00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CMessage_H 00029 #define CMessage_H 00030 00031 #include <mrpt/utils/utils_defs.h> 00032 #include <mrpt/utils/CSerializable.h> 00033 00034 /*--------------------------------------------------------------- 00035 Class 00036 ---------------------------------------------------------------*/ 00037 namespace mrpt 00038 { 00039 namespace utils 00040 { 00041 /** A class that contain generic messages, that can be sent and received from a "CClientTCPSocket" object. 00042 * A message consists of a "header" (or type), and a "body" (or content). 00043 * Apart from arbitrary data, specific methods are provided for easing the serialization of MRPT's "CSerializable" objects. 00044 * This class is also used for passing data to hardware interfaces (see ) 00045 * \sa CClientTCPSocket 00046 */ 00047 class MRPTDLLIMPEXP CMessage 00048 { 00049 public: 00050 /** An identifier of the message type. 00051 */ 00052 uint32_t type; 00053 00054 /** The contents of the message (memory is automatically handled by the std::vector object) 00055 */ 00056 std::vector<unsigned char> content; 00057 00058 /** A method for serializing a MRPT's object into the content. 00059 * Any modification to data in "content" after this will corrupt the object serialization. 00060 * Member "type" is unmodified in this method. 00061 */ 00062 void serializeObject( CSerializable *obj ); 00063 00064 /** A method that parse the data in the message into an existing object. 00065 * Note that the class of the object must be known and must match the one of the serialized object. 00066 * \except std::exception On corrupt data, unknown serialized objects, unknown serialized object version, non-matching classes,... 00067 */ 00068 void deserializeIntoExistingObject( CSerializable *obj ); 00069 00070 /** A method that parse the data in the message into a new object of (a priori) unknown class. 00071 * The pointer will contain on return a copy of the reconstructed object. Deleting this object when 00072 * no longer required is the responsability of the user. Note that previous contents of the pointer 00073 * will be ignored (it should be NULL). 00074 * \except std::exception On corrupt data, unknown serialized objects, unknown serialized object version,... 00075 */ 00076 void deserializeIntoNewObject( CSerializablePtr &obj ); 00077 00078 /** Sets the contents of the message from a string 00079 * \sa getContentAsString 00080 */ 00081 void setContentFromString( const std::string &str ); 00082 00083 /** Gets the contents of the message as a string 00084 * \sa setContentFromString 00085 */ 00086 void getContentAsString( std::string &str ); 00087 00088 /** Sets the contents of the message from a "void*" (the pointer itself becomes the message) - This is intended for inter-thread comms only. 00089 * \sa getContentAsPointer 00090 */ 00091 void setContentFromPointer( void * ptr ); 00092 00093 /** Gets the contents of the message as a "void*" (the pointer itself is the message) - This is intended for inter-thread comms only. 00094 * \sa setContentFromPointer 00095 */ 00096 void * getContentAsPointer() const; 00097 00098 /** 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. 00099 * \sa getContentAsStruct 00100 */ 00101 template <class T> 00102 void setContentFromStruct( const T &data ) 00103 { 00104 content.resize( sizeof(data) ); 00105 T * ptr = reinterpret_cast< T* >( &content[0] ); 00106 *ptr = data; 00107 } 00108 00109 /** 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. 00110 * \sa setContentFromStruct 00111 */ 00112 template <class T> 00113 void getContentAsStruct( T &data ) const 00114 { 00115 MRPT_TRY_START 00116 ASSERT_(content.size() == sizeof(data) ); 00117 data = * reinterpret_cast< T* >( &content[0] ); 00118 MRPT_TRY_END 00119 } 00120 00121 00122 }; // End of class 00123 00124 } // End of namespace 00125 } // End of namespace 00126 00127 #endif
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