Constructor Detail

• LCM

  public LCM​(String... urls)
      throws IOException

  Create a new LCM object, connecting to one or more URLs. If no URL is specified, the environment variable LCM_DEFAULT_URL is used. If that environment variable is not defined, then the default URL is used.

  Throws:

  IOException

Method Detail

• getSingleton

  public static LCM getSingleton()

  Retrieve a default instance of LCM using either the environment variable LCM_DEFAULT_URL or the default. If an exception occurs, System.exit(-1) is called.

• getNumSubscriptions

  public int getNumSubscriptions()

  Return the number of subscriptions.

• publish

  public void publish​(String channel,
                      String s)
               throws IOException

  Publish a string on a channel. This method does not use the LCM type definitions and thus is not type safe. This method is primarily provided for testing purposes and may be removed in the future.

  Throws:

  IOException

• publish

  public void publish​(String channel,
                      LCMEncodable e)

  Publish an LCM-defined type on a channel. If more than one URL was specified, the message will be sent on each.

• publish

  public void publish​(String channel,
                      byte[] data,
                      int offset,
                      int length)
               throws IOException

  Publish raw data on a channel, bypassing the LCM type specification. If more than one URL was specified when the LCM object was created, the message will be sent on each.

  Throws:

  IOException

• subscribe

  public void subscribe​(String regex,
                        LCMSubscriber sub)

  Subscribe to all channels whose name matches the regular expression. Note that to subscribe to all channels, you must specify ".*", not "*".

• unsubscribe

  public void unsubscribe​(String regex,
                          LCMSubscriber sub)

  Remove this particular regex/subscriber pair (UNTESTED AND API MAY CHANGE). If regex is null, all subscriptions for 'sub' are cancelled. If subscriber is null, any previous subscriptions matching the regular expression will be cancelled. If both 'sub' and 'regex' are null, all subscriptions will be cancelled.

• receiveMessage

  public void receiveMessage​(String channel,
                             byte[] data,
                             int offset,
                             int length)

  Not for use by end users. Provider back ends call this method when they receive a message. The subscribers that match the channel name are synchronously notified.

• subscribeAll

  public void subscribeAll​(LCMSubscriber sub)

  A convenience function that subscribes to all LCM channels.

• close

  public void close()

  Call this function to release all resources used by the LCM instance. After calling this function, the LCM instance should consume no resources, and cannot be used to receive or transmit messages.

• main

  public static void main​(String[] args)

  Minimalist test code.