<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> <html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> <title>CMessage.h Source File</title> <link href="doxygen.css" rel="stylesheet" type="text/css"> <link href="tabs.css" rel="stylesheet" type="text/css"> </head><body> <div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div> <div align="right"> <a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a> </div> <!-- Generated by Doxygen 1.7.5 --> <script type="text/javascript"> var searchBox = new SearchBox("searchBox", "search",false,'Search'); </script> <div id="navrow1" class="tabs"> <ul class="tablist"> <li><a href="index.html"><span>Main Page</span></a></li> <li><a href="pages.html"><span>Related Pages</span></a></li> <li><a href="modules.html"><span>Modules</span></a></li> <li><a href="namespaces.html"><span>Namespaces</span></a></li> <li><a href="annotated.html"><span>Classes</span></a></li> <li class="current"><a href="files.html"><span>Files</span></a></li> <li> <div id="MSearchBox" class="MSearchBoxInactive"> <div class="left"> <form id="FSearchBox" action="search.php" method="get"> <img id="MSearchSelect" src="search/mag.png" alt=""/> <input type="text" id="MSearchField" name="query" value="Search" size="20" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)" onblur="searchBox.OnSearchFieldFocus(false)"/> </form> </div><div class="right"></div> </div> </li> </ul> </div> <div id="navrow2" class="tabs2"> <ul class="tablist"> <li><a href="files.html"><span>File List</span></a></li> <li><a href="globals.html"><span>File Members</span></a></li> </ul> </div> <div class="header"> <div class="headertitle"> <div class="title">CMessage.h</div> </div> </div> <div class="contents"> <a href="_c_message_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span> <a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span> <a name="l00003"></a>00003 <span class="comment"> | |</span> <a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span> <a name="l00005"></a>00005 <span class="comment"> | |</span> <a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span> <a name="l00007"></a>00007 <span class="comment"> | |</span> <a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span> <a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span> <a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span> <a name="l00011"></a>00011 <span class="comment"> | |</span> <a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span> <a name="l00013"></a>00013 <span class="comment"> | |</span> <a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span> <a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span> <a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span> <a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span> <a name="l00018"></a>00018 <span class="comment"> | |</span> <a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span> <a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span> <a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span> <a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span> <a name="l00023"></a>00023 <span class="comment"> | |</span> <a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span> <a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span> <a name="l00026"></a>00026 <span class="comment"> | |</span> <a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span> <a name="l00028"></a>00028 <span class="preprocessor">#ifndef CMessage_H</span> <a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CMessage_H</span> <a name="l00030"></a>00030 <span class="preprocessor"></span> <a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="utils__defs_8h.html">mrpt/utils/utils_defs.h</a>></span> <a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span> <a name="l00033"></a>00033 <a name="l00034"></a>00034 <span class="comment">/*---------------------------------------------------------------</span> <a name="l00035"></a>00035 <span class="comment"> Class</span> <a name="l00036"></a>00036 <span class="comment"> ---------------------------------------------------------------*/</span> <a name="l00037"></a>00037 <span class="keyword">namespace </span>mrpt <a name="l00038"></a>00038 { <a name="l00039"></a>00039 <span class="keyword">namespace </span>utils <a name="l00040"></a>00040 {<span class="comment"></span> <a name="l00041"></a>00041 <span class="comment"> /** A class that contain generic messages, that can be sent and received from a "CClientTCPSocket" object.</span> <a name="l00042"></a>00042 <span class="comment"> * A message consists of a "header" (or type), and a "body" (or content).</span> <a name="l00043"></a>00043 <span class="comment"> * Apart from arbitrary data, specific methods are provided for easing the serialization of MRPT's "CSerializable" objects.</span> <a name="l00044"></a>00044 <span class="comment"> * This class is also used for passing data to hardware interfaces (see )</span> <a name="l00045"></a>00045 <span class="comment"> * \sa CClientTCPSocket</span> <a name="l00046"></a>00046 <span class="comment"> * \ingroup mrpt_base_grp</span> <a name="l00047"></a>00047 <span class="comment"> */</span> <a name="l00048"></a>00048 <span class="keyword">class </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="namespacemrpt_1_1utils.html#a1b6fb1ac8527aefbfa00af3c227d7f17">CMessage</a> <a name="l00049"></a>00049 { <a name="l00050"></a>00050 <span class="keyword">public</span>:<span class="comment"></span> <a name="l00051"></a>00051 <span class="comment"> /** An identifier of the message type.</span> <a name="l00052"></a>00052 <span class="comment"> */</span> <a name="l00053"></a><a class="code" href="classmrpt_1_1utils_1_1_c_message.html#af2cfa020aed88f03b538af843ccaaefd">00053</a> uint32_t <a class="code" href="classmrpt_1_1utils_1_1_c_message.html#af2cfa020aed88f03b538af843ccaaefd" title="An identifier of the message type.">type</a>; <a name="l00054"></a>00054 <span class="comment"></span> <a name="l00055"></a>00055 <span class="comment"> /** The contents of the message (memory is automatically handled by the std::vector object)</span> <a name="l00056"></a>00056 <span class="comment"> */</span> <a name="l00057"></a><a class="code" href="classmrpt_1_1utils_1_1_c_message.html#a8e688ef6498f21394a439feff486db65">00057</a> std<a class="code" href="classstd_1_1vector.html">::vector<unsigned char></a> <a class="code" href="classmrpt_1_1utils_1_1_c_message.html#a8e688ef6498f21394a439feff486db65" title="The contents of the message (memory is automatically handled by the std::vector object)">content</a>; <a name="l00058"></a>00058 <span class="comment"></span> <a name="l00059"></a>00059 <span class="comment"> /** A method for serializing a MRPT's object into the content.</span> <a name="l00060"></a>00060 <span class="comment"> * Any modification to data in "content" after this will corrupt the object serialization.</span> <a name="l00061"></a>00061 <span class="comment"> * Member "type" is unmodified in this method.</span> <a name="l00062"></a>00062 <span class="comment"> */</span> <a name="l00063"></a>00063 <span class="keywordtype">void</span> serializeObject( <a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">CSerializable</a> *obj ); <a name="l00064"></a>00064 <span class="comment"></span> <a name="l00065"></a>00065 <span class="comment"> /** A method that parse the data in the message into an existing object.</span> <a name="l00066"></a>00066 <span class="comment"> * Note that the class of the object must be known and must match the one of the serialized object.</span> <a name="l00067"></a>00067 <span class="comment"> * \except std::exception On corrupt data, unknown serialized objects, unknown serialized object version, non-matching classes,...</span> <a name="l00068"></a>00068 <span class="comment"> */</span> <a name="l00069"></a>00069 <span class="keywordtype">void</span> deserializeIntoExistingObject( <a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">CSerializable</a> *obj ); <a name="l00070"></a>00070 <span class="comment"></span> <a name="l00071"></a>00071 <span class="comment"> /** A method that parse the data in the message into a new object of (a priori) unknown class.</span> <a name="l00072"></a>00072 <span class="comment"> * The pointer will contain on return a copy of the reconstructed object. Deleting this object when</span> <a name="l00073"></a>00073 <span class="comment"> * no longer required is the responsability of the user. Note that previous contents of the pointer</span> <a name="l00074"></a>00074 <span class="comment"> * will be ignored (it should be NULL).</span> <a name="l00075"></a>00075 <span class="comment"> * \except std::exception On corrupt data, unknown serialized objects, unknown serialized object version,...</span> <a name="l00076"></a>00076 <span class="comment"> */</span> <a name="l00077"></a>00077 <span class="keywordtype">void</span> deserializeIntoNewObject( <a class="code" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">CSerializablePtr</a> &obj ); <a name="l00078"></a>00078 <span class="comment"></span> <a name="l00079"></a>00079 <span class="comment"> /** Sets the contents of the message from a string</span> <a name="l00080"></a>00080 <span class="comment"> * \sa getContentAsString</span> <a name="l00081"></a>00081 <span class="comment"> */</span> <a name="l00082"></a>00082 <span class="keywordtype">void</span> setContentFromString( <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &str ); <a name="l00083"></a>00083 <span class="comment"></span> <a name="l00084"></a>00084 <span class="comment"> /** Gets the contents of the message as a string</span> <a name="l00085"></a>00085 <span class="comment"> * \sa setContentFromString</span> <a name="l00086"></a>00086 <span class="comment"> */</span> <a name="l00087"></a>00087 <span class="keywordtype">void</span> getContentAsString( <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &str ); <a name="l00088"></a>00088 <span class="comment"></span> <a name="l00089"></a>00089 <span class="comment"> /** Sets the contents of the message from a "void*" (the pointer itself becomes the message) - This is intended for inter-thread comms only.</span> <a name="l00090"></a>00090 <span class="comment"> * \sa getContentAsPointer</span> <a name="l00091"></a>00091 <span class="comment"> */</span> <a name="l00092"></a>00092 <span class="keywordtype">void</span> setContentFromPointer( <span class="keywordtype">void</span> * ptr ); <a name="l00093"></a>00093 <span class="comment"></span> <a name="l00094"></a>00094 <span class="comment"> /** Gets the contents of the message as a "void*" (the pointer itself is the message) - This is intended for inter-thread comms only.</span> <a name="l00095"></a>00095 <span class="comment"> * \sa setContentFromPointer</span> <a name="l00096"></a>00096 <span class="comment"> */</span> <a name="l00097"></a>00097 <span class="keywordtype">void</span> * getContentAsPointer() <span class="keyword">const</span>; <a name="l00098"></a>00098 <span class="comment"></span> <a name="l00099"></a>00099 <span class="comment"> /** 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.</span> <a name="l00100"></a>00100 <span class="comment"> * \sa getContentAsStruct</span> <a name="l00101"></a>00101 <span class="comment"> */</span> <a name="l00102"></a>00102 <span class="keyword">template</span> <<span class="keyword">class</span> T> <a name="l00103"></a><a class="code" href="classmrpt_1_1utils_1_1_c_message.html#a6e987c71d5e34067f78a9499fc0af272">00103</a> <span class="keywordtype">void</span> setContentFromStruct( <span class="keyword">const</span> T &data ) <a name="l00104"></a>00104 { <a name="l00105"></a>00105 content.resize( <span class="keyword">sizeof</span>(data) ); <a name="l00106"></a>00106 T * ptr = <span class="keyword">reinterpret_cast<</span> T* <span class="keyword">></span>( &content[0] ); <a name="l00107"></a>00107 *ptr = data; <a name="l00108"></a>00108 } <a name="l00109"></a>00109 <span class="comment"></span> <a name="l00110"></a>00110 <span class="comment"> /** 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.</span> <a name="l00111"></a>00111 <span class="comment"> * \sa setContentFromStruct</span> <a name="l00112"></a>00112 <span class="comment"> */</span> <a name="l00113"></a>00113 <span class="keyword">template</span> <<span class="keyword">class</span> T> <a name="l00114"></a><a class="code" href="classmrpt_1_1utils_1_1_c_message.html#a2084b8a04bb4a9bc46063853f3edadc4">00114</a> <span class="keywordtype">void</span> getContentAsStruct( T &data )<span class="keyword"> const</span> <a name="l00115"></a>00115 <span class="keyword"> </span>{ <a name="l00116"></a>00116 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a> <a name="l00117"></a>00117 <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(content.size() == <span class="keyword">sizeof</span>(data) ); <a name="l00118"></a>00118 data = * <span class="keyword">reinterpret_cast<</span> T* <span class="keyword">></span>( &content[0] ); <a name="l00119"></a>00119 <a class="code" href="mrpt__macros_8h.html#a88a917260793b56abd83ad2a0d849eb1">MRPT_END</a> <a name="l00120"></a>00120 } <a name="l00121"></a>00121 <a name="l00122"></a>00122 <a name="l00123"></a>00123 }; <span class="comment">// End of class</span> <a name="l00124"></a>00124 <a name="l00125"></a>00125 } <span class="comment">// End of namespace</span> <a name="l00126"></a>00126 } <span class="comment">// End of namespace</span> <a name="l00127"></a>00127 <a name="l00128"></a>00128 <span class="preprocessor">#endif</span> </pre></div></div> </div> <br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>