void thread_reader(CPipeReadEndPoint& read_pipe)
{
try
{
std::cout << "[thread_reader ID:" << std::this_thread::get_id()
<< "] Started." << std::endl;
// Simple read commands:
size_t len = 0;
char buf[100];
read_pipe.Read(&len, sizeof(len));
read_pipe.Read(buf, len);
buf[len] = 0;
cout << "RX: " << buf << endl;
// Read MRPT object from a pipe:
// *Note*: If the object class is known in advance, one can avoid smart
// pointers with ReadObject(&existingObj)
auto arch = mrpt::serialization::archiveFrom(read_pipe);
auto obj = arch.ReadObject();
if (IS_CLASS(obj, CPose3D))
{
CPose3D::Ptr ptrPose = std::dynamic_pointer_cast<CPose3D>(obj);
cout << "RX pose: " << *ptrPose << endl;
}
printf("[thread_reader] Finished.\n");
}
catch (std::exception& e)
{
cerr << e.what() << endl;
}
}
void thread_reader(CPipeReadEndPoint& read_pipe)
{
try
{
std::cout << "[thread_reader ID:" << std::this_thread::get_id()
<< "] Started." << std::endl;
// Simple read commands:
size_t len = 0;
char buf[100];
read_pipe.Read(&len, sizeof(len));
read_pipe.Read(buf, len);
buf[len] = 0;
cout << "RX: " << buf << endl;
// Read MRPT object from a pipe:
// *Note*: If the object class is known in advance, one can avoid smart
// pointers with ReadObject(&existingObj)
auto arch = archiveFrom(read_pipe);
#ifndef HAS_BROKEN_CLANG_STD_VISIT
auto doprint = [](auto& pose) { cout << "RX pose: " << pose << endl; };
auto var =
arch.ReadVariant<mrpt::poses::CPose2D, mrpt::poses::CPose3D>();
std::visit(doprint, var);
var = arch.ReadVariant<mrpt::poses::CPose2D, mrpt::poses::CPose3D>();
std::visit(doprint, var);
#endif
printf("[thread_reader] Finished.\n");
}
catch (const std::exception& e)
{
cerr << e.what() << endl;
}
}
