Detailed Description

A memory buffer (implements CStream) which can be itself serialized.

See also:: CStream

#include <mrpt/utils/CMemoryChunk.h>

Inheritance diagram for mrpt::utils::CMemoryChunk:

[legend]

List of all members.

Public Types

enum TSeekOrigin { sFromBeginning = 0, sFromCurrent = 1, sFromEnd = 2 }

Used in CStream::Seek. More...

Public Member Functions

mrpt::utils::CObjectPtr duplicateGetSmartPtr () const

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

CObject * clone () const

Cloning interface for smart pointers.

void assignMemoryNotOwn (const void *data, const uint64_t nBytesInData)

Initilize the data in the stream from a block of memory which is NEITHER OWNED NOR COPIED by the object, so it must exist during the whole live of the object.

void Clear ()

Clears the memory buffer.

void changeSize (uint64_t newSize)

Change size.

uint64_t Seek (long Offset, CStream::TSeekOrigin Origin=sFromBeginning)

Method for moving to a specified position in the streamed resource.

uint64_t getTotalBytesCount ()

Returns the total size of the internal buffer.

uint64_t getPosition ()

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

void * getRawBufferData ()

Method for getting a pointer to the raw stored data.

bool saveBufferToFile (const std::string &file_name)

Saves the entire buffer to a file.

bool loadBufferFromFile (const std::string &file_name)

Loads the entire buffer from a file.

void setAllocBlockSize (uint64_t alloc_block_size)

Change the size of the additional memory block that is reserved whenever the current block runs too short (default=0x10000 bytes)

size_t 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.

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.

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).

void WriteBuffer (const void *Buffer, size_t Count)

Writes a block of bytes to the stream from Buffer.

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).

size_t CopyFrom (CStream *Source, size_t Count)

Copies a specified number of bytes from one stream to another.

void WriteObject (const CSerializable *o)

Writes an object to the stream.

CSerializablePtr ReadObject ()

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

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.

CStream & operator<< (const CSerializablePtr &pObj)

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

CStream & operator<< (const CSerializable &obj)

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

CStream & operator>> (CSerializablePtr &pObj)

CStream & operator>> (CSerializable &obj)

virtual int printf (const char *fmt,...) MRPT_printf_format_check(2

Writes a string to the stream in a textual form.

template<typename T >

virtual int void printf_vector (const char *fmt, const std::vector< T > &V)

Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element.

void sendMessage (const utils::CMessage &msg)

Send a message to the device.

bool receiveMessage (utils::CMessage &msg)

Tries to receive a message from the device.

bool getline (std::string &out_str)

Reads from the stream until a '
' character is found ('' characters are ignored).

Static Public Attributes

static const
mrpt::utils::TRuntimeClassId classCObject

Protected Member Functions

virtual void writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0

Introduces a pure virtual method responsible for writing to a CStream.

virtual void readFromStream (mrpt::utils::CStream &in, int version)=0

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

size_t Read (void *Buffer, size_t Count)

Method responsible for reading from the stream.

size_t Write (const void *Buffer, size_t Count)

Method responsible for writing to the stream.

void resize (uint64_t newSize)

Resizes the internal buffer size.

Protected Attributes

void_ptr_noncopy

m_memory

Internal data.

uint64_t m_size

uint64_t m_position

uint64_t m_bytesWritten

uint64_t m_alloc_block_size

bool m_read_only

If the memory block does not belong to the object.

RTTI stuff

typedef CMemoryChunkPtr SmartPtr

static mrpt::utils::CLASSINIT _init_CMemoryChunk

static mrpt::utils::TRuntimeClassId classCMemoryChunk

static const
mrpt::utils::TRuntimeClassId * classinfo

static const
mrpt::utils::TRuntimeClassId * _GetBaseClass ()

virtual const
mrpt::utils::TRuntimeClassId * GetRuntimeClass () const

Returns information about the class of an object in runtime.

virtual mrpt::utils::CObject * duplicate () const

Returns a copy of the object, indepently of its class.

static mrpt::utils::CObject * CreateObject ()

static CMemoryChunkPtr Create ()

RTTI stuff

static const
mrpt::utils::TRuntimeClassId classCSerializable

class mrpt::utils::CStream

Member Typedef Documentation

typedef CMemoryChunkPtr mrpt::utils::CMemoryChunk::SmartPtr

A typedef for the associated smart pointer

Definition at line 52 of file CMemoryChunk.h.

Member Enumeration Documentation

enum mrpt::utils::CStream::TSeekOrigin [inherited]

Used in CStream::Seek.

Enumerator:

sFromBeginning
sFromCurrent
sFromEnd

Definition at line 60 of file CStream.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::utils::CMemoryChunk::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

void mrpt::utils::CMemoryStream::assignMemoryNotOwn	(	const void *	data,
		const uint64_t	nBytesInData
	)		`[inherited]`

Initilize the data in the stream from a block of memory which is NEITHER OWNED NOR COPIED by the object, so it must exist during the whole live of the object.

After assigning a block of data with this method, the object becomes "read-only", so further attempts to change the size of the buffer will raise an exception. This method resets the write and read positions to the beginning.

void mrpt::utils::CMemoryStream::changeSize ( uint64_t newSize ) [inherited]

Change size.

This would be rarely used. Use ">>" operators for writing to stream.

See also:: Stream

void mrpt::utils::CMemoryStream::Clear ( ) [inherited]

Clears the memory buffer.

CObject* mrpt::utils::CObject::clone ( ) const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

size_t mrpt::utils::CStream::CopyFrom	(	CStream *	Source,
		size_t	Count
	)		`[inherited]`

Copies a specified number of bytes from one stream to another.

static CMemoryChunkPtr mrpt::utils::CMemoryChunk::Create ( ) [static]

static mrpt::utils::CObject* mrpt::utils::CMemoryChunk::CreateObject ( ) [static]

virtual mrpt::utils::CObject* mrpt::utils::CMemoryChunk::duplicate ( ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 151 of file CObject.h.

bool mrpt::utils::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.

uint64_t mrpt::utils::CMemoryStream::getPosition ( ) [virtual, inherited]

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

Implements mrpt::utils::CStream.

void* mrpt::utils::CMemoryStream::getRawBufferData ( ) [inherited]

Method for getting a pointer to the raw stored data.

The lenght in bytes is given by getTotalBytesCount

virtual const mrpt::utils::TRuntimeClassId* mrpt::utils::CMemoryChunk::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

uint64_t mrpt::utils::CMemoryStream::getTotalBytesCount ( ) [virtual, inherited]

Returns the total size of the internal buffer.

Implements mrpt::utils::CStream.

bool mrpt::utils::CMemoryStream::loadBufferFromFile ( const std::string & file_name ) [inherited]

Loads the entire buffer from a file.

Returns:: true on success, false on error

CStream& mrpt::utils::CStream::operator<< ( const CSerializablePtr & pObj ) [inherited]

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

CStream& mrpt::utils::CStream::operator<< ( const CSerializable & obj ) [inherited]

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

CStream& mrpt::utils::CStream::operator>> ( CSerializablePtr & pObj ) [inherited]

CStream& mrpt::utils::CStream::operator>> ( CSerializable & obj ) [inherited]

virtual int mrpt::utils::CStream::printf	(	const char *	fmt,
			...
	)		`[virtual, inherited]`

Writes a string to the stream in a textual form.

See also:: CStdOutStream

template<typename T >

virtual int void mrpt::utils::CStream::printf_vector	(	const char *	fmt,
		const std::vector< T > &	V
	)		`[inline, inherited]`

Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element.

Definition at line 219 of file CStream.h.

size_t mrpt::utils::CMemoryStream::Read	(	void *	Buffer,
		size_t	Count
	)		`[protected, virtual, inherited]`

Method responsible for reading from the stream.

Implements mrpt::utils::CStream.

size_t mrpt::utils::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,

template<typename T >

size_t mrpt::utils::CStream::ReadBufferFixEndianness	(	T *	ptr,
		size_t	ElementCount
	)		`[inline, inherited]`

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 109 of file CStream.h.

References mrpt::utils::reverseBytesInPlace().

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

virtual size_t mrpt::utils::CStream::ReadBufferImmediate	(	void *	Buffer,
		size_t	Count
	)		`[inline, virtual, inherited]`

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 127 of file CStream.h.

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters:

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions:

std::exception On any error, see CStream::ReadBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

CSerializablePtr mrpt::utils::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.

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

void mrpt::utils::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.

bool mrpt::utils::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()

void mrpt::utils::CMemoryStream::resize ( uint64_t newSize ) [protected, inherited]

Resizes the internal buffer size.

bool mrpt::utils::CMemoryStream::saveBufferToFile ( const std::string & file_name ) [inherited]

Saves the entire buffer to a file.

Returns:: true on success, false on error

uint64_t mrpt::utils::CMemoryStream::Seek	(	long	Offset,
		CStream::TSeekOrigin	Origin = `sFromBeginning`
	)		`[virtual, inherited]`

Method for moving to a specified position in the streamed resource.

See also:: CStream::Seek

Implements mrpt::utils::CStream.

void mrpt::utils::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

void mrpt::utils::CMemoryStream::setAllocBlockSize ( uint64_t alloc_block_size ) [inline, inherited]

Change the size of the additional memory block that is reserved whenever the current block runs too short (default=0x10000 bytes)

Definition at line 129 of file CMemoryStream.h.

References ASSERT_.

size_t mrpt::utils::CMemoryStream::Write	(	const void *	Buffer,
		size_t	Count
	)		`[protected, virtual, inherited]`

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.

void mrpt::utils::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.

template<typename T >

void mrpt::utils::CStream::WriteBufferFixEndianness	(	const T *	ptr,
		size_t	ElementCount
	)		`[inline, inherited]`

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 153 of file CStream.h.

void mrpt::utils::CStream::WriteObject ( const CSerializable * o ) [inherited]

Writes an object to the stream.

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters:

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions:

std::exception On any error, see CStream::WriteBuffer