Introduce a ProtoStreamReaderInterface. (#837)

* Introduce a ProtoStreamReaderInterface.

* Remove the comments from interface def.
master
Alexander Belyaev 2018-01-23 09:09:37 +01:00 committed by GitHub
parent 986ac28ff8
commit 43008d391d
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8 changed files with 54 additions and 11 deletions

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@ -20,6 +20,7 @@
#include <fstream>
#include "cartographer/common/port.h"
#include "cartographer/io/proto_stream_interface.h"
#include "google/protobuf/message.h"
namespace cartographer {
@ -52,17 +53,16 @@ class ProtoStreamWriter {
};
// A reader of the format produced by ProtoStreamWriter.
class ProtoStreamReader {
class ProtoStreamReader : public ProtoStreamReaderInterface {
public:
ProtoStreamReader(const std::string& filename);
explicit ProtoStreamReader(const std::string& filename);
~ProtoStreamReader() = default;
ProtoStreamReader(const ProtoStreamReader&) = delete;
ProtoStreamReader& operator=(const ProtoStreamReader&) = delete;
bool ReadProto(google::protobuf::Message* proto);
bool eof() const;
bool ReadProto(google::protobuf::Message* proto) override;
bool eof() const override;
private:
bool Read(std::string* decompressed_data);

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@ -0,0 +1,42 @@
/*
* Copyright 2018 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARTOGRAPHER_IO_PROTO_STREAM_INTERFACE_H_
#define CARTOGRAPHER_IO_PROTO_STREAM_INTERFACE_H_
#include "cartographer/common/port.h"
#include "google/protobuf/message.h"
namespace cartographer {
namespace io {
// A reader of the format produced by ProtoStreamWriter.
class ProtoStreamReaderInterface {
public:
ProtoStreamReaderInterface() = default;
virtual ~ProtoStreamReaderInterface(){};
// Deserialize compressed proto from the pb stream.
virtual bool ReadProto(google::protobuf::Message* proto) = 0;
// 'End-of-file' marker for the pb stream.
virtual bool eof() const = 0;
};
} // namespace io
} // namespace cartographer
#endif // CARTOGRAPHER_IO_PROTO_STREAM_INTERFACE_H_

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@ -244,7 +244,7 @@ void MapBuilder::SerializeState(io::ProtoStreamWriter* const writer) {
}
}
void MapBuilder::LoadMap(io::ProtoStreamReader* const reader) {
void MapBuilder::LoadMap(io::ProtoStreamReaderInterface* const reader) {
proto::PoseGraph pose_graph;
CHECK(reader->ReadProto(&pose_graph));

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@ -62,7 +62,7 @@ class MapBuilder : public MapBuilderInterface {
void SerializeState(io::ProtoStreamWriter* writer) override;
void LoadMap(io::ProtoStreamReader* reader) override;
void LoadMap(io::ProtoStreamReaderInterface* reader) override;
int num_trajectory_builders() const override;

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@ -77,7 +77,7 @@ class MapBuilderInterface {
virtual void SerializeState(io::ProtoStreamWriter* writer) = 0;
// Loads submaps from a proto stream into a new frozen trajectory.
virtual void LoadMap(io::ProtoStreamReader* reader) = 0;
virtual void LoadMap(io::ProtoStreamReaderInterface* reader) = 0;
virtual int num_trajectory_builders() const = 0;

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@ -57,7 +57,7 @@ class MockMapBuilder : public cartographer::mapping::MapBuilderInterface {
std::string(const cartographer::mapping::SubmapId&,
cartographer::mapping::proto::SubmapQuery::Response*));
MOCK_METHOD1(SerializeState, void(cartographer::io::ProtoStreamWriter*));
MOCK_METHOD1(LoadMap, void(cartographer::io::ProtoStreamReader*));
MOCK_METHOD1(LoadMap, void(cartographer::io::ProtoStreamReaderInterface*));
MOCK_CONST_METHOD0(num_trajectory_builders, int());
MOCK_METHOD0(pose_graph, PoseGraphInterface*());
};

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@ -92,7 +92,8 @@ void MapBuilderStub::SerializeState(
LOG(FATAL) << "Not implemented";
}
void MapBuilderStub::LoadMap(cartographer::io::ProtoStreamReader* reader) {
void MapBuilderStub::LoadMap(
cartographer::io::ProtoStreamReaderInterface* reader) {
LOG(FATAL) << "Not implemented";
}

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@ -48,7 +48,7 @@ class MapBuilderStub : public cartographer::mapping::MapBuilderInterface {
const cartographer::mapping::SubmapId& submap_id,
cartographer::mapping::proto::SubmapQuery::Response* response) override;
void SerializeState(cartographer::io::ProtoStreamWriter* writer) override;
void LoadMap(cartographer::io::ProtoStreamReader* reader) override;
void LoadMap(cartographer::io::ProtoStreamReaderInterface* reader) override;
int num_trajectory_builders() const override;
cartographer::mapping::PoseGraphInterface* pose_graph() override;