uncompressed_stream.cpp
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34 
35 #include "rosbag/chunked_file.h"
36 
37 #include <iostream>
38 #include <cstring>
39 
40 #include <boost/format.hpp>
41 
42 using std::string;
43 using boost::format;
44 using ros::Exception;
45 
46 namespace rosbag {
47 
49 
52 }
53 
54 void UncompressedStream::write(void* ptr, size_t size) {
55  size_t result = fwrite(ptr, 1, size, getFilePointer());
56  if (result != size)
57  throw BagIOException((format("Error writing to file: writing %1% bytes, wrote %2% bytes") % size % result).str());
58 
59  advanceOffset(size);
60 }
61 
62 void UncompressedStream::read(void* ptr, size_t size) {
63  size_t nUnused = (size_t) getUnusedLength();
64  char* unused = getUnused();
65 
66  if (nUnused > 0) {
67  // We have unused data from the last compressed read
68  if (nUnused == size) {
69  // Copy the unused data into the buffer
70  memcpy(ptr, unused, nUnused);
71 
72  clearUnused();
73  }
74  else if (nUnused < size) {
75  // Copy the unused data into the buffer
76  memcpy(ptr, unused, nUnused);
77 
78  // Still have data to read
79  size -= nUnused;
80 
81  // Read the remaining data from the file
82  int result = fread((char*) ptr + nUnused, 1, size, getFilePointer());
83  if ((size_t) result != size)
84  throw BagIOException((format("Error reading from file + unused: wanted %1% bytes, read %2% bytes") % size % result).str());
85 
86  advanceOffset(size);
87 
88  clearUnused();
89  }
90  else {
91  // nUnused_ > size
92  memcpy(ptr, unused, size);
93 
94  setUnused(unused + size);
95  setUnusedLength(nUnused - size);
96  }
97  }
98 
99  // No unused data - read from stream
100  int result = fread(ptr, 1, size, getFilePointer());
101  if ((size_t) result != size)
102  throw BagIOException((format("Error reading from file: wanted %1% bytes, read %2% bytes") % size % result).str());
103 
104  advanceOffset(size);
105 }
106 
107 void UncompressedStream::decompress(uint8_t* dest, unsigned int dest_len, uint8_t* source, unsigned int source_len) {
108  if (dest_len < source_len)
109  throw BagException("dest_len not large enough");
110 
111  memcpy(dest, source, source_len);
112 }
113 
114 } // namespace rosbag
int getUnusedLength()
Definition: stream.cpp:78
ChunkedFile reads and writes files which contain interleaved chunks of compressed and uncompressed da...
Definition: chunked_file.h:51
void setUnusedLength(int nUnused)
Definition: stream.cpp:80
char * getUnused()
Definition: stream.cpp:77
Base class for rosbag exceptions.
Definition: exceptions.h:43
CompressionType getCompressionType() const
void advanceOffset(uint64_t nbytes)
Definition: stream.cpp:76
void write(void *ptr, size_t size)
Exception thrown when on IO problems.
Definition: exceptions.h:50
FILE * getFilePointer()
Definition: stream.cpp:73
void decompress(uint8_t *dest, unsigned int dest_len, uint8_t *source, unsigned int source_len)
void clearUnused()
Definition: stream.cpp:81
void setUnused(char *unused)
Definition: stream.cpp:79
void read(void *ptr, size_t size)
UncompressedStream(ChunkedFile *file)


rosbag_storage
Author(s): Dirk Thomas
autogenerated on Mon Feb 28 2022 23:33:55