java 中使用LCM(Lightweight Communications and Marshalling)

• 1、基于udp组播

消息发送

public class UdpSender {

	private final static String url = "udpm://239.255.76.68:7667?ttl=1";

	public static void main(String[] args) throws IOException {
		LCM lcm = new LCM(url);
		int num = 0;
        LcmParam param = new LcmParam();
        param.id = 1;
        param.name = "hello"
		while (true){
			lcm.publish("CHANNEL_ONE", param);
			System.out.println("send msg " + ++num);
			try {
				Thread.sleep(3000);
			} catch (InterruptedException e) {
				e.printStackTrace();
			}
		}

	}

}

消息接收

public class UdpReceiver {
    
    private final static String url = "udpm://239.255.76.68:7667?ttl=1";
	
	public static void main(String[] args) {
		try {
			lcm.subscribe("CHANNEL_ONE", new LCMSubscriber() {
				
				@Override
				public void messageReceived(LCM lcm, String channel, LCMDataInputStream ins) {
					LcmParam p;
					try {
						p = new LcmParam(ins);
						System.out.println("receive id "  + p.id);
					} catch (IOException e) {
						// TODO Auto-generated catch block
						e.printStackTrace();
					}
				}
			});
			
			
		} catch (IOException e) {
			e.printStackTrace();
		}
		
		
		while(true){
			try {
				Thread.sleep(5000);
			} catch (InterruptedException e) {
				// TODO Auto-generated catch block
				e.printStackTrace();
			}
		}
		
	}
}

• 2、基于TCP， 需要启动一个tcp服务端

tcp服务

public class TcpServer {

    public static void main(String[] args) {

        try {
            TCPService tcpService = new TCPService(7666);
        } catch (IOException e) {
            e.printStackTrace();
        }
    }

}

消息发送

public class TcpSender {

    public static void main(String[] args) {
        try {
            LCM lcm = new LCM("tcpq://127.0.0.1:7666");
            LcmParam param = new LcmParam();
            param.id = 1;
            param.name = "hello";
            while (true){
                lcm.publish("TCP", param);
                Thread.sleep(5000);
            }
        } catch (IOException e) {
            e.printStackTrace();
        } catch (InterruptedException e) {
            e.printStackTrace();
        }

    }

}

消息接收

public class TcpReceiver {

    public static void main(String[] args) {

        try {
            LCM lcm = new LCM("tcpq://127.0.0.1:7666");
            lcm.subscribe("TCP", (lcm1, channel, ins) -> {
                try {
                    LcmParam param = new LcmParam(ins);
                    System.out.println("receive " + param.name);
                } catch (Exception e) {
                    e.printStackTrace();
                }
            });
        } catch (IOException e) {
            e.printStackTrace();
        }

    }
}

• 3、基于内存队列， 需要使用同一个lcm对象，在一个进程内。

public class TestMemq {

    private final static String url = "memq://";

    public static void main(String[] args) throws IOException {
        LCM lcm = new LCM(url);
        //
        new Thread(() -> {
            LcmParam p = new LcmParam();
            p.id= 2;
            p.name = "hello";
            while (true) {
                lcm.publish("CHANNEL_ONE", p);
                try {
                    Thread.sleep(3000);
                } catch (InterruptedException e) {
                    e.printStackTrace();
                }
            }
        }).start();

        new Thread(() -> {
            lcm.subscribe("CHANNEL_ONE", new LCMSubscriber() {

                @Override
                public void messageReceived(LCM lcm, String channel, LCMDataInputStream ins) {
                    LcmParam p;
                    try {
                        p = new LcmParam(ins);
                        System.out.println("receive name " + p.name);
                    } catch (IOException e) {
                        e.printStackTrace();
                    }
                }
            });
        }).start();


        while (true){
            try {
                Thread.sleep(3000);
            } catch (InterruptedException e) {
                e.printStackTrace();
            }
        }
    }

• 4、基于file方式，还没有看懂，待测试

备注：

1、自带的编码解码，java端测试需要，把所有引用类型属性全部初始化，否则编码异常。

2、中文字符串，官网写的是utf-8 string，但测试传递中文为乱码，可能是我使用方式不对。

      自己处理方式是，将中文转为unicode，在传递。