79 lines
2.6 KiB
C++
79 lines
2.6 KiB
C++
/*
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* Copyright 2018 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_INTERNAL_IN_MEMORY_PROTO_STREAM_H_
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#define CARTOGRAPHER_IO_INTERNAL_IN_MEMORY_PROTO_STREAM_H_
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#include <queue>
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#include "absl/memory/memory.h"
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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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class ForwardingProtoStreamWriter
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: public cartographer::io::ProtoStreamWriterInterface {
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public:
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// A callback that is invoked anytime 'WriteProto()' is called on the
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// 'ForwardingProtoStreamWriter'. When 'Close()' is called on the
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// 'ForwardingProtoStreamWriter' the callback is invoked with a 'nullptr'.
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using WriterCallback =
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std::function<bool(const google::protobuf::Message* proto)>;
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explicit ForwardingProtoStreamWriter(WriterCallback writer_callback)
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: writer_callback_(writer_callback) {}
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~ForwardingProtoStreamWriter() = default;
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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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WriterCallback writer_callback_;
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};
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class InMemoryProtoStreamReader
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: public cartographer::io::ProtoStreamReaderInterface {
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public:
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explicit InMemoryProtoStreamReader(
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std::queue<std::unique_ptr<google::protobuf::Message>>&& state_chunks)
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: state_chunks_(std::move(state_chunks)) {}
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InMemoryProtoStreamReader() = default;
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~InMemoryProtoStreamReader() = default;
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InMemoryProtoStreamReader(const InMemoryProtoStreamReader&) = delete;
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InMemoryProtoStreamReader& operator=(const InMemoryProtoStreamReader&) =
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delete;
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template <typename MessageType>
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void AddProto(const MessageType& proto) {
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state_chunks_.push(absl::make_unique<MessageType>(proto));
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}
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bool ReadProto(google::protobuf::Message* proto) override;
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bool eof() const override { return state_chunks_.empty(); }
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private:
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std::queue<std::unique_ptr<google::protobuf::Message>> state_chunks_;
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};
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} // namespace io
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} // namespace cartographer
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#endif // CARTOGRAPHER_IO_INTERNAL_IN_MEMORY_PROTO_STREAM_H_
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