/**
* Returns elapsed wall clock
*/
struct timeval logger_get_wallclock(logger_t logger)
{
struct timeval end, diff;
gettimeofday(&end, NULL);
_timeval_subtract(&diff, &end, &logger->wallclock_start);
return diff;
}
/**
* Returns elapsed usertime
*/
struct timeval logger_get_usertime(logger_t logger)
{
struct rusage resource_usage;
struct timeval diff;
getrusage(RUSAGE_SELF, &resource_usage);
_timeval_subtract(&diff, &resource_usage.ru_utime, &logger->usertime_start);
return diff;
}
static int
udpm_self_test (lcm_udpm_t *lcm)
{
int success = 0;
int status;
// register a handler for the self test message
lcm_subscription_t *h = lcm_subscribe (lcm->lcm, "LCM_SELF_TEST",
self_test_handler, &success);
// transmit a message
char *msg = "lcm self test";
lcm_udpm_publish (lcm, "LCM_SELF_TEST", (uint8_t*)msg, strlen (msg));
// wait one second for message to be received
GTimeVal now, endtime;
g_get_current_time(&now);
endtime.tv_sec = now.tv_sec + 10;
endtime.tv_usec = now.tv_usec;
// periodically retransmit, just in case
GTimeVal retransmit_interval = { 0, 100000 };
GTimeVal next_retransmit;
_timeval_add (&now, &retransmit_interval, &next_retransmit);
int recvfd = lcm_udpm_get_fileno (lcm);
do {
GTimeVal selectto;
_timeval_subtract (&next_retransmit, &now, &selectto);
fd_set readfds;
FD_ZERO (&readfds);
FD_SET (recvfd,&readfds);
g_get_current_time(&now);
if (_timeval_compare (&now, &next_retransmit) > 0) {
status = lcm_udpm_publish (lcm, "LCM_SELF_TEST", (uint8_t*)msg,
strlen (msg));
_timeval_add (&now, &retransmit_interval, &next_retransmit);
}
status=select (recvfd + 1,&readfds,0,0, (struct timeval*) &selectto);
if (status > 0 && FD_ISSET (recvfd,&readfds)) {
lcm_udpm_handle (lcm);
}
g_get_current_time(&now);
} while (! success && _timeval_compare (&now, &endtime) < 0);
lcm_unsubscribe (lcm->lcm, h);
dbg (DBG_LCM, "LCM: self test complete\n");
// if the self test message was received, then the handler modified the
// value of success to be 1
return (success == 1)?0:-1;
}