Detailed Description

Virtual base class for "archives": classes abstracting I/O streams.

This class separates the implementation details of serialization (in CSerializable) and data storage (CArchive children: files, sockets,...).

Two main sets of implementations are provided:

archiveFrom: for MRPT mrpt::io::CArchive objects, and
CArchiveStdIStream and CArchiveStdOStream: for std::istream and std::ostream, respectively.

See also: mrpt::io::CArchive, mrpt::serialization::CSerializable

Definition at line 54 of file CArchive.h.

#include <mrpt/serialization/CArchive.h>

Inheritance diagram for mrpt::serialization::CArchive:

Public Types
using	Ptr = std::shared_ptr< CArchive >

using	UniquePtr = std::unique_ptr< CArchive >

Public Member Functions
	CArchive ()=default

virtual	~CArchive ()=default

Protected Member Functions
void	internal_ReadObject (CSerializable *newObj, const std::string &className, bool isOldFormat, int8_t version)
	Read the object. More...

void	internal_ReadObjectHeader (std::string &className, bool &isOldFormat, int8_t &version)
	Read the object Header. More...

Virtual methods of the CArchive interface
virtual size_t	write (const void *buf, size_t len)=0
	Writes a block of bytes. More...

virtual size_t	read (void *buf, size_t len)=0
	Reads a block of bytes. More...

Serialization API for generic "archives" I/O streams
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...

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...

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...

template<typename STORED_TYPE >
STORED_TYPE	ReadAs ()
	De-serialize a variable and returns it by value. More...

template<typename TYPE_TO_STORE , typename TYPE_FROM_ACTUAL >
CArchive &	WriteAs (const TYPE_FROM_ACTUAL &value)

void	WriteObject (const CSerializable *o)
	Writes an object to the stream. More...

void	WriteObject (const CSerializable &o)

CSerializable::Ptr	ReadObject ()
	Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object. More...

template<typename T >
T::Ptr	ReadObject ()
	Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object. More...

template<typename... T>
std::variant< T... >	ReadVariant ()
	Reads a variant from stream, its class determined at runtime, and returns a variant to the object. More...

template<typename T >
void	WriteVariant (T t)
	Writes a Variant to the stream. More...

template<typename T >
T	ReadPOD ()
	Reads a simple POD type and returns by value. 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...

void	sendMessage (const CMessage &msg)
	Send a message to the device. More...

bool	receiveMessage (CMessage &msg)
	Tries to receive a message from the device. More...

CArchive &	operator<< (const CSerializable &obj)
	Write a CSerializable object to a stream in the binary MRPT format. More...

CArchive &	operator<< (const CSerializable::Ptr &pObj)

CArchive &	operator>> (CSerializable &obj)
	Reads a CSerializable object from the stream. More...

CArchive &	operator>> (CSerializable::Ptr &pObj)

template<typename RET >
RET	ReadVariant_helper (CSerializable::Ptr &ptr)

template<typename RET , typename T , typename... R>
RET	ReadVariant_helper (CSerializable::Ptr &ptr, std::enable_if_t< mrpt::is_shared_ptr< T >::value > *=nullptr)

template<typename RET , typename T , typename... R>
RET	ReadVariant_helper (CSerializable::Ptr &ptr, std::enable_if_t<!mrpt::is_shared_ptr< T >::value > *=nullptr)

Member Typedef Documentation

◆ Ptr

using mrpt::serialization::CArchive::Ptr = std::shared_ptr<CArchive>

Definition at line 60 of file CArchive.h.

◆ UniquePtr

using mrpt::serialization::CArchive::UniquePtr = std::unique_ptr<CArchive>

Definition at line 61 of file CArchive.h.

Constructor & Destructor Documentation

◆ CArchive()

mrpt::serialization::CArchive::CArchive ( )

default

◆ ~CArchive()

virtual mrpt::serialization::CArchive::~CArchive ( )

virtualdefault

Member Function Documentation

◆ internal_ReadObject()

void CArchive::internal_ReadObject	(	CSerializable *	newObj,
		const std::string &	className,
		bool	isOldFormat,
		int8_t	version
	)

protected

Read the object.

Definition at line 428 of file CArchive.cpp.

References ReadBuffer(), SERIALIZATION_END_FLAG, mrpt::serialization::CSerializable::serializeFrom(), THROW_EXCEPTION, THROW_EXCEPTION_FMT, and THROW_STACKED_EXCEPTION_CUSTOM_MSG2.

Referenced by ReadObject(), and ReadVariant().

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◆ internal_ReadObjectHeader()

void CArchive::internal_ReadObjectHeader	(	std::string &	className,
		bool &	isOldFormat,
		int8_t &	version
	)

protected

Read the object Header.

Definition at line 329 of file CArchive.cpp.

References ASSERT_, ReadBuffer(), ReadBufferFixEndianness(), THROW_EXCEPTION, THROW_STACKED_EXCEPTION_CUSTOM_MSG2, and THROW_TYPED_EXCEPTION.

Referenced by ReadObject(), and ReadVariant().

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◆ operator<<() [1/2]

CArchive & CArchive::operator<< ( const CSerializable & obj )

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

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

Definition at line 146 of file CArchive.cpp.

References WriteObject().

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◆ operator<<() [2/2]

CArchive & CArchive::operator<< ( const CSerializable::Ptr & pObj )

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 139 of file CArchive.cpp.

References WriteObject().

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◆ operator>>() [1/2]

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

Reads a CSerializable object from the stream.

Definition at line 158 of file CArchive.cpp.

References ReadObject().

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◆ operator>>() [2/2]

CArchive & CArchive::operator>> ( CSerializable::Ptr & pObj )

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 152 of file CArchive.cpp.

References ReadObject().

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◆ read()

virtual size_t mrpt::serialization::CArchive::read	(	void *	buf,
		size_t	len
	)

protectedpure virtual

Reads a block of bytes.

Exceptions

std::exception On any error, or if ZERO bytes are read.

Returns: Number of bytes actually read if >0.

Implemented in mrpt::serialization::CArchiveStreamBase< STREAM >, mrpt::serialization::CArchiveStreamBase< std::iostream >, mrpt::serialization::CArchiveStreamBase< const std::vector< uint8_t > >, mrpt::serialization::CArchiveStreamBase< std::ostream >, mrpt::serialization::CArchiveStreamBase< std::vector< uint8_t > >, and mrpt::serialization::CArchiveStreamBase< std::istream >.

Referenced by ReadBuffer().

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◆ ReadAs()

template<typename STORED_TYPE >

STORED_TYPE mrpt::serialization::CArchive::ReadAs ( )

inline

De-serialize a variable and returns it by value.

Definition at line 155 of file CArchive.h.

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◆ ReadAsAndCastTo()

template<typename STORED_TYPE , typename CAST_TO_TYPE >

void mrpt::serialization::CArchive::ReadAsAndCastTo ( CAST_TO_TYPE & read_here )

inline

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 147 of file CArchive.h.

Referenced by mrpt::nav::ClearanceDiagram::readFromStream(), mrpt::maps::CPointsMap::TRenderOptions::readFromStream(), mrpt::nav::CLogFileRecord::serializeFrom(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), and mrpt::opengl::CColorBar::serializeFrom().

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◆ ReadBuffer()

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

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 25 of file CArchive.cpp.

References ASSERT_, read(), and THROW_EXCEPTION.

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◆ ReadBufferFixEndianness()

template<typename T >

size_t mrpt::serialization::CArchive::ReadBufferFixEndianness	(	T *	ptr,
		size_t	ElementCount
	)

inline

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

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 94 of file CArchive.h.

References ReadBuffer(), and mrpt::reverseBytesInPlace().

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◆ ReadObject() [1/3]

CSerializable::Ptr mrpt::serialization::CArchive::ReadObject ( )

inline

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.
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 178 of file CArchive.h.

Referenced by mrpt::math::operator>>(), operator>>(), mrpt::serialization::operator>>(), mrpt::nav::CLogFileRecord::serializeFrom(), and mrpt::obs::CRawlog::serializeFrom().

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◆ ReadObject() [2/3]

template<typename T >

T::Ptr mrpt::serialization::CArchive::ReadObject ( )

inline

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

This version is similar to std::make_shared<T>.

Exceptions

std::exception	On I/O error or undefined class.
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 188 of file CArchive.h.

References mrpt::rtti::TRuntimeClassId::createObject(), mrpt::rtti::findRegisteredClass(), mrpt::ptr_cast< CAST_TO >::from(), internal_ReadObject(), internal_ReadObjectHeader(), and THROW_EXCEPTION_FMT.

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◆ ReadObject() [3/3]

void CArchive::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.

Exceptions

std::exception	On I/O error or different class found.
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 473 of file CArchive.cpp.

References ASSERT_, mrpt::rtti::findRegisteredClass(), mrpt::format(), mrpt::serialization::CSerializable::GetRuntimeClass(), internal_ReadObject(), internal_ReadObjectHeader(), THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

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◆ ReadPOD()

template<typename T >

T mrpt::serialization::CArchive::ReadPOD ( )

inline

Reads a simple POD type and returns by value.

Useful when stream >> var; cannot be used becuase of errors of misaligned reference binding. Use with macro MRPT_READ_POD to avoid typing the type T yourself.

Note: [New in MRPT 2.0.0]; Write operator s << var; is safe for misaligned variables.

Definition at line 303 of file CArchive.h.

References ReadBufferFixEndianness().

Referenced by mrpt::obs::CObservationPointCloud::serializeFrom().

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◆ ReadVariant()

template<typename... T>

std::variant<T...> mrpt::serialization::CArchive::ReadVariant ( )

inline

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

To be compatible with the current polymorphic system this support smart pointer types. For pointer types, This will bind to the first possible pointer type. variant<CSerializable::Ptr, CRenderizable::Ptr>

Exceptions

std::exception	On I/O error or undefined class.
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 258 of file CArchive.h.

References mrpt::rtti::TRuntimeClassId::createObject(), mrpt::rtti::findRegisteredClass(), mrpt::ptr_cast< CAST_TO >::from(), internal_ReadObject(), internal_ReadObjectHeader(), ReadVariant_helper(), and THROW_EXCEPTION_FMT.

Referenced by mrpt::serialization::operator>>().

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◆ ReadVariant_helper() [1/3]

template<typename RET >

RET mrpt::serialization::CArchive::ReadVariant_helper ( CSerializable::Ptr & ptr )

inlineprivate

Definition at line 220 of file CArchive.h.

Referenced by ReadVariant(), and ReadVariant_helper().

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◆ ReadVariant_helper() [2/3]

template<typename RET , typename T , typename... R>

RET mrpt::serialization::CArchive::ReadVariant_helper	(	CSerializable::Ptr &	ptr,
		std::enable_if_t< mrpt::is_shared_ptr< T >::value > *	= `nullptr`
	)

inlineprivate

Definition at line 227 of file CArchive.h.

References IS_CLASS, R, and ReadVariant_helper().

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◆ ReadVariant_helper() [3/3]

template<typename RET , typename T , typename... R>

RET mrpt::serialization::CArchive::ReadVariant_helper	(	CSerializable::Ptr &	ptr,
		std::enable_if_t<!mrpt::is_shared_ptr< T >::value > *	= `nullptr`
	)

inlineprivate

Definition at line 237 of file CArchive.h.

References IS_CLASS, R, and ReadVariant_helper().

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◆ receiveMessage()

bool CArchive::receiveMessage ( CMessage & msg )

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 555 of file CArchive.cpp.

References mrpt::serialization::CMessage::content, MAKEWORD16B, mrpt::system::os::memcpy(), MRPT_END, MRPT_START, ReadBuffer(), and mrpt::serialization::CMessage::type.

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◆ sendMessage()

void CArchive::sendMessage ( const CMessage & msg )

Send a message to the device.

Note that only the low byte from the "type" field will be used.

For frames of size < 255 the frame format is an array of bytes in this order:

<START_FLAG> <HEADER> <LENGTH> <BODY> <END_FLAG>
   <START_FLAG>    = 0x69
   <HEADER>        = A header byte
   <LENGHT>        = Number of bytes of BODY
   <BODY>          = N x bytes
   <END_FLAG>      = 0X96
Total length   =   <LENGTH> + 4

For frames of size > 255 the frame format is an array of bytes in this order:

 <START_FLAG> <HEADER> <HIBYTE(LENGTH)> <LOBYTE(LENGTH)> <BODY>
<END_FLAG>
    <START_FLAG>    = 0x79
    <HEADER>        = A header byte
    <LENGHT>        = Number of bytes of BODY
    <BODY>          = N x bytes
    <END_FLAG>      = 0X96
 Total length   =   <LENGTH> + 5

Exceptions

std::exception On communication errors

Definition at line 521 of file CArchive.cpp.

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

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◆ write()

virtual size_t mrpt::serialization::CArchive::write	(	const void *	buf,
		size_t	len
	)

protectedpure virtual

Writes a block of bytes.

Exceptions

std::exception On any error

Returns: Number of bytes actually written.

Implemented in mrpt::serialization::CArchiveStreamBase< STREAM >, mrpt::serialization::CArchiveStreamBase< std::iostream >, mrpt::serialization::CArchiveStreamBase< const std::vector< uint8_t > >, mrpt::serialization::CArchiveStreamBase< std::ostream >, mrpt::serialization::CArchiveStreamBase< std::vector< uint8_t > >, and mrpt::serialization::CArchiveStreamBase< std::istream >.

Referenced by WriteBuffer().

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◆ WriteAs()

template<typename TYPE_TO_STORE , typename TYPE_FROM_ACTUAL >

CArchive& mrpt::serialization::CArchive::WriteAs ( const TYPE_FROM_ACTUAL & value )

inline

Definition at line 162 of file CArchive.h.

Referenced by mrpt::math::operator<<().

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◆ WriteBuffer()

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

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 49 of file CArchive.cpp.

References ASSERT_, THROW_EXCEPTION, and write().

Referenced by sendMessage(), WriteBufferFixEndianness(), and WriteObject().

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◆ WriteBufferFixEndianness()

template<typename T >

void mrpt::serialization::CArchive::WriteBufferFixEndianness	(	const T *	ptr,
		size_t	ElementCount
	)

inline

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

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 133 of file CArchive.h.

References WriteBuffer().

Referenced by mrpt::math::operator<<(), and mrpt::serialization::detail::writeStdVectorToStream().

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◆ WriteObject() [1/2]

void CArchive::WriteObject ( const CSerializable * o )

Writes an object to the stream.

Definition at line 101 of file CArchive.cpp.

References mrpt::rtti::TRuntimeClassId::className, mrpt::serialization::CSerializable::GetRuntimeClass(), MRPT_END, MRPT_START, SERIALIZATION_END_FLAG, mrpt::serialization::CSerializable::serializeGetVersion(), mrpt::serialization::CSerializable::serializeTo(), and WriteBuffer().

Referenced by operator<<(), and WriteVariant().

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◆ WriteObject() [2/2]

void mrpt::serialization::CArchive::WriteObject ( const CSerializable & o )

inline

Definition at line 170 of file CArchive.h.

References WriteObject().

Referenced by WriteObject().

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◆ WriteVariant()

template<typename T >

void mrpt::serialization::CArchive::WriteVariant ( T t )

inline

Writes a Variant to the stream.

Definition at line 289 of file CArchive.h.

References WriteObject().

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Detailed Description

Public Types

Public Member Functions

Protected Member Functions

Serialization API for generic "archives" I/O streams

Member Typedef Documentation

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ CArchive()

◆ ~CArchive()

Member Function Documentation

◆ internal_ReadObject()

◆ internal_ReadObjectHeader()

◆ operator<<() [1/2]

◆ operator<<() [2/2]

◆ operator>>() [1/2]

◆ operator>>() [2/2]

◆ read()

◆ ReadAs()

◆ ReadAsAndCastTo()

◆ ReadBuffer()

◆ ReadBufferFixEndianness()

◆ ReadObject() [1/3]

◆ ReadObject() [2/3]

◆ ReadObject() [3/3]

◆ ReadPOD()

◆ ReadVariant()

◆ ReadVariant_helper() [1/3]

◆ ReadVariant_helper() [2/3]

◆ ReadVariant_helper() [3/3]

◆ receiveMessage()

◆ sendMessage()

◆ write()

◆ WriteAs()

◆ WriteBuffer()

◆ WriteBufferFixEndianness()

◆ WriteObject() [1/2]

◆ WriteObject() [2/2]

◆ WriteVariant()