00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://www.mrpt.org/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CMessage_H 00029 #define CMessage_H 00030 00031 #include <mrpt/utils/utils_defs.h> 00032 #include <mrpt/utils/CSerializable.h> 00033 00034 /*--------------------------------------------------------------- 00035 Class 00036 ---------------------------------------------------------------*/ 00037 namespace mrpt 00038 { 00039 namespace utils 00040 { 00041 /** A class that contain generic messages, that can be sent and received from a "CClientTCPSocket" object. 00042 * A message consists of a "header" (or type), and a "body" (or content). 00043 * Apart from arbitrary data, specific methods are provided for easing the serialization of MRPT's "CSerializable" objects. 00044 * This class is also used for passing data to hardware interfaces (see ) 00045 * \sa CClientTCPSocket 00046 * \ingroup mrpt_base_grp 00047 */ 00048 class BASE_IMPEXP CMessage 00049 { 00050 public: 00051 /** An identifier of the message type. 00052 */ 00053 uint32_t type; 00054 00055 /** The contents of the message (memory is automatically handled by the std::vector object) 00056 */ 00057 std::vector<unsigned char> content; 00058 00059 /** A method for serializing a MRPT's object into the content. 00060 * Any modification to data in "content" after this will corrupt the object serialization. 00061 * Member "type" is unmodified in this method. 00062 */ 00063 void serializeObject( CSerializable *obj ); 00064 00065 /** A method that parse the data in the message into an existing object. 00066 * Note that the class of the object must be known and must match the one of the serialized object. 00067 * \except std::exception On corrupt data, unknown serialized objects, unknown serialized object version, non-matching classes,... 00068 */ 00069 void deserializeIntoExistingObject( CSerializable *obj ); 00070 00071 /** A method that parse the data in the message into a new object of (a priori) unknown class. 00072 * The pointer will contain on return a copy of the reconstructed object. Deleting this object when 00073 * no longer required is the responsability of the user. Note that previous contents of the pointer 00074 * will be ignored (it should be NULL). 00075 * \except std::exception On corrupt data, unknown serialized objects, unknown serialized object version,... 00076 */ 00077 void deserializeIntoNewObject( CSerializablePtr &obj ); 00078 00079 /** Sets the contents of the message from a string 00080 * \sa getContentAsString 00081 */ 00082 void setContentFromString( const std::string &str ); 00083 00084 /** Gets the contents of the message as a string 00085 * \sa setContentFromString 00086 */ 00087 void getContentAsString( std::string &str ); 00088 00089 /** Sets the contents of the message from a "void*" (the pointer itself becomes the message) - This is intended for inter-thread comms only. 00090 * \sa getContentAsPointer 00091 */ 00092 void setContentFromPointer( void * ptr ); 00093 00094 /** Gets the contents of the message as a "void*" (the pointer itself is the message) - This is intended for inter-thread comms only. 00095 * \sa setContentFromPointer 00096 */ 00097 void * getContentAsPointer() const; 00098 00099 /** Sets the contents of the message from an arbitary structure - This is intended for inter-thread comms only, the message will be not cross-platform. 00100 * \sa getContentAsStruct 00101 */ 00102 template <class T> 00103 void setContentFromStruct( const T &data ) 00104 { 00105 content.resize( sizeof(data) ); 00106 T * ptr = reinterpret_cast< T* >( &content[0] ); 00107 *ptr = data; 00108 } 00109 00110 /** Gets the contents of the message as an arbitary structure - This is intended for inter-thread comms only, the message will be not cross-platform. 00111 * \sa setContentFromStruct 00112 */ 00113 template <class T> 00114 void getContentAsStruct( T &data ) const 00115 { 00116 MRPT_START 00117 ASSERT_(content.size() == sizeof(data) ); 00118 data = * reinterpret_cast< T* >( &content[0] ); 00119 MRPT_END 00120 } 00121 00122 00123 }; // End of class 00124 00125 } // End of namespace 00126 } // End of namespace 00127 00128 #endif
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