Program Listing for File sequential_compression_reader.hpp

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// Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef ROSBAG2_COMPRESSION__SEQUENTIAL_COMPRESSION_READER_HPP_
#define ROSBAG2_COMPRESSION__SEQUENTIAL_COMPRESSION_READER_HPP_

#include <memory>
#include <string>
#include <vector>

#include "rosbag2_compression/base_decompressor_interface.hpp"
#include "rosbag2_compression/compression_options.hpp"

#include "rosbag2_cpp/converter.hpp"
#include "rosbag2_cpp/readers/sequential_reader.hpp"
#include "rosbag2_cpp/serialization_format_converter_factory.hpp"
#include "rosbag2_cpp/serialization_format_converter_factory_interface.hpp"

#include "rosbag2_storage/metadata_io.hpp"
#include "rosbag2_storage/storage_factory.hpp"
#include "rosbag2_storage/storage_factory_interface.hpp"
#include "rosbag2_storage/storage_filter.hpp"
#include "rosbag2_storage/storage_interfaces/read_only_interface.hpp"

#include "compression_factory.hpp"
#include "visibility_control.hpp"


#ifdef _WIN32
# pragma warning(push)
# pragma warning(disable:4251)
#endif

namespace rosbag2_compression
{

class ROSBAG2_COMPRESSION_PUBLIC SequentialCompressionReader
  : public rosbag2_cpp::readers::SequentialReader
{
public:
  explicit SequentialCompressionReader(
    std::unique_ptr<rosbag2_compression::CompressionFactory> =
    std::make_unique<rosbag2_compression::CompressionFactory>(),
    std::unique_ptr<rosbag2_storage::StorageFactoryInterface> storage_factory =
    std::make_unique<rosbag2_storage::StorageFactory>(),
    std::shared_ptr<rosbag2_cpp::SerializationFormatConverterFactoryInterface> converter_factory =
    std::make_shared<rosbag2_cpp::SerializationFormatConverterFactory>(),
    std::unique_ptr<rosbag2_storage::MetadataIo> metadata_io =
    std::make_unique<rosbag2_storage::MetadataIo>());

  virtual ~SequentialCompressionReader();

  void open(
    const rosbag2_storage::StorageOptions & storage_options,
    const rosbag2_cpp::ConverterOptions & converter_options) override;

  std::shared_ptr<rosbag2_storage::SerializedBagMessage> read_next() override;

protected:
  void preprocess_current_file() override;

private:
  void setup_decompression();

  std::shared_ptr<rosbag2_compression::BaseDecompressorInterface> decompressor_{};
  rosbag2_compression::CompressionMode compression_mode_{
    rosbag2_compression::CompressionMode::NONE};
  std::unique_ptr<rosbag2_compression::CompressionFactory> compression_factory_{};

  rosbag2_storage::StorageOptions storage_options_;
};

}  // namespace rosbag2_compression

#endif  // ROSBAG2_COMPRESSION__SEQUENTIAL_COMPRESSION_READER_HPP_