Examples

Common shell exports:

export ZCMDOMAIN=myplace
export ZCMROOT=/path/to/zcmroot
export ZCMMGR=$ZCMROOT/mgr

Full variable reference: zcm (Environment Variables section).

ZCmDomains entry format used by all examples:

<domain-name> <broker-host> <broker-port> <port-range-start> <port-range-size>
myplace 127.0.0.1 5555 7000 100

Field-by-field description: zcm (Broker resolution for zcm CLI and broker section).

Start a broker (endpoint via ZCmDomains):

ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm_broker

Stop the broker with Ctrl+C, or remotely:

ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm broker stop

Check broker status:

ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm broker ping

List registered names:

ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm broker list

Detailed names report (role, ports, payload bytes, host):

ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm names

Default daemon request/reply (PING -> PONG):

ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/examples/zcm_proc docs/config/zcmproc.cfg
ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm ping zcmproc

Typed send to a proc (-t, -d, -f, -i):

ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm send zcmproc -type ZCM_CMD -t "hello"
ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm send zcmproc -type ZCM_CMD -i 42
ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm send zcmproc -type ZCM_CMD -f 3.14
ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm send zcmproc -type ZCM_CMD -d 2.718281828
ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm send zcmproc -type ZCM_CMD -l 99
ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm send zcmproc -type ZCM_CMD -a short:1,2,3

Ordered TYPE payload example:

./build/tools/zcm send basic -type QUERY -d 5 -d 7 -t action -d 0

Generic data-path sample procs:

./build/examples/zcm_proc data/publisher.cfg
./build/examples/zcm_proc data/basic.cfg
./build/examples/zcm_proc data/subscriber.cfg
./build/examples/zcm_proc data/pusher.cfg
./build/examples/zcm_proc data/puller.cfg

zcm_cli_workflow-style run with real daemons:

# terminal 1
ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm_broker
 
# terminal 2
ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/examples/zcm_proc data/publisher.cfg
 
# terminal 3
ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/examples/zcm_proc data/basic.cfg
 
# terminal 4
ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/examples/zcm_proc data/subscriber.cfg

Then inspect the names table and exercise the control path:

ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm names
ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm ping publisher
ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm ping basic
ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm ping subscriber
ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm send basic -type QUERY -d 5 -d 7 -t action -d 0
ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm kill subscriber
ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/examples/zcm_proc data/subscriber.cfg
ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm kill publisher
ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm broker stop

To complete the recovery part of zcm_cli_workflow, start the broker again in terminal 1, relaunch publisher in terminal 2, then run:

ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm names
ZCMDOMAIN=myplace ZCMMGR=/path/to/zcmroot/mgr ./build/tools/zcm send basic -type QUERY -d 1 -d 2 -t again -d 3

This is the same topology covered by zcm_cli_workflow: publisher is PUB, subscriber is SUB, and basic is a combined PUB/SUB proc. After the daemons exchange traffic, zcm names should show the role/port columns plus PUB_BYTES and SUB_BYTES for the active data path, and after the broker restart the names/query workflow should recover once publisher comes back.

To configure one zcm_proc as both publisher and subscriber, declare both data sockets in the same <process> block, as in data/basic.cfg:

<?xml version="1.0" encoding="UTF-8"?>
<procConfig>
  <process name="basic">
    <dataSocket type="PUB" payload="basic-pub" intervalMs="1000"/>
    <dataSocket type="SUB" targets="publisher" topics="publisher"/>
    <control timeoutMs="200"/>
    <handlers>
      <type name="QUERY">
        <arg kind="double"/>
        <arg kind="double"/>
        <arg kind="text"/>
        <arg kind="double"/>
      </type>
    </handlers>
  </process>
</procConfig>

In this configuration, basic publishes basic-pub every second, subscribes to payloads coming from publisher, and still answers control requests such as PING, KILL, and typed QUERY messages.