Detailed Description

This CStream derived class allow using a memory buffer as a CStream.

This class is useful for storing any required set of variables or objects, and then read them to other objects, or storing them to a file, for example.

See also: CStream

Definition at line 27 of file CMemoryStream.h.

#include <mrpt/utils/CMemoryStream.h>

Inheritance diagram for mrpt::utils::CMemoryStream:

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

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

	CMemoryStream (const void *data, const uint64_t nBytesInData)
	Constructor to initilize the data in the stream from a block of memory (which is copied), and sets the current stream position at the beginning of the data. More...

void	assignMemoryNotOwn (const void *data, const uint64_t nBytesInData)
	Initilize the data in the stream from a block of memory which is NEITHER OWNED NOR COPIED by the object, so it must exist during the whole live of the object. More...

virtual	~CMemoryStream ()
	Destructor. More...

void	Clear ()
	Clears the memory buffer. More...

void	changeSize (uint64_t newSize)
	Change size. More...

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

uint64_t	getTotalBytesCount () override
	Returns the total size of the internal 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...

void *	getRawBufferData ()
	Method for getting a pointer to the raw stored data. More...

bool	saveBufferToFile (const std::string &file_name)
	Saves the entire buffer to a file. More...

bool	loadBufferFromFile (const std::string &file_name)
	Loads the entire buffer from a file *. More...

void	setAllocBlockSize (uint64_t alloc_block_size)
	Change the size of the additional memory block that is reserved whenever the current block runs too short (default=0x10000 bytes) 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	resize (uint64_t newSize)
	Resizes the internal buffer size. 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
void_ptr_noncopy	m_memory
	Internal data. More...

uint64_t	m_size

uint64_t	m_position

uint64_t	m_bytesWritten

uint64_t	m_alloc_block_size

bool	m_read_only
	If the memory block does not belong to the object. 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

◆ CMemoryStream() [1/2]

CMemoryStream::CMemoryStream ( )

Default constructor.

Definition at line 24 of file CMemoryStream.cpp.

◆ CMemoryStream() [2/2]

CMemoryStream::CMemoryStream	(	const void *	data,
		const uint64_t	nBytesInData
	)

Constructor to initilize the data in the stream from a block of memory (which is copied), and sets the current stream position at the beginning of the data.

See also: assignMemoryNotOwn

Definition at line 37 of file CMemoryStream.cpp.

References ASSERT_, mrpt::utils::non_copiable_ptr_basic< T >::get(), m_bytesWritten, m_memory, mrpt::system::os::memcpy(), MRPT_END, MRPT_START, and resize().

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◆ ~CMemoryStream()

CMemoryStream::~CMemoryStream ( )

virtual

Destructor.

Definition at line 74 of file CMemoryStream.cpp.

References m_read_only, and resize().

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Member Function Documentation

◆ assignMemoryNotOwn()

void CMemoryStream::assignMemoryNotOwn	(	const void *	data,
		const uint64_t	nBytesInData
	)

Initilize the data in the stream from a block of memory which is NEITHER OWNED NOR COPIED by the object, so it must exist during the whole live of the object.

After assigning a block of data with this method, the object becomes "read-only", so further attempts to change the size of the buffer will raise an exception. This method resets the write and read positions to the beginning.

Definition at line 60 of file CMemoryStream.cpp.

References Clear(), m_bytesWritten, m_memory, m_position, m_read_only, m_size, and mrpt::utils::non_copiable_ptr_basic< T >::set().

Referenced by mrpt::utils::mrpt_recv_from_zmq_buf(), mrpt::utils::OctetVectorToObject(), and mrpt::utils::RawStringToObject().

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◆ changeSize()

void CMemoryStream::changeSize ( uint64_t newSize )

Change size.

This would be rarely used. Use ">>" operators for writing to stream

See also: Stream

Definition at line 221 of file CMemoryStream.cpp.

References resize().

Referenced by mrpt::utils::CImage::readFromStream().

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◆ Clear()

void CMemoryStream::Clear ( )

Clears the memory buffer.

Definition at line 194 of file CMemoryStream.cpp.

References m_bytesWritten, m_memory, m_position, m_read_only, m_size, and resize().

Referenced by assignMemoryNotOwn(), loadBufferFromFile(), and mrpt::utils::mrpt_recv_from_zmq_buf().

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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 CMemoryStream::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 190 of file CMemoryStream.cpp.

References m_position.

◆ getRawBufferData()

void * CMemoryStream::getRawBufferData ( )

Method for getting a pointer to the raw stored data.

The lenght in bytes is given by getTotalBytesCount

Definition at line 215 of file CMemoryStream.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), and m_memory.

Referenced by mrpt::obs::CObservationGPS::dumpToConsole(), mrpt::utils::mrpt_send_to_zmq(), mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::utils::CImage::readFromStream(), mrpt::utils::StringToObject(), and mrpt::utils::CImage::writeToStream().

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◆ getTotalBytesCount()

uint64_t CMemoryStream::getTotalBytesCount ( )

overridevirtual

Returns the total size of the internal buffer.

Implements mrpt::utils::CStream.

Definition at line 186 of file CMemoryStream.cpp.

References m_bytesWritten.

Referenced by mrpt::obs::CObservationGPS::dumpToConsole(), mrpt::utils::mrpt_recv_from_zmq_buf(), mrpt::utils::mrpt_send_to_zmq(), mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), saveBufferToFile(), mrpt::utils::StringToObject(), and mrpt::utils::CImage::writeToStream().

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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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◆ loadBufferFromFile()

bool CMemoryStream::loadBufferFromFile ( const std::string & file_name )

Loads the entire buffer from a file *.

Returns: true on success, false on error

Definition at line 242 of file CMemoryStream.cpp.

References Clear(), mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::utils::CFileInputStream::getTotalBytesCount(), m_bytesWritten, m_memory, m_position, mrpt::utils::CStream::ReadBuffer(), and resize().

Referenced by mrpt::opengl::C3DSScene::writeToStream(), mrpt::maps::CColouredOctoMap::writeToStream(), and mrpt::maps::COctoMap::writeToStream().

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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 CMemoryStream::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 117 of file CMemoryStream.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), m_memory, m_position, m_size, mrpt::system::os::memcpy(), and min.

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◆ 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(), 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()

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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◆ resize()

void CMemoryStream::resize ( uint64_t newSize )

protected

Resizes the internal buffer size.

Definition at line 86 of file CMemoryStream.cpp.

References ASSERT_, mrpt::utils::non_copiable_ptr_basic< T >::get(), m_bytesWritten, m_memory, m_position, m_read_only, m_size, mrpt::utils::non_copiable_ptr_basic< T >::set(), and THROW_EXCEPTION.

Referenced by changeSize(), Clear(), CMemoryStream(), loadBufferFromFile(), mrpt::utils::CMemoryChunk::readFromStream(), Write(), and ~CMemoryStream().

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◆ saveBufferToFile()

bool CMemoryStream::saveBufferToFile ( const std::string & file_name )

Saves the entire buffer to a file.

Returns: true on success, false on error

Definition at line 225 of file CMemoryStream.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), getTotalBytesCount(), m_memory, and mrpt::utils::CStream::WriteBuffer().

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◆ Seek()

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

overridevirtual

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.

Implements mrpt::utils::CStream.

Definition at line 163 of file CMemoryStream.cpp.

References m_bytesWritten, m_position, m_size, mrpt::utils::CStream::sFromBeginning, mrpt::utils::CStream::sFromCurrent, and mrpt::utils::CStream::sFromEnd.

Referenced by mrpt::obs::gnss::gnss_message_ptr::gnss_message_ptr(), mrpt::hwdrivers::CGPSInterface::implement_parser_NOVATEL_OEM6(), mrpt::utils::mrpt_recv_from_zmq_buf(), mrpt::obs::gnss::gnss_message_ptr::operator=(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::utils::CImage::readFromStream(), mrpt::utils::StringToObject(), TEST(), and GraphSlamLevMarqTester< my_graph_t >::test_graph_bin_serialization().

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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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◆ setAllocBlockSize()

void mrpt::utils::CMemoryStream::setAllocBlockSize ( uint64_t alloc_block_size )

inline

Change the size of the additional memory block that is reserved whenever the current block runs too short (default=0x10000 bytes)

Definition at line 94 of file CMemoryStream.h.

References ASSERT_, and m_alloc_block_size.

◆ Write()

size_t CMemoryStream::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 136 of file CMemoryStream.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), m_alloc_block_size, m_bytesWritten, m_memory, m_position, m_size, mrpt::system::os::memcpy(), and resize().

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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);