This base class is used to provide a unified interface to files,memory buffers,..Please see the derived classes.
This class is largely inspired by Borland VCL "TStream" class.
Apart of the "VCL like" methods, operators ">>" and "<<" have been defined so that simple types (int,bool,char,float,char *,std::string,...) can be directly written and read to and from any CStream easily. Please, it is recomendable to read CSerializable documentation also.
Definition at line 54 of file CStream.h.
#include <mrpt/utils/CStream.h>
Public Types | ||||
enum | TSeekOrigin { sFromBeginning = 0, sFromCurrent = 1, sFromEnd = 2 } | |||
Used in CStream::Seek. More... | ||||
Public Member Functions | ||||
CStream () | ||||
virtual | ~CStream () | |||
size_t | ReadBuffer (void *Buffer, size_t Count) | |||
Reads a block of bytes from the stream into Buffer
| ||||
template<typename T > | ||||
size_t | ReadBufferFixEndianness (T *ptr, size_t ElementCount) | |||
Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture. | ||||
virtual size_t | ReadBufferImmediate (void *Buffer, size_t Count) | |||
Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream). | ||||
void | WriteBuffer (const void *Buffer, size_t Count) | |||
Writes a block of bytes to the stream from Buffer. | ||||
template<typename T > | ||||
void | WriteBufferFixEndianness (const T *ptr, size_t ElementCount) | |||
Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness). | ||||
size_t | CopyFrom (CStream *Source, size_t Count) | |||
Copies a specified number of bytes from one stream to another. | ||||
virtual uint64_t | Seek (long Offset, CStream::TSeekOrigin Origin=sFromBeginning)=0 | |||
Introduces a pure virtual method for moving to a specified position in the streamed resource. | ||||
virtual uint64_t | getTotalBytesCount ()=0 | |||
Returns the total amount of bytes in the stream. | ||||
virtual uint64_t | getPosition ()=0 | |||
Method for getting the current cursor position, where 0 is the first byte and TotalBytesCount-1 the last one. | ||||
void | WriteObject (const CSerializable *o) | |||
Writes an object to the stream. | ||||
CSerializablePtr | ReadObject () | |||
Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object. | ||||
void | ReadObject (CSerializable *existingObj) | |||
Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in. | ||||
CStream & | operator<< (const CSerializablePtr &pObj) | |||
Write an object to a stream in the binary MRPT format. | ||||
CStream & | operator<< (const CSerializable &obj) | |||
Write an object to a stream in the binary MRPT format. | ||||
CStream & | operator>> (CSerializablePtr &pObj) | |||
CStream & | operator>> (CSerializable &obj) | |||
virtual int | printf (const char *fmt,...) MRPT_printf_format_check(2 | |||
Writes a string to the stream in a textual form. | ||||
template<typename T > | ||||
virtual int void | printf_vector (const char *fmt, const std::vector< T > &V) | |||
Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element. | ||||
void | sendMessage (const utils::CMessage &msg) | |||
Send a message to the device. | ||||
bool | receiveMessage (utils::CMessage &msg) | |||
Tries to receive a message from the device. | ||||
bool | getline (std::string &out_str) | |||
Reads from the stream until a ' ' character is found ('' characters are ignored). | ||||
Protected Member Functions | ||||
virtual size_t | Read (void *Buffer, size_t Count)=0 | |||
Introduces a pure virtual method responsible for reading from the stream. | ||||
virtual size_t | Write (const void *Buffer, size_t Count)=0 | |||
Introduces a pure virtual method responsible for writing to the stream. |
Used in CStream::Seek.
virtual mrpt::utils::CStream::~CStream | ( | ) | [virtual] |
size_t mrpt::utils::CStream::CopyFrom | ( | CStream * | Source, | |
size_t | Count | |||
) |
Copies a specified number of bytes from one stream to another.
bool mrpt::utils::CStream::getline | ( | std::string & | out_str | ) |
Reads from the stream until a '
' character is found ('' characters are ignored).
virtual uint64_t mrpt::utils::CStream::getPosition | ( | ) | [pure virtual] |
Method for getting the current cursor position, where 0 is the first byte and TotalBytesCount-1 the last one.
Implemented in mrpt::utils::CClientTCPSocket, mrpt::utils::CFileGZInputStream, mrpt::utils::CFileInputStream, mrpt::utils::CFileOutputStream, mrpt::utils::CFileStream, mrpt::utils::CMemoryStream, mrpt::utils::CStdOutStream, mrpt::hwdrivers::CInterfaceFTDI, and mrpt::hwdrivers::CSerialPort.
virtual uint64_t mrpt::utils::CStream::getTotalBytesCount | ( | ) | [pure virtual] |
Returns the total amount of bytes in the stream.
Implemented in mrpt::utils::CClientTCPSocket, mrpt::utils::CFileGZInputStream, mrpt::utils::CFileInputStream, mrpt::utils::CFileOutputStream, mrpt::utils::CFileStream, mrpt::utils::CMemoryStream, mrpt::utils::CStdOutStream, mrpt::hwdrivers::CInterfaceFTDI, and mrpt::hwdrivers::CSerialPort.
CStream& mrpt::utils::CStream::operator<< | ( | const CSerializable & | obj | ) |
Write an object to a stream in the binary MRPT format.
CStream& mrpt::utils::CStream::operator<< | ( | const CSerializablePtr & | pObj | ) |
Write an object to a stream in the binary MRPT format.
CStream& mrpt::utils::CStream::operator>> | ( | CSerializablePtr & | pObj | ) |
CStream& mrpt::utils::CStream::operator>> | ( | CSerializable & | obj | ) |
virtual int mrpt::utils::CStream::printf | ( | const char * | fmt, | |
... | ||||
) | [virtual] |
Writes a string to the stream in a textual form.
virtual int void mrpt::utils::CStream::printf_vector | ( | const char * | fmt, | |
const std::vector< T > & | V | |||
) | [inline] |
Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element.
virtual size_t mrpt::utils::CStream::Read | ( | void * | Buffer, | |
size_t | Count | |||
) | [protected, pure virtual] |
Introduces a pure virtual method responsible for reading from the stream.
Implemented in mrpt::utils::CClientTCPSocket, mrpt::utils::CFileGZInputStream, mrpt::utils::CFileInputStream, mrpt::utils::CFileOutputStream, mrpt::utils::CFileStream, mrpt::utils::CMemoryStream, mrpt::utils::CStdOutStream, mrpt::hwdrivers::CInterfaceFTDI, and mrpt::hwdrivers::CSerialPort.
size_t mrpt::utils::CStream::ReadBuffer | ( | void * | Buffer, | |
size_t | Count | |||
) |
Reads a block of bytes from the stream into Buffer
std::exception | On any error, or if ZERO bytes are read. |
size_t mrpt::utils::CStream::ReadBufferFixEndianness | ( | T * | ptr, | |
size_t | ElementCount | |||
) | [inline] |
Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture.
ElementCount | The number of elements (not bytes) to read. | |
ptr | A pointer to the first output element in an array (or std::vector<>, etc...). |
uint32_t N; s >> N; vector<float> vec(N); if (N) s.ReadBufferFixEndianness<float>(&vec[0],N);
std::exception | On any error, or if ZERO bytes are read. |
Definition at line 108 of file CStream.h.
References mrpt::utils::reverseBytesInPlace().
Referenced by mrpt::math::operator>>().
virtual size_t mrpt::utils::CStream::ReadBufferImmediate | ( | void * | Buffer, | |
size_t | Count | |||
) | [inline, virtual] |
Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream).
Note that this method will fallback to ReadBuffer() in most CStream classes but in some hardware-related classes.
std::exception | On any error, or if ZERO bytes are read. |
Reimplemented in mrpt::hwdrivers::CInterfaceFTDI.
CSerializablePtr mrpt::utils::CStream::ReadObject | ( | ) |
Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object.
std::exception | On I/O error or undefined class. | |
mrpt::utils::CExceptionEOF | On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead. |
Referenced by mrpt::math::operator>>().
void mrpt::utils::CStream::ReadObject | ( | CSerializable * | existingObj | ) |
Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in.
std::exception | On I/O error or different class found. | |
mrpt::utils::CExceptionEOF | On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead. |
bool mrpt::utils::CStream::receiveMessage | ( | utils::CMessage & | msg | ) |
Tries to receive a message from the device.
std::exception | On communication errors |
virtual uint64_t mrpt::utils::CStream::Seek | ( | long | Offset, | |
CStream::TSeekOrigin | Origin = sFromBeginning | |||
) | [pure virtual] |
Introduces a pure virtual method for moving to a specified position in the streamed resource.
he Origin parameter indicates how to interpret the Offset parameter. Origin should be one of the following values:
Implemented in mrpt::utils::CClientTCPSocket, mrpt::utils::CFileGZInputStream, mrpt::utils::CFileInputStream, mrpt::utils::CFileOutputStream, mrpt::utils::CFileStream, mrpt::utils::CMemoryStream, mrpt::utils::CStdOutStream, mrpt::hwdrivers::CInterfaceFTDI, and mrpt::hwdrivers::CSerialPort.
void mrpt::utils::CStream::sendMessage | ( | const utils::CMessage & | msg | ) |
Send a message to the device.
Note that only the low byte from the "type" field will be used.
For frames of size < 255 the frame format is an array of bytes in this order:
<START_FLAG> <HEADER> <LENGTH> <BODY> <END_FLAG> <START_FLAG> = 0x69 <HEADER> = A header byte <LENGHT> = Number of bytes of BODY <BODY> = N x bytes <END_FLAG> = 0X96 Total length = <LENGTH> + 4
For frames of size > 255 the frame format is an array of bytes in this order:
<START_FLAG> <HEADER> <HIBYTE(LENGTH)> <LOBYTE(LENGTH)> <BODY> <END_FLAG> <START_FLAG> = 0x79 <HEADER> = A header byte <LENGHT> = Number of bytes of BODY <BODY> = N x bytes <END_FLAG> = 0X96 Total length = <LENGTH> + 5
std::exception | On communication errors |
virtual size_t mrpt::utils::CStream::Write | ( | const void * | Buffer, | |
size_t | Count | |||
) | [protected, pure virtual] |
Introduces a pure virtual method responsible for writing to the stream.
Write attempts to write up to Count bytes to Buffer, and returns the number of bytes actually written.
Implemented in mrpt::utils::CClientTCPSocket, mrpt::utils::CFileGZInputStream, mrpt::utils::CFileInputStream, mrpt::utils::CFileOutputStream, mrpt::utils::CFileStream, mrpt::utils::CMemoryStream, mrpt::utils::CStdOutStream, mrpt::hwdrivers::CInterfaceFTDI, and mrpt::hwdrivers::CSerialPort.
void mrpt::utils::CStream::WriteBuffer | ( | const void * | Buffer, | |
size_t | Count | |||
) |
Writes a block of bytes to the stream from Buffer.
std::exception | On any error |
void mrpt::utils::CStream::WriteBufferFixEndianness | ( | const T * | ptr, | |
size_t | ElementCount | |||
) | [inline] |
Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness).
ElementCount | The number of elements (not bytes) to write. | |
ptr | A pointer to the first input element in an array (or std::vector<>, etc...). Example of usage:
vector<float> vec = ... uint32_t N = vec.size(); s << N if (N) s.WriteBufferFixEndianness<float>(&vec[0],N); |
std::exception | On any error |
void mrpt::utils::CStream::WriteObject | ( | const CSerializable * | o | ) |
Writes an object to the stream.
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