librosbag-storage-dev 1.13.5+ds1-3 / usr / include / rosbag / stream.h

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#ifndef ROSBAG_STREAM_H
#define ROSBAG_STREAM_H

#include <ios>
#include <stdint.h>
#include <string>

#include <boost/shared_ptr.hpp>

#include <bzlib.h>

#include <roslz4/lz4s.h>

#include "rosbag/exceptions.h"
#include "rosbag/macros.h"

namespace rosbag {

namespace compression
{
    enum CompressionType
    {
        Uncompressed = 0,
        BZ2          = 1,
        LZ4          = 2,
    };
}
typedef compression::CompressionType CompressionType;

class ChunkedFile;

class FileAccessor;

class ROSBAG_DECL Stream
{
    friend class FileAccessor;
public:
    Stream(ChunkedFile* file);
    virtual ~Stream();

    virtual CompressionType getCompressionType() const = 0;

    virtual void write(void* ptr, size_t size) = 0;
    virtual void read (void* ptr, size_t size) = 0;

    virtual void decompress(uint8_t* dest, unsigned int dest_len, uint8_t* source, unsigned int source_len) = 0;

    virtual void startWrite();
    virtual void stopWrite();

    virtual void startRead();
    virtual void stopRead();

protected:
    FILE*    getFilePointer();
    uint64_t getCompressedIn();
    void     setCompressedIn(uint64_t nbytes);
    void     advanceOffset(uint64_t nbytes);
    char*    getUnused();
    int      getUnusedLength();
    void     setUnused(char* unused);
    void     setUnusedLength(int nUnused);
    void     clearUnused();

protected:
    ChunkedFile* file_;
};

class ROSBAG_DECL StreamFactory
{
public:
    StreamFactory(ChunkedFile* file);

    boost::shared_ptr<Stream> getStream(CompressionType type) const;

private:
    boost::shared_ptr<Stream> uncompressed_stream_;
    boost::shared_ptr<Stream> bz2_stream_;
    boost::shared_ptr<Stream> lz4_stream_;
};

class FileAccessor {
    friend class ChunkedFile;
    static void setFile(Stream& a, ChunkedFile* file) {
        a.file_ = file;
    }
};

class ROSBAG_DECL UncompressedStream : public Stream
{
public:
    UncompressedStream(ChunkedFile* file);

    CompressionType getCompressionType() const;

    void write(void* ptr, size_t size);
    void read(void* ptr, size_t size);

    void decompress(uint8_t* dest, unsigned int dest_len, uint8_t* source, unsigned int source_len);
};

/*!
 * BZ2Stream uses libbzip2 (http://www.bzip.org) for reading/writing compressed data in the BZ2 format.
 */
class ROSBAG_DECL BZ2Stream : public Stream
{
public:
    BZ2Stream(ChunkedFile* file);

    CompressionType getCompressionType() const;

    void startWrite();
    void write(void* ptr, size_t size);
    void stopWrite();

    void startRead();
    void read(void* ptr, size_t size);
    void stopRead();

    void decompress(uint8_t* dest, unsigned int dest_len, uint8_t* source, unsigned int source_len);

private:
    int     verbosity_;        //!< level of debugging output (0-4; 0 default). 0 is silent, 4 is max verbose debugging output
    int     block_size_100k_;  //!< compression block size (1-9; 9 default). 9 is best compression, most memory
    int     work_factor_;      //!< compression behavior for worst case, highly repetitive data (0-250; 30 default)

    BZFILE* bzfile_;           //!< bzlib compressed file stream
    int     bzerror_;          //!< last error from bzlib
};

// LZ4Stream reads/writes compressed datat in the LZ4 format
// https://code.google.com/p/lz4/
class ROSBAG_DECL LZ4Stream : public Stream
{
public:
    LZ4Stream(ChunkedFile* file);
    ~LZ4Stream();

    CompressionType getCompressionType() const;

    void startWrite();
    void write(void* ptr, size_t size);
    void stopWrite();

    void startRead();
    void read(void* ptr, size_t size);
    void stopRead();

    void decompress(uint8_t* dest, unsigned int dest_len, uint8_t* source, unsigned int source_len);

private:
    LZ4Stream(const LZ4Stream&);
    LZ4Stream operator=(const LZ4Stream&);
    void writeStream(int action);

    char *buff_;
    int buff_size_;
    int block_size_id_;
    roslz4_stream lz4s_;
};



} // namespace rosbag

#endif