00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 ********************************************************************/ 00034 00035 #include "rosbag/buffer.h" 00036 00037 #include <ros/ros.h> 00038 00039 namespace rosbag { 00040 00041 Buffer::Buffer() : buffer_(NULL), capacity_(0), size_(0) { } 00042 00043 Buffer::~Buffer() { 00044 free(buffer_); 00045 } 00046 00047 uint8_t* Buffer::getData() { return buffer_; } 00048 uint32_t Buffer::getCapacity() const { return capacity_; } 00049 uint32_t Buffer::getSize() const { return size_; } 00050 00051 void Buffer::setSize(uint32_t size) { 00052 size_ = size; 00053 ensureCapacity(size); 00054 } 00055 00056 void Buffer::ensureCapacity(uint32_t capacity) { 00057 if (capacity <= capacity_) 00058 return; 00059 00060 if (capacity_ == 0) 00061 capacity_ = capacity; 00062 else { 00063 while (capacity_ < capacity) 00064 capacity_ *= 2; 00065 } 00066 00067 buffer_ = (uint8_t*) realloc(buffer_, capacity_); 00068 ROS_ASSERT(buffer_); 00069 } 00070 00071 } // namespace rosbag