Description

Bounds-checked reader over a CDR-encoded byte range. Does not own the data.

#include <ChROSCdr.h>

Public Member Functions
	CdrReader (const uint8_t *data, size_t size, bool with_encapsulation=true)

bool	ReadBool ()

uint8_t	ReadUInt8 ()

int8_t	ReadInt8 ()

uint16_t	ReadUInt16 ()

int16_t	ReadInt16 ()

uint32_t	ReadUInt32 ()

int32_t	ReadInt32 ()

uint64_t	ReadUInt64 ()

int64_t	ReadInt64 ()

float	ReadFloat32 ()

double	ReadFloat64 ()

std::string	ReadString ()

void	ReadBytes (void *out, size_t size)
	Read raw bytes (no alignment, no length prefix).

std::vector< uint8_t >	ReadBlob ()
	Read a length-prefixed byte blob written by CdrWriter::WriteBlob.

void	Align (size_t alignment)
	Advance to the given alignment relative to the encapsulation origin.

void	Skip (size_t size)
	Skip forward without copying (bounds-checked).

size_t	Position () const
	Current read position (absolute offset from the start of the data).

size_t	Remaining () const
	Bytes remaining.

const uint8_t *	Current () const
	Pointer to the current position (valid for Remaining() bytes). More...

Constructor & Destructor Documentation

chrono::ros::core::CdrReader::CdrReader	(	const uint8_t *	data,
		size_t	size,
		bool	with_encapsulation = `true`
	)

Parameters

data	start of the CDR data (encapsulation header first, if any)
size	total size in bytes
with_encapsulation	if true, a 4-byte encapsulation header is validated (must be CDR little-endian) and alignment is computed after it. Big-endian input is rejected with a clear error.

const uint8_t* chrono::ros::core::CdrReader::Current ( ) const

inline

Pointer to the current position (valid for Remaining() bytes).

Used for zero-copy access to bulk primitive arrays.

The documentation for this class was generated from the following files: