mrpt::serialization::CArchiveStreamBase< STREAM > Class Template Reference

Detailed Description

template<class STREAM>
class mrpt::serialization::CArchiveStreamBase< STREAM >

CArchive for mrpt::io::CStream classes (use as template argument).

See also

Easier to use via function archiveFrom()

Definition at line 571 of file CArchive.h.

#include <mrpt/serialization/CArchive.h>

Inheritance diagram for mrpt::serialization::CArchiveStreamBase< STREAM >:

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

Public Member Functions
	CArchiveStreamBase (STREAM &s)
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...
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...
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	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)

Protected Member Functions
size_t	write (const void *d, size_t n) override
	Writes a block of bytes. More...
size_t	read (void *d, size_t n) override
	Reads a block of bytes. More...
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...

Private Attributes
STREAM &	m_s

Member Typedef Documentation

Ptr

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

inherited

Definition at line 60 of file CArchive.h.

UniquePtr

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

inherited

Definition at line 61 of file CArchive.h.

Constructor & Destructor Documentation

CArchiveStreamBase()

template<class STREAM >

mrpt::serialization::CArchiveStreamBase< STREAM >::CArchiveStreamBase ( STREAM &  s )

inline

Definition at line 576 of file CArchive.h.

Member Function Documentation

internal_ReadObject()

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

protectedinherited

Read the object.

Definition at line 428 of file CArchive.cpp.

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

Referenced by mrpt::serialization::CArchive::ReadObject(), and mrpt::serialization::CArchive::ReadVariant().

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internal_ReadObjectHeader()

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

protectedinherited

Read the object Header.

Definition at line 329 of file CArchive.cpp.

References ASSERT_, mrpt::serialization::CArchive::ReadBuffer(), mrpt::serialization::CArchive::ReadBufferFixEndianness(), THROW_EXCEPTION, THROW_STACKED_EXCEPTION_CUSTOM_MSG2, and THROW_TYPED_EXCEPTION.

Referenced by mrpt::serialization::CArchive::ReadObject(), and mrpt::serialization::CArchive::ReadVariant().

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operator<<() [1/2]

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

inherited

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 mrpt::serialization::CArchive::WriteObject().

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operator<<() [2/2]

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

inherited

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 mrpt::serialization::CArchive::WriteObject().

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operator>>() [1/2]

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

inherited

Reads a CSerializable object from the stream.

Definition at line 158 of file CArchive.cpp.

References mrpt::serialization::CArchive::ReadObject().

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operator>>() [2/2]

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

inherited

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 mrpt::serialization::CArchive::ReadObject().

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read()

template<class STREAM >

size_t mrpt::serialization::CArchiveStreamBase< STREAM >::read ( void *  buf, size_t  len  )

inlineoverrideprotectedvirtual

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.

Implements mrpt::serialization::CArchive.

Definition at line 580 of file CArchive.h.

References mrpt::serialization::CArchiveStreamBase< STREAM >::m_s.

ReadAs()

template<typename STORED_TYPE >

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

inlineinherited

De-serialize a variable and returns it by value.

Definition at line 155 of file CArchive.h.

Referenced by mrpt::obs::gnss::Message_NV_OEM6_GENERIC_FRAME::internal_readFromStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_SHORT_FRAME::internal_readFromStream(), mrpt::math::operator>>(), mrpt::opengl::CRenderizableShaderPoints::params_deserialize(), mrpt::math::CMatrixF::serializeFrom(), mrpt::poses::CPoses3DSequence::serializeFrom(), mrpt::poses::CPoses2DSequence::serializeFrom(), mrpt::math::CMatrixD::serializeFrom(), mrpt::poses::CPose3DPDFGrid::serializeFrom(), mrpt::obs::CActionCollection::serializeFrom(), mrpt::obs::CActionRobotMovement2D::serializeFrom(), mrpt::opengl::CMesh3D::serializeFrom(), mrpt::obs::CObservationRotatingScan::serializeFrom(), mrpt::opengl::COpenGLViewport::serializeFrom(), mrpt::obs::CRawlog::serializeFrom(), mrpt::obs::CObservationRGBD360::serializeFrom(), and mrpt::obs::CObservation3DRangeScan::serializeFrom().

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ReadAsAndCastTo()

template<typename STORED_TYPE , typename CAST_TO_TYPE >

void mrpt::serialization::CArchive::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 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  )

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 25 of file CArchive.cpp.

References ASSERT_, mrpt::serialization::CArchive::read(), and THROW_EXCEPTION.

Referenced by mrpt::obs::gnss::Message_NV_OEM6_GENERIC_FRAME::internal_readFromStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_SHORT_FRAME::internal_readFromStream(), mrpt::obs::gnss::Message_NV_OEM6_RANGECMP::internal_readFromStream(), mrpt::obs::gnss::Message_NV_OEM6_VERSION::internal_readFromStream(), mrpt::serialization::CArchive::internal_ReadObject(), mrpt::serialization::CArchive::internal_ReadObjectHeader(), mrpt::serialization::operator>>(), mrpt::serialization::CArchive::ReadBufferFixEndianness(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::serialization::CArchive::receiveMessage(), mrpt::math::CMatrixB::serializeFrom(), mrpt::obs::CActionRobotMovement2D::serializeFrom(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), mrpt::maps::CHeightGridMap2D_MRF::serializeFrom(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), mrpt::maps::CReflectivityGridMap2D::serializeFrom(), mrpt::obs::CObservation2DRangeScan::serializeFrom(), mrpt::maps::COccupancyGridMap2D::serializeFrom(), mrpt::obs::CObservationGPS::serializeFrom(), mrpt::maps::CRandomFieldGridMap3D::serializeFrom(), mrpt::obs::CObservationVelodyneScan::serializeFrom(), mrpt::img::CImage::serializeFrom(), mrpt::nav::CLogFileRecord_ND::serializeFrom(), and mrpt::obs::CObservation3DRangeScan::serializeFrom().

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ReadBufferFixEndianness()

template<typename T >

size_t mrpt::serialization::CArchive::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 94 of file CArchive.h.

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

Referenced by mrpt::serialization::CArchive::internal_ReadObjectHeader(), mrpt::math::operator>>(), mrpt::serialization::CArchive::ReadPOD(), mrpt::serialization::detail::readStdVectorToStream(), mrpt::math::CPolygon::serializeFrom(), mrpt::math::CMatrixF::serializeFrom(), mrpt::math::CMatrixD::serializeFrom(), mrpt::maps::CPointsMapXYZI::serializeFrom(), mrpt::maps::CColouredPointsMap::serializeFrom(), mrpt::maps::CWeightedPointsMap::serializeFrom(), mrpt::nav::CLogFileRecord::serializeFrom(), mrpt::maps::CSimplePointsMap::serializeFrom(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), mrpt::opengl::CMesh3D::serializeFrom(), mrpt::obs::CSensoryFrame::serializeFrom(), mrpt::obs::CObservation2DRangeScan::serializeFrom(), mrpt::maps::COccupancyGridMap2D::serializeFrom(), mrpt::obs::CObservationRotatingScan::serializeFrom(), mrpt::obs::CObservationGPS::serializeFrom(), mrpt::obs::CObservationRGBD360::serializeFrom(), and mrpt::obs::CObservation3DRangeScan::serializeFrom().

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ReadObject() [1/3]

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

inlineinherited

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>>(), mrpt::serialization::CArchive::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 ( )

inlineinherited

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(), mrpt::serialization::CArchive::internal_ReadObject(), mrpt::serialization::CArchive::internal_ReadObjectHeader(), and THROW_EXCEPTION_FMT.

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ReadObject() [3/3]

void CArchive::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.
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(), mrpt::serialization::CArchive::internal_ReadObject(), mrpt::serialization::CArchive::internal_ReadObjectHeader(), THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

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ReadPOD()

template<typename T >

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

inlineinherited

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 mrpt::serialization::CArchive::ReadBufferFixEndianness().

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

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ReadVariant()

template<typename... T>

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

inlineinherited

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(), mrpt::serialization::CArchive::internal_ReadObject(), mrpt::serialization::CArchive::internal_ReadObjectHeader(), mrpt::serialization::CArchive::ReadVariant_helper(), and THROW_EXCEPTION_FMT.

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

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receiveMessage()

bool CArchive::receiveMessage ( 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 555 of file CArchive.cpp.

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

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sendMessage()

void CArchive::sendMessage ( const 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 521 of file CArchive.cpp.

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

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write()

template<class STREAM >

size_t mrpt::serialization::CArchiveStreamBase< STREAM >::write ( const void *  buf, size_t  len  )

inlineoverrideprotectedvirtual

Writes a block of bytes.

Exceptions

std::exception

On any error

Returns

Number of bytes actually written.

Implements mrpt::serialization::CArchive.

Definition at line 579 of file CArchive.h.

References mrpt::serialization::CArchiveStreamBase< STREAM >::m_s.

WriteAs()

template<typename TYPE_TO_STORE , typename TYPE_FROM_ACTUAL >

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

inlineinherited

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  )

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.

Definition at line 49 of file CArchive.cpp.

References ASSERT_, THROW_EXCEPTION, and mrpt::serialization::CArchive::write().

Referenced by mrpt::serialization::CArchive::sendMessage(), mrpt::serialization::CArchive::WriteBufferFixEndianness(), and mrpt::serialization::CArchive::WriteObject().

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WriteBufferFixEndianness()

template<typename T >

void mrpt::serialization::CArchive::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 133 of file CArchive.h.

References mrpt::serialization::CArchive::WriteBuffer().

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

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WriteObject() [1/2]

void CArchive::WriteObject ( const CSerializable *  o )

inherited

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 mrpt::serialization::CArchive::WriteBuffer().

Referenced by mrpt::serialization::CArchive::operator<<(), and mrpt::serialization::CArchive::WriteVariant().

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WriteObject() [2/2]

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

inlineinherited

Definition at line 170 of file CArchive.h.

References mrpt::serialization::CArchive::WriteObject().

Referenced by mrpt::serialization::CArchive::WriteObject().

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WriteVariant()

template<typename T >

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

inlineinherited

Writes a Variant to the stream.

Definition at line 289 of file CArchive.h.

References mrpt::serialization::CArchive::WriteObject().

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Member Data Documentation

m_s

template<class STREAM >

STREAM& mrpt::serialization::CArchiveStreamBase< STREAM >::m_s

private

Definition at line 573 of file CArchive.h.

Referenced by mrpt::serialization::CArchiveStreamBase< std::istream >::read(), mrpt::serialization::CArchiveStreamBase< std::iostream >::read(), mrpt::serialization::CArchiveStreamBase< STREAM >::read(), mrpt::serialization::CArchiveStreamBase< std::ostream >::write(), mrpt::serialization::CArchiveStreamBase< std::iostream >::write(), and mrpt::serialization::CArchiveStreamBase< STREAM >::write().