Class MessageRef

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, const 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.

const 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.