Class MessageRef¶

Defined in File reader.h

Class Documentation¶

class MessageRef¶

Thin interface class that holds the pointer to the message and reconstructs underlying data to the corresponding object type given the Stream type.

Public Types

using ts_t = osf::ts_t ¶: Alias for common timestamp for all time in ouster::osf.

Public Functions

MessageRef(const OsfBuffer &buf, const MetadataStore &meta_provider, error_handler_t error_handler)¶

The only way to create the MessageRef is to point to the corresponding byte buffer of the message in OSF file.

Parameters:

buf[in] The buffer to use to make a MessageRef object.
meta_provider[in] The metadata store that is used in types reconstruction
error_handler[in] An optional callback that serves as an error handler.

uint32_t id () const

Get the message stream id.

Returns:: The message stream id.

ts_t ts() const¶

Get the timestamp of the message.

Returns:: The timestamp of the message.

OsfBuffer buf() const¶

Get the OsfBuffer to the underlying data.

Returns:: The OsfBuffer to the underlying data.

std::string to_string() const¶

Debug string representation.

Returns:: The string representation of a MessageRef.

template<typename Stream> inline bool is() const¶

Checks whether the message belongs to the specified Stream type.

Template Parameters:: Stream – The cpp data type to check against.
Returns:: If the current MessageRef is of type [Stream].

bool is(const std::string &type_str) const¶

Checks whether the message belongs to the specified Strean type.

Parameters:: type_str[in] The data type in string form to check against.
Returns:: If the current MessageRef is of type type_str.

template<typename Stream> inline std::unique_ptr<typename Stream::obj_type> decode_msg() const¶

Reconstructs the underlying data to the class (copies data).

Template Parameters:: Stream – The type of the target data.
Returns:: A smart pointer to the new object.

template<typename Stream, typename T> inline std::unique_ptr<typename Stream::obj_type> decode_msg(T &t) const¶

Decodes the message content into a new object using an external context t.

Template Parameters:

Stream – Type of the target stream.
T – Additional context type required for decoding.

Parameters:

t[in] Additional context object passed into the decoder.

Returns:

Smart pointer to the decoded object of type Stream::obj_type, or nullptr on failure.

std::vector<uint8_t> buffer() const¶

Get the underlying raw message byte vector.

Returns:: Return the underlying raw message byte vector.

bool operator==(const MessageRef &other) const¶

Check if two MessageRefs are equal.

Parameters:: other[in] The other MessageRef to check against.
Returns:: If the two MessageRefs are equal.

bool operator!=(const MessageRef &other) const¶

Check if two MessageRefs are not equal.

Parameters:: other[in] The other MessageRef to check against.
Returns:: If the two MessageRefs are not equal.

const error_handler_t &error_handler() const¶

Get the error handler associated with this message.

Returns:: A constant reference to the error handler.