Core direct

docs/lcm_to_zcm.md

@@ -71,7 +71,6 @@ allows LCM users to gradually migrate to ZCM.
 
 ### Known incompatibilities:
  - `zcm_get_fileno()` is not supported
- - `zcm_handle_timeout()` is not supported
  - `zcm_subscription_set_queue_capacity` is not supported
  - LCMType-style enums are not supported
  - Language bindings not currently supported:

docs/transports.md

@@ -279,14 +279,14 @@ By default, this number is 512.
 
  - `int update(zcm_trans_t *zt)`
 
-   This method is called from the `zcm_handle_nonblock()` function.
+   This method is called from the `zcm_handle()` function.
    This method provides a periodically-running routine that can perform
    updates to the underlying hardware or other general maintenance to
    this transport. A transport implementing this function will typically use
    this time to flush out any bytes left in its internal buffer. This method
    should **never block**. Again, this method is called from
-   `zcm_handle_nonblock()` and thus runs at the same frequency as
-   `zcm_handle_nonblock()`. Failure to call `zcm_handle_nonblock()`
+   `zcm_handle()` and thus runs at the same frequency as
+   `zcm_handle()`. Failure to call `zcm_handle()`
    while using an nonblock transport may cause the transport to work
    incorrectly on both message send and recv.
 
@@ -354,7 +354,7 @@ For the blocking case, there are the following approaches:
 
 For the non-blocking case, there is a single approach:
 
-  - `zcm_handle_nonblock()  /* returns non-zero if a message was available and dispatched */`
+  - `zcm_handle()      /* returns non-zero if a message was available and dispatched */`
 
 To prevent errors, the internal library checks that the API method matches the transport type.
 

examples/c/nblock_inproc.c

@@ -62,7 +62,7 @@ int main(int argc, char *argv[])
         my_data.timestamp = i;
         example_t_publish(&zcm, "EXAMPLE", &my_data);
         usleep(100000);
-        zcm_handle_nonblock(&zcm);
+        zcm_handle(&zcm, 0);
     }
 
     free(my_data.ranges);

examples/c/pub.c

@@ -40,10 +40,11 @@ int main(int argc, char *argv[])
     my_data.name = EXAMPLE_T_test_const_string;
     my_data.enabled = 1;
 
+    uint64_t sleepUs = 1000000/HZ;
     while (1) {
         if (example_t_publish(zcm, "EXAMPLE", &my_data) == 0)
             ++my_data.timestamp;
-        usleep(1000000/HZ);
+        if (sleepUs > 0) usleep(sleepUs);
     }
 
     zcm_destroy(zcm);

examples/cpp/Unsub.cpp

@@ -39,7 +39,7 @@ static void dispatchOneMessage(zcm::ZCM& zcm, uint64_t sleepTimeUs)
     } else {
         uint64_t end = utime() + sleepTimeUs;
         while (utime() < end) {
-            if (zcm.handleNonblock() == ZCM_EOK) break;
+            if (zcm.handle(0) == ZCM_EOK) break;
         }
     }
 }

examples/cpp/transport/SerialTransportTest.cpp

@@ -92,7 +92,7 @@ int main(int argc, const char *argv[])
             nextPublish = now + PUBLISH_DT;
         }
 
-        zcmLocal.handleNonblock();
+        zcmLocal.handle(0);
     }
 
     zcmLocal.unsubscribe(sub);

examples/julia/nonblock_test.jl

@@ -21,13 +21,13 @@ msg = example_t()
 
 msg.timestamp = 0;
 publish(zcm, "EXAMPLE", msg)
-handle_nonblock(zcm)
+handle(zcm, 0)
 msg.timestamp = 1;
 publish(zcm, "EXAMPLE", msg)
-handle_nonblock(zcm)
+handle(zcm, 0)
 msg.timestamp = 2;
 publish(zcm, "EXAMPLE", msg)
-handle_nonblock(zcm)
+handle(zcm, 0)
 
 unsubscribe(zcm, sub)
 

examples/node-client/package.json

@@ -1,6 +1,6 @@
 {
   "name": "zcm-example",
-  "version": "1.2.0",
+  "version": "2.0.0",
   "description": "",
   "scripts": {
     "//": [
@@ -14,6 +14,6 @@
     "big-integer": "^1.6.27",
     "express": "^4.14.0",
     "ref-napi": "^3.0.0",
-    "zerocm": "file:../../build/zcm/js/zerocm-1.2.0.tgz"
+    "zerocm": "file:../../build/zcm/js/zerocm-2.0.0.tgz"
   }
 }

examples/python/handle_test.py

@@ -23,7 +23,7 @@ def handler(channel, msg):
 msg = example_t()
 msg.timestamp = 10
 
-ret = zcm.handleNonblock()
+ret = zcm.handle(0)
 if ret != zerocm.ZCM_EAGAIN:
     print("Failed to return successfully when no message is ready")
     sys.exit(1)
@@ -44,7 +44,7 @@ def handler(channel, msg):
 time.sleep(0.5)
 
 # handle incoming message
-ret = zcm.handleNonblock()
+ret = zcm.handle(0)
 if ret != zerocm.ZCM_EOK:
     print("Failed to return successfully when a message is ready")
     sys.exit(1)

gen/version.h

@@ -1,8 +1,8 @@
 #ifndef _VERSION_H
 #define _VERSION_H
 
-#define ZCM_MAJOR_VERSION 1
-#define ZCM_MINOR_VERSION 2
+#define ZCM_MAJOR_VERSION 2
+#define ZCM_MINOR_VERSION 0
 #define ZCM_MICRO_VERSION 0
 
 #endif

test/node/package.json

@@ -13,7 +13,7 @@
   "author": "The Zcm Team",
   "license": "LGPL",
   "dependencies": {
-    "zerocm": "file:../../build/zcm/js/zerocm-1.2.0.tgz",
+    "zerocm": "file:../../build/zcm/js/zerocm-2.0.0.tgz",
     "ref-napi": "^3.0.0"
   }
 }

test/zcm/ApiRetcodesTest.hpp

@@ -172,29 +172,6 @@ class ApiRetcodesTest : public CxxTest::TestSuite
         zcm_cleanup(&zcm);
     }
 
-    void testPublishMsgdrop(void)
-    {
-        zcm_t zcm;
-        zcm_init(&zcm, "test-pub-blockforever", NULL);
-        zcm_start(&zcm);
-
-        // NOTE: We assume that 100000 publish calls are enought to overflow the send buffer
-        const int MAX_PUBS = 100000;
-        for (int i = 0; i < MAX_PUBS; i++) {
-            uint8_t data = 'a';
-            int ret = zcm_publish(&zcm, "CHANNEL", &data, 1);
-            if (ret == ZCM_EAGAIN) {
-                goto done;
-            }
-        }
-
-        TS_FAIL("Failed to get an error return code from zcm_publish()");
-
-     done:
-        zcm_stop(&zcm);
-        zcm_cleanup(&zcm);
-    }
-
     void testSub(void)
     {
         zcm_t zcm;

test/zcm/DispatchLoopTest.hpp

@@ -99,7 +99,7 @@ class DispatchLoopTest : public CxxTest::TestSuite
         std::thread kill {killThread};
         std::thread ctrl {controlThread, zcm};
 
-        zcm_handle(zcm);
+        zcm_handle(zcm, 0);
 
         running = false;
         ctrl.join();

test/zcm/Forking2Test.hpp

@@ -16,12 +16,6 @@ static void handler(const zcm_recv_buf_t *rbuf, const char *channel, void *usr)
     numrecv++;
 }
 
-static void handle(zcm_t *zcm)
-{
-    int rc = zcm_handle(zcm);
-    TS_ASSERT_EQUALS(rc, -1)
-}
-
 class Forking2Test : public CxxTest::TestSuite
 {
   public:

test/zcm/ForkingTest.hpp

@@ -15,15 +15,6 @@ static void handler(const zcm_recv_buf_t *rbuf, const char *channel, void *usr)
     numrecv++;
 }
 
-static void handle(zcm_t *zcm)
-{
-    int rc = zcm_handle(zcm);
-    if (rc == -1)  {
-        printf("handle() failed!\n");
-        exit(1);
-    }
-}
-
 bool sub(zcm_t *zcm)
 {
     zcm_subscribe(zcm, CHANNEL, handler, NULL);