Lcm - Lightweight Communications and Marshalling

This is a Common Lisp wrapper of LCM-C project for message passing and data marshalling.

Most of the code is ported from LCMCore julia repo. with the following differences:

• hash-table used for storing dimensions, types, and, fingerprints.
• callback pass function name and message type as strings.

Prerequisites

• LCM is installed

Installation

Clone into home/common-lisp directory. Then asdf:test-system "lcm"

• lcm.lisp file was generated using siwg.

Supported Types

• :boolean
• :uint8
• :sint8
• :sint16
• :sint32
• :sint64
• :float32
• :float64
• :string

Then :array (size) keyword would be added for arrays

example

(deflcmstruct  example_t
    (timestamp :sint64)
  (position :float64 :array (3)) ;; '(size) or (size)
  (orientation :float64 :array '(4))
  (num_ranges :sint32)
  (ranges :float64 :array (num_ranges))
  (name :string)
  (enabled :boolean))

Usage

See test files

NOTE

Tested on SBCL 1.4.10

TODO

• test publish
• test subscribe
• parse .lcm file
• benchmark

Copyright

Copyright (c) 2018 Islam Omar ([email protected])

License

Licensed under the MIT License.