Detailed Description

A TCP socket that can be connected to a TCP server, implementing MRPT's CStream interface for passing objects as well as generic read/write methods.

Unless otherwise noticed, operations are blocking.

Note that for convenience, DNS lookup is performed with a timeout (default=3000ms), which can be changed by the static member CClientTCPSocket::DNS_LOOKUP_TIMEOUT_MS

Definition at line 36 of file CClientTCPSocket.h.

#include <mrpt/comms/CClientTCPSocket.h>

Inheritance diagram for mrpt::comms::CClientTCPSocket:

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

Public Member Functions
	CClientTCPSocket ()
	Default constructor. More...

	~CClientTCPSocket ()
	Destructor. More...

void	connect (const std::string &remotePartAddress, unsigned short remotePartTCPPort, unsigned int timeout_ms=0)
	Establishes a connection with a remote part. More...

bool	isConnected ()
	Returns true if this objects represents a successfully connected socket. More...

void	close ()
	Closes the connection. More...

void	sendString (const std::string &str)
	Writes a string to the socket. More...

uint64_t	Seek (uint64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning) override
	This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception. More...

uint64_t	getTotalBytesCount () override
	This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception. More...

uint64_t	getPosition () override
	This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception. More...

size_t	readAsync (void *Buffer, const size_t Count, const int timeoutStart_ms=-1, const int timeoutBetween_ms=-1)
	A method for reading from the socket with an optional timeout. More...

size_t	writeAsync (const void *Buffer, const size_t Count, const int timeout_ms=-1)
	A method for writing to the socket with optional timeouts. More...

bool	sendMessage (const mrpt::utils::CMessage &outMsg, const int timeout_ms=-1)
	Send a message through the TCP stream. More...

bool	receiveMessage (mrpt::utils::CMessage &inMsg, const unsigned int timeoutStart_ms=100, const unsigned int timeoutBetween_ms=1000)
	Waits for an incoming message through the TCP stream. More...

size_t	getReadPendingBytes ()
	Return the number of bytes already in the receive queue (they can be read without waiting) More...

int	setTCPNoDelay (const int &newValue)
	Set the TCP no delay option of the protocol (Nagle algorithm). More...

int	getTCPNoDelay ()
	Return the value of the TCPNoDelay option. More...

int	setSOSendBufffer (const int &newValue)
	Set the size of the SO send buffer. More...

int	getSOSendBufffer ()
	Return the current size of the SO send buffer. 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...

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...

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

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>
mrpt::utils::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...

CStream &	operator<< (const CSerializable::Ptr &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>> (CSerializable::Ptr &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...

Static Public Attributes
static unsigned int	DNS_LOOKUP_TIMEOUT_MS = 3000
	See description of CClientTCPSocket. More...

Protected Member Functions
size_t	Read (void *Buffer, size_t Count) override
	Introduces a virtual method responsible for reading from the stream (This method BLOCKS) This method is implemented as a call to "readAsync" with infinite timeouts. More...

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

std::string	getLastErrorStr ()
	Returns a description of the last Sockets error. 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...

Protected Attributes
int	m_hSock
	The handle for the connected TCP socket, or -1. More...

std::string	m_remotePartIP
	The IP address of the remote part of the connection. More...

unsigned short	m_remotePartPort
	The TCP port of the remote part of the connection. More...

Friends
class	CServerTCPSocket

Member Enumeration Documentation

◆ TSeekOrigin

enum mrpt::utils::CStream::TSeekOrigin

inherited

Used in CStream::Seek.

Enumerator
sFromBeginning
sFromCurrent
sFromEnd

Definition at line 45 of file CStream.h.

Constructor & Destructor Documentation

◆ CClientTCPSocket()

CClientTCPSocket::CClientTCPSocket ( )

Default constructor.

See also: connect

Definition at line 49 of file CClientTCPSocket.cpp.

References INVALID_SOCKET, MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ ~CClientTCPSocket()

CClientTCPSocket::~CClientTCPSocket ( )

Destructor.

Definition at line 72 of file CClientTCPSocket.cpp.

Member Function Documentation

◆ close()

void CClientTCPSocket::close ( )

Closes the connection.

Definition at line 83 of file CClientTCPSocket.cpp.

References INVALID_SOCKET, MRPT_END, and MRPT_START.

Referenced by mrpt::hwdrivers::CNTRIPClient::private_ntrip_thread().

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◆ connect()

void CClientTCPSocket::connect	(	const std::string &	remotePartAddress,
		unsigned short	remotePartTCPPort,
		unsigned int	timeout_ms = `0`
	)

Establishes a connection with a remote part.

Parameters

remotePartAddress	This string can be a host name, like "server" or "www.mydomain.org", or an IP address "11.22.33.44".
remotePartTCPPort	The port on the remote machine to connect to.
timeout_ms	The timeout to wait for the connection (0: NO TIMEOUT)

Exceptions

This	method raises an exception if an error is found with a textual description of the error.

Definition at line 241 of file CClientTCPSocket.cpp.

References mrpt::comms::net::DNS_resolve_async(), mrpt::format(), INVALID_SOCKET, mrpt::obs::gnss::lon, MRPT_END, MRPT_START, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

Referenced by mrpt::hwdrivers::CHokuyoURG::checkCOMisOpen(), mrpt::comms::net::http_request(), and mrpt::hwdrivers::CNTRIPClient::private_ntrip_thread().

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◆ getLastErrorStr()

std::string CClientTCPSocket::getLastErrorStr ( )

protected

Returns a description of the last Sockets error.

Definition at line 629 of file CClientTCPSocket.cpp.

References mrpt::comms::net::getLastSocketErrorStr().

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◆ 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 780 of file CStream.cpp.

◆ getPosition()

uint64_t mrpt::comms::CClientTCPSocket::getPosition ( )

inlineoverridevirtual

This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception.

Implements mrpt::utils::CStream.

Definition at line 136 of file CClientTCPSocket.h.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ getReadPendingBytes()

size_t CClientTCPSocket::getReadPendingBytes ( )

Return the number of bytes already in the receive queue (they can be read without waiting)

Definition at line 554 of file CClientTCPSocket.cpp.

References INVALID_SOCKET, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CHokuyoURG::purgeBuffers().

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◆ getSOSendBufffer()

int CClientTCPSocket::getSOSendBufffer ( )

Return the current size of the SO send buffer.

Definition at line 616 of file CClientTCPSocket.cpp.

◆ getTCPNoDelay()

int CClientTCPSocket::getTCPNoDelay ( )

Return the value of the TCPNoDelay option.

Definition at line 586 of file CClientTCPSocket.cpp.

◆ getTotalBytesCount()

uint64_t mrpt::comms::CClientTCPSocket::getTotalBytesCount ( )

inlineoverridevirtual

This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception.

Implements mrpt::utils::CStream.

Definition at line 127 of file CClientTCPSocket.h.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ internal_ReadObject()

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

protectedinherited

Read the object.

Definition at line 523 of file CStream.cpp.

References SERIALIZATION_END_FLAG, THROW_EXCEPTION, THROW_EXCEPTION_FMT, and THROW_TYPED_EXCEPTION.

Referenced by mrpt::utils::CStream::ReadObject(), and mrpt::utils::CStream::ReadVariant().

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◆ internal_ReadObjectHeader()

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

protectedinherited

Read the object Header.

Definition at line 420 of file CStream.cpp.

References ASSERT_, THROW_EXCEPTION, THROW_STACKED_EXCEPTION_CUSTOM_MSG2, and THROW_TYPED_EXCEPTION.

Referenced by mrpt::utils::CStream::ReadObject(), and mrpt::utils::CStream::ReadVariant().

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◆ isConnected()

bool CClientTCPSocket::isConnected ( )

Returns true if this objects represents a successfully connected socket.

Definition at line 379 of file CClientTCPSocket.cpp.

References INVALID_SOCKET.

Referenced by mrpt::hwdrivers::CHokuyoURG::checkCOMisOpen(), mrpt::comms::net::http_request(), and mrpt::hwdrivers::CNTRIPClient::private_ntrip_thread().

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◆ operator<<() [1/2]

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

inherited

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

Definition at line 201 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 208 of file CStream.cpp.

◆ operator>>() [1/2]

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

inherited

Definition at line 214 of file CStream.cpp.

◆ operator>>() [2/2]

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

inherited

Definition at line 220 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 597 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 370 of file CStream.h.

References mrpt::utils::CStream::printf().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().

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◆ Read()

size_t CClientTCPSocket::Read	(	void *	Buffer,
		size_t	Count
	)

overrideprotectedvirtual

Introduces a virtual method responsible for reading from the stream (This method BLOCKS) This method is implemented as a call to "readAsync" with infinite timeouts.

See also: readAsync

Implements mrpt::utils::CStream.

Definition at line 110 of file CClientTCPSocket.cpp.

References MRPT_END, and MRPT_START.

◆ 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 353 of file CStream.h.

◆ readAsync()

size_t CClientTCPSocket::readAsync	(	void *	Buffer,
		const size_t	Count,
		const int	timeoutStart_ms = `-1`,
		const int	timeoutBetween_ms = `-1`
	)

A method for reading from the socket with an optional timeout.

Parameters

Buffer	The destination of data.
Cound	The number of bytes to read.
timeoutStart_ms	The maximum timeout (in milliseconds) to wait for the starting of data from the other side.
timeoutBetween_ms	The maximum timeout (in milliseconds) to wait for a chunk of data after a previous one. Set timeout's to -1 to block until the desired number of bytes are read, or an error happens.

Returns: The number of actually read bytes.

Definition at line 383 of file CClientTCPSocket.cpp.

References INVALID_SOCKET, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

Referenced by mrpt::hwdrivers::CHokuyoURG::assureBufferHasBytes(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::comms::net::http_request(), and mrpt::hwdrivers::CNTRIPClient::private_ntrip_thread().

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◆ 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 40 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(), mrpt::hwdrivers::CHokuyoURG::purgeBuffers(), mrpt::utils::CStream::ReadBufferFixEndianness(), and mrpt::utils::CStream::ReadBufferImmediate().

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◆ 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 108 of file CStream.h.

References mrpt::utils::CStream::ReadBuffer(), and mrpt::mrpt::utils::reverseBytesInPlace().

Referenced by mrpt::math::operator>>(), mrpt::utils::CStream::ReadPOD(), and triangle_readFromStream().

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◆ 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::comms::CInterfaceFTDI.

Definition at line 129 of file CStream.h.

References mrpt::utils::CStream::ReadBuffer().

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◆ ReadObject() [1/3]

CSerializable::Ptr mrpt::utils::CStream::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.
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 207 of file CStream.h.

Referenced by mrpt::utils::mrpt_recv_from_zmq(), mrpt::utils::mrpt_recv_from_zmq_into(), mrpt::utils::OctetVectorToObject(), mrpt::utils::operator>>(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::utils::RawStringToObject(), mrpt::utils::StringToObject(), and TEST().

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◆ ReadObject() [2/3]

template<typename T >

T::Ptr mrpt::utils::CStream::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 mrpt::make_aligned_shared<T>.

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 217 of file CStream.h.

References mrpt::utils::TRuntimeClassId::createObject(), mrpt::utils::findRegisteredClass(), mrpt::utils::CStream::internal_ReadObject(), and mrpt::utils::CStream::internal_ReadObjectHeader().

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◆ ReadObject() [3/3]

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 566 of file CStream.cpp.

References ASSERT_, mrpt::utils::TRuntimeClassId::className, mrpt::utils::findRegisteredClass(), mrpt::format(), mrpt::utils::CSerializable::GetRuntimeClass(), THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

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◆ ReadPOD()

template<typename T >

T mrpt::utils::CStream::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 325 of file CStream.h.

References mrpt::utils::CStream::ReadBufferFixEndianness().

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◆ ReadVariant()

template<typename... T>

mrpt::utils::variant<T...> mrpt::utils::CStream::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.
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 282 of file CStream.h.

References mrpt::utils::TRuntimeClassId::createObject(), mrpt::utils::findRegisteredClass(), mrpt::utils::CStream::internal_ReadObject(), mrpt::utils::CStream::internal_ReadObjectHeader(), mrpt::utils::CStream::ReadVariant_helper(), and THROW_EXCEPTION_FMT.

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

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◆ receiveMessage() [1/2]

bool CClientTCPSocket::receiveMessage	(	mrpt::utils::CMessage &	inMsg,
		const unsigned int	timeoutStart_ms = `100`,
		const unsigned int	timeoutBetween_ms = `1000`
	)

Waits for an incoming message through the TCP stream.

Parameters

inMsg	The received message is placed here.
timeoutStart_ms	The maximum timeout (in milliseconds) to wait for the starting of data from the other side.
timeoutBetween_ms	The maximum timeout (in milliseconds) to wait for a chunk of data after a previous one.

Returns: Returns false on any error (or timeout), or true if everything goes fine.

Definition at line 186 of file CClientTCPSocket.cpp.

References mrpt::system::os::_strcmpi(), mrpt::utils::CMessage::content, and mrpt::utils::CMessage::type.

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◆ receiveMessage() [2/2]

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 686 of file CStream.cpp.

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

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◆ Seek() [1/2]

uint64_t mrpt::comms::CClientTCPSocket::Seek	(	uint64_t	Offset,
		CStream::TSeekOrigin	Origin = `sFromBeginning`
	)

inlineoverride

This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception.

Definition at line 115 of file CClientTCPSocket.h.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ Seek() [2/2]

virtual uint64_t mrpt::utils::CStream::Seek	(	uint64_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::CFileStream, mrpt::utils::CFileGZInputStream, mrpt::utils::CFileOutputStream, mrpt::utils::CMemoryStream, mrpt::utils::CFileInputStream, and mrpt::utils::CStdOutStream.

◆ sendMessage() [1/2]

bool CClientTCPSocket::sendMessage	(	const mrpt::utils::CMessage &	outMsg,
		const int	timeout_ms = `-1`
	)

Send a message through the TCP stream.

Parameters

outMsg	The message to be shown.
timeout_ms	The maximum timeout (in milliseconds) to wait for the socket in each write operation.

Returns: Returns false on any error, or true if everything goes fine.

Definition at line 142 of file CClientTCPSocket.cpp.

References mrpt::utils::CMessage::content, and mrpt::utils::CMessage::type.

◆ sendMessage() [2/2]

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 649 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().

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◆ sendString()

void CClientTCPSocket::sendString ( const std::string & str )

Writes a string to the socket.

Exceptions

std::exception On communication errors

Definition at line 134 of file CClientTCPSocket.cpp.

Referenced by mrpt::comms::net::http_request(), and mrpt::hwdrivers::CNTRIPClient::private_ntrip_thread().

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◆ setSOSendBufffer()

int CClientTCPSocket::setSOSendBufffer ( const int & newValue )

Set the size of the SO send buffer.

This buffer is used to store data, and is sended when is full.

Parameters

newValue New size of the SO send buffer.

Returns: Return a number lower than 0 if any error occurred.

Definition at line 606 of file CClientTCPSocket.cpp.

◆ setTCPNoDelay()

int CClientTCPSocket::setTCPNoDelay ( const int & newValue )

Set the TCP no delay option of the protocol (Nagle algorithm).

Parameters

newValue New value (0 enable Nagle algorithm, 1 disable).

Returns: Return a number lower than 0 if any error occurred.

Definition at line 575 of file CClientTCPSocket.cpp.

◆ Write()

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

overrideprotectedvirtual

Introduces a 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. This method is implemented as a call to "writeAsync" with infinite timeouts.

See also: writeAsync

Implements mrpt::utils::CStream.

Definition at line 122 of file CClientTCPSocket.cpp.

References MRPT_END, and MRPT_START.

◆ writeAsync()

size_t CClientTCPSocket::writeAsync	(	const void *	Buffer,
		const size_t	Count,
		const int	timeout_ms = `-1`
	)

A method for writing to the socket with optional timeouts.

The method supports writing block by block as the socket allows us to write more data.

Parameters

Buffer	The data.
Cound	The number of bytes to write.
timeout_ms	The maximum timeout (in milliseconds) to wait for the socket to be available for writing (for each block). Set timeout's to -1 to block until the desired number of bytes are written, or an error happens.

Returns: The number of actually written bytes.

Definition at line 474 of file CClientTCPSocket.cpp.

References INVALID_SOCKET, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

Referenced by mrpt::hwdrivers::CNTRIPClient::private_ntrip_thread().

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◆ WriteBuffer()

void 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.

Definition at line 64 of file CStream.cpp.

References ASSERT_, and THROW_EXCEPTION.

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◆ 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 159 of file CStream.h.

References mrpt::utils::CStream::WriteBuffer().

Referenced by mrpt::math::operator<<(), triangle_writeToStream(), mrpt::math::CMatrix::writeToStream(), mrpt::math::CMatrixD::writeToStream(), mrpt::maps::CWeightedPointsMap::writeToStream(), mrpt::maps::CColouredPointsMap::writeToStream(), mrpt::maps::CSimplePointsMap::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::maps::COccupancyGridMap2D::writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().

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◆ WriteObject() [1/2]

void CStream::WriteObject ( const CSerializable * o )

inherited

Writes an object to the stream.

Definition at line 158 of file CStream.cpp.

References ASSERT_, mrpt::utils::TRuntimeClassId::className, mrpt::utils::CSerializable::GetRuntimeClass(), MRPT_END, MRPT_START, SERIALIZATION_END_FLAG, and mrpt::utils::CSerializable::writeToStream().

Referenced by mrpt::utils::mrpt_send_to_zmq(), mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::math::operator<<(), mrpt::utils::CMessage::serializeObject(), and mrpt::utils::CStream::WriteVariant().

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◆ WriteObject() [2/2]

void mrpt::utils::CStream::WriteObject ( const CSerializable & o )

inlineinherited

Definition at line 198 of file CStream.h.

References mrpt::utils::CStream::WriteObject().

Referenced by mrpt::utils::CStream::WriteObject().

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◆ WriteVariant()

template<typename T >

void mrpt::utils::CStream::WriteVariant ( T t )

inlineinherited

Writes a Variant to the stream.

Definition at line 312 of file CStream.h.

References mrpt::utils::CStream::WriteObject().

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Friends And Related Function Documentation

◆ CServerTCPSocket

friend class CServerTCPSocket

friend

Definition at line 38 of file CClientTCPSocket.h.

Member Data Documentation

◆ DNS_LOOKUP_TIMEOUT_MS

unsigned int CClientTCPSocket::DNS_LOOKUP_TIMEOUT_MS = 3000

static

See description of CClientTCPSocket.

Definition at line 42 of file CClientTCPSocket.h.

◆ m_hSock

int mrpt::comms::CClientTCPSocket::m_hSock

protected

The handle for the connected TCP socket, or -1.

Definition at line 56 of file CClientTCPSocket.h.

◆ m_remotePartIP

std::string mrpt::comms::CClientTCPSocket::m_remotePartIP

protected

The IP address of the remote part of the connection.

Definition at line 59 of file CClientTCPSocket.h.

◆ m_remotePartPort

unsigned short mrpt::comms::CClientTCPSocket::m_remotePartPort

protected

The TCP port of the remote part of the connection.

Definition at line 61 of file CClientTCPSocket.h.

Detailed Description

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Friends

Member Enumeration Documentation

◆ TSeekOrigin

Constructor & Destructor Documentation

◆ CClientTCPSocket()

◆ ~CClientTCPSocket()

Member Function Documentation

◆ close()

◆ connect()

◆ getLastErrorStr()

◆ getline()

◆ getPosition()

◆ getReadPendingBytes()

◆ getSOSendBufffer()

◆ getTCPNoDelay()

◆ getTotalBytesCount()

◆ internal_ReadObject()

◆ internal_ReadObjectHeader()

◆ isConnected()

◆ operator<<() [1/2]

◆ operator<<() [2/2]

◆ operator>>() [1/2]

◆ operator>>() [2/2]

◆ printf()

◆ printf_vector()

◆ Read()

◆ ReadAsAndCastTo()

◆ readAsync()

◆ ReadBuffer()

◆ ReadBufferFixEndianness()

◆ ReadBufferImmediate()

◆ ReadObject() [1/3]

◆ ReadObject() [2/3]

◆ ReadObject() [3/3]

◆ ReadPOD()

◆ ReadVariant()

◆ receiveMessage() [1/2]

◆ receiveMessage() [2/2]

◆ Seek() [1/2]

◆ Seek() [2/2]

◆ sendMessage() [1/2]

◆ sendMessage() [2/2]

◆ sendString()

◆ setSOSendBufffer()

◆ setTCPNoDelay()

◆ Write()

◆ writeAsync()

◆ WriteBuffer()

◆ WriteBufferFixEndianness()

◆ WriteObject() [1/2]

◆ WriteObject() [2/2]

◆ WriteVariant()

Friends And Related Function Documentation

◆ CServerTCPSocket

Member Data Documentation

◆ DNS_LOOKUP_TIMEOUT_MS

◆ m_hSock

◆ m_remotePartIP

◆ m_remotePartPort