{"id":1161708,"date":"2025-01-13T19:19:40","date_gmt":"2025-01-13T11:19:40","guid":{"rendered":"https:\/\/docs.pingcode.com\/ask\/ask-ask\/1161708.html"},"modified":"2025-01-13T19:19:43","modified_gmt":"2025-01-13T11:19:43","slug":"%e7%94%a8python%e5%a6%82%e4%bd%95%e4%bc%a0%e9%80%92lcm%e6%b6%88%e6%81%af","status":"publish","type":"post","link":"https:\/\/docs.pingcode.com\/ask\/1161708.html","title":{"rendered":"\u7528python\u5982\u4f55\u4f20\u9012lcm\u6d88\u606f"},"content":{"rendered":"

\"\u7528python\u5982\u4f55\u4f20\u9012lcm\u6d88\u606f\"<\/p>\n

\u5728Python\u4e2d\u4f20\u9012LCM\uff08Lightweight Communications and Marshalling\uff09\u6d88\u606f\u53ef\u4ee5\u901a\u8fc7\u4f7f\u7528LCM\u5e93\u6765\u5b9e\u73b0\u3002LCM\u662f\u4e00\u79cd\u7528\u4e8e\u673a\u5668\u4eba\u548c\u5176\u5b83\u63a7\u5236\u7cfb\u7edf\u7684\u6d88\u606f\u4f20\u9012\u7cfb\u7edf<\/strong>\uff0c\u5b83\u7684\u8bbe\u8ba1\u76ee\u6807\u662f\u63d0\u4f9b\u4e00\u79cd\u9ad8\u6548\u3001\u53ef\u9760\u7684\u8de8\u8fdb\u7a0b\u548c\u8de8\u7f51\u7edc\u7684\u901a\u4fe1\u65b9\u5f0f\u3002\u5728Python\u4e2d\u4f7f\u7528LCM\u5e93\uff0c\u4f60\u53ef\u4ee5\u521b\u5efa\u548c\u4f20\u9012\u81ea\u5b9a\u4e49\u7684\u6d88\u606f\u7c7b\u578b\u3001\u53d1\u5e03\u548c\u8ba2\u9605\u6d88\u606f\u3001\u5904\u7406\u6d88\u606f\u56de\u8c03<\/strong>\u3002\u4e0b\u9762\u8be6\u7ec6\u4ecb\u7ecd\u5982\u4f55\u5b9e\u73b0\u8fd9\u4e9b\u529f\u80fd\u3002<\/p>\n<\/p>\n

\u5b89\u88c5LCM\u5e93<\/strong><\/p>\n<\/p>\n

\u5728\u5f00\u59cb\u4e4b\u524d\uff0c\u4f60\u9700\u8981\u5b89\u88c5LCM\u5e93\u3002\u4f60\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u6765\u5b89\u88c5LCM\u5e93\uff1a<\/p>\n<\/p>\n

pip install lcm<\/p>\n
<\/code><\/pre>\n<\/p>\n
\u5982\u679c\u4f60\u8fd8\u6ca1\u6709\u5b89\u88c5LCM\u5e93\uff0c\u4f60\u9700\u8981\u5148\u5b89\u88c5\u5b83\u3002\u5b89\u88c5\u5b8c\u6210\u540e\uff0c\u4f60\u53ef\u4ee5\u5f00\u59cb\u7f16\u5199\u4ee3\u7801\u6765\u4f20\u9012LCM\u6d88\u606f\u3002<\/p>\n<\/p>\n
\u4e00\u3001\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b<\/h2>\n<\/p>\n
\u5728LCM\u4e2d\uff0c\u6d88\u606f\u7c7b\u578b\u662f\u901a\u8fc7LCM\u7c7b\u578b\u6587\u4ef6\uff08.lcm<\/code>\u6587\u4ef6\uff09\u5b9a\u4e49\u7684\u3002\u8fd9\u4e9b\u6587\u4ef6\u4f7f\u7528\u4e00\u79cd\u7b80\u5355\u7684IDL\uff08Interface Definition Language\uff09\u6765\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u3002\u4e0b\u9762\u662f\u4e00\u4e2a\u793a\u4f8b\uff1a<\/p>\n<\/p>\n
package my_lcm_types;<\/p>\n
struct example_t {<\/p>\n
    int64_t timestamp;<\/p>\n
    float position[3];<\/p>\n
    float orientation[4];<\/p>\n
    string name;<\/p>\n
    int32_t enabled;<\/p>\n
}<\/p>\n
<\/code><\/pre>\n<\/p>\n
\u8fd9\u4e2a\u6587\u4ef6\u5b9a\u4e49\u4e86\u4e00\u4e2a\u540d\u4e3aexample_t<\/code>\u7684\u6d88\u606f\u7c7b\u578b\uff0c\u5b83\u5305\u542b\u4e86\u4e00\u4e2a\u65f6\u95f4\u6233\u3001\u4e00\u4e2a\u4e09\u7ef4\u4f4d\u7f6e\u5411\u91cf\u3001\u4e00\u4e2a\u56db\u7ef4\u65b9\u5411\u5411\u91cf\u3001\u4e00\u4e2a\u5b57\u7b26\u4e32\u548c\u4e00\u4e2a\u6574\u6570\u3002<\/p>\n<\/p>\n
\u4e8c\u3001\u7f16\u8bd1\u6d88\u606f\u7c7b\u578b<\/h2>\n<\/p>\n
\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u4e4b\u540e\uff0c\u4f60\u9700\u8981\u4f7f\u7528LCM\u7684lcm-gen<\/code>\u5de5\u5177\u6765\u7f16\u8bd1\u8fd9\u4e2a\u7c7b\u578b\u6587\u4ef6\u3002\u4f60\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u6765\u7f16\u8bd1\uff1a<\/p>\n<\/p>\n
lcm-gen -p example_t.lcm<\/p>\n
<\/code><\/pre>\n<\/p>\n
\u8fd9\u4e2a\u547d\u4ee4\u4f1a\u751f\u6210\u4e00\u4e2aPython\u6a21\u5757\uff0c\u5305\u542b\u4e86example_t<\/code>\u6d88\u606f\u7c7b\u578b\u7684\u5b9a\u4e49\u3002<\/p>\n<\/p>\n
\u4e09\u3001\u53d1\u5e03\u6d88\u606f<\/h2>\n<\/p>\n
\u63a5\u4e0b\u6765\uff0c\u4f60\u53ef\u4ee5\u7f16\u5199\u4e00\u4e2aPython\u811a\u672c\u6765\u53d1\u5e03\u6d88\u606f\u3002\u4e0b\u9762\u662f\u4e00\u4e2a\u793a\u4f8b\uff1a<\/p>\n<\/p>\n
import time<\/p>\n
import lcm<\/p>\n
from my_lcm_types import example_t<\/p>\n
def publish_message():<\/p>\n
    lc = lcm.LCM()<\/p>\n
    msg = example_t()<\/p>\n
    msg.timestamp = int(time.time() * 1000000)<\/p>\n
    msg.position = [1.0, 2.0, 3.0]<\/p>\n
    msg.orientation = [0.0, 0.0, 0.0, 1.0]<\/p>\n
    msg.name = "example"<\/p>\n
    msg.enabled = 1<\/p>\n
    lc.publish("EXAMPLE", msg.encode())<\/p>\n
    print("Message published.")<\/p>\n
if __name__ == "__mAI<\/a>n__":<\/p>\n
    publish_message()<\/p>\n
<\/code><\/pre>\n<\/p>\n
\u5728\u8fd9\u4e2a\u793a\u4f8b\u4e2d\uff0c\u6211\u4eec\u9996\u5148\u521b\u5efa\u4e86\u4e00\u4e2aLCM\u5bf9\u8c61\uff0c\u7136\u540e\u521b\u5efa\u4e86\u4e00\u4e2aexample_t<\/code>\u6d88\u606f\u5bf9\u8c61\u3002\u6211\u4eec\u8bbe\u7f6e\u4e86\u6d88\u606f\u7684\u5404\u4e2a\u5b57\u6bb5\uff0c\u5e76\u901a\u8fc7LCM\u5bf9\u8c61\u53d1\u5e03\u6d88\u606f\u3002<\/p>\n<\/p>\n
\u56db\u3001\u8ba2\u9605\u6d88\u606f<\/h2>\n<\/p>\n
\u63a5\u4e0b\u6765\uff0c\u4f60\u53ef\u4ee5\u7f16\u5199\u4e00\u4e2aPython\u811a\u672c\u6765\u8ba2\u9605\u6d88\u606f\u3002\u4e0b\u9762\u662f\u4e00\u4e2a\u793a\u4f8b\uff1a<\/p>\n<\/p>\n
import lcm<\/p>\n
from my_lcm_types import example_t<\/p>\n
def message_handler(channel, data):<\/p>\n
    msg = example_t.decode(data)<\/p>\n
    print(f"Received message on channel {channel}")<\/p>\n
    print(f"Timestamp: {msg.timestamp}")<\/p>\n
    print(f"Position: {msg.position}")<\/p>\n
    print(f"Orientation: {msg.orientation}")<\/p>\n
    print(f"Name: {msg.name}")<\/p>\n
    print(f"Enabled: {msg.enabled}")<\/p>\n
def subscribe_message():<\/p>\n
    lc = lcm.LCM()<\/p>\n
    subscription = lc.subscribe("EXAMPLE", message_handler)<\/p>\n
    try:<\/p>\n
        while True:<\/p>\n
            lc.handle()<\/p>\n
    except KeyboardInterrupt:<\/p>\n
        pass<\/p>\n
if __name__ == "__main__":<\/p>\n
    subscribe_message()<\/p>\n
<\/code><\/pre>\n<\/p>\n
\u5728\u8fd9\u4e2a\u793a\u4f8b\u4e2d\uff0c\u6211\u4eec\u9996\u5148\u521b\u5efa\u4e86\u4e00\u4e2aLCM\u5bf9\u8c61\uff0c\u7136\u540e\u8ba2\u9605\u4e86\u540d\u4e3a\u201cEXAMPLE\u201d\u7684\u9891\u9053\u3002\u5f53\u63a5\u6536\u5230\u6d88\u606f\u65f6\uff0cmessage_handler<\/code>\u51fd\u6570\u4f1a\u88ab\u8c03\u7528\uff0c\u6211\u4eec\u53ef\u4ee5\u5728\u8fd9\u4e2a\u51fd\u6570\u4e2d\u5904\u7406\u6d88\u606f\u3002<\/p>\n<\/p>\n
\u4e94\u3001\u5904\u7406\u6d88\u606f\u56de\u8c03<\/h2>\n<\/p>\n
\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\uff0c\u5904\u7406\u6d88\u606f\u56de\u8c03\u662f\u975e\u5e38\u91cd\u8981\u7684\u3002\u4f60\u53ef\u4ee5\u5728\u56de\u8c03\u51fd\u6570\u4e2d\u5b9e\u73b0\u590d\u6742\u7684\u903b\u8f91\u3002\u4e0b\u9762\u662f\u4e00\u4e2a\u66f4\u590d\u6742\u7684\u793a\u4f8b\uff1a<\/p>\n<\/p>\n
import lcm<\/p>\n
import threading<\/p>\n
from my_lcm_types import example_t<\/p>\n
class MessageHandler:<\/p>\n
    def __init__(self):<\/p>\n
        self.lc = lcm.LCM()<\/p>\n
        self.subscription = self.lc.subscribe("EXAMPLE", self.handle_message)<\/p>\n
    def handle_message(self, channel, data):<\/p>\n
        msg = example_t.decode(data)<\/p>\n
        print(f"Received message on channel {channel}")<\/p>\n
        print(f"Timestamp: {msg.timestamp}")<\/p>\n
        print(f"Position: {msg.position}")<\/p>\n
        print(f"Orientation: {msg.orientation}")<\/p>\n
        print(f"Name: {msg.name}")<\/p>\n
        print(f"Enabled: {msg.enabled}")<\/p>\n
    def run(self):<\/p>\n
        while True:<\/p>\n
            self.lc.handle()<\/p>\n
def main():<\/p>\n
    handler = MessageHandler()<\/p>\n
    thread = threading.Thread(target=handler.run)<\/p>\n
    thread.start()<\/p>\n
    try:<\/p>\n
        while True:<\/p>\n
            time.sleep(1)<\/p>\n
    except KeyboardInterrupt:<\/p>\n
        pass<\/p>\n
if __name__ == "__main__":<\/p>\n
    main()<\/p>\n
<\/code><\/pre>\n<\/p>\n
\u5728\u8fd9\u4e2a\u793a\u4f8b\u4e2d\uff0c\u6211\u4eec\u521b\u5efa\u4e86\u4e00\u4e2aMessageHandler<\/code>\u7c7b\u6765\u5904\u7406\u6d88\u606f\u3002\u6211\u4eec\u5728\u7c7b\u7684\u6784\u9020\u51fd\u6570\u4e2d\u8ba2\u9605\u4e86\u6d88\u606f\uff0c\u5e76\u5728handle_message<\/code>\u65b9\u6cd5\u4e2d\u5904\u7406\u6d88\u606f\u3002\u6211\u4eec\u521b\u5efa\u4e86\u4e00\u4e2a\u7ebf\u7a0b\u6765\u8fd0\u884c\u6d88\u606f\u5904\u7406\u5faa\u73af\uff0c\u8fd9\u6837\u4e3b\u7ebf\u7a0b\u53ef\u4ee5\u7ee7\u7eed\u6267\u884c\u5176\u4ed6\u4efb\u52a1\u3002<\/p>\n<\/p>\n
\u516d\u3001\u6d88\u606f\u4f20\u9012\u7684\u5e94\u7528\u793a\u4f8b<\/h2>\n<\/p>\n
\u4e0b\u9762\u662f\u4e00\u4e2a\u5b8c\u6574\u7684\u793a\u4f8b\uff0c\u5c55\u793a\u4e86\u5982\u4f55\u5728\u4e24\u4e2a\u4e0d\u540c\u7684Python\u811a\u672c\u4e2d\u4f20\u9012LCM\u6d88\u606f\u3002<\/p>\n<\/p>\n
\u53d1\u5e03\u8005\u811a\u672c\uff08publisher.py\uff09<\/h3>\n<\/p>\n
import time<\/p>\n
import lcm<\/p>\n
from my_lcm_types import example_t<\/p>\n
def publish_message():<\/p>\n
    lc = lcm.LCM()<\/p>\n
    msg = example_t()<\/p>\n
    msg.timestamp = int(time.time() * 1000000)<\/p>\n
    msg.position = [1.0, 2.0, 3.0]<\/p>\n
    msg.orientation = [0.0, 0.0, 0.0, 1.0]<\/p>\n
    msg.name = "example"<\/p>\n
    msg.enabled = 1<\/p>\n
    lc.publish("EXAMPLE", msg.encode())<\/p>\n
    print("Message published.")<\/p>\n
if __name__ == "__main__":<\/p>\n
    while True:<\/p>\n
        publish_message()<\/p>\n
        time.sleep(1)<\/p>\n
<\/code><\/pre>\n<\/p>\n
\u8ba2\u9605\u8005\u811a\u672c\uff08subscriber.py\uff09<\/h3>\n<\/p>\n
import lcm<\/p>\n
from my_lcm_types import example_t<\/p>\n
def message_handler(channel, data):<\/p>\n
    msg = example_t.decode(data)<\/p>\n
    print(f"Received message on channel {channel}")<\/p>\n
    print(f"Timestamp: {msg.timestamp}")<\/p>\n
    print(f"Position: {msg.position}")<\/p>\n
    print(f"Orientation: {msg.orientation}")<\/p>\n
    print(f"Name: {msg.name}")<\/p>\n
    print(f"Enabled: {msg.enabled}")<\/p>\n
def subscribe_message():<\/p>\n
    lc = lcm.LCM()<\/p>\n
    subscription = lc.subscribe("EXAMPLE", message_handler)<\/p>\n
    try:<\/p>\n
        while True:<\/p>\n
            lc.handle()<\/p>\n
    except KeyboardInterrupt:<\/p>\n
        pass<\/p>\n
if __name__ == "__main__":<\/p>\n
    subscribe_message()<\/p>\n
<\/code><\/pre>\n<\/p>\n
\u5728\u8fd9\u4e2a\u793a\u4f8b\u4e2d\uff0cpublisher.py<\/code>\u811a\u672c\u6bcf\u79d2\u53d1\u5e03\u4e00\u6761\u6d88\u606f\uff0c\u800csubscriber.py<\/code>\u811a\u672c\u8ba2\u9605\u6d88\u606f\u5e76\u6253\u5370\u6d88\u606f\u5185\u5bb9\u3002<\/p>\n<\/p>\n
\u901a\u8fc7\u8fd9\u4e9b\u793a\u4f8b\uff0c\u4f60\u53ef\u4ee5\u770b\u5230\u5982\u4f55\u5728Python\u4e2d\u4f7f\u7528LCM\u5e93\u6765\u5b9a\u4e49\u3001\u53d1\u5e03\u548c\u8ba2\u9605\u81ea\u5b9a\u4e49\u7684\u6d88\u606f\u7c7b\u578b\u3002LCM\u63d0\u4f9b\u4e86\u4e00\u79cd\u9ad8\u6548\u3001\u53ef\u9760\u7684\u6d88\u606f\u4f20\u9012\u673a\u5236\uff0c\u975e\u5e38\u9002\u5408\u7528\u4e8e\u673a\u5668\u4eba\u548c\u63a7\u5236\u7cfb\u7edf\u4e2d\u7684\u901a\u4fe1<\/strong>\u3002\u5e0c\u671b\u8fd9\u4e9b\u793a\u4f8b\u80fd\u591f\u5e2e\u52a9\u4f60\u7406\u89e3\u548c\u5e94\u7528LCM\u5e93\u3002\u5982\u679c\u4f60\u6709\u66f4\u591a\u7684\u9700\u6c42\u6216\u95ee\u9898\uff0c\u53ef\u4ee5\u67e5\u9605LCM\u7684\u5b98\u65b9\u6587\u6863\u548c\u793a\u4f8b\u4ee3\u7801\uff0c\u8fdb\u4e00\u6b65\u4e86\u89e3\u548c\u638c\u63e1LCM\u7684\u4f7f\u7528\u3002<\/p>\n<\/p>\n
\u76f8\u5173\u95ee\u7b54FAQs\uff1a<\/strong><\/h2>\n
 \u5982\u4f55\u4f7f\u7528Python\u53d1\u9001LCM\u6d88\u606f\uff1f<\/strong>
\u8981\u53d1\u9001LCM\uff08\u8f7b\u91cf\u7ea7\u901a\u8baf\u6d88\u606f\uff09\uff0c\u60a8\u9700\u8981\u5b89\u88c5LCM\u5e93\u5e76\u5b9a\u4e49\u6d88\u606f\u683c\u5f0f\u3002\u4f7f\u7528Python\u53d1\u9001\u6d88\u606f\u7684\u57fa\u672c\u6b65\u9aa4\u5305\u62ec\uff1a\u9996\u5148\uff0c\u521b\u5efa\u4e00\u4e2aLCM\u5bf9\u8c61\u5e76\u5b9a\u4e49\u6d88\u606f\u7c7b\u578b\u3002\u63a5\u7740\uff0c\u586b\u5145\u6d88\u606f\u6570\u636e\uff0c\u5e76\u4f7f\u7528LCM\u5bf9\u8c61\u7684publish<\/code>\u65b9\u6cd5\u53d1\u9001\u6d88\u606f\u3002\u786e\u4fdd\u5728\u53d1\u9001\u6d88\u606f\u4e4b\u524d\u5df2\u7ecf\u542f\u52a8\u4e86LCM\u901a\u9053\u3002<\/p>\n
LCM\u6d88\u606f\u7684\u5b9a\u4e49\u548c\u683c\u5f0f\u662f\u4ec0\u4e48\uff1f<\/strong>
LCM\u6d88\u606f\u7684\u5b9a\u4e49\u901a\u5e38\u5728\u4e00\u4e2a.lcm<\/code>\u6587\u4ef6\u4e2d\u8fdb\u884c\u3002\u60a8\u9700\u8981\u5b9a\u4e49\u6d88\u606f\u7684\u5b57\u6bb5\u4ee5\u53ca\u5b83\u4eec\u7684\u7c7b\u578b\uff0c\u4f8b\u5982\u6574\u578b\u3001\u6d6e\u70b9\u578b\u6216\u5b57\u7b26\u4e32\u3002LCM\u4f1a\u6839\u636e\u8fd9\u4e9b\u5b9a\u4e49\u751f\u6210\u76f8\u5e94\u7684Python\u7c7b\uff0c\u4ee5\u4fbf\u5728\u4ee3\u7801\u4e2d\u4f7f\u7528\u3002\u786e\u4fdd\u5728\u7f16\u8bd1LCM\u6587\u4ef6\u540e\uff0c\u751f\u6210\u7684Python\u7c7b\u80fd\u591f\u6b63\u786e\u6620\u5c04\u5230\u60a8\u7684\u6d88\u606f\u6570\u636e\u3002<\/p>\n
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