# 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()