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:

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. 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...
CStream &	operator<< (const CSerializablePtr &pObj)
	Write an object to a stream in the binary MRPT format. More...
CStream &	operator<< (const CSerializable &obj)
	Write an object to a stream in the binary MRPT format. More...
CStream &	operator>> (CSerializablePtr &pObj)
CStream &	operator>> (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

TSeekOrigin

enum mrpt::utils::CStream::TSeekOrigin

inherited

Used in CStream::Seek.

Enumerator
sFromBeginning
sFromCurrent
sFromEnd

Definition at line 42 of file CStream.h.

Constructor & Destructor Documentation

CClientTCPSocket()

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::~CClientTCPSocket

(

)

Destructor.

Definition at line 72 of file CClientTCPSocket.cpp.

Member Function Documentation

close()

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().

connect()

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

Establishes a connection with a remote part.

Parameters

remotePartAddress	This string can be a host name, like "server" or "www.mydomain.org", or an IP address "11.22.33.44".
remotePartTCPPort	The port on the remote machine to connect to.
timeout_ms	The timeout to wait for the connection (0: NO TIMEOUT)

Exceptions

This	method 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(), 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().

getLastErrorStr()

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().

getline()

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.

getPosition()

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.

getReadPendingBytes()

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().

getSOSendBufffer()

int CClientTCPSocket::getSOSendBufffer

(

)

Return the current size of the SO send buffer.

Definition at line 601 of file CClientTCPSocket.cpp.

getTCPNoDelay()

int CClientTCPSocket::getTCPNoDelay

(

)

Return the value of the TCPNoDelay option.

Definition at line 571 of file CClientTCPSocket.cpp.

getTotalBytesCount()

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.

internal_ReadObject()

template<bool EXISTING_OBJ>

void CStream::internal_ReadObject ( CSerializablePtr &  newObj, CSerializable *  existingObj = NULL  )

protectedinherited

A common template code for both versions of CStream::ReadObject()

• EXISTING_OBJ=true -> read in the object passed as argument
• EXISTING_OBJ=false -> build a new object and return it

Definition at line 357 of file CStream.cpp.

References ASSERT_, mrpt::utils::TRuntimeClassId::className, mrpt::utils::TRuntimeClassId::createObject(), mrpt::utils::findRegisteredClass(), mrpt::format(), mrpt::utils::CSerializable::GetRuntimeClass(), mrpt::utils::registerAllPendingClasses(), SERIALIZATION_END_FLAG, THROW_EXCEPTION, THROW_EXCEPTION_FMT, THROW_STACKED_EXCEPTION_CUSTOM_MSG2, THROW_TYPED_EXCEPTION, and version.

isConnected()

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().

operator<<() [1/2]

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.

operator<<() [2/2]

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.

operator>>() [1/2]

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

inherited

Definition at line 224 of file CStream.cpp.

operator>>() [2/2]

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

inherited

Definition at line 230 of file CStream.cpp.

printf()

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< 3 >::saveInterpolatedToTextFile(), mrpt::utils::CTimeLogger::saveToCSVFile(), and mrpt::poses::CPoseInterpolatorBase< 3 >::saveToTextFile().

printf_vector()

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_TYPE

can be any vector<T>, deque<T> or alike.

Definition at line 208 of file CStream.h.

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

Read()

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.

ReadAsAndCastTo()

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.

readAsync()

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

Buffer	The destination of data.
Cound	The number of bytes to read.
timeoutStart_ms	The maximum timeout (in milliseconds) to wait for the starting of data from the other side.
timeoutBetween_ms	The 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().

ReadBuffer()

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

inherited

Reads a block of bytes from the stream into Buffer.

Exceptions

std::exception

On 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::system::loadBinaryFile(), mrpt::utils::CMemoryStream::loadBufferFromFile(), and mrpt::hwdrivers::CHokuyoURG::purgeBuffers().

ReadBufferFixEndianness()

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

ElementCount	The number of elements (not bytes) to read.
ptr	A 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:

uint32_t  N;
s >> N;
vector<float>  vec(N);
if (N)
  s.ReadBufferFixEndianness<float>(&vec[0],N);

Exceptions

std::exception

On 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::math::operator>>(), and triangle_readFromStream().

ReadBufferImmediate()

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::exception

On any error, or if ZERO bytes are read.

Reimplemented in mrpt::hwdrivers::CInterfaceFTDI.

Definition at line 113 of file CStream.h.

ReadObject() [1/2]

CSerializablePtr CStream::ReadObject ( )

inherited

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

Exceptions

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.

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::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::utils::RawStringToObject(), mrpt::utils::StringToObject(), and TEST().

ReadObject() [2/2]

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::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.

Definition at line 498 of file CStream.cpp.

receiveMessage() [1/2]

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

inMsg	The received message is placed here.
timeoutStart_ms	The maximum timeout (in milliseconds) to wait for the starting of data from the other side.
timeoutBetween_ms	The 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.

receiveMessage() [2/2]

bool CStream::receiveMessage ( utils::CMessage &  msg )

inherited

Tries to receive a message from the device.

Exceptions

std::exception

On communication errors

Returns

True if successful, false if there is no new data from the device (but communications seem to work fine)

See also

The frame format is described in sendMessage()

Definition at line 590 of file CStream.cpp.

References mrpt::utils::CMessage::content, MAKEWORD16B, 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::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), 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().

Seek()

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.

sendMessage() [1/2]

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

Send a message through the TCP stream.

Parameters

outMsg	The message to be shown.
timeout_ms	The 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.

sendMessage() [2/2]

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::exception

On 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().

sendString()

void CClientTCPSocket::sendString

(

const std::string &

str

)

Writes a string to the socket.

Exceptions

std::exception

On communication errors

Definition at line 136 of file CClientTCPSocket.cpp.

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

setSOSendBufffer()

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

newValue

New 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.

setTCPNoDelay()

int CClientTCPSocket::setTCPNoDelay

(

const int &

newValue

)

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

Parameters

newValue

New 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.

Write()

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.

writeAsync()

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

Buffer	The data.
Cound	The number of bytes to write.
timeout_ms	The 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().

WriteBuffer()

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

inherited

Writes a block of bytes to the stream from Buffer.

Exceptions

std::exception

On 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().

WriteBufferFixEndianness()

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

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);

Exceptions

std::exception

On any error

See also

WriteBuffer

Definition at line 139 of file CStream.h.

Referenced by triangle_writeToStream(), 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().

WriteObject()

void CStream::WriteObject ( const CSerializable *  o )

inherited

Writes an object to the stream.

Definition at line 166 of file CStream.cpp.

References ASSERT_, mrpt::utils::TRuntimeClassId::className, mrpt::utils::CSerializable::GetRuntimeClass(), MRPT_END, MRPT_START, SERIALIZATION_END_FLAG, version, and mrpt::utils::CSerializable::writeToStream().

Referenced by mrpt::utils::mrpt_send_to_zmq(), mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), and mrpt::utils::CMessage::serializeObject().

Friends And Related Function Documentation

CServerTCPSocket

friend class CServerTCPSocket

friend

Definition at line 36 of file CClientTCPSocket.h.

Member Data Documentation

DNS_LOOKUP_TIMEOUT_MS

unsigned int CClientTCPSocket::DNS_LOOKUP_TIMEOUT_MS = 3000

static

See description of CClientTCPSocket.

Definition at line 40 of file CClientTCPSocket.h.

m_hSock

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().

m_remotePartIP

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().

m_remotePartPort

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().