Detailed Description

The read end-point in a pipe created with mrpt::synch::CPipe.

Use the method mrpt::utils::CStream::ReadBuffer() of the base class CStream for blocking reading.

Definition at line 102 of file CPipe.h.

#include <mrpt/synch/CPipe.h>

Inheritance diagram for mrpt::synch::CPipeReadEndPoint:

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

Public Member Functions
	CPipeReadEndPoint (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...

virtual uint64_t	Seek (int64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning)=0
	Introduces a pure virtual method for moving to a specified position in the streamed resource. 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...

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...

Public Attributes
unsigned int	timeout_read_start_us
	(Default=0) Timeout for read operations: microseconds (us) to wait for the first byte. 0 means infinite timeout. More...

unsigned int	timeout_read_between_us
	(Default=0) Timeout between burst reads operations: microseconds (us) to wait between two partial reads inside one large read. 0 means infinite timeout. More...

Protected Member Functions
virtual size_t	Read (void *Buffer, size_t Count) MRPT_OVERRIDE
	Introduces a pure virtual method responsible for reading from the stream. More...

virtual size_t	Write (const void *Buffer, size_t Count) MRPT_OVERRIDE
	Introduces a pure virtual method responsible for writing to the stream. More...

virtual uint64_t	Seek (int64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning) MRPT_OVERRIDE
	Without effect in this class. More...

virtual uint64_t	getTotalBytesCount () MRPT_OVERRIDE
	Without effect in this class. More...

virtual uint64_t	getPosition () MRPT_OVERRIDE
	Without effect in this class. 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_pipe_file

Private Member Functions
	CPipeReadEndPoint ()

void	WriteBuffer (const void *Buffer, size_t Count)
	Hide the write method in this read-only pipe. More...

Friends
class	CPipe

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

◆ CPipeReadEndPoint() [1/2]

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

explicit

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

Definition at line 243 of file CPipe.cpp.

◆ CPipeReadEndPoint() [2/2]

CPipeReadEndPoint::CPipeReadEndPoint ( )

private

Definition at line 239 of file CPipe.cpp.

Member Function Documentation

◆ close()

void CPipeBaseEndPoint::close ( )

inherited

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

Definition at line 66 of file CPipe.cpp.

References mrpt::synch::CPipeBaseEndPoint::m_pipe_file.

Referenced by mrpt::synch::CPipeBaseEndPoint::Read(), and mrpt::synch::CPipeBaseEndPoint::~CPipeBaseEndPoint().

◆ 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 CPipeBaseEndPoint::getPosition ( )

protectedvirtualinherited

Without effect in this class.

Implements mrpt::utils::CStream.

Definition at line 127 of file CPipe.cpp.

◆ getTotalBytesCount()

uint64_t CPipeBaseEndPoint::getTotalBytesCount ( )

protectedvirtualinherited

Without effect in this class.

Implements mrpt::utils::CStream.

Definition at line 126 of file CPipe.cpp.

◆ 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.

◆ isOpen()

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

inlineinherited

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

Definition at line 81 of file CPipe.h.

◆ 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.

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

protectedvirtualinherited

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

Implements mrpt::utils::CStream.

Definition at line 130 of file CPipe.cpp.

References ASSERTMSG_, mrpt::synch::CPipeBaseEndPoint::close(), mrpt::synch::CPipeBaseEndPoint::m_pipe_file, mrpt::synch::CPipeBaseEndPoint::timeout_read_between_us, and mrpt::synch::CPipeBaseEndPoint::timeout_read_start_us.

◆ 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.

◆ 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()

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.

◆ Seek() [1/2]

uint64_t CPipeBaseEndPoint::Seek	(	int64_t	Offset,
		CStream::TSeekOrigin	Origin = `sFromBeginning`
	)

protectedvirtualinherited

Without effect in this class.

Definition at line 125 of file CPipe.cpp.

◆ Seek() [2/2]

virtual uint64_t mrpt::utils::CStream::Seek	(	int64_t	Offset,
		CStream::TSeekOrigin	Origin = `sFromBeginning`
	)

pure virtualinherited

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.

Implemented in mrpt::utils::CClientTCPSocket, mrpt::utils::CFileStream, mrpt::utils::CFileOutputStream, mrpt::utils::CFileGZInputStream, mrpt::utils::CMemoryStream, mrpt::utils::CFileInputStream, and mrpt::utils::CStdOutStream.

◆ sendMessage()

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().

◆ serialize()

std::string CPipeBaseEndPoint::serialize ( )

inherited

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 109 of file CPipe.cpp.

References ASSERTMSG_, and mrpt::synch::CPipeBaseEndPoint::m_pipe_file.

◆ Write()

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

protectedvirtualinherited

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 221 of file CPipe.cpp.

References ASSERTMSG_, and mrpt::synch::CPipeBaseEndPoint::m_pipe_file.

◆ WriteBuffer()

void mrpt::synch::CPipeReadEndPoint::WriteBuffer	(	const void *	Buffer,
		size_t	Count
	)

private

Hide the write method in this read-only pipe.

◆ 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

◆ CPipe

friend class CPipe

friend

Definition at line 104 of file CPipe.h.

Member Data Documentation

◆ m_pipe_file

int mrpt::synch::CPipeBaseEndPoint::m_pipe_file

protectedinherited

Definition at line 90 of file CPipe.h.

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

◆ timeout_read_between_us

unsigned int mrpt::synch::CPipeBaseEndPoint::timeout_read_between_us

inherited

(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 78 of file CPipe.h.

Referenced by mrpt::synch::CPipeBaseEndPoint::Read().

◆ timeout_read_start_us

unsigned int mrpt::synch::CPipeBaseEndPoint::timeout_read_start_us

inherited

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

Definition at line 77 of file CPipe.h.

Referenced by mrpt::synch::CPipeBaseEndPoint::Read().

Detailed Description

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Friends

Member Enumeration Documentation

◆ TSeekOrigin

Constructor & Destructor Documentation

◆ CPipeReadEndPoint() [1/2]

◆ CPipeReadEndPoint() [2/2]

Member Function Documentation

◆ close()

◆ getline()

◆ getPosition()

◆ getTotalBytesCount()

◆ internal_ReadObject()

◆ isOpen()

◆ operator<<() [1/2]

◆ operator<<() [2/2]

◆ operator>>() [1/2]

◆ operator>>() [2/2]

◆ printf()

◆ printf_vector()

◆ Read()

◆ ReadAsAndCastTo()

◆ ReadBuffer()

◆ ReadBufferFixEndianness()

◆ ReadBufferImmediate()

◆ ReadObject() [1/2]

◆ ReadObject() [2/2]

◆ receiveMessage()

◆ Seek() [1/2]

◆ Seek() [2/2]

◆ sendMessage()

◆ serialize()

◆ Write()

◆ WriteBuffer()

◆ WriteBufferFixEndianness()

◆ WriteObject()

Friends And Related Function Documentation

◆ CPipe

Member Data Documentation

◆ m_pipe_file

◆ timeout_read_between_us

◆ timeout_read_start_us