uncompressed_stream.cpp
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00034 
00035 #include "rosbag/chunked_file.h"
00036 
00037 #include <iostream>
00038 #include <cstring>
00039 
00040 #include <boost/format.hpp>
00041 
00042 using std::string;
00043 using boost::format;
00044 using ros::Exception;
00045 
00046 namespace rosbag {
00047 
00048 UncompressedStream::UncompressedStream(ChunkedFile* file) : Stream(file) { }
00049 
00050 CompressionType UncompressedStream::getCompressionType() const {
00051     return compression::Uncompressed;
00052 }
00053 
00054 void UncompressedStream::write(void* ptr, size_t size) {
00055     size_t result = fwrite(ptr, 1, size, getFilePointer());
00056     if (result != size)
00057         throw BagIOException((format("Error writing to file: writing %1% bytes, wrote %2% bytes") % size % result).str());
00058 
00059     advanceOffset(size);
00060 }
00061 
00062 void UncompressedStream::read(void* ptr, size_t size) {
00063     size_t nUnused = (size_t) getUnusedLength();
00064     char* unused = getUnused();
00065 
00066     if (nUnused > 0) {
00067         // We have unused data from the last compressed read
00068         if (nUnused == size) {
00069             // Copy the unused data into the buffer
00070             memcpy(ptr, unused, nUnused);
00071 
00072             clearUnused();
00073         }
00074         else if (nUnused < size) {
00075             // Copy the unused data into the buffer
00076             memcpy(ptr, unused, nUnused);
00077 
00078             // Still have data to read
00079             size -= nUnused;
00080 
00081             // Read the remaining data from the file
00082             int result = fread((char*) ptr + nUnused, 1, size, getFilePointer());
00083             if ((size_t) result != size)
00084                 throw BagIOException((format("Error reading from file + unused: wanted %1% bytes, read %2% bytes") % size % result).str());
00085 
00086             advanceOffset(size);
00087 
00088             clearUnused();
00089         }
00090         else {
00091             // nUnused_ > size
00092             memcpy(ptr, unused, size);
00093 
00094             setUnused(unused + size);
00095             setUnusedLength(nUnused - size);
00096         }
00097     }
00098     
00099     // No unused data - read from stream
00100     int result = fread(ptr, 1, size, getFilePointer());
00101     if ((size_t) result != size)
00102         throw BagIOException((format("Error reading from file: wanted %1% bytes, read %2% bytes") % size % result).str());
00103 
00104     advanceOffset(size);
00105 }
00106 
00107 void UncompressedStream::decompress(uint8_t* dest, unsigned int dest_len, uint8_t* source, unsigned int source_len) {
00108     if (dest_len < source_len)
00109         throw BagException("dest_len not large enough");
00110 
00111     memcpy(dest, source, source_len);
00112 }
00113 
00114 } // namespace rosbag


rosbag_storage
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autogenerated on Tue Mar 7 2017 03:44:35