# make a new zcm object and launch the handle thread
zcm = ZCM()
if not zcm.good():
print "Unable to initialize zcm"
exit()
# declare a new msg and populate it
msg = example_t()
msg.timestamp = 10
# set up a subscription on channel "TEST"
subs = zcm.subscribe("TEST", example_t, handler)
# publish a message
zcm.publish("TEST", msg)
# wait a second
time.sleep(1)
# publish another
zcm.publish("TEST", msg)
# handle incoming message
zcm.handle()
# clean up
zcm.unsubscribe(subs)
# notify user of success
print success
# make a new zcm object and launch the handle thread
zcm = ZCM("ipc")
if not zcm.good():
print "Unable to initialize zcm"
exit()
# declare a new msg and populate it
msg = example_t()
msg.timestamp = 10
# set up a subscription on channel "TEST"
subs = zcm.subscribe("TEST", example_t, handler)
# publish a message
zcm.publish("TEST", msg)
# wait a second
time.sleep(1)
# publish another
zcm.publish("TEST", msg)
# handle incoming message
zcm.handle()
# clean up
zcm.unsubscribe(subs)
# notify user of success
print success
def handler(channel, msg):
print "Received message on channel: " + channel
assert msg.pod == "Cornell"
# create UDP zcm
zcm = ZCM("udpm://10.0.0.4:7777?ttl=64")
if not zcm.good():
print "Unable to initialize zcm"
exit()
# declare a new msg and populate it
msg = pto_t()
msg.state = 0
# set up a subscription on channel "TEST"
subs = zcm.subscribe("TEST", otp_t(), handler)
# create pub and sub threads
sub = subThread()
pub = pubThread()
# start pub and sub threads
sub.start()
pub.start()
zcm.unsubscribe()
