Reader¶
An optional INIT can be added to specify where the reader starts. INIT_AWAIT_NEW (default): Start with messages written after the creation of the reader. INIT_MOST_RECENT: Start with the most recently written message. Useful for state and configuration. But be careful, this can be quite old! INIT_OLDEST: Start with the oldest message still in available in the transport. An optional ITER can be added to specify how to continue reading messages. After each callback: ITER_NEXT (default): grab the sequentially next message. When you don’t want to miss a thing. ITER_NEWEST: grab the newest available unread message. When you want to keep up with the firehose.Example¶
// callback triggers on each written packet.
a0::Reader reader(a0::File("path"), callback);
a0::ReaderSync reader(a0::File("path"), a0.INIT_OLDEST);
while (reader.can_read()) {
a0::Packet packet = reader.read();
...
}