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mrpt::utils::CFileOutputStream Class Reference

Detailed Description

This CStream derived class allow using a file as a write-only, binary stream.

See Also
CStream, CFileStream, CFileGZOutputStream

Definition at line 25 of file CFileOutputStream.h.

#include <mrpt/utils/CFileOutputStream.h>

Inheritance diagram for mrpt::utils::CFileOutputStream:
Inheritance graph

Public Types

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

Public Member Functions

 CFileOutputStream (const std::string &fileName, bool append=false)
 Constructor. More...
 
 CFileOutputStream ()
 Default constructor. More...
 
bool open (const std::string &fileName, bool append=false)
 Open the given file for write. More...
 
void close ()
 Close the stream. More...
 
virtual ~CFileOutputStream ()
 Destructor. More...
 
bool fileOpenCorrectly ()
 Returns true if the file was open without errors. More...
 
bool is_open ()
 Returns true if the file was open without errors. More...
 
uint64_t Seek (int64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning) MRPT_OVERRIDE
 Introduces a pure virtual method for moving to a specified position in the streamed resource. More...
 
uint64_t getTotalBytesCount () MRPT_OVERRIDE
 Method for getting the total number of bytes writen to buffer. More...
 
uint64_t getPosition () MRPT_OVERRIDE
 Method for getting the current cursor position, where 0 is the first byte and TotalBytesCount-1 the last one. 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...
 

Protected Member Functions

size_t Read (void *Buffer, size_t Count) MRPT_OVERRIDE
 Introduces a pure virtual method responsible for reading from the stream. More...
 
size_t Write (const void *Buffer, size_t Count) MRPT_OVERRIDE
 Introduces a pure virtual method responsible for writing to the stream. More...
 
template<bool EXISTING_OBJ>
void internal_ReadObject (CSerializablePtr &newObj, CSerializable *existingObj=NULL)
 A common template code for both versions of CStream::ReadObject() More...
 

Private Attributes

std::ofstream m_of
 The actual output file stream. More...
 

Member Enumeration Documentation

Used in CStream::Seek.

Enumerator
sFromBeginning 
sFromCurrent 
sFromEnd 

Definition at line 42 of file CStream.h.

Constructor & Destructor Documentation

CFileOutputStream::CFileOutputStream ( const std::string fileName,
bool  append = false 
)

Constructor.

Parameters
fileNameThe file to be open in this stream
appendIf set to true, the file will be opened for writing and the current cursor position set at the end of the file. Otherwise, previous contents will be lost.
Exceptions
std::exceptionif the file cannot be opened.

Definition at line 27 of file CFileOutputStream.cpp.

References MRPT_END, MRPT_START, open(), and THROW_EXCEPTION_FMT.

CFileOutputStream::CFileOutputStream ( )

Default constructor.

Definition at line 42 of file CFileOutputStream.cpp.

CFileOutputStream::~CFileOutputStream ( )
virtual

Destructor.

Definition at line 75 of file CFileOutputStream.cpp.

References close().

Member Function Documentation

void CFileOutputStream::close ( )

Close the stream.

Definition at line 67 of file CFileOutputStream.cpp.

References m_of.

Referenced by open(), mrpt::obs::CObservationStereoImagesFeatures::saveFeaturesToTextFile(), and ~CFileOutputStream().

bool CFileOutputStream::fileOpenCorrectly ( )

Returns true if the file was open without errors.

Definition at line 154 of file CFileOutputStream.cpp.

References m_of.

Referenced by mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::utils::TMatchingPairList::dumpToFile(), and getTotalBytesCount().

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 CFileOutputStream::getPosition ( )
virtual

Method for getting the current cursor position, where 0 is the first byte and TotalBytesCount-1 the last one.

Implements mrpt::utils::CStream.

Definition at line 144 of file CFileOutputStream.cpp.

References m_of.

Referenced by getTotalBytesCount(), and Seek().

uint64_t CFileOutputStream::getTotalBytesCount ( )
virtual

Method for getting the total number of bytes writen to buffer.

Implements mrpt::utils::CStream.

Definition at line 131 of file CFileOutputStream.cpp.

References fileOpenCorrectly(), getPosition(), Seek(), and mrpt::utils::CStream::sFromEnd.

template<bool EXISTING_OBJ>
void CStream::internal_ReadObject ( CSerializablePtr &  newObj,
CSerializable existingObj = NULL 
)
protectedinherited
bool mrpt::utils::CFileOutputStream::is_open ( )
inline

Returns true if the file was open without errors.

Definition at line 62 of file CFileOutputStream.h.

Referenced by mrpt::maps::CRandomFieldGridMap3D::saveAsCSV().

bool CFileOutputStream::open ( const std::string fileName,
bool  append = false 
)

Open the given file for write.

Parameters
fileNameThe file to be open in this stream
appendIf set to true, the file will be opened for writing and the current cursor position set at the end of the file. Otherwise, previous contents will be lost.
See Also
fileOpenCorrectly
Returns
true on success.

Definition at line 49 of file CFileOutputStream.cpp.

References close(), and m_of.

Referenced by CFileOutputStream(), mrpt::hwdrivers::CGPSInterface::doProcess(), and mrpt::maps::CRandomFieldGridMap3D::saveAsCSV().

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

Introduces a pure virtual method responsible for reading from the stream.

Implements mrpt::utils::CStream.

Definition at line 86 of file CFileOutputStream.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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 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::CWirelessPowerGridMap2D::readFromStream(), mrpt::maps::CGasConcentrationGridMap2D::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 CStream::receiveMessage ( utils::CMessage msg)
inherited
uint64_t CFileOutputStream::Seek ( int64_t  Offset,
CStream::TSeekOrigin  Origin = sFromBeginning 
)
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:

  • sFromBeginning (Default) Offset is from the beginning of the resource. Seek moves to the position Offset. Offset must be >= 0.
  • sFromCurrent Offset is from the current position in the resource. Seek moves to Position + Offset.
  • sFromEnd Offset is from the end of the resource. Offset must be <= 0 to indicate a number of bytes before the end of the file.
    Returns
    Seek returns the new value of the Position property.

Implements mrpt::utils::CStream.

Definition at line 109 of file CFileOutputStream.cpp.

References getPosition(), m_of, mrpt::utils::CStream::sFromBeginning, mrpt::utils::CStream::sFromCurrent, mrpt::utils::CStream::sFromEnd, and THROW_EXCEPTION.

Referenced by getTotalBytesCount().

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().

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

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.

Implements mrpt::utils::CStream.

Definition at line 96 of file CFileOutputStream.cpp.

References m_of.

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::CColouredPointsMap::writeToStream(), mrpt::maps::CWeightedPointsMap::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

Member Data Documentation

std::ofstream mrpt::utils::CFileOutputStream::m_of
private

The actual output file stream.

Definition at line 31 of file CFileOutputStream.h.

Referenced by close(), fileOpenCorrectly(), getPosition(), open(), Seek(), and Write().




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