101 lines
2.9 KiB
C++
Executable File
101 lines
2.9 KiB
C++
Executable File
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/io/proto_stream.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace io {
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namespace {
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// First eight bytes to identify our proto stream format.
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const uint64 kMagic = 0x7b1d1f7b5bf501db;
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void WriteSizeAsLittleEndian(uint64 size, std::ostream* out) {
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for (int i = 0; i != 8; ++i) {
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out->put(size & 0xff);
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size >>= 8;
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}
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}
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bool ReadSizeAsLittleEndian(std::istream* in, uint64* size) {
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*size = 0;
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for (int i = 0; i != 8; ++i) {
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*size >>= 8;
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*size += static_cast<uint64>(in->get()) << 56;
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}
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return !in->fail();
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}
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} // namespace
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ProtoStreamWriter::ProtoStreamWriter(const std::string& filename)
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: out_(filename, std::ios::out | std::ios::binary) {
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WriteSizeAsLittleEndian(kMagic, &out_);
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}
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void ProtoStreamWriter::Write(const std::string& uncompressed_data) {
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std::string compressed_data;
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common::FastGzipString(uncompressed_data, &compressed_data);
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WriteSizeAsLittleEndian(compressed_data.size(), &out_);
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out_.write(compressed_data.data(), compressed_data.size());
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}
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void ProtoStreamWriter::WriteProto(const google::protobuf::Message& proto) {
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std::string uncompressed_data;
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proto.SerializeToString(&uncompressed_data);
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Write(uncompressed_data);
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}
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bool ProtoStreamWriter::Close() {
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out_.close();
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return !out_.fail();
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}
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ProtoStreamReader::ProtoStreamReader(const std::string& filename)
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: in_(filename, std::ios::in | std::ios::binary) {
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uint64 magic;
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if (!ReadSizeAsLittleEndian(&in_, &magic) || magic != kMagic) {
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in_.setstate(std::ios::failbit);
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}
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CHECK(in_.good()) << "Failed to open proto stream '" << filename << "'.";
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}
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bool ProtoStreamReader::Read(std::string* decompressed_data) {
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uint64 compressed_size;
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if (!ReadSizeAsLittleEndian(&in_, &compressed_size)) {
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return false;
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}
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std::string compressed_data(compressed_size, '\0');
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if (!in_.read(&compressed_data.front(), compressed_size)) {
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return false;
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}
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common::FastGunzipString(compressed_data, decompressed_data);
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return true;
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}
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bool ProtoStreamReader::ReadProto(google::protobuf::Message* proto) {
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std::string decompressed_data;
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return Read(&decompressed_data) && proto->ParseFromString(decompressed_data);
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}
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bool ProtoStreamReader::eof() const { return in_.eof(); }
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} // namespace io
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} // namespace cartographer
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