,
"LCM instance not initialized. Ignoring call to handle()\n");
return -1;
}
return lcm_handle_timeout(this->lcm, timeout_millis);
}
template <class MessageType, class MessageHandlerClass>
Subscription*
LCM::subscribe(const std::string& channel,
void (MessageHandlerClass::*handlerMethod)(const ReceiveBuffer* rbuf, const std::string& channel, const MessageType* msg),
MessageHandlerClass* handler)
{
if(!this->lcm) {
fprintf(stderr,
"LCM instance not initialized. Ignoring call to subscribe()\n");
return NULL;
}
LCMMHSubscription<MessageType, MessageHandlerClass> *subs =
new LCMMHSubscription<MessageType, MessageHandlerClass>();
subs->handler = handler;
subs->handlerMethod = handlerMethod;
subs->c_subs = lcm_subscribe(this->lcm, channel.c_str(),
LCMMHSubscription<MessageType, MessageHandlerClass>::cb_func, subs);
subscriptions.push_back(subs);
return subs;
}
template <class MessageHandlerClass>
Subscription*
LCM::subscribe(const std::string& channel,
void (MessageHandlerClass::*handlerMethod)(const ReceiveBuffer* rbuf, const std::string& channel),
MessageHandlerClass* handler)
{
if(!this->lcm) {
fprintf(stderr,
"LCM instance not initialized. Ignoring call to subscribe()\n");
return NULL;
}
LCMMHUntypedSubscription<MessageHandlerClass> *subs =
new LCMMHUntypedSubscription<MessageHandlerClass>();
subs->handler = handler;
subs->handlerMethod = handlerMethod;
subs->c_subs = lcm_subscribe(this->lcm, channel.c_str(),
LCMMHUntypedSubscription<MessageHandlerClass>::cb_func, subs);
subscriptions.push_back(subs);
return subs;
}
template <class MessageType, class ContextClass>
Subscription*
LCM::subscribeFunction(const std::string& channel,
void (*handler)(const ReceiveBuffer *rbuf,
const std::string& channel,
const MessageType *msg, ContextClass context),
ContextClass context) {
if(!this->lcm) {
fprintf(stderr, "LCM instance not initialized. Ignoring call to subscribeFunction()\n");
return NULL;
}
typedef LCMTypedSubscription<MessageType, ContextClass> SubsClass;
SubsClass *sub = new SubsClass();
sub->c_subs = lcm_subscribe(lcm, channel.c_str(), SubsClass::cb_func, sub);
sub->handler = handler;
sub->context = context;
subscriptions.push_back(sub);
return sub;
}
template <class ContextClass>
Subscription*
LCM::subscribeFunction(const std::string& channel,
void (*handler)(const ReceiveBuffer *rbuf,
const std::string& channel,
ContextClass context),
ContextClass context) {
if(!this->lcm) {
fprintf(stderr, "LCM instance not initialized. Ignoring call to subscribeFunction()\n");
return NULL;
}
typedef LCMUntypedSubscription<ContextClass> SubsClass;
SubsClass *sub = new SubsClass();
sub->c_subs = lcm_subscribe(lcm, channel.c_str(), SubsClass::cb_func, sub);
sub->handler = handler;
sub->context = context;
subscriptions.push_back(sub);
return sub;
}
lcm_t*
LCM::getUnderlyingLCM()
{
return this->lcm;
}
LogFile::LogFile(const std::string & path, const std::string & mode) :
eventlog(lcm_eventlog_create(path.c_str(), mode.c_str())),
last_event(NULL)
{
}
LogFile::~LogFile()
{
if(eventlog)
lcm_eventlog_destroy(eventlog);
eventlog = NULL;
if(last_event)
lcm_eventlog_free_event(last_event);
last_event = NULL;
}
bool
LogFile::good() const
{
return eventlog != NULL;
}
const LogEvent*
LogFile::readNextEvent()
{
lcm_eventlog_event_t* evt = lcm_eventlog_read_next_event(eventlog);
if(last_event)
lcm_eventlog_free_event(last_event);
last_event = evt;
if(!evt)
return NULL;
curEvent.eventnum = evt->eventnum;
curEvent.timestamp = evt->timestamp;
curEvent.channel.assign(evt->channel, evt->channellen);
curEvent.datalen = evt->datalen;
curEvent.data = evt->data;
return &curEvent;
}
int
LogFile::seekToTimestamp(int64_t timestamp)
{
return lcm_eventlog_seek_to_timestamp(eventlog, timestamp);
}
int
LogFile::writeEvent(LogEvent* event)
{
lcm_eventlog_event_t evt;
evt.eventnum = event->eventnum;
evt.timestamp = event->timestamp;
evt.channellen = event->channel.size();
evt.datalen = event->datalen;
evt.channel = (char*) event->channel.c_str();
evt.data = event->data;
return lcm_eventlog_write_event(eventlog, &evt);
}
FILE*
LogFile::getFilePtr()
{
return eventlog->f;
}
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