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mrpt::utils::CClientTCPSocket Class Reference

Detailed Description

A TCP socket that can be connected to a TCP server, implementing MRPT's CStream interface for passing objects as well as generic read/write methods.

Unless otherwise noticed, operations are blocking.

Note that for convenience, DNS lookup is performed with a timeout (default=3000ms), which can be changed by the static member CClientTCPSocket::DNS_LOOKUP_TIMEOUT_MS

Definition at line 34 of file CClientTCPSocket.h.

#include <mrpt/utils/CClientTCPSocket.h>

Inheritance diagram for mrpt::utils::CClientTCPSocket:
Inheritance graph

Public Types

enum  TSeekOrigin { sFromBeginning = 0, sFromCurrent = 1, sFromEnd = 2 }
 Used in CStream::Seek. More...
 

Public Member Functions

 CClientTCPSocket ()
 Default constructor. More...
 
 ~CClientTCPSocket ()
 Destructor. More...
 
void connect (const std::string &remotePartAddress, unsigned short remotePartTCPPort, unsigned int timeout_ms=0)
 Establishes a connection with a remote part. More...
 
bool isConnected ()
 Returns true if this objects represents a successfully connected socket. More...
 
void close ()
 Closes the connection. More...
 
void sendString (const std::string &str)
 Writes a string to the socket. More...
 
uint64_t Seek (int64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning) MRPT_OVERRIDE
 This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception. More...
 
uint64_t getTotalBytesCount () MRPT_OVERRIDE
 This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception. More...
 
uint64_t getPosition () MRPT_OVERRIDE
 This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception. More...
 
size_t readAsync (void *Buffer, const size_t Count, const int timeoutStart_ms=-1, const int timeoutBetween_ms=-1)
 A method for reading from the socket with an optional timeout. More...
 
size_t writeAsync (const void *Buffer, const size_t Count, const int timeout_ms=-1)
 A method for writing to the socket with optional timeouts. More...
 
bool sendMessage (const CMessage &outMsg, const int timeout_ms=-1)
 Send a message through the TCP stream. More...
 
bool receiveMessage (CMessage &inMsg, const unsigned int timeoutStart_ms=100, const unsigned int timeoutBetween_ms=1000)
 Waits for an incoming message through the TCP stream. More...
 
size_t getReadPendingBytes ()
 Return the number of bytes already in the receive queue (they can be read without waiting) More...
 
int setTCPNoDelay (const int &newValue)
 Set the TCP no delay option of the protocol (Nagle algorithm). More...
 
int getTCPNoDelay ()
 Return the value of the TCPNoDelay option. More...
 
int setSOSendBufffer (const int &newValue)
 Set the size of the SO send buffer. More...
 
int getSOSendBufffer ()
 Return the current size of the SO send buffer. More...
 
size_t ReadBuffer (void *Buffer, size_t Count)
 Reads a block of bytes from the stream into Buffer

Exceptions
std::exceptionOn any error, or if ZERO bytes are read.
More...
 
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. More...
 
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). More...
 
void WriteBuffer (const void *Buffer, size_t Count)
 Writes a block of bytes to the stream from Buffer. More...
 
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). More...
 
void WriteObject (const CSerializable *o)
 Writes an object to the stream. More...
 
CSerializablePtr ReadObject ()
 Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object. More...
 
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. More...
 
CStreamoperator<< (const CSerializablePtr &pObj)
 Write an object to a stream in the binary MRPT format. More...
 
CStreamoperator<< (const CSerializable &obj)
 Write an object to a stream in the binary MRPT format. More...
 
CStreamoperator>> (CSerializablePtr &pObj)
 
CStreamoperator>> (CSerializable &obj)
 
template<typename STORED_TYPE , typename CAST_TO_TYPE >
void ReadAsAndCastTo (CAST_TO_TYPE &read_here)
 Read a value from a stream stored in a type different of the target variable, making the conversion via static_cast. More...
 
virtual int printf (const char *fmt,...) MRPT_printf_format_check(2
 Writes a string to the stream in a textual form. More...
 
template<typename CONTAINER_TYPE >
virtual int void printf_vector (const char *fmt, const CONTAINER_TYPE &V, char separator= ',')
 Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element T. More...
 
void sendMessage (const utils::CMessage &msg)
 Send a message to the device. More...
 
bool receiveMessage (utils::CMessage &msg)
 Tries to receive a message from the device. More...
 
bool getline (std::string &out_str)
 Reads from the stream until a '
' character is found ('' characters are ignored). More...
 

Static Public Attributes

static unsigned int DNS_LOOKUP_TIMEOUT_MS = 3000
 See description of CClientTCPSocket. More...
 

Protected Member Functions

size_t Read (void *Buffer, size_t Count) MRPT_OVERRIDE
 Introduces a virtual method responsible for reading from the stream (This method BLOCKS) This method is implemented as a call to "readAsync" with infinite timeouts. More...
 
size_t Write (const void *Buffer, size_t Count) MRPT_OVERRIDE
 Introduces a virtual method responsible for writing to the stream. More...
 
std::string getLastErrorStr ()
 Returns a description of the last Sockets error. More...
 
template<bool EXISTING_OBJ>
void internal_ReadObject (CSerializablePtr &newObj, CSerializable *existingObj=NULL)
 A common template code for both versions of CStream::ReadObject() More...
 

Protected Attributes

int m_hSock
 The handle for the connected TCP socket, or -1. More...
 
std::string m_remotePartIP
 The IP address of the remote part of the connection. More...
 
unsigned short m_remotePartPort
 The TCP port of the remote part of the connection. More...
 

Friends

class CServerTCPSocket
 

Member Enumeration Documentation

Used in CStream::Seek.

Enumerator
sFromBeginning 
sFromCurrent 
sFromEnd 

Definition at line 42 of file CStream.h.

Constructor & Destructor Documentation

CClientTCPSocket::CClientTCPSocket ( )

Default constructor.

See Also
connect

Definition at line 49 of file CClientTCPSocket.cpp.

References INVALID_SOCKET, MRPT_END, MRPT_START, and THROW_EXCEPTION.

CClientTCPSocket::~CClientTCPSocket ( )

Destructor.

Definition at line 72 of file CClientTCPSocket.cpp.

Member Function Documentation

void CClientTCPSocket::close ( )

Closes the connection.

Definition at line 83 of file CClientTCPSocket.cpp.

References INVALID_SOCKET, MRPT_END, and MRPT_START.

Referenced by mrpt::hwdrivers::CNTRIPClient::private_ntrip_thread().

void CClientTCPSocket::connect ( const std::string remotePartAddress,
unsigned short  remotePartTCPPort,
unsigned int  timeout_ms = 0 
)

Establishes a connection with a remote part.

Parameters
remotePartAddressThis string can be a host name, like "server" or "www.mydomain.org", or an IP address "11.22.33.44".
remotePartTCPPortThe port on the remote machine to connect to.
timeout_msThe timeout to wait for the connection (0: NO TIMEOUT)
Exceptions
Thismethod raises an exception if an error is found with a textual description of the error.

Definition at line 248 of file CClientTCPSocket.cpp.

References mrpt::utils::net::DNS_resolve_async(), mrpt::format(), int(), INVALID_SOCKET, mrpt::obs::gnss::lon, MRPT_END, MRPT_START, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

Referenced by mrpt::hwdrivers::CHokuyoURG::ensureStreamIsOpen(), mrpt::utils::net::http_request(), and mrpt::hwdrivers::CNTRIPClient::private_ntrip_thread().

std::string mrpt::utils::CClientTCPSocket::getLastErrorStr ( )
inlineprotected

Returns a description of the last Sockets error.

Definition at line 71 of file CClientTCPSocket.h.

References mrpt::utils::net::getLastSocketErrorStr().

bool CStream::getline ( std::string out_str)
inherited

Reads from the stream until a '
' character is found ('' characters are ignored).

Returns
false on EOF or any other read error.

Definition at line 680 of file CStream.cpp.

uint64_t mrpt::utils::CClientTCPSocket::getPosition ( )
inlinevirtual

This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception.

Implements mrpt::utils::CStream.

Definition at line 120 of file CClientTCPSocket.h.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

size_t CClientTCPSocket::getReadPendingBytes ( )

Return the number of bytes already in the receive queue (they can be read without waiting)

Definition at line 539 of file CClientTCPSocket.cpp.

References INVALID_SOCKET, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CHokuyoURG::purgeBuffers().

int CClientTCPSocket::getSOSendBufffer ( )

Return the current size of the SO send buffer.

Definition at line 601 of file CClientTCPSocket.cpp.

int CClientTCPSocket::getTCPNoDelay ( )

Return the value of the TCPNoDelay option.

Definition at line 571 of file CClientTCPSocket.cpp.

uint64_t mrpt::utils::CClientTCPSocket::getTotalBytesCount ( )
inlinevirtual

This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception.

Implements mrpt::utils::CStream.

Definition at line 112 of file CClientTCPSocket.h.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

template<bool EXISTING_OBJ>
void CStream::internal_ReadObject ( CSerializablePtr &  newObj,
CSerializable existingObj = NULL 
)
protectedinherited
bool CClientTCPSocket::isConnected ( )

Returns true if this objects represents a successfully connected socket.

Definition at line 357 of file CClientTCPSocket.cpp.

References INVALID_SOCKET.

Referenced by mrpt::hwdrivers::CHokuyoURG::ensureStreamIsOpen(), mrpt::utils::net::http_request(), and mrpt::hwdrivers::CNTRIPClient::private_ntrip_thread().

CStream & CStream::operator<< ( const CSerializablePtr &  pObj)
inherited

Write an object to a stream in the binary MRPT format.

Definition at line 211 of file CStream.cpp.

CStream & CStream::operator<< ( const CSerializable obj)
inherited

Write an object to a stream in the binary MRPT format.

Definition at line 218 of file CStream.cpp.

CStream & CStream::operator>> ( CSerializablePtr &  pObj)
inherited

Definition at line 224 of file CStream.cpp.

CStream & CStream::operator>> ( CSerializable obj)
inherited

Definition at line 230 of file CStream.cpp.

int CStream::printf ( const char *  fmt,
  ... 
)
virtualinherited

Writes a string to the stream in a textual form.

See Also
CStdOutStream

Definition at line 507 of file CStream.cpp.

References MRPT_END, MRPT_START, and vsnprintf.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::utils::TMatchingPairList::dumpToFile(), mrpt::obs::gnss::Message_NMEA_GGA::dumpToStream(), mrpt::obs::gnss::Message_TOPCON_PZS::dumpToStream(), mrpt::obs::gnss::Message_TOPCON_SATS::dumpToStream(), mrpt::obs::gnss::Message_NMEA_GLL::dumpToStream(), mrpt::obs::gnss::Message_NMEA_RMC::dumpToStream(), mrpt::obs::CObservationGPS::dumpToStream(), mrpt::obs::gnss::Message_NMEA_VTG::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_FRAME::dumpToStream(), mrpt::obs::gnss::Message_NMEA_ZDA::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_SHORT_FRAME::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_RANGECMP::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_VERSION::dumpToStream(), mrpt::slam::TKLDParams::dumpToTextStream(), mrpt::maps::TMetricMapInitializer::dumpToTextStream(), mrpt::slam::CMetricMapBuilderICP::TConfigParams::dumpToTextStream(), mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions::dumpToTextStream(), mrpt::slam::CIncrementalMapPartitioner::TOptions::dumpToTextStream(), mrpt::slam::CICP::TConfigParams::dumpToTextStream(), mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::hmtslam::CTopLCDetector_FabMap::TOptions::dumpToTextStream(), mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::graphslam::TUncertaintyPath< GRAPH_T >::dumpToTextStream(), mrpt::vision::CFeatureExtraction::TOptions::dumpToTextStream(), mrpt::maps::CReflectivityGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::utils::CLoadableOptions::dumpToTextStream(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::dumpToTextStream(), mrpt::bayes::CParticleFilter::TParticleFilterOptions::dumpToTextStream(), mrpt::slam::CGridMapAligner::TConfigParams::dumpToTextStream(), mrpt::graphslam::TSlidingWindow::dumpToTextStream(), mrpt::maps::CHeightGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::slam::CRangeBearingKFSLAM2D::TOptions::dumpToTextStream(), mrpt::maps::CBeaconMap::TLikelihoodOptions::dumpToTextStream(), mrpt::maps::CMultiMetricMapPDF::TPredictionParams::dumpToTextStream(), mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::dumpToTextStream(), mrpt::maps::CBeaconMap::TInsertionOptions::dumpToTextStream(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams::dumpToTextStream(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TLikelihoodOptions::dumpToTextStream(), mrpt::slam::CRangeBearingKFSLAM::TOptions::dumpToTextStream(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::dumpToTextStream(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::dumpToTextStream(), mrpt::maps::CPointsMap::TInsertionOptions::dumpToTextStream(), mrpt::vision::TStereoSystemParams::dumpToTextStream(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams::dumpToTextStream(), mrpt::vision::CFeature::dumpToTextStream(), mrpt::maps::CLandmarksMap::TInsertionOptions::dumpToTextStream(), mrpt::maps::CPointsMap::TLikelihoodOptions::dumpToTextStream(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams::dumpToTextStream(), mrpt::maps::CColouredPointsMap::TColourOptions::dumpToTextStream(), mrpt::maps::CLandmarksMap::TLikelihoodOptions::dumpToTextStream(), mrpt::maps::TSetOfMetricMapInitializers::dumpToTextStream(), mrpt::vision::TMatchingOptions::dumpToTextStream(), mrpt::maps::COccupancyGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::hmtslam::CHMTSLAM::TOptions::dumpToTextStream(), mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::dumpToTextStream(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::dumpToTextStream(), mrpt::vision::TMultiResDescMatchOptions::dumpToTextStream(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::dumpToTextStream(), mrpt::vision::TMultiResDescOptions::dumpToTextStream(), mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CHeightGridMap2D_MRF::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CHeightGridMap2D::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CLandmarksMap::TMapDefinition::dumpToTextStream_map_specific(), mrpt::utils::CLoadableOptions::dumpVar_bool(), mrpt::utils::CLoadableOptions::dumpVar_double(), mrpt::utils::CLoadableOptions::dumpVar_float(), mrpt::utils::CLoadableOptions::dumpVar_int(), mrpt::utils::CLoadableOptions::dumpVar_string(), mrpt::synch::CCriticalSection::enter(), generic_dump_BESTPOS(), generic_dump_MARKTIME(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_dumpToTextStream_common(), mrpt::synch::CCriticalSection::leave(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationsAndDataAssociation(), mrpt::maps::CRandomFieldGridMap3D::saveAsCSV(), mrpt::poses::CPoseInterpolatorBase< DIM >::saveInterpolatedToTextFile(), mrpt::utils::CTimeLogger::saveToCSVFile(), and mrpt::poses::CPoseInterpolatorBase< DIM >::saveToTextFile().

template<typename CONTAINER_TYPE >
virtual int void mrpt::utils::CStream::printf_vector ( const char *  fmt,
const CONTAINER_TYPE &  V,
char  separator = ',' 
)
inlineinherited

Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element T.

Template Parameters
CONTAINER_TYPEcan be any vector<T>, deque<T> or alike.

Definition at line 208 of file CStream.h.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().

size_t CClientTCPSocket::Read ( void Buffer,
size_t  Count 
)
protectedvirtual

Introduces a virtual method responsible for reading from the stream (This method BLOCKS) This method is implemented as a call to "readAsync" with infinite timeouts.

See Also
readAsync

Implements mrpt::utils::CStream.

Definition at line 112 of file CClientTCPSocket.cpp.

References MRPT_END, and MRPT_START.

template<typename STORED_TYPE , typename CAST_TO_TYPE >
void mrpt::utils::CStream::ReadAsAndCastTo ( CAST_TO_TYPE &  read_here)
inlineinherited

Read a value from a stream stored in a type different of the target variable, making the conversion via static_cast.

Useful for coding backwards compatible de-serialization blocks

Definition at line 194 of file CStream.h.

Referenced by mrpt::opengl::CColorBar::readFromStream(), mrpt::nav::CLogFileRecord::readFromStream(), and mrpt::nav::ClearanceDiagram::readFromStream().

size_t CClientTCPSocket::readAsync ( void Buffer,
const size_t  Count,
const int  timeoutStart_ms = -1,
const int  timeoutBetween_ms = -1 
)

A method for reading from the socket with an optional timeout.

Parameters
BufferThe destination of data.
CoundThe number of bytes to read.
timeoutStart_msThe maximum timeout (in milliseconds) to wait for the starting of data from the other side.
timeoutBetween_msThe maximum timeout (in milliseconds) to wait for a chunk of data after a previous one. Set timeout's to -1 to block until the desired number of bytes are read, or an error happens.
Returns
The number of actually read bytes.

Definition at line 367 of file CClientTCPSocket.cpp.

References INVALID_SOCKET, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

Referenced by mrpt::hwdrivers::CHokuyoURG::assureBufferHasBytes(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::utils::net::http_request(), and mrpt::hwdrivers::CNTRIPClient::private_ntrip_thread().

size_t CStream::ReadBuffer ( void Buffer,
size_t  Count 
)
inherited

Reads a block of bytes from the stream into Buffer

Exceptions
std::exceptionOn any error, or if ZERO bytes are read.

Returns
The amound of bytes actually read.
Note
This method is endianness-dependent.
See Also
ReadBufferImmediate ; Important, see: ReadBufferFixEndianness,

Definition at line 45 of file CStream.cpp.

References ASSERT_, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CHokuyoURG::assureBufferHasBytes(), mrpt::compress::zip::compress_gz_data_block(), mrpt::compress::zip::decompress(), mrpt::compress::zip::decompress_gz_file(), mrpt::hwdrivers::CGPSInterface::doProcess(), fill_input_buffer(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_FRAME::internal_readFromStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_SHORT_FRAME::internal_readFromStream(), mrpt::obs::gnss::Message_NV_OEM6_RANGECMP::internal_readFromStream(), mrpt::obs::gnss::Message_NV_OEM6_VERSION::internal_readFromStream(), mrpt::system::loadBinaryFile(), mrpt::utils::CMemoryStream::loadBufferFromFile(), mrpt::utils::operator>>(), mrpt::hwdrivers::CHokuyoURG::purgeBuffers(), mrpt::math::CMatrixB::readFromStream(), mrpt::utils::CMemoryChunk::readFromStream(), mrpt::obs::CActionRobotMovement2D::readFromStream(), mrpt::maps::CHeightGridMap2D_MRF::readFromStream(), mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), mrpt::maps::CWirelessPowerGridMap2D::readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), mrpt::maps::CReflectivityGridMap2D::readFromStream(), mrpt::obs::CObservationVelodyneScan::readFromStream(), mrpt::obs::CObservationGPS::readFromStream(), mrpt::maps::COccupancyGridMap2D::readFromStream(), mrpt::maps::CRandomFieldGridMap3D::readFromStream(), mrpt::utils::CImage::readFromStream(), mrpt::obs::CObservation3DRangeScan::readFromStream(), mrpt::nav::CLogFileRecord_ND::readFromStream(), and mrpt::opengl::CRenderizable::readFromStreamRender().

template<typename T >
size_t mrpt::utils::CStream::ReadBufferFixEndianness ( T *  ptr,
size_t  ElementCount 
)
inlineinherited

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.

Parameters
ElementCountThe number of elements (not bytes) to read.
ptrA pointer to the first output element in an array (or std::vector<>, etc...).
Returns
The amound of bytes (not elements) actually read (under error situations, the last element may be invalid if the data stream abruptly ends). Example of usage:
s >> N;
vector<float> vec(N);
if (N)
s.ReadBufferFixEndianness<float>(&vec[0],N);
Exceptions
std::exceptionOn any error, or if ZERO bytes are read.
See Also
ReadBufferFixEndianness, ReadBuffer

Definition at line 95 of file CStream.h.

References mrpt::mrpt::utils::reverseBytesInPlace().

Referenced by mrpt::utils::operator>>(), mrpt::math::operator>>(), mrpt::math::CPolygon::readFromStream(), mrpt::math::CMatrix::readFromStream(), mrpt::math::CMatrixD::readFromStream(), mrpt::maps::CWeightedPointsMap::readFromStream(), mrpt::nav::CLogFileRecord::readFromStream(), mrpt::maps::CColouredPointsMap::readFromStream(), mrpt::maps::CSimplePointsMap::readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), mrpt::obs::CSensoryFrame::readFromStream(), mrpt::maps::COccupancyGridMap2D::readFromStream(), mrpt::obs::CObservation3DRangeScan::readFromStream(), mrpt::utils::detail::readStdVectorToStream(), and triangle_readFromStream().

virtual size_t mrpt::utils::CStream::ReadBufferImmediate ( void Buffer,
size_t  Count 
)
inlinevirtualinherited

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.

Exceptions
std::exceptionOn any error, or if ZERO bytes are read.

Reimplemented in mrpt::hwdrivers::CInterfaceFTDI.

Definition at line 113 of file CStream.h.

CSerializablePtr CStream::ReadObject ( )
inherited

Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object.

Exceptions
std::exceptionOn I/O error or undefined class.
mrpt::utils::CExceptionEOFOn 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.

Definition at line 486 of file CStream.cpp.

Referenced by mrpt::utils::mrpt_recv_from_zmq(), mrpt::utils::mrpt_recv_from_zmq_into(), mrpt::utils::OctetVectorToObject(), mrpt::math::operator>>(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::utils::RawStringToObject(), mrpt::nav::CLogFileRecord::readFromStream(), mrpt::obs::CRawlog::readFromStream(), mrpt::utils::StringToObject(), and TEST().

void CStream::ReadObject ( CSerializable existingObj)
inherited

Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in.

Exceptions
std::exceptionOn I/O error or different class found.
mrpt::utils::CExceptionEOFOn 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.

Definition at line 498 of file CStream.cpp.

bool CClientTCPSocket::receiveMessage ( CMessage inMsg,
const unsigned int  timeoutStart_ms = 100,
const unsigned int  timeoutBetween_ms = 1000 
)

Waits for an incoming message through the TCP stream.

Parameters
inMsgThe received message is placed here.
timeoutStart_msThe maximum timeout (in milliseconds) to wait for the starting of data from the other side.
timeoutBetween_msThe maximum timeout (in milliseconds) to wait for a chunk of data after a previous one.
Returns
Returns false on any error (or timeout), or true if everything goes fine.

Definition at line 191 of file CClientTCPSocket.cpp.

References mrpt::system::os::_strcmpi(), mrpt::utils::CMessage::content, and mrpt::utils::CMessage::type.

bool CStream::receiveMessage ( utils::CMessage msg)
inherited
uint64_t mrpt::utils::CClientTCPSocket::Seek ( int64_t  Offset,
CStream::TSeekOrigin  Origin = sFromBeginning 
)
inlinevirtual

This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception.

Implements mrpt::utils::CStream.

Definition at line 103 of file CClientTCPSocket.h.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

bool CClientTCPSocket::sendMessage ( const CMessage outMsg,
const int  timeout_ms = -1 
)

Send a message through the TCP stream.

Parameters
outMsgThe message to be shown.
timeout_msThe maximum timeout (in milliseconds) to wait for the socket in each write operation.
Returns
Returns false on any error, or true if everything goes fine.

Definition at line 144 of file CClientTCPSocket.cpp.

References mrpt::utils::CMessage::content, and mrpt::utils::CMessage::type.

void CStream::sendMessage ( const utils::CMessage msg)
inherited

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
Exceptions
std::exceptionOn communication errors

Definition at line 556 of file CStream.cpp.

References mrpt::utils::CMessage::content, mrpt::system::os::memcpy(), MRPT_END, MRPT_START, and mrpt::utils::CMessage::type.

Referenced by mrpt::hwdrivers::CServoeNeck::disableServo(), mrpt::hwdrivers::CServoeNeck::enableServo(), mrpt::hwdrivers::CRoboticHeadInterface::Get3SoundBuffer(), mrpt::hwdrivers::CRoboticHeadInterface::GetGain(), mrpt::hwdrivers::CServoeNeck::getRegisterValue(), mrpt::hwdrivers::CRoboticHeadInterface::GetSoundLocation(), mrpt::hwdrivers::CServoeNeck::queryFirmwareVersion(), mrpt::hwdrivers::CBoardENoses::queryFirmwareVersion(), mrpt::hwdrivers::CRoboticHeadInterface::SetGain(), mrpt::hwdrivers::CServoeNeck::setRegisterValue(), and mrpt::hwdrivers::CServoeNeck::setRegisterValueAndSpeed().

void CClientTCPSocket::sendString ( const std::string str)

Writes a string to the socket.

Exceptions
std::exceptionOn communication errors

Definition at line 136 of file CClientTCPSocket.cpp.

Referenced by mrpt::utils::net::http_request(), and mrpt::hwdrivers::CNTRIPClient::private_ntrip_thread().

int CClientTCPSocket::setSOSendBufffer ( const int newValue)

Set the size of the SO send buffer.

This buffer is used to store data, and is sended when is full.

Parameters
newValueNew size of the SO send buffer.
Returns
Return a number lower than 0 if any error occurred.

Definition at line 590 of file CClientTCPSocket.cpp.

int CClientTCPSocket::setTCPNoDelay ( const int newValue)

Set the TCP no delay option of the protocol (Nagle algorithm).

Parameters
newValueNew value (0 enable Nagle algorithm, 1 disable).
Returns
Return a number lower than 0 if any error occurred.

Definition at line 560 of file CClientTCPSocket.cpp.

size_t CClientTCPSocket::Write ( const void Buffer,
size_t  Count 
)
protectedvirtual

Introduces a 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. This method is implemented as a call to "writeAsync" with infinite timeouts.

See Also
writeAsync

Implements mrpt::utils::CStream.

Definition at line 124 of file CClientTCPSocket.cpp.

References MRPT_END, and MRPT_START.

size_t CClientTCPSocket::writeAsync ( const void Buffer,
const size_t  Count,
const int  timeout_ms = -1 
)

A method for writing to the socket with optional timeouts.

The method supports writing block by block as the socket allows us to write more data.

Parameters
BufferThe data.
CoundThe number of bytes to write.
timeout_msThe maximum timeout (in milliseconds) to wait for the socket to be available for writing (for each block). Set timeout's to -1 to block until the desired number of bytes are written, or an error happens.
Returns
The number of actually written bytes.

Definition at line 458 of file CClientTCPSocket.cpp.

References INVALID_SOCKET, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

Referenced by mrpt::hwdrivers::CNTRIPClient::private_ntrip_thread().

void CStream::WriteBuffer ( const void Buffer,
size_t  Count 
)
inherited

Writes a block of bytes to the stream from Buffer.

Exceptions
std::exceptionOn any error
See Also
Important, see: WriteBufferFixEndianness
Note
This method is endianness-dependent.

Definition at line 67 of file CStream.cpp.

References ASSERT_, and THROW_EXCEPTION.

Referenced by mrpt::compress::zip::compress(), mrpt::utils::CMessage::deserializeIntoExistingObject(), mrpt::utils::CMessage::deserializeIntoNewObject(), mrpt::hwdrivers::CNTRIPEmitter::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), empty_output_buffer(), mrpt::hwdrivers::CGPSInterface::implement_parser_NOVATEL_OEM6(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_FRAME::internal_writeToStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_SHORT_FRAME::internal_writeToStream(), mrpt::obs::gnss::Message_NV_OEM6_RANGECMP::internal_writeToStream(), mrpt::obs::gnss::Message_NV_OEM6_VERSION::internal_writeToStream(), mrpt::utils::mrpt_recv_from_zmq_buf(), mrpt::utils::ObjectToString(), mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished(), mrpt::hwdrivers::CGPSInterface::OnConnectionShutdown(), mrpt::utils::operator<<(), mrpt::utils::CMemoryStream::saveBufferToFile(), mrpt::hwdrivers::CHokuyoURG::sendCmd(), mrpt::hwdrivers::CGPSInterface::sendCustomCommand(), mrpt::hwdrivers::CBoardENoses::setActiveChamber(), mrpt::utils::StringToObject(), term_destination(), mrpt::system::vectorToBinaryFile(), mrpt::nav::CLogFileRecord::writeToStream(), mrpt::maps::CHeightGridMap2D_MRF::writeToStream(), mrpt::maps::CGasConcentrationGridMap2D::writeToStream(), mrpt::maps::CWirelessPowerGridMap2D::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::maps::CReflectivityGridMap2D::writeToStream(), mrpt::obs::CObservationVelodyneScan::writeToStream(), mrpt::maps::COccupancyGridMap2D::writeToStream(), mrpt::maps::CRandomFieldGridMap3D::writeToStream(), mrpt::utils::CImage::writeToStream(), and mrpt::opengl::CRenderizable::writeToStreamRender().

template<typename T >
void mrpt::utils::CStream::WriteBufferFixEndianness ( const T *  ptr,
size_t  ElementCount 
)
inlineinherited

Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness).

Parameters
ElementCountThe number of elements (not bytes) to write.
ptrA 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);
Exceptions
std::exceptionOn any error
See Also
WriteBuffer

Definition at line 139 of file CStream.h.

Referenced by mrpt::utils::operator<<(), triangle_writeToStream(), mrpt::utils::detail::writeStdVectorToStream(), mrpt::math::CMatrix::writeToStream(), mrpt::math::CMatrixD::writeToStream(), mrpt::maps::CWeightedPointsMap::writeToStream(), mrpt::maps::CColouredPointsMap::writeToStream(), mrpt::maps::CSimplePointsMap::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::maps::COccupancyGridMap2D::writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().

void CStream::WriteObject ( const CSerializable o)
inherited

Friends And Related Function Documentation

friend class CServerTCPSocket
friend

Definition at line 36 of file CClientTCPSocket.h.

Member Data Documentation

unsigned int CClientTCPSocket::DNS_LOOKUP_TIMEOUT_MS = 3000
static

See description of CClientTCPSocket.

Definition at line 40 of file CClientTCPSocket.h.

int mrpt::utils::CClientTCPSocket::m_hSock
protected

The handle for the connected TCP socket, or -1.

Definition at line 54 of file CClientTCPSocket.h.

Referenced by mrpt::utils::CServerTCPSocket::accept().

std::string mrpt::utils::CClientTCPSocket::m_remotePartIP
protected

The IP address of the remote part of the connection.

Definition at line 56 of file CClientTCPSocket.h.

Referenced by mrpt::utils::CServerTCPSocket::accept().

unsigned short mrpt::utils::CClientTCPSocket::m_remotePartPort
protected

The TCP port of the remote part of the connection.

Definition at line 57 of file CClientTCPSocket.h.

Referenced by mrpt::utils::CServerTCPSocket::accept().




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