Trying a less threaded version of core zcm

Author: jbendes

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": "1.1.5",
+  "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:../../../../../../usr/local/share/node/zerocm-1.1.5.tgz"
+    "zerocm": "file:../../../../../../usr/local/share/node/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 1
-#define ZCM_MICRO_VERSION 5
+#define ZCM_MAJOR_VERSION 2
+#define ZCM_MINOR_VERSION 0
+#define ZCM_MICRO_VERSION 0
 
 #endif