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Migrate BinPickingTaskZmqResource to decode published state in msgpack #192

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Migrate BinPickingTaskZmqResource to decode published state in msgpack #192

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6c2add8
feat: migrate BinPickingTaskZmqResource to decode published state in …
gcccai Jan 28, 2026
2c324d3
fix: avoid copying zmq message unnecessarily
gcccai Jan 28, 2026
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9 changes: 9 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -185,6 +185,15 @@ endif()
include_directories(SYSTEM ${RapidJSON_INCLUDE_DIRS})
add_definitions("-DRAPIDJSON_ASSERT=BOOST_ASSERT")

# msgpack-cxx
find_package(msgpack-cxx 6.0.0)
if (NOT msgpack-cxx_FOUND)
message(FATAL_ERROR "could not find msgpack-cxx")
endif()

include_directories(${msgpack-cxx_INCLUDE_DIRS})
set(MUJINCLIENT_LINK_DIRS ${MUJINCLIENT_LINK_DIRS} ${msgpack-cxx_LIBDIR})

if( Boost_FOUND )
include_directories(${Boost_INCLUDE_DIRS})
set(MUJINCLIENT_LINK_DIRS ${MUJINCLIENT_LINK_DIRS} ${Boost_LIBRARY_DIRS})
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3 changes: 2 additions & 1 deletion src/CMakeLists.txt
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Expand Up @@ -29,6 +29,7 @@ set(SOURCE_FILES
mujincontrollerclient.cpp
mujindefinitions.cpp
mujinjson.cpp
mujinmsgpack.cpp
utf8.h )

if (libzmq_FOUND)
Expand Down Expand Up @@ -70,7 +71,7 @@ if( OPT_BUILD_STATIC )
CLEAN_DIRECT_OUTPUT 1
COMPILE_FLAGS "${EXTRA_COMPILE_FLAGS} ${Boost_CFLAGS} -DMUJINCLIENT_DLL_EXPORTS -DMUJINCLIENT_DLL"
LINK_FLAGS "")

target_link_libraries(libmujincontrollerclient_static ${CURL_LIBRARIES} ${EXTRA_LIBRARIES} ${libzmq_LIBRARIES} ${libzmq_LIBRARIES} ${LOG4CXX_LIBRARIES})
install(TARGETS libmujincontrollerclient_static DESTINATION lib${LIB_SUFFIX})
endif()
7 changes: 3 additions & 4 deletions src/binpickingtaskzmq.cpp
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Expand Up @@ -15,6 +15,7 @@
#include "common.h"
#include "controllerclientimpl.h"
#include "binpickingtaskzmq.h"
#include "mujinmsgpack.h"
#include "mujincontrollerclient/mujinzmq.h"

#include <algorithm> // find
Expand Down Expand Up @@ -257,11 +258,9 @@ void BinPickingTaskZmqResource::_HeartbeatMonitorThread(const double reinitializ
if (pollitem.revents & ZMQ_POLLIN) {
zmq::message_t reply;
socket->recv(&reply);
std::string replystring((char *)reply.data (), (size_t)reply.size());
rapidjson::Document pt(rapidjson::kObjectType);
try{
std::stringstream replystring_ss(replystring);
ParseJson(pt, replystring_ss.str());
mujinmsgpack::ParseMsgPack(pt, reply.data(), reply.size());
heartbeat.Parse(pt);
{
boost::mutex::scoped_lock lock(_mutexTaskState);
Expand All @@ -275,7 +274,7 @@ void BinPickingTaskZmqResource::_HeartbeatMonitorThread(const double reinitializ
}
catch (std::exception const &e) {
MUJIN_LOG_ERROR("HeartBeat reply is not JSON");
MUJIN_LOG_ERROR(replystring);
MUJIN_LOG_ERROR(std::string((char *)reply.data (), (size_t)reply.size()));
MUJIN_LOG_ERROR(e.what());
continue;
}
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