examples/jgrafchart/turtle_dec.h

+#include <labcomm_fd_reader.h>
+#include <labcomm_default_error_handler.h>
+#include <labcomm_default_memory.h>
+#include <labcomm_default_scheduler.h>
+#include <stdio.h>
+
+struct labcomm_decoder * turtle_dec_init(int fd, struct labcomm_encoder *e) ;
+void turtle_dec_run(struct labcomm_decoder *decoder) ;
+void turtle_dec_cleanup(struct labcomm_decoder *decoder) ;

examples/jgrafchart/turtle_enc.c

+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <labcomm_fd_writer.h>
+#include <labcomm_default_error_handler.h>
+#include <labcomm_default_memory.h>
+#include <labcomm_default_scheduler.h>
+#include "turtle1.h"
+#include <stdio.h>
+
+struct labcomm_encoder *turtle_enc_init( int fd) {
+  struct labcomm_encoder *encoder;
+
+  encoder = labcomm_encoder_new(labcomm_fd_writer_new(
+				  labcomm_default_memory, fd, 1), 
+				labcomm_default_error_handler, 
+				labcomm_default_memory,
+				labcomm_default_scheduler);
+  labcomm_encoder_register_turtle1_velocity(encoder);
+  return encoder;
+}
+
+void turtle_enc_run(struct labcomm_encoder *encoder, turtle1_velocity *v) {
+#if 0
+	jg_foo v;
+
+	v.b = 17.17;
+	v.c = 1742;
+	v.d = 4217;
+	v.e = "hello";
+	v.f = 17;
+	v.g = 42;
+	v.h = 2;
+	v.i = 42.42;
+#endif
+ 	printf("Encoding for turtle1\n");
+	v->turtle_name="/turtlesim1/turtle1";
+	labcomm_encode_turtle1_velocity(encoder, v);
+	sleep(1);
+ 	printf("Encoding for turtle1\n");
+	v->angular *= -1;
+	labcomm_encode_turtle1_velocity(encoder, v);
+	sleep(1);
+	v->angular *= -1;
+	//v->h += 42000000;
+	labcomm_encode_turtle1_velocity(encoder, v);
+}
+
+void turtle_enc_cleanup(struct labcomm_encoder *encoder) {
+	labcomm_encoder_free(encoder);
+}

examples/jgrafchart/turtle_enc.h

+#include <labcomm_fd_writer.h>
+#include <labcomm_default_error_handler.h>
+#include <labcomm_default_memory.h>
+#include <labcomm_default_scheduler.h>
+
+#include "turtle1.h"
+
+struct labcomm_encoder *turtle_enc_init(int fd) ;
+void turtle_enc_run(struct labcomm_encoder *encoder, turtle1_velocity *v) ;
+void turtle_enc_cleanup(struct labcomm_encoder *encoder) ;

examples/jgrafchart/turtleclient.c

+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <netdb.h> 
+
+#include "turtle_dec.h"
+#include "turtle_enc.h"
+
+void error(const char *msg)
+{
+    perror(msg);
+    exit(0);
+}
+
+void do_labcomm(int sockfd)
+{
+    void *turtle_enc = turtle_enc_init(sockfd);
+//    void *turtle_dec = turtle_dec_init(sockfd, turtle_enc);
+    turtle1_velocity v;
+    v.linear=4;
+    v.angular=0.4;
+    turtle_enc_run(turtle_enc, &v);
+//    turtle_dec_run(turtle_dec);
+//    turtle_dec_cleanup(turtle_dec);
+    turtle_enc_cleanup(turtle_enc);
+}
+
+int main(int argc, char *argv[])
+{
+    int sockfd, portno, n;
+    struct sockaddr_in serv_addr;
+    struct hostent *server;
+
+    char buffer[256];
+    if (argc < 3) {
+       fprintf(stderr,"usage %s hostname port\n", argv[0]);
+       exit(0);
+    }
+    portno = atoi(argv[2]);
+    sockfd = socket(AF_INET, SOCK_STREAM, 0);
+    if (sockfd < 0) 
+        error("ERROR opening socket");
+    server = gethostbyname(argv[1]);
+    if (server == NULL) {
+        fprintf(stderr,"ERROR, no such host\n");
+        exit(0);
+    }
+    bzero((char *) &serv_addr, sizeof(serv_addr));
+    serv_addr.sin_family = AF_INET;
+    bcopy((char *)server->h_addr, 
+         (char *)&serv_addr.sin_addr.s_addr,
+         server->h_length);
+    serv_addr.sin_port = htons(portno);
+    if (connect(sockfd,(struct sockaddr *) &serv_addr,sizeof(serv_addr)) < 0) 
+        error("ERROR connecting");
+
+    do_labcomm(sockfd);
+
+    close(sockfd);
+    return 0;
+}

examples/robot/App.config

@@ -3,4 +3,4 @@
     <startup> 
         <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5" />
     </startup>
-</configuration>
\ No newline at end of file
+</configuration>

examples/robot/Follow.mod

@@ -46,4 +46,4 @@ MODULE Follow
         RETURN;
     ENDPROC
     
-ENDMODULE
\ No newline at end of file
+ENDMODULE

examples/robot/LCRobot.lc

@@ -35,4 +35,4 @@ sample struct {
 		float eax_e;
 		float eax_f;
 	} extax;
-} jointtarget;
\ No newline at end of file
+} jointtarget;

examples/robot/Makefile

+all:
+
+clean:
+
+distclean:

examples/robot/Program.cs

-using se.lth.control.labcomm;
+using se.lth.control.labcomm2014;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -10,7 +10,7 @@ using System.Threading.Tasks;
 
 namespace RobotCtrl
 {
-    class Program
+    class Specification
     {
 
         public static string IP_ADDRESS = "127.0.0.1";
@@ -20,11 +20,11 @@ namespace RobotCtrl
         {
             jointtarget val = new jointtarget { robax = new jointtarget.struct_robax(), extax = new jointtarget.struct_extax() };
             TcpClient client = new TcpClient();
-            IPEndPoint serverEndPoint = new IPEndPoint(IPAddress.Parse(Program.IP_ADDRESS), Program.PORT);
+            IPEndPoint serverEndPoint = new IPEndPoint(IPAddress.Parse(Specification.IP_ADDRESS), Specification.PORT);
             try
             {
                 client.Connect(serverEndPoint);
-                LabCommEncoder enc = new LabCommEncoderChannel(client.GetStream(), true);
+                Encoder enc = new EncoderChannel(client.GetStream(), true);
                 jointtarget.register(enc);
                 jointtarget.encode(enc, val);
                 for (int i = 0; i < 10; i++)

examples/robot/RobotCtrl.csproj

@@ -42,7 +42,7 @@
   </ItemGroup>
   <ItemGroup>
     <Compile Include="LCRobot.cs" />
-    <Compile Include="Program.cs" />
+    <Compile Include="Specification.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
   </ItemGroup>
   <ItemGroup>
@@ -62,4 +62,4 @@
   <Target Name="AfterBuild">
   </Target>
   -->
-</Project>
\ No newline at end of file
+</Project>

examples/simple/.gitignore

+encoded_data
+encoded_data06
+example_decoder
+example_decoder06
+example_encoder
+example_encoder06
+gen
+gen06

examples/simple/Decoder.java

@@ -2,24 +2,25 @@ import java.io.File;
 import java.io.FileInputStream;
 import java.io.InputStream;
 
-import se.lth.control.labcomm.LabCommDecoderChannel;
+import se.lth.control.labcomm2014.DecoderChannel;
 
 public class Decoder
-  implements theTwoInts.Handler, anotherTwoInts.Handler, IntString.Handler, TwoArrays.Handler, TwoFixedArrays.Handler
+  implements theTwoInts.Handler, anotherTwoInts.Handler, IntString.Handler, TwoArrays.Handler, TwoFixedArrays.Handler, doavoid.Handler
 
 {
 
-  LabCommDecoderChannel decoder;
+  DecoderChannel decoder;
 
   public Decoder(InputStream in) 
     throws Exception 
   {
-    decoder = new LabCommDecoderChannel(in);
+    decoder = new DecoderChannel(in);
     theTwoInts.register(decoder, this);
     anotherTwoInts.register(decoder, this);
     IntString.register(decoder, this);
     TwoArrays.register(decoder, this);
     TwoFixedArrays.register(decoder, this);
+    doavoid.register(decoder, this);
 
     try {
       System.out.println("Running decoder.");
@@ -72,6 +73,10 @@ public class Decoder
     }
     System.out.println();
   }
+  public void handle_doavoid() throws java.io.IOException {
+    System.out.println("Got doavoid");
+  }
+
 
 
   public static void main(String[] arg) throws Exception {

examples/simple/Encoder.java

@@ -2,7 +2,7 @@ import java.io.File;
 import java.io.FileOutputStream;
 import java.io.OutputStream;
 
-import se.lth.control.labcomm.LabCommEncoderChannel;
+import se.lth.control.labcomm2014.EncoderChannel;
 
 /**
  * Simple encoder 
@@ -10,18 +10,20 @@ import se.lth.control.labcomm.LabCommEncoderChannel;
 public class Encoder 
 {
 
-  LabCommEncoderChannel encoder;
+  EncoderChannel encoder;
 
   public Encoder(OutputStream out) 
     throws Exception 
   {
-    encoder = new LabCommEncoderChannel(out);
+    encoder = new EncoderChannel(out);
+    doavoid.register(encoder);
     theTwoInts.register(encoder);
     IntString.register(encoder);
     TwoArrays.register(encoder);
   }
 
   public void doEncode() throws java.io.IOException {
+
     TwoInts x = new TwoInts();
     x.a = 17;
     x.b = 42;
@@ -35,6 +37,9 @@ public class Encoder
 //    ta.variable = new int[][] {{1,2},{0x11,0x12},{0x21,0x22},{0x31,0x32}};
     ta.variable = new int[][] {{1,2, 3, 4},{0x21,0x22,0x23,0x24}};
 
+    System.out.println("Encoding doavoid");
+    doavoid.encode(encoder);
+
     System.out.println("Encoding theTwoInts, a="+x.a+", b="+x.b);
     theTwoInts.encode(encoder, x);
 

examples/simple/EncoderIS.java

+import java.io.File;
+import java.io.FileOutputStream;
+import java.io.OutputStream;
+
+import se.lth.control.labcomm2014.EncoderChannel;
+
+/**
+ * Simple encoder 
+ */
+public class EncoderIS 
+{
+
+  EncoderChannel encoder;
+
+  public EncoderIS(OutputStream out) 
+    throws Exception 
+  {
+    encoder = new EncoderChannel(out);
+//    doavoid.register(encoder);
+//    theTwoInts.register(encoder);
+    IntString.register(encoder);
+//    TwoArrays.register(encoder);
+  }
+
+  public void doEncodeIS() throws java.io.IOException {
+    IntString a = new IntString();
+    a.x = 17;
+    a.s = "A string";
+
+    IntString b = new IntString();
+    b.x = 9;
+    b.s = "Hej";
+
+    IntString c = new IntString();
+    c.x = 133742;
+    c.s = "Thirteenthirtysevenfourtytwo";
+
+    System.out.println("Encoding IntStrings");
+    IntString.encode(encoder, a);
+    IntString.encode(encoder, b);
+    IntString.encode(encoder, c);
+  }
+
+
+  public static void main(String[] arg) throws Exception {
+    FileOutputStream fos = new FileOutputStream(arg[0]);
+    EncoderIS example = new EncoderIS(fos);
+    example.doEncodeIS();
+    fos.close();
+  }
+
+}
+

examples/simple/Makefile

+all:
+
+clean:
+
+distclean:
+	rm -rf gen
+	rm -f *.class
+	rm -f example_encoder
+	rm -f example_decoder
+	rm -f encoded_data

examples/simple/compile.sh

+#!/bin/sh
+set -x
+set -e
+### Example compile script, showing the steps required to build a labcomm application
+### (including compiler and libs). Also illustrates how versions 2013 and 2006 coexist
+
+# For current version (2013)
 (cd ../..; make all)
 
 mkdir -p gen
-java -jar ../../compiler/labComm.jar --java=gen --c=gen/simple.c --h=gen/simple.h  --python=gen/simple.py simple.lc 
+java -jar ../../compiler/labcomm2014_compiler.jar --java=gen --c=gen/simple.c --h=gen/simple.h  --python=gen/simple.py simple.lc 
 
-javac -cp ../../lib/java:. gen/*.java Encoder.java Decoder.java
+javac -cp ../../lib/java/labcomm2014.jar:. gen/*.java Encoder.java Decoder.java
 
-gcc -Wall -Werror -I. -I../../lib/c -L../../lib/c \
+gcc -Wall -Werror -Wno-unused-function \
+    -I. -I../../lib/c/2014 -L../../lib/c \
     -o example_encoder example_encoder.c gen/simple.c \
-    -llabcomm -Tlabcomm.linkscript
-gcc -Wall -Werror -I . -I ../../lib/c -L../../lib/c \
+    -llabcomm2014 
+gcc -Wall -Werror -I . -I ../../lib/c/2014 -L../../lib/c \
     -o example_decoder example_decoder.c gen/simple.c \
-    -llabcomm -Tlabcomm.linkscript
-
-#gcc -o example_encoder -I . -I ../../lib/c example_encoder.c gen/simple.c ../../lib/c/labcomm.c ../../lib/c/labcomm_fd_reader_writer.c
-
-#gcc -o example_decoder -I . -I ../../lib/c example_decoder.c gen/simple.c ../../lib/c/labcomm.c ../../lib/c/labcomm_fd_reader_writer.c
-
+    -llabcomm2014 
 

examples/simple/example_decoder.c

 #include <sys/types.h>
 #include <sys/stat.h>
 #include <fcntl.h>
-#include <labcomm_fd_reader.h>
-#include <labcomm_default_error_handler.h>
-#include <labcomm_default_memory.h>
-#include <labcomm_default_scheduler.h>
+#include <labcomm2014_fd_reader.h>
+#include <labcomm2014_default_error_handler.h>
+#include <labcomm2014_default_memory.h>
+#include <labcomm2014_default_scheduler.h>
 #include "gen/simple.h"
 #include <stdio.h>
 
+static void handle_simple_doavoid(simple_doavoid *v, void *context) {
+  printf("Got a void.\n");
+}
+
 static void handle_simple_theTwoInts(simple_TwoInts *v,void *context) {
   printf("Got theTwoInts. a=%d, b=%d\n", v->a, v->b);
 }
@@ -53,32 +57,33 @@ static void handle_simple_TwoFixedArrays(simple_TwoFixedArrays *d,void *context)
 
 int main(int argc, char *argv[]) {
   int fd;
-  struct labcomm_decoder *decoder;
+  struct labcomm2014_decoder *decoder;
   void  *context = NULL;
 
   char *filename = argv[1];
   printf("C decoder reading from %s\n", filename);
   fd = open(filename, O_RDONLY);
-  decoder = labcomm_decoder_new(labcomm_fd_reader_new(
-				  labcomm_default_memory, fd, 1), 
-				labcomm_default_error_handler, 
-				labcomm_default_memory,
-				labcomm_default_scheduler);
+  decoder = labcomm2014_decoder_new(labcomm2014_fd_reader_new(
+				  labcomm2014_default_memory, fd, 1), 
+				labcomm2014_default_error_handler, 
+				labcomm2014_default_memory,
+				labcomm2014_default_scheduler);
   if (!decoder) { 
     printf("Failed to allocate decoder %s:%d\n", __FUNCTION__, __LINE__);
     return 1;
   }
 
-  labcomm_decoder_register_simple_theTwoInts(decoder, handle_simple_theTwoInts, context);
-  labcomm_decoder_register_simple_anotherTwoInts(decoder, handle_simple_anotherTwoInts, context);
-  labcomm_decoder_register_simple_IntString(decoder, handle_simple_IntString, context);
-  labcomm_decoder_register_simple_TwoArrays(decoder, handle_simple_TwoArrays, context);
-  labcomm_decoder_register_simple_TwoFixedArrays(decoder, handle_simple_TwoFixedArrays, context);
+  labcomm2014_decoder_register_simple_doavoid(decoder, handle_simple_doavoid, context);
+  labcomm2014_decoder_register_simple_theTwoInts(decoder, handle_simple_theTwoInts, context);
+  labcomm2014_decoder_register_simple_anotherTwoInts(decoder, handle_simple_anotherTwoInts, context);
+  labcomm2014_decoder_register_simple_IntString(decoder, handle_simple_IntString, context);
+  labcomm2014_decoder_register_simple_TwoArrays(decoder, handle_simple_TwoArrays, context);
+  labcomm2014_decoder_register_simple_TwoFixedArrays(decoder, handle_simple_TwoFixedArrays, context);
 
   printf("Decoding:\n");
-  labcomm_decoder_run(decoder);
+  labcomm2014_decoder_run(decoder);
   printf("--- End Of File ---:\n");
-  labcomm_decoder_free(decoder);
+  labcomm2014_decoder_free(decoder);
 
   return 0;
 }

examples/simple/example_encoder.c

 #include <sys/types.h>
 #include <sys/stat.h>
 #include <fcntl.h>
-#include <labcomm_fd_writer.h>
-#include <labcomm_default_error_handler.h>
-#include <labcomm_default_memory.h>
-#include <labcomm_default_scheduler.h>
+#include <labcomm2014_fd_writer.h>
+#include <labcomm2014_default_error_handler.h>
+#include <labcomm2014_default_memory.h>
+#include <labcomm2014_default_scheduler.h>
 #include "gen/simple.h"
 #include <stdio.h>
 
 int main(int argc, char *argv[]) {
   int fd;
-  struct labcomm_encoder *encoder;
+  struct labcomm2014_encoder *encoder;
 
   char *filename = argv[1];
   printf("C encoder writing to %s\n", filename);
   fd = open(filename, O_WRONLY|O_CREAT|O_TRUNC, 0644);
-  encoder = labcomm_encoder_new(labcomm_fd_writer_new(
-				  labcomm_default_memory, fd, 1), 
-				labcomm_default_error_handler, 
-				labcomm_default_memory,
-				labcomm_default_scheduler);
-  labcomm_encoder_register_simple_theTwoInts(encoder);
-  labcomm_encoder_register_simple_anotherTwoInts(encoder);
-  labcomm_encoder_register_simple_IntString(encoder);
+  encoder = labcomm2014_encoder_new(labcomm2014_fd_writer_new(
+				  labcomm2014_default_memory, fd, 1), 
+				labcomm2014_default_error_handler, 
+				labcomm2014_default_memory,
+				labcomm2014_default_scheduler);
+  labcomm2014_encoder_register_simple_doavoid(encoder);
+  labcomm2014_encoder_register_simple_theTwoInts(encoder);
+  labcomm2014_encoder_register_simple_anotherTwoInts(encoder);
+  labcomm2014_encoder_register_simple_IntString(encoder);
+
+  labcomm2014_encode_simple_doavoid(encoder);
+
   simple_IntString is;
   is.x = 24;
   is.s = "Hello, LabComm!";
   printf("Encoding IntString, x=%d, s=%s\n", is.x, is.s);
-  labcomm_encode_simple_IntString(encoder, &is);
+  labcomm2014_encode_simple_IntString(encoder, &is);
 
   simple_theTwoInts ti;
   ti.a = 13;
   ti.b = 37;
   printf("Encoding theTwoInts, a=%d, b=%d\n", ti.a, ti.b);
-  labcomm_encode_simple_theTwoInts(encoder, &ti);
+  labcomm2014_encode_simple_theTwoInts(encoder, &ti);
 
   simple_anotherTwoInts ati;
   ati.a = 23;
   ati.b = 47;
   printf("Encoding anotherTwoInts, a=%d, b=%d\n", ati.a, ati.b);
-  labcomm_encode_simple_anotherTwoInts(encoder, &ati);
+  labcomm2014_encode_simple_anotherTwoInts(encoder, &ati);
 
   int foo[20];
 
-  labcomm_encoder_register_simple_TwoArrays(encoder);
+  labcomm2014_encoder_register_simple_TwoArrays(encoder);
 
   simple_TwoArrays ta;
   ta.fixed.a[0] = 17;
@@ -57,12 +61,12 @@ int main(int argc, char *argv[]) {
   }
 
   printf("Encoding TwoArrays...\n");
-  labcomm_encode_simple_TwoArrays(encoder, &ta);
+  labcomm2014_encode_simple_TwoArrays(encoder, &ta);
 
   ti.a = 23;
   ti.b = 47;
   printf("Encoding theTwoInts, a=%d, b=%d\n", ti.a, ti.b);
-  labcomm_encode_simple_theTwoInts(encoder, &ti);
+  labcomm2014_encode_simple_theTwoInts(encoder, &ti);
 
 
   simple_TwoFixedArrays tfa;
@@ -78,8 +82,8 @@ int main(int argc, char *argv[]) {
   tfa.b.a[1][2] = 63;
 
   printf("Encoding TwoFixedArrays...\n");
-  labcomm_encoder_register_simple_TwoFixedArrays(encoder);
-  labcomm_encode_simple_TwoFixedArrays(encoder, &tfa);
+  labcomm2014_encoder_register_simple_TwoFixedArrays(encoder);
+  labcomm2014_encode_simple_TwoFixedArrays(encoder, &tfa);
 
   return 0;
 }

examples/simple/example_encoder.py

+#!/usr/bin/python
+
+import labcomm2014
+import sys
+import simple
+
+if __name__ == '__main__':
+    version = sys.argv[2] if len(sys.argv) == 3 else "LabComm2014"
+    encoder = labcomm2014.Encoder(labcomm2014.StreamWriter(open(sys.argv[1], 'w')), version)
+    encoder.add_decl(simple.theTwoInts.signature)
+    encoder.add_decl(simple.IntString.signature)
+    foo = simple.theTwoInts()
+    foo.a = 13
+    foo.b = 37
+    encoder.encode(foo, simple.theTwoInts.signature)
+
+    bar = simple.IntString()
+    bar.x = 1742
+    bar.s = "A string from Python"
+    encoder.encode(bar, simple.IntString.signature)

examples/simple/example_encoder_mismatch.c

+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <labcomm_fd_writer.h>
+#include <labcomm_default_error_handler.h>
+#include <labcomm_default_memory.h>
+#include <labcomm_default_scheduler.h>
+#include "gen06/simple.h"
+#include <stdio.h>
+
+int main(int argc, char *argv[]) {
+  int fd;
+  struct labcomm_encoder *encoder;
+
+  char *filename = argv[1];
+  printf("C encoder writing to %s\n", filename);
+  fd = open(filename, O_WRONLY|O_CREAT|O_TRUNC, 0644);
+  encoder = labcomm_encoder_new(labcomm_fd_writer_new(
+				  labcomm_default_memory, fd, 1), 
+				labcomm_default_error_handler, 
+				labcomm_default_memory,
+				labcomm_default_scheduler);
+  labcomm_encoder_register_simple_theTwoInts(encoder);
+  labcomm_encoder_register_simple_anotherTwoInts(encoder);
+  labcomm_encoder_register_simple_IntString(encoder);
+  simple_IntString is;
+  is.x = 24;
+  is.s = "Hello, LabComm!";
+  printf("Encoding IntString, x=%d, s=%s\n", is.x, is.s);
+  labcomm_encode_simple_IntString(encoder, &is);
+
+  simple_theTwoInts ti;
+  ti.a = 13;
+  ti.b = 37;
+  printf("Encoding theTwoInts, a=%d, b=%d\n", ti.a, ti.b);
+  labcomm_encode_simple_theTwoInts(encoder, &ti);
+
+  simple_anotherTwoInts ati;
+  ati.a = 23;
+  ati.b = 47;
+  printf("Encoding anotherTwoInts, a=%d, b=%d\n", ati.a, ati.b);
+  labcomm_encode_simple_anotherTwoInts(encoder, &ati);
+
+  int foo[20];
+
+  labcomm_encoder_register_simple_TwoArrays(encoder);
+
+  simple_TwoArrays ta;
+  ta.fixed.a[0] = 17;
+  ta.fixed.a[1] = 42;
+  ta.variable.n_1 = 10;
+  ta.variable.a = foo;
+  
+  int k;
+  for(k=0; k<20; k++) {
+	foo[k] = k;
+  }
+
+  printf("Encoding TwoArrays...\n");
+  labcomm_encode_simple_TwoArrays(encoder, &ta);
+
+  ti.a = 23;
+  ti.b = 47;
+  printf("Encoding theTwoInts, a=%d, b=%d\n", ti.a, ti.b);
+  labcomm_encode_simple_theTwoInts(encoder, &ti);
+
+
+  simple_TwoFixedArrays tfa;
+
+  tfa.a.a[0] = 41;
+  tfa.a.a[1] = 42;
+
+  tfa.b.a[0][0] = 51;
+  tfa.b.a[0][1] = 52;
+  tfa.b.a[0][2] = 53;
+  tfa.b.a[1][0] = 61;
+  tfa.b.a[1][1] = 62;
+  tfa.b.a[1][2] = 63;
+
+  printf("Encoding TwoFixedArrays...\n");
+  labcomm_encoder_register_simple_TwoFixedArrays(encoder);
+  labcomm_encode_simple_TwoFixedArrays(encoder, &tfa);
+
+  return 0;
+}