lz4_stream.cpp

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#include "rosbag/chunked_file.h"
 
#include <iostream>
#include <cstring>
#include "console_bridge/console.h"
 
using std::string;
 
namespace rosbag {
 
LZ4Stream::LZ4Stream(ChunkedFile* file)
    : Stream(file), block_size_id_(6) {
    buff_size_ = roslz4_blockSizeFromIndex(block_size_id_) + 64;
    buff_ = new char[buff_size_];
    lz4s_.state = NULL;
}
 
LZ4Stream::~LZ4Stream() {
    delete[] buff_;
}
 
CompressionType LZ4Stream::getCompressionType() const {
    return compression::LZ4;
}
 
void LZ4Stream::startWrite() {
    if (lz4s_.state) {
        throw BagException("cannot start writing to already opened lz4 stream");
    }
 
    setCompressedIn(0);
 
    int ret = roslz4_compressStart(&lz4s_, block_size_id_);
    switch(ret) {
    case ROSLZ4_OK: break;
    case ROSLZ4_MEMORY_ERROR: throw BagIOException("ROSLZ4_MEMORY_ERROR: insufficient memory available"); break;
    case ROSLZ4_PARAM_ERROR: throw BagIOException("ROSLZ4_PARAM_ERROR: bad block size"); break;
    default: throw BagException("Unhandled return code");
    }
    lz4s_.output_next = buff_;
    lz4s_.output_left = buff_size_;
}
 
void LZ4Stream::write(void* ptr, size_t size) {
    if (!lz4s_.state) {
        throw BagException("cannot write to unopened lz4 stream");
    }
 
    lz4s_.input_left = size;
    lz4s_.input_next = (char*) ptr;
 
    writeStream(ROSLZ4_RUN);
    setCompressedIn(getCompressedIn() + size);
}
 
void LZ4Stream::writeStream(int action) {
    int ret = ROSLZ4_OK;
    while (lz4s_.input_left > 0 ||
           (action == ROSLZ4_FINISH && ret != ROSLZ4_STREAM_END)) {
        ret = roslz4_compress(&lz4s_, action);
        switch(ret) {
        case ROSLZ4_OK: break;
        case ROSLZ4_OUTPUT_SMALL:
            if (lz4s_.output_next - buff_ == buff_size_) {
                throw BagIOException("ROSLZ4_OUTPUT_SMALL: output buffer is too small");
            } else {
                // There's data to be written in buff_; this will free up space
                break;
            }
        case ROSLZ4_STREAM_END: break;
        case ROSLZ4_PARAM_ERROR: throw BagIOException("ROSLZ4_PARAM_ERROR: bad block size"); break;
        case ROSLZ4_ERROR: throw BagIOException("ROSLZ4_ERROR: compression error"); break;
        default: throw BagException("Unhandled return code");
        }
 
        // If output data is ready, write to disk
        int to_write = lz4s_.output_next - buff_;
        if (to_write > 0) {
            if (fwrite(buff_, 1, to_write, getFilePointer()) != static_cast<size_t>(to_write)) {
                throw BagException("Problem writing data to disk");
            }
            advanceOffset(to_write);
            lz4s_.output_next = buff_;
            lz4s_.output_left = buff_size_;
        }
    }
}
 
void LZ4Stream::stopWrite() {
    if (!lz4s_.state) {
        throw BagException("cannot close unopened lz4 stream");
    }
 
    writeStream(ROSLZ4_FINISH);
    setCompressedIn(0);
    roslz4_compressEnd(&lz4s_);
}
 
void LZ4Stream::startRead() {
    if (lz4s_.state) {
        throw BagException("cannot start reading from already opened lz4 stream");
    }
 
    int ret = roslz4_decompressStart(&lz4s_);
    switch(ret) {
    case ROSLZ4_OK: break;
    case ROSLZ4_MEMORY_ERROR: throw BagException("ROSLZ4_MEMORY_ERROR: insufficient memory available"); break;
    default: throw BagException("Unhandled return code");
    }
 
    if (getUnusedLength() > buff_size_) {
        throw BagException("Too many unused bytes to decompress");
    }
 
    // getUnused() could be pointing to part of buff_, so don't use memcpy
    memmove(buff_, getUnused(), getUnusedLength());
    lz4s_.input_next = buff_;
    lz4s_.input_left = getUnusedLength();
    clearUnused();
}
 
void LZ4Stream::read(void* ptr, size_t size) {
    if (!lz4s_.state) {
        throw BagException("cannot read from unopened lz4 stream");
    }
 
    // Setup stream by filling buffer with data from file
    int to_read = buff_size_ - lz4s_.input_left;
    char *input_start = buff_ + lz4s_.input_left;
    int nread = fread(input_start, 1, to_read, getFilePointer());
    if (ferror(getFilePointer())) {
        throw BagIOException("Problem reading from file");
    }
    lz4s_.input_next = buff_;
    lz4s_.input_left += nread;
    lz4s_.output_next = (char*) ptr;
    lz4s_.output_left = size;
 
    // Decompress.  If reach end of stream, store unused data
    int ret = roslz4_decompress(&lz4s_);
    switch (ret) {
    case ROSLZ4_OK: break;
    case ROSLZ4_STREAM_END:
        if (getUnused() || getUnusedLength() > 0) {
            CONSOLE_BRIDGE_logError("unused data already available");
        } else {
            setUnused(lz4s_.input_next);
            setUnusedLength(lz4s_.input_left);
        }
        return;
    case ROSLZ4_ERROR: throw BagException("ROSLZ4_ERROR: decompression error"); break;
    case ROSLZ4_MEMORY_ERROR: throw BagException("ROSLZ4_MEMORY_ERROR: insufficient memory available"); break;
    case ROSLZ4_OUTPUT_SMALL: throw BagException("ROSLZ4_OUTPUT_SMALL: output buffer is too small"); break;
    case ROSLZ4_DATA_ERROR: throw BagException("ROSLZ4_DATA_ERROR: malformed data to decompress"); break;
    default: throw BagException("Unhandled return code");
    }
    if (feof(getFilePointer())) {
        throw BagIOException("Reached end of file before reaching end of stream");
    }
 
    size_t total_out = lz4s_.output_next - (char*)ptr;
    advanceOffset(total_out);
 
    // Shift input buffer if there's unconsumed data
    if (lz4s_.input_left > 0) {
        memmove(buff_, lz4s_.input_next, lz4s_.input_left);
    }
}
 
void LZ4Stream::stopRead() {
    if (!lz4s_.state) {
        throw BagException("cannot close unopened lz4 stream");
    }
 
    roslz4_decompressEnd(&lz4s_);
}
 
void LZ4Stream::decompress(uint8_t* dest, unsigned int dest_len, uint8_t* source, unsigned int source_len) {
    unsigned int actual_dest_len = dest_len;
    int ret = roslz4_buffToBuffDecompress((char*)source, source_len,
                                          (char*)dest, &actual_dest_len);
    switch(ret) {
    case ROSLZ4_OK: break;
    case ROSLZ4_ERROR: throw BagException("ROSLZ4_ERROR: decompression error"); break;
    case ROSLZ4_MEMORY_ERROR: throw BagException("ROSLZ4_MEMORY_ERROR: insufficient memory available"); break;
    case ROSLZ4_OUTPUT_SMALL: throw BagException("ROSLZ4_OUTPUT_SMALL: output buffer is too small"); break;
    case ROSLZ4_DATA_ERROR: throw BagException("ROSLZ4_DATA_ERROR: malformed data to decompress"); break;
    default: throw BagException("Unhandled return code");
    }
    if (actual_dest_len != dest_len) {
        throw BagException("Decompression size mismatch in LZ4 chunk");
    }
}
 
} // namespace rosbag