74 lines
2.2 KiB
C++
Executable File
74 lines
2.2 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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#ifndef CARTOGRAPHER_IO_PROTO_STREAM_H_
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#define CARTOGRAPHER_IO_PROTO_STREAM_H_
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#include <fstream>
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#include "cartographer/common/port.h"
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#include "cartographer/io/proto_stream_interface.h"
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#include "google/protobuf/message.h"
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namespace cartographer {
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namespace io {
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// A simple writer of a compressed sequence of protocol buffer messages to a
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// file. The format is not intended to be compatible with any other format used
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// outside of Cartographer.
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//
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// TODO(whess): Compress the file instead of individual messages for better
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// compression performance? Should we use LZ4?
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class ProtoStreamWriter : public ProtoStreamWriterInterface {
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public:
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ProtoStreamWriter(const std::string& filename);
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~ProtoStreamWriter() = default;
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ProtoStreamWriter(const ProtoStreamWriter&) = delete;
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ProtoStreamWriter& operator=(const ProtoStreamWriter&) = delete;
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void WriteProto(const google::protobuf::Message& proto) override;
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bool Close() override;
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private:
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void Write(const std::string& uncompressed_data);
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std::ofstream out_;
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};
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// A reader of the format produced by ProtoStreamWriter.
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class ProtoStreamReader : public ProtoStreamReaderInterface {
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public:
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explicit ProtoStreamReader(const std::string& filename);
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~ProtoStreamReader() = default;
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ProtoStreamReader(const ProtoStreamReader&) = delete;
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ProtoStreamReader& operator=(const ProtoStreamReader&) = delete;
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bool ReadProto(google::protobuf::Message* proto) override;
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bool eof() const override;
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private:
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bool Read(std::string* decompressed_data);
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std::ifstream in_;
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};
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} // namespace io
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} // namespace cartographer
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#endif // CARTOGRAPHER_IO_PROTO_STREAM_H_
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