00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 ********************************************************************/ 00034 00035 #ifndef ROSBAG_CHUNKED_FILE_H 00036 #define ROSBAG_CHUNKED_FILE_H 00037 00038 #include <ios> 00039 #include <stdint.h> 00040 #include <string> 00041 00042 #include <boost/shared_ptr.hpp> 00043 00044 #include <bzlib.h> 00045 00046 #include "rosbag/stream.h" 00047 00048 namespace rosbag { 00049 00051 class ChunkedFile 00052 { 00053 friend class Stream; 00054 00055 public: 00056 ChunkedFile(); 00057 ~ChunkedFile(); 00058 00059 void openWrite (std::string const& filename); 00060 void openRead (std::string const& filename); 00061 void openReadWrite(std::string const& filename); 00062 00063 void close(); 00064 00065 std::string getFileName() const; 00066 uint64_t getOffset() const; 00067 uint32_t getCompressedBytesIn() const; 00068 bool isOpen() const; 00069 bool good() const; 00070 00071 void setReadMode(CompressionType type); 00072 void setWriteMode(CompressionType type); 00073 00074 // File I/O 00075 void write(std::string const& s); 00076 void write(void* ptr, size_t size); 00077 void read(void* ptr, size_t size); 00078 std::string getline(); 00079 bool truncate(uint64_t length); 00080 void seek(uint64_t offset, int origin = std::ios_base::beg); 00081 void decompress(CompressionType compression, uint8_t* dest, unsigned int dest_len, uint8_t* source, unsigned int source_len); 00082 00083 private: 00084 void open(std::string const& filename, std::string const& mode); 00085 void clearUnused(); 00086 00087 private: 00088 std::string filename_; 00089 FILE* file_; 00090 bool writing_; 00091 uint64_t offset_; 00092 uint64_t compressed_in_; 00093 char* unused_; 00094 int nUnused_; 00095 00096 boost::shared_ptr<StreamFactory> stream_factory_; 00097 00098 boost::shared_ptr<Stream> read_stream_; 00099 boost::shared_ptr<Stream> write_stream_; 00100 }; 00101 00102 } // namespace rosbag 00103 00104 #endif