A class that contain generic messages, that can be sent and received from a "CClientTCPSocket" object.
A message consists of a "header" (or type), and a "body" (or content). Apart from arbitrary data, specific methods are provided for easing the serialization of MRPT's "CSerializable" objects. This class is also used for passing data to hardware interfaces (see mrpt::hwdrivers::CSerialPort)
Definition at line 29 of file CMessage.h.
#include <mrpt/utils/CMessage.h>
Public Member Functions | |
| void | serializeObject (CSerializable *obj) |
| A method for serializing a MRPT's object into the content. More... | |
| void | deserializeIntoExistingObject (CSerializable *obj) |
| A method that parse the data in the message into an existing object. More... | |
| void | deserializeIntoNewObject (CSerializablePtr &obj) |
| A method that parse the data in the message into a new object of (a priori) unknown class. More... | |
| void | setContentFromString (const std::string &str) |
| Sets the contents of the message from a string. More... | |
| void | getContentAsString (std::string &str) |
| Gets the contents of the message as a string. More... | |
| void | setContentFromPointer (void *ptr) |
| Sets the contents of the message from a "void*" (the pointer itself becomes the message) - This is intended for inter-thread comms only. More... | |
| void * | getContentAsPointer () const |
| Gets the contents of the message as a "void*" (the pointer itself is the message) - This is intended for inter-thread comms only. More... | |
| template<class T > | |
| void | setContentFromStruct (const T &data) |
| Sets the contents of the message from an arbitary structure - This is intended for inter-thread comms only, the message will be not cross-platform. More... | |
| template<class T > | |
| void | getContentAsStruct (T &data) const |
| Gets the contents of the message as an arbitary structure - This is intended for inter-thread comms only, the message will be not cross-platform. More... | |
Public Attributes | |
| uint32_t | type |
| An identifier of the message type (only the least-sig byte is typically sent) More... | |
| std::vector< uint8_t > | content |
| The contents of the message (memory is automatically handled by the std::vector object) More... | |
| void CMessage::deserializeIntoExistingObject | ( | CSerializable * | obj | ) |
A method that parse the data in the message into an existing object.
Note that the class of the object must be known and must match the one of the serialized object. std::exception On corrupt data, unknown serialized objects, unknown serialized object version, non-matching classes,...
Definition at line 44 of file CMRPTMessage.cpp.
References content, MRPT_END, MRPT_START, and mrpt::utils::CStream::WriteBuffer().
| void CMessage::deserializeIntoNewObject | ( | CSerializablePtr & | obj | ) |
A method that parse the data in the message into a new object of (a priori) unknown class.
The pointer will contain on return a copy of the reconstructed object. Deleting this object when no longer required is the responsability of the user. Note that previous contents of the pointer will be ignored (it should be NULL). std::exception On corrupt data, unknown serialized objects, unknown serialized object version,...
Definition at line 62 of file CMRPTMessage.cpp.
References content, MRPT_END, MRPT_START, and mrpt::utils::CStream::WriteBuffer().
| void * CMessage::getContentAsPointer | ( | ) | const |
Gets the contents of the message as a "void*" (the pointer itself is the message) - This is intended for inter-thread comms only.
Definition at line 115 of file CMRPTMessage.cpp.
References ASSERT_, content, MRPT_END, and MRPT_START.
| void CMessage::getContentAsString | ( | std::string & | str | ) |
Gets the contents of the message as a string.
Definition at line 95 of file CMRPTMessage.cpp.
References content, and mrpt::system::os::memcpy().
Referenced by mrpt::hwdrivers::CServoeNeck::queryFirmwareVersion(), mrpt::hwdrivers::CBoardSonars::queryFirmwareVersion(), and mrpt::hwdrivers::CBoardENoses::queryFirmwareVersion().
|
inline |
Gets the contents of the message as an arbitary structure - This is intended for inter-thread comms only, the message will be not cross-platform.
Definition at line 90 of file CMessage.h.
References ASSERT_, MRPT_END, and MRPT_START.
| void CMessage::serializeObject | ( | CSerializable * | obj | ) |
A method for serializing a MRPT's object into the content.
Any modification to data in "content" after this will corrupt the object serialization. Member "type" is unmodified in this method.
Definition at line 23 of file CMRPTMessage.cpp.
References content, mrpt::system::os::memcpy(), MRPT_END, MRPT_START, and mrpt::utils::CStream::WriteObject().
Sets the contents of the message from a "void*" (the pointer itself becomes the message) - This is intended for inter-thread comms only.
Definition at line 105 of file CMRPTMessage.cpp.
References content.
| void CMessage::setContentFromString | ( | const std::string & | str | ) |
Sets the contents of the message from a string.
Definition at line 85 of file CMRPTMessage.cpp.
References content, and mrpt::system::os::memcpy().
|
inline |
Sets the contents of the message from an arbitary structure - This is intended for inter-thread comms only, the message will be not cross-platform.
Definition at line 79 of file CMessage.h.
| std::vector<uint8_t> mrpt::utils::CMessage::content |
The contents of the message (memory is automatically handled by the std::vector object)
Definition at line 33 of file CMessage.h.
Referenced by deserializeIntoExistingObject(), deserializeIntoNewObject(), mrpt::hwdrivers::CServoeNeck::disableServo(), mrpt::hwdrivers::CServoeNeck::enableServo(), mrpt::hwdrivers::CRoboticHeadInterface::Get3SoundBuffer(), getContentAsPointer(), getContentAsString(), mrpt::hwdrivers::CRoboticHeadInterface::GetGain(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CServoeNeck::getRegisterValue(), mrpt::hwdrivers::CRoboticHeadInterface::GetSoundLocation(), mrpt::hwdrivers::CBoardSonars::programI2CAddress(), mrpt::utils::CClientTCPSocket::receiveMessage(), mrpt::utils::CStream::receiveMessage(), mrpt::hwdrivers::CBoardSonars::sendConfigCommands(), mrpt::utils::CClientTCPSocket::sendMessage(), mrpt::utils::CStream::sendMessage(), serializeObject(), setContentFromPointer(), setContentFromString(), mrpt::hwdrivers::CRoboticHeadInterface::SetGain(), mrpt::hwdrivers::CServoeNeck::setRegisterValue(), and mrpt::hwdrivers::CServoeNeck::setRegisterValueAndSpeed().
| uint32_t mrpt::utils::CMessage::type |
An identifier of the message type (only the least-sig byte is typically sent)
Definition at line 32 of file CMessage.h.
Referenced by mrpt::hwdrivers::CServoeNeck::disableServo(), mrpt::hwdrivers::CServoeNeck::enableServo(), mrpt::hwdrivers::CRoboticHeadInterface::Get3SoundBuffer(), mrpt::hwdrivers::CRoboticHeadInterface::GetGain(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CServoeNeck::getRegisterValue(), mrpt::hwdrivers::CRoboticHeadInterface::GetSoundLocation(), mrpt::hwdrivers::CBoardSonars::programI2CAddress(), mrpt::hwdrivers::CServoeNeck::queryFirmwareVersion(), mrpt::hwdrivers::CBoardSonars::queryFirmwareVersion(), mrpt::hwdrivers::CBoardENoses::queryFirmwareVersion(), mrpt::utils::CClientTCPSocket::receiveMessage(), mrpt::utils::CStream::receiveMessage(), mrpt::hwdrivers::CBoardSonars::sendConfigCommands(), mrpt::utils::CClientTCPSocket::sendMessage(), mrpt::utils::CStream::sendMessage(), mrpt::hwdrivers::CRoboticHeadInterface::SetGain(), mrpt::hwdrivers::CServoeNeck::setRegisterValue(), and mrpt::hwdrivers::CServoeNeck::setRegisterValueAndSpeed().
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