proto_stream.h
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00001 /*
00002  * Copyright 2016 The Cartographer Authors
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *      http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 
00017 #ifndef CARTOGRAPHER_IO_PROTO_STREAM_H_
00018 #define CARTOGRAPHER_IO_PROTO_STREAM_H_
00019 
00020 #include <fstream>
00021 
00022 #include "cartographer/common/port.h"
00023 #include "cartographer/io/proto_stream_interface.h"
00024 #include "google/protobuf/message.h"
00025 
00026 namespace cartographer {
00027 namespace io {
00028 
00029 // A simple writer of a compressed sequence of protocol buffer messages to a
00030 // file. The format is not intended to be compatible with any other format used
00031 // outside of Cartographer.
00032 //
00033 // TODO(whess): Compress the file instead of individual messages for better
00034 // compression performance? Should we use LZ4?
00035 class ProtoStreamWriter : public ProtoStreamWriterInterface {
00036  public:
00037   ProtoStreamWriter(const std::string& filename);
00038   ~ProtoStreamWriter() = default;
00039 
00040   ProtoStreamWriter(const ProtoStreamWriter&) = delete;
00041   ProtoStreamWriter& operator=(const ProtoStreamWriter&) = delete;
00042 
00043   void WriteProto(const google::protobuf::Message& proto) override;
00044   bool Close() override;
00045 
00046  private:
00047   void Write(const std::string& uncompressed_data);
00048 
00049   std::ofstream out_;
00050 };
00051 
00052 // A reader of the format produced by ProtoStreamWriter.
00053 class ProtoStreamReader : public ProtoStreamReaderInterface {
00054  public:
00055   explicit ProtoStreamReader(const std::string& filename);
00056   ~ProtoStreamReader() = default;
00057 
00058   ProtoStreamReader(const ProtoStreamReader&) = delete;
00059   ProtoStreamReader& operator=(const ProtoStreamReader&) = delete;
00060 
00061   bool ReadProto(google::protobuf::Message* proto) override;
00062   bool eof() const override;
00063 
00064  private:
00065   bool Read(std::string* decompressed_data);
00066 
00067   std::ifstream in_;
00068 };
00069 
00070 }  // namespace io
00071 }  // namespace cartographer
00072 
00073 #endif  // CARTOGRAPHER_IO_PROTO_STREAM_H_


cartographer
Author(s): The Cartographer Authors
autogenerated on Thu May 9 2019 02:27:35