mrpt::io::CPipeBaseEndPoint Class Reference

Detailed Description

Common interface of read & write pipe end-points.

Definition at line 61 of file CPipe.h.

#include <mrpt/io/CPipe.h>

Inheritance diagram for mrpt::io::CPipeBaseEndPoint:

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

Public Member Functions
	CPipeBaseEndPoint ()
	CPipeBaseEndPoint (const CPipeBaseEndPoint &)=delete
CPipeBaseEndPoint &	operator= (const CPipeBaseEndPoint &)=delete
	~CPipeBaseEndPoint () override
	CPipeBaseEndPoint (const std::string &serialized)
	De-serializes one end-point description, for example, from a parent process. More...
std::string	serialize ()
	Converts the end-point into a string suitable for reconstruction at a child process. More...
bool	isOpen () const
	Returns false if the pipe was closed due to some error. More...
void	close ()
	Closes the pipe (normally not needed to be called by users, automatically done at destructor) More...
size_t	Read (void *Buffer, size_t Count) override
	Introduces a pure virtual method responsible for reading from the stream. More...
size_t	Write (const void *Buffer, size_t Count) override
	Introduces a pure virtual method responsible for writing to the stream. More...
uint64_t	Seek (int64_t of, CStream::TSeekOrigin o=sFromBeginning) override
	Without effect in this class. More...
uint64_t	getTotalBytesCount () const override
	Without effect in this class. More...
uint64_t	getPosition () const override
	Without effect in this class. 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...
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...
bool	getline (std::string &out_str)
	Reads from the stream until a ' ' character is found ('' characters are ignored). More...

Public Attributes
unsigned int	timeout_read_start_us {0}
	(Default=0) Timeout for read operations: microseconds (us) to wait for the first byte. More...
unsigned int	timeout_read_between_us {0}
	(Default=0) Timeout between burst reads operations: microseconds (us) to wait between two partial reads inside one large read. More...

Protected Attributes
void *	m_pipe_file

Friends
class	CPipe

Member Enumeration Documentation

TSeekOrigin

enum mrpt::io::CStream::TSeekOrigin

inherited

Used in CStream::Seek.

Enumerator
sFromBeginning
sFromCurrent
sFromEnd

Definition at line 32 of file io/CStream.h.

Constructor & Destructor Documentation

CPipeBaseEndPoint() [1/3]

CPipeBaseEndPoint::CPipeBaseEndPoint ( )

default

CPipeBaseEndPoint() [2/3]

mrpt::io::CPipeBaseEndPoint::CPipeBaseEndPoint ( const CPipeBaseEndPoint &  )

delete

~CPipeBaseEndPoint()

CPipeBaseEndPoint::~CPipeBaseEndPoint ( )

override

Definition at line 54 of file CPipe.cpp.

References close().

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CPipeBaseEndPoint() [3/3]

CPipeBaseEndPoint::CPipeBaseEndPoint ( const std::string &  serialized )

explicit

De-serializes one end-point description, for example, from a parent process.

Definition at line 80 of file CPipe.cpp.

References m_pipe_file, THROW_EXCEPTION, and val.

Member Function Documentation

close()

void CPipeBaseEndPoint::close

(

)

Closes the pipe (normally not needed to be called by users, automatically done at destructor)

Definition at line 56 of file CPipe.cpp.

References m_pipe_file.

Referenced by Read(), and ~CPipeBaseEndPoint().

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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 69 of file CStream.cpp.

getPosition()

uint64_t CPipeBaseEndPoint::getPosition ( ) const

overridevirtual

Without effect in this class.

Implements mrpt::io::CStream.

Definition at line 115 of file CPipe.cpp.

getTotalBytesCount()

uint64_t CPipeBaseEndPoint::getTotalBytesCount ( ) const

overridevirtual

Without effect in this class.

Implements mrpt::io::CStream.

Definition at line 114 of file CPipe.cpp.

isOpen()

bool mrpt::io::CPipeBaseEndPoint::isOpen ( ) const

inline

Returns false if the pipe was closed due to some error.

Definition at line 93 of file CPipe.h.

References m_pipe_file.

operator=()

CPipeBaseEndPoint& mrpt::io::CPipeBaseEndPoint::operator= ( const CPipeBaseEndPoint &  )

delete

printf()

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

virtualinherited

Writes a string to the stream in a textual form.

See also

CStdOutStream

Definition at line 30 of file CStream.cpp.

References MRPT_END, MRPT_START, and mrpt::system::os::vsnprintf().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::io::CStream::printf_vector(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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printf_vector()

template<typename CONTAINER_TYPE >

virtual int void mrpt::io::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 102 of file io/CStream.h.

References mrpt::io::CStream::printf().

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

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Read()

size_t CPipeBaseEndPoint::Read ( void *  Buffer, size_t  Count  )

overridevirtual

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

Implements mrpt::io::CStream.

Reimplemented in mrpt::io::CPipeWriteEndPoint.

Definition at line 117 of file CPipe.cpp.

References ASSERTMSG_, close(), m_pipe_file, timeout_read_between_us, and timeout_read_start_us.

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ReadBufferImmediate()

virtual size_t mrpt::io::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::comms::CInterfaceFTDI.

Definition at line 62 of file io/CStream.h.

References mrpt::io::CStream::Read().

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Seek()

uint64_t CPipeBaseEndPoint::Seek ( int64_t  of, CStream::TSeekOrigin  o = sFromBeginning  )

overridevirtual

Without effect in this class.

Implements mrpt::io::CStream.

Definition at line 113 of file CPipe.cpp.

serialize()

std::string CPipeBaseEndPoint::serialize

(

)

Converts the end-point into a string suitable for reconstruction at a child process.

This invalidates this object, since only one real end-point can exist at once.

Definition at line 102 of file CPipe.cpp.

References ASSERTMSG_, m_pipe_file, and mrpt::to_string().

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Write()

size_t CPipeBaseEndPoint::Write ( const void *  Buffer, size_t  Count  )

overridevirtual

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::io::CStream.

Reimplemented in mrpt::io::CPipeReadEndPoint.

Definition at line 218 of file CPipe.cpp.

References ASSERTMSG_, and m_pipe_file.

Friends And Related Function Documentation

CPipe

friend class CPipe

friend

Definition at line 63 of file CPipe.h.

Member Data Documentation

m_pipe_file

void* mrpt::io::CPipeBaseEndPoint::m_pipe_file

protected

Definition at line 100 of file CPipe.h.

Referenced by close(), CPipeBaseEndPoint(), mrpt::io::CPipe::initializePipe(), isOpen(), Read(), serialize(), and Write().

timeout_read_between_us

unsigned int mrpt::io::CPipeBaseEndPoint::timeout_read_between_us {0}

(Default=0) Timeout between burst reads operations: microseconds (us) to wait between two partial reads inside one large read.

0 means infinite timeout.

Definition at line 90 of file CPipe.h.

Referenced by Read().

timeout_read_start_us

unsigned int mrpt::io::CPipeBaseEndPoint::timeout_read_start_us {0}

(Default=0) Timeout for read operations: microseconds (us) to wait for the first byte.

0 means infinite timeout.

Definition at line 86 of file CPipe.h.

Referenced by Read().