CArchive.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/config.h>  // MRPT_IS_BIG_ENDIAN
#include <mrpt/core/Clock.h>
#include <mrpt/core/is_shared_ptr.h>
#include <mrpt/core/reverse_bytes.h>
#include <mrpt/serialization/CSerializable.h>
#include <mrpt/typemeta/TTypeName.h>
#include <cstdint>
#include <stdexcept>
#include <string>
#include <type_traits>  // remove_reference_t, is_polymorphic
#include <variant>
#include <vector>

// See: https://gcc.gnu.org/viewcvs/gcc?view=revision&revision=258854
// See: https://stackoverflow.com/a/46507150/1631514
#if defined(__clang__) && (__clang_major__ <= 7)
#define HAS_BROKEN_CLANG_STD_VISIT
#endif

namespace mrpt::serialization
{
class CMessage;

/** Used in mrpt::serialization::CArchive */
class CExceptionEOF : public std::runtime_error
{
   public:
    CExceptionEOF(const std::string& s) : std::runtime_error(s) {}
};

/** 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.
 *
 * \sa mrpt::io::CArchive, mrpt::serialization::CSerializable
 * \ingroup mrpt_serialization_grp
 */
class CArchive
{
   public:
    CArchive() = default;
    virtual ~CArchive() = default;
    /** @name Serialization API for generic "archives" I/O streams
     * @{ */
    /** Reads a block of bytes from the stream into Buffer
     *  \exception std::exception On any error, or if ZERO bytes are read.
     *  \return The amound of bytes actually read.
     * \note This method is endianness-dependent.
     * \sa ReadBufferImmediate ; Important, see: ReadBufferFixEndianness,
     */
    size_t ReadBuffer(void* Buffer, size_t Count);

    /** 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.
     *  \param ElementCount The number of elements (not bytes) to read.
     *  \param ptr A pointer to the first output element in an array (or
     *std::vector<>, etc...).
     *  \return 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:
     *  \code
     *   uint32_t  N;
     *   s >> N;
     *   vector<float>  vec(N);
     *   if (N)
     *     s.ReadBufferFixEndianness<float>(&vec[0],N);
     *  \endcode
     *  \exception std::exception On any error, or if ZERO bytes are read.
     * \sa ReadBufferFixEndianness, ReadBuffer
     */
    template <typename T>
    size_t ReadBufferFixEndianness(T* ptr, size_t ElementCount)
    {
#if !MRPT_IS_BIG_ENDIAN
        // little endian: no conversion needed.
        return ReadBuffer(ptr, ElementCount * sizeof(T));
#else
        // big endian: convert.
        const size_t nread = ReadBuffer(ptr, ElementCount * sizeof(T));
        for (size_t i = 0; i < ElementCount; i++)
            mrpt::reverseBytesInPlace(ptr[i]);
        return nread;
#endif
    }

    /** Writes a block of bytes to the stream from Buffer.
     *  \exception std::exception On any error
     *  \sa Important, see: WriteBufferFixEndianness
     * \note This method is endianness-dependent.
     */
    void WriteBuffer(const void* Buffer, size_t Count);

    /** Writes a sequence of elemental datatypes, taking care of reordering
     * their bytes from the running architecture to MRPT stream standard (little
     * endianness).
     *  \param ElementCount The number of elements (not bytes) to write.
     *  \param ptr A pointer to the first input element in an array (or
     * std::vector<>, etc...).
     *  Example of usage:
     *  \code
     *   vector<float>  vec = ...
     *   uint32_t N = vec.size();
     *   s << N
     *   if (N)
     *     s.WriteBufferFixEndianness<float>(&vec[0],N);
     *  \endcode
     *  \exception std::exception On any error
     *  \sa WriteBuffer
     */
    template <typename T>
    void WriteBufferFixEndianness(const T* ptr, size_t ElementCount)
    {
#if !MRPT_IS_BIG_ENDIAN
        // little endian: no conversion needed.
        return WriteBuffer(ptr, ElementCount * sizeof(T));
#else
        // big endian: the individual "<<" functions already convert endiannes
        for (size_t i = 0; i < ElementCount; i++) (*this) << ptr[i];
#endif
    }
    /** 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 */
    template <typename STORED_TYPE, typename CAST_TO_TYPE>
    void ReadAsAndCastTo(CAST_TO_TYPE& read_here)
    {
        STORED_TYPE var;
        (*this) >> var;
        read_here = static_cast<CAST_TO_TYPE>(var);
    }
    /** De-serialize a variable and returns it by value. */
    template <typename STORED_TYPE>
    STORED_TYPE ReadAs()
    {
        STORED_TYPE var;
        (*this) >> var;
        return var;
    }
    template <typename TYPE_TO_STORE, typename TYPE_FROM_ACTUAL>
    void WriteAs(const TYPE_FROM_ACTUAL& value)
    {
        (*this) << static_cast<TYPE_TO_STORE>(value);
    }
    /** Writes an object to the stream.
     */
    void WriteObject(const CSerializable* o);
    void WriteObject(const CSerializable& o) { WriteObject(&o); }
    /** Reads an object from stream, its class determined at runtime, and
     * returns a smart pointer to the object.
     * \exception std::exception On I/O error or undefined class.
     * \exception 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.
     */
    CSerializable::Ptr ReadObject() { return ReadObject<CSerializable>(); }
    /** 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>.
     * \exception std::exception On I/O error or undefined class.
     * \exception 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.
     */
    template <typename T>
    typename T::Ptr ReadObject()
    {
        CSerializable::Ptr obj;
        std::string strClassName;
        bool isOldFormat{false};
        int8_t version{-1};
        internal_ReadObjectHeader(strClassName, isOldFormat, version);
        if (strClassName != "nullptr")
        {
            const mrpt::rtti::TRuntimeClassId* classId =
                mrpt::rtti::findRegisteredClass(strClassName);
            if (!classId)
                THROW_EXCEPTION_FMT(
                    "Stored object has class '%s' which is not registered!",
                    strClassName.c_str());
            obj = mrpt::ptr_cast<CSerializable>::from(classId->createObject());
        }
        internal_ReadObject(
            obj.get() /* may be nullptr */, strClassName, isOldFormat,
            version);  // must be called to read the END FLAG byte
        if (!obj)
        {
            return typename T::Ptr();
        }
        else
        {
            return std::dynamic_pointer_cast<T>(obj);
        }
    }

   private:
    template <typename RET>
    RET ReadVariant_helper(CSerializable::Ptr& ptr)
    {
        throw std::runtime_error("Can't match variant type");
        return RET();
    }

    template <typename RET, typename T, typename... R>
    RET ReadVariant_helper(
        CSerializable::Ptr& ptr,
        std::enable_if_t<mrpt::is_shared_ptr<T>::value>* = nullptr)
    {
        if (IS_CLASS(ptr, typename T::element_type))
            return std::dynamic_pointer_cast<typename T::element_type>(ptr);
        return ReadVariant_helper<RET, R...>(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)
    {
        if (IS_CLASS(*ptr, T)) return dynamic_cast<T&>(*ptr);
        return ReadVariant_helper<RET, R...>(ptr);
    }

   public:
    /** 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>
     * \exception std::exception On I/O error or undefined class.
     * \exception 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.
     */
    template <typename... T>
    typename std::variant<T...> ReadVariant()
    {
        CSerializable::Ptr obj;
        std::string strClassName;
        bool isOldFormat;
        int8_t version;
        internal_ReadObjectHeader(strClassName, isOldFormat, version);
        const mrpt::rtti::TRuntimeClassId* classId =
            mrpt::rtti::findRegisteredClass(strClassName);
        if (!classId)
            THROW_EXCEPTION_FMT(
                "Stored object has class '%s' which is not registered!",
                strClassName.c_str());
        if (strClassName != "nullptr")
        {
            obj = mrpt::ptr_cast<CSerializable>::from(classId->createObject());
        }
        internal_ReadObject(obj.get(), strClassName, isOldFormat, version);
        if (!obj)
        {
            return std::variant<T...>();
        }
        else
        {
            return ReadVariant_helper<std::variant<T...>, T...>(obj);
        }
    }

#if !defined(HAS_BROKEN_CLANG_STD_VISIT)
    /** Writes a Variant to the stream */
    template <typename T>
    void WriteVariant(T t)
    {
        std::visit([&](auto& o) { this->WriteObject(o); }, t);
    }
#endif

    /** 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]
     * \note Write operator `s << var;` is safe for misaligned variables.
     */
    template <typename T>
    T ReadPOD()
    {
        T ret;
        ReadBufferFixEndianness(&ret, 1);
        return ret;
    }

    /** Reads an object from stream, where its class must be the same
     *    as the supplied object, where the loaded object will be stored in.
     * \exception std::exception On I/O error or different class found.
     * \exception 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.
     */
    void ReadObject(CSerializable* existingObj);

    /** 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:
     *  \code
     *  <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
     *  \endcode
     *
     *  For frames of size > 255 the frame format is an array of bytes in this
     * order:
     *  \code
     *  <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
     *  \endcode
     *
     * \exception std::exception On communication errors
     */
    void sendMessage(const CMessage& msg);

    /** Tries to receive a message from the device.
     * \exception 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)
     * \sa The frame format is described in sendMessage()
     */
    bool receiveMessage(CMessage& msg);

    /** Write a CSerializable object to a stream in the binary MRPT format */
    CArchive& operator<<(const CSerializable& obj);
    /** \overload */
    CArchive& operator<<(const CSerializable::Ptr& pObj);
    /** Reads a CSerializable object from the stream */
    CArchive& operator>>(CSerializable& obj);
    /** \overload */
    CArchive& operator>>(CSerializable::Ptr& pObj);

    /** @} */

   protected:
    /** @name Virtual methods of the CArchive interface
     * @{ */
    /** Writes a block of bytes.
     * \exception std::exception On any error
     * \return Number of bytes actually written.
     */
    virtual size_t write(const void* buf, size_t len) = 0;
    /** Reads a block of bytes.
     * \exception std::exception On any error, or if ZERO bytes are read.
     * \return Number of bytes actually read if >0.
     */
    virtual size_t read(void* buf, size_t len) = 0;
    /** @} */

    /** Read the object */
    void internal_ReadObject(
        CSerializable* newObj, const std::string& className, bool isOldFormat,
        int8_t version);

    /** Read the object Header*/
    void internal_ReadObjectHeader(
        std::string& className, bool& isOldFormat, int8_t& version);
};

// Note: write op accepts parameters by value on purpose, to avoid misaligned
// reference binding errors.
template <class T, class... Ts>
using is_any = std::disjunction<std::is_same<T, Ts>...>;

template <typename T>
using is_simple_type = is_any<
    T, bool, uint8_t, int8_t, uint16_t, int16_t, uint32_t, int32_t, uint64_t,
    int64_t, float, double, long double>;

#if MRPT_IS_BIG_ENDIAN
// Big endian system: Convert into little-endian for streaming
template <typename T, std::enable_if_t<is_simple_type<T>::value, int> = 0>
CArchive& mrpt::serialization::operator<<(CArchive& out, const T a)
{
    mrpt::reverseBytesInPlace(a);
    out.WriteBuffer((void*)&a, sizeof(a));
    return out;
}

template <typename T, std::enable_if_t<is_simple_type<T>::value, int> = 0>
CArchive& mrpt::serialization::operator>>(CArchive& in, T& a)
{
    T b;
    in.ReadBuffer((void*)&b, sizeof(a));
    mrpt::reverseBytesInPlace(b);
    ::memcpy(&a, &b, sizeof(b));
    return in;
}

#else
// Little endian system:
template <typename T, std::enable_if_t<is_simple_type<T>::value, int> = 0>
CArchive& operator<<(CArchive& out, const T& a)
{
    out.WriteBuffer((void*)&a, sizeof(a));
    return out;
}

template <typename T, std::enable_if_t<is_simple_type<T>::value, int> = 0>
CArchive& operator>>(CArchive& in, T& a)
{
    in.ReadBuffer((void*)&a, sizeof(a));
    return in;
}
#endif

CArchive& operator<<(CArchive& out, const mrpt::Clock::time_point& a);
CArchive& operator>>(CArchive& in, mrpt::Clock::time_point& a);

#define MRPT_READ_POD(_STREAM, _VARIABLE)                                    \
    do                                                                       \
    {                                                                        \
        const std::remove_cv_t<std::remove_reference_t<decltype(_VARIABLE)>> \
            val = _STREAM.ReadPOD<std::remove_cv_t<                          \
                std::remove_reference_t<decltype(_VARIABLE)>>>();            \
        ::memcpy(&_VARIABLE, &val, sizeof(val));                             \
    } while (0)

// Why this shouldn't be templatized?: There's a more modern system
// in MRPT that serializes any kind of vector<T>, deque<T>, etc... but
// to keep COMPATIBILITY with old serialized objects we must preserve
// the ones listed here:

// Write --------------------
CArchive& operator<<(CArchive& s, const std::string& str);

CArchive& operator<<(CArchive&, const std::vector<int32_t>& a);
CArchive& operator<<(CArchive&, const std::vector<uint32_t>& a);
CArchive& operator<<(CArchive&, const std::vector<uint16_t>& a);
CArchive& operator<<(CArchive&, const std::vector<int16_t>& a);
CArchive& operator<<(CArchive&, const std::vector<uint32_t>& a);
CArchive& operator<<(CArchive&, const std::vector<int64_t>& a);
CArchive& operator<<(CArchive&, const std::vector<uint8_t>& a);
CArchive& operator<<(CArchive&, const std::vector<int8_t>& a);

CArchive& operator<<(CArchive&, const std::vector<bool>& a);
CArchive& operator<<(CArchive&, const std::vector<std::string>&);

#if MRPT_WORD_SIZE != 32  // If it's 32 bit, size_t <=> uint32_t
CArchive& operator<<(CArchive&, const std::vector<size_t>& a);
#endif

// Read --------------------
CArchive& operator>>(CArchive& in, std::string& str);

CArchive& operator>>(CArchive& in, std::vector<int32_t>& a);
CArchive& operator>>(CArchive& in, std::vector<uint32_t>& a);
CArchive& operator>>(CArchive& in, std::vector<uint16_t>& a);
CArchive& operator>>(CArchive& in, std::vector<int16_t>& a);
CArchive& operator>>(CArchive& in, std::vector<int64_t>& a);
CArchive& operator>>(CArchive& in, std::vector<uint8_t>& a);
CArchive& operator>>(CArchive& in, std::vector<int8_t>& a);
CArchive& operator>>(CArchive& in, std::vector<bool>& a);

CArchive& operator>>(CArchive& in, std::vector<std::string>& a);

// For backward compatibility, since in MRPT<0.8.1 vector_XXX and
// std::vector<XXX> were exactly equivalent, now there're not.
CArchive& operator>>(CArchive& s, std::vector<float>& a);
CArchive& operator>>(CArchive& s, std::vector<double>& a);
CArchive& operator<<(CArchive& s, const std::vector<float>& a);
CArchive& operator<<(CArchive& s, const std::vector<double>& a);

#if MRPT_WORD_SIZE != 32  // If it's 32 bit, size_t <=> uint32_t
CArchive& operator>>(CArchive& s, std::vector<size_t>& a);
#endif
//

template <
    typename T, std::enable_if_t<std::is_base_of_v<
                    mrpt::serialization::CSerializable, T>>* = nullptr>
CArchive& operator>>(CArchive& in, typename std::shared_ptr<T>& pObj)
{
    pObj = in.ReadObject<T>();
    return in;
}

template <typename... T>
CArchive& operator>>(CArchive& in, typename std::variant<T...>& pObj)
{
    pObj = in.ReadVariant<T...>();
    return in;
}

template <typename... T>
CArchive& operator<<(CArchive& out, const typename std::variant<T...>& pObj)
{
    pObj.match([&](auto& t) { out << t; });
    return out;
}

/** Write a shared_ptr to a non-CSerializable object */
template <
    class T, std::enable_if_t<!std::is_base_of_v<
                 mrpt::serialization::CSerializable, T>>* = nullptr>
CArchive& operator<<(CArchive& out, const std::shared_ptr<T>& pObj)
{
    if (pObj)
    {
        out << mrpt::typemeta::TTypeName<T>::get();
        out << *pObj;
    }
    else
    {
        out << std::string("nullptr");
    }
    return out;
}

/** Read a smart pointer to a non-CSerializable (POD,...) data type*/
template <
    class T, std::enable_if_t<!std::is_base_of_v<
                 mrpt::serialization::CSerializable, T>>* = nullptr>
CArchive& operator>>(CArchive& in, std::shared_ptr<T>& pObj)
{
    std::string stored_name;
    in >> stored_name;
    const std::string expected_name =
        mrpt::typemeta::TTypeName<T>::get().c_str();
    if (stored_name == std::string("nullptr"))
    {
        pObj.reset();
    }
    else
    {
        ASSERT_EQUAL_(expected_name, stored_name);
        pObj.reset(new T);
        in >> *pObj;
    }
    return in;
}

/** CArchive for mrpt::io::CStream classes (use as template argument).
 * \sa Easier to use via function archiveFrom() */
template <class STREAM>
class CArchiveStreamBase : public CArchive
{
    STREAM& m_s;

   public:
    CArchiveStreamBase(STREAM& s) : m_s(s) {}

   protected:
    size_t write(const void* d, size_t n) override { return m_s.Write(d, n); }
    size_t read(void* d, size_t n) override { return m_s.Read(d, n); }
};

/** Helper function to create a templatized wrapper CArchive object for a:
 * MRPT's `CStream`, `std::istream`, `std::ostream`, `std::stringstream`.
 * \note Use with `std::{.*}stream` requires including
 * `<mrpt/serialization/archiveFrom_std_streams.h>` and explicitly specifying
 * the template parameter like: `archiveFrom<std::istream>` or
 * `archiveFrom<std::ostream>`.
 * \sa \ref mrpt_serialization_grp, and example serialization_stl/test.cpp
 */
template <class STREAM>
CArchiveStreamBase<STREAM> archiveFrom(STREAM& s)
{
    return CArchiveStreamBase<STREAM>(s);
}
}  // namespace mrpt::serialization

namespace mrpt::rtti
{
// for std::variant
template <>
struct CLASS_ID_impl<std::monostate>
{
    static constexpr const mrpt::rtti::TRuntimeClassId* get()
    {
        return nullptr;
    }
};

}  // namespace mrpt::rtti