bz2_transport: bz2_transport: bz2

00001 #include <bzlib.h>
00002 #include <boost/shared_array.hpp>
00003 #include <ros/ros.h>
00004 
00005 
00006 #include "bz2_transport/bz2_codec.h"
00007 
00008 namespace bz2_transport {
00009 
00010 
00011     bool BZ2Codec::compress(const boost::shared_array<uint8_t> &buffer, size_t len, BZ2Packet & out) const  {
00012         int ret = 0;
00013         // Size following recommendation in bzip2 manual 101% + 600 bytes
00014         uint32_t destLen = (102*len)/100 + 600;
00015         boost::shared_array<uint8_t> buf(new uint8_t[destLen]);
00016         // Removed the first 4 bytes corresponding the data length
00017         ret = BZ2_bzBuffToBuffCompress((char*)buf.get(),&destLen, (char*)buffer.get(), len, 5, 0, 30);
00018         if (ret != BZ_OK) {
00019             ROS_ERROR("BZ2_bzBuffToBuffCompress return %d",ret);
00020             return false;
00021         }
00022         out.original_length = len;
00023         out.buffer.resize(destLen);
00024         // Could use memcpy, but probably less portable
00025         memcpy(&(out.buffer.front()),buf.get(),destLen);
00026         printf("Message compression: from %d to %d bytes\n",(int)len,(int)destLen);
00027         return true;
00028     }
00029 
00030     bool BZ2Codec::decompress(const BZ2Packet & in, 
00031             boost::shared_array<uint8_t> &buffer, size_t &len) const {
00032         int ret = 0;
00033         unsigned int destLen;
00034         buffer.reset(new uint8_t[in.original_length]);
00035         ret = BZ2_bzBuffToBuffDecompress((char*)buffer.get(),&destLen, (char*)&(in.buffer.front()), in.buffer.size(), 0, 0);
00036         if (ret != BZ_OK) {
00037             ROS_ERROR("BZ2_bzBuffToBuffDecompress return %d",ret);
00038             return false;
00039         }
00040         len = destLen;
00041         return true;
00042     }
00043 
00044 };
bz2_codec.cpp
