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/stream.h" 00036 #include "rosbag/chunked_file.h" 00037 00038 #include <ros/ros.h> 00039 00040 using boost::shared_ptr; 00041 00042 namespace rosbag { 00043 00044 // StreamFactory 00045 00046 StreamFactory::StreamFactory(ChunkedFile* file) : 00047 uncompressed_stream_(new UncompressedStream(file)), 00048 bz2_stream_ (new BZ2Stream(file)) 00049 { 00050 } 00051 00052 shared_ptr<Stream> StreamFactory::getStream(CompressionType type) const { 00053 switch (type) { 00054 case compression::Uncompressed: return uncompressed_stream_; 00055 case compression::BZ2: return bz2_stream_; 00056 default: return shared_ptr<Stream>(); 00057 } 00058 } 00059 00060 // Stream 00061 00062 Stream::Stream(ChunkedFile* file) : file_(file) { } 00063 00064 Stream::~Stream() { } 00065 00066 void Stream::startWrite() { } 00067 void Stream::stopWrite() { } 00068 void Stream::startRead() { } 00069 void Stream::stopRead() { } 00070 00071 FILE* Stream::getFilePointer() { return file_->file_; } 00072 uint64_t Stream::getCompressedIn() { return file_->compressed_in_; } 00073 void Stream::setCompressedIn(uint64_t nbytes) { file_->compressed_in_ = nbytes; } 00074 void Stream::advanceOffset(uint64_t nbytes) { file_->offset_ += nbytes; } 00075 char* Stream::getUnused() { return file_->unused_; } 00076 int Stream::getUnusedLength() { return file_->nUnused_; } 00077 void Stream::setUnused(char* unused) { file_->unused_ = unused; } 00078 void Stream::setUnusedLength(int nUnused) { file_->nUnused_ = nUnused; } 00079 void Stream::clearUnused() { file_->clearUnused(); } 00080 00081 } // namespace rosbag