drake_lcm_interface.h File Reference

#include <cstdint>
#include <functional>
#include <memory>
#include <optional>
#include <stdexcept>
#include <string>
#include <string_view>
#include <utility>
#include <vector>
#include <fmt/format.h>
#include "drake/common/drake_assert.h"
#include "drake/common/drake_copyable.h"
#include "drake/lcm/lcm_messages.h"

Include dependency graph for drake_lcm_interface.h:

This graph shows which files directly or indirectly include this file:

Classes
class	DrakeLcmInterface
	A pure virtual interface that enables LCM to be mocked. More...
class	DrakeSubscriptionInterface
	A helper class returned by DrakeLcmInterface::Subscribe() that allows for (possibly automatic) unsubscription and/or queue capacity control. More...
class	Subscriber< Message >
	Subscribes to and stores a copy of the most recent message on a given channel, for some Message type. More...

Namespaces
	drake
	drake::lcm

Functions
template<typename Message >
void	Publish (DrakeLcmInterface *lcm, const std::string &channel, const Message &message, std::optional< double > time_sec={})
	Publishes an LCM message on channel channel. More...
template<typename Message >
std::shared_ptr< DrakeSubscriptionInterface >	Subscribe (DrakeLcmInterface *lcm, const std::string &channel, std::function< void(const Message &)> handler, std::function< void()> on_error={})
	Subscribes to an LCM channel named channel and decodes messages of type Message. More...
int	LcmHandleSubscriptionsUntil (DrakeLcmInterface *lcm, const std::function< bool(void)> &finished, int timeout_millis=100)
	Convenience function that repeatedly calls lcm->HandleSubscriptions() with a timeout value of timeout_millis, until finished() returns true. More...