Detailed Description

This CStream derived class allow using a file as a read/write binary stream, creating it if the file didn't exist.

The default behavior can be change to open as read, write, read and write,... in the constructor.

See also: CStream, CFileInputStream, CFileOutputStrea, CFileGZInputStream

Definition at line 41 of file CFileStream.h.

#include <mrpt/utils/CFileStream.h>

Inheritance diagram for mrpt::utils::CFileStream:

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

Public Member Functions
	CFileStream (const std::string &fileName, TFileOpenModes mode=fomRead\|fomWrite)
	Constructor and open a file. More...

	CFileStream ()
	Constructor. More...

	CFileStream (const CFileStream &)=delete

CFileStream &	operator= (const CFileStream &)=delete

virtual	~CFileStream ()
	Destructor. More...

bool	open (const std::string &fileName, TFileOpenModes mode=fomRead\|fomWrite)
	Opens the file, returning true on success. More...

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

bool	fileOpenCorrectly ()
	Returns true if the file was open without errors. More...

bool	is_open ()
	Returns true if the file was open without errors. More...

bool	checkEOF ()
	Will be true if EOF has been already reached. More...

uint64_t	Seek (uint64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning) override
	Method for moving to a specified position in the streamed resource. More...

uint64_t	getTotalBytesCount () override
	Method for getting the total number of bytes writen to buffer. More...

uint64_t	getPosition () override
	Method for getting the current cursor position, where 0 is the first byte and TotalBytesCount-1 the last one. More...

uint64_t	getPositionI ()
	The current Input cursor position, where 0 is the first byte. More...

uint64_t	getPositionO ()
	The current Input cursor position, where 0 is the first byte. More...

bool	readLine (std::string &str)
	Reads one string line from the file (until a new-line character) 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...

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...

Protected Member Functions
size_t	Read (void *Buffer, size_t Count) override
	Introduces a pure virtual method responsible for reading from the stream. More...

size_t	Write (const void *Buffer, size_t Count) override
	Introduces a pure virtual method responsible for writing to the stream. 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
std::fstream	m_f
	The actual input file stream. More...

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

◆ CFileStream() [1/3]

CFileStream::CFileStream	(	const std::string &	fileName,
		TFileOpenModes	mode = `fomRead \| fomWrite`
	)

Constructor and open a file.

Parameters

fileName	The file to be open in this stream
mode	The open mode: can be an or'd conbination of different values.

Exceptions

std::exception On error creating or accessing the file. By default the file is opened for open and write and created if not found.

Definition at line 29 of file CFileStream.cpp.

References mrpt::utils::fomAppend, mrpt::utils::fomRead, mrpt::utils::fomWrite, m_f, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

◆ CFileStream() [2/3]

CFileStream::CFileStream ( )

Constructor.

Definition at line 25 of file CFileStream.cpp.

◆ CFileStream() [3/3]

mrpt::utils::CFileStream::CFileStream ( const CFileStream & )

delete

◆ ~CFileStream()

CFileStream::~CFileStream ( )

virtual

Destructor.

Definition at line 86 of file CFileStream.cpp.

References m_f.

Member Function Documentation

◆ checkEOF()

bool CFileStream::checkEOF ( )

Will be true if EOF has been already reached.

Definition at line 208 of file CFileStream.cpp.

References m_f.

◆ close()

void CFileStream::close ( )

Closes the file.

Definition at line 82 of file CFileStream.cpp.

References m_f.

◆ fileOpenCorrectly()

bool CFileStream::fileOpenCorrectly ( )

Returns true if the file was open without errors.

Definition at line 192 of file CFileStream.cpp.

References m_f.

Referenced by getTotalBytesCount(), and is_open().

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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 CFileStream::getPosition ( )

overridevirtual

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

Implements mrpt::utils::CStream.

Definition at line 159 of file CFileStream.cpp.

References m_f.

Referenced by getTotalBytesCount(), and Seek().

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◆ getPositionI()

uint64_t CFileStream::getPositionI ( )

The current Input cursor position, where 0 is the first byte.

Definition at line 170 of file CFileStream.cpp.

References m_f.

◆ getPositionO()

uint64_t CFileStream::getPositionO ( )

The current Input cursor position, where 0 is the first byte.

Definition at line 181 of file CFileStream.cpp.

References m_f.

◆ getTotalBytesCount()

uint64_t CFileStream::getTotalBytesCount ( )

overridevirtual

Method for getting the total number of bytes writen to buffer.

Implements mrpt::utils::CStream.

Definition at line 146 of file CFileStream.cpp.

References fileOpenCorrectly(), getPosition(), Seek(), and mrpt::utils::CStream::sFromEnd.

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◆ 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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◆ is_open()

bool mrpt::utils::CFileStream::is_open ( )

inline

Returns true if the file was open without errors.

Definition at line 85 of file CFileStream.h.

References fileOpenCorrectly().

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◆ open()

bool CFileStream::open	(	const std::string &	fileName,
		TFileOpenModes	mode = `fomRead \| fomWrite`
	)

Opens the file, returning true on success.

Parameters

fileName	The file to be open in this stream
mode	The open mode: can be an or'd conbination of different values. By default the file is opened for open and write and created if not found.

Definition at line 55 of file CFileStream.cpp.

References mrpt::utils::fomAppend, mrpt::utils::fomRead, mrpt::utils::fomWrite, m_f, MRPT_END, and MRPT_START.

◆ 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=()

CFileStream& mrpt::utils::CFileStream::operator= ( const CFileStream & )

delete

◆ 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 CFileStream::Read	(	void *	Buffer,
		size_t	Count
	)

overrideprotectedvirtual

Introduces a pure virtual method responsible for reading from the stream.

Implements mrpt::utils::CStream.

Definition at line 91 of file CFileStream.cpp.

References m_f.

◆ 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.

◆ 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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◆ readLine()

bool CFileStream::readLine ( std::string & str )

Reads one string line from the file (until a new-line character)

Returns: true if a line has been read, false on EOF or error

Definition at line 196 of file CFileStream.cpp.

References m_f.

◆ 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()

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()

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

overridevirtual

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

See documentation of CStream::Seek

Implements mrpt::utils::CStream.

Definition at line 115 of file CFileStream.cpp.

References getPosition(), m_f, mrpt::utils::CStream::sFromBeginning, mrpt::utils::CStream::sFromCurrent, mrpt::utils::CStream::sFromEnd, and THROW_EXCEPTION.

Referenced by getTotalBytesCount().

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◆ sendMessage()

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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◆ Write()

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

overrideprotectedvirtual

Introduces a pure 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.

Implements mrpt::utils::CStream.

Definition at line 102 of file CFileStream.cpp.

References m_f.

◆ 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);