Class OsfFile

Inheritance Relationships

Derived Types

Class Documentation

class OsfFile

Base class for OSF file handling.

This class provides an interface for reading OSF files, including methods for accessing metadata, reading data, and managing file state.

Subclassed by ouster::sdk::osf::MemoryMappedOsfFile, ouster::sdk::osf::StreamOsfFile

Public Functions

explicit OsfFile(const std::string &path)

Opens the OSF file.

Parameters:

path[in] – The path to the OSF.

virtual ~OsfFile()

Cleans up any filebuffers/memory mapping.

virtual uint64_t size() const = 0

Returns the size of the OSF file.

Returns:

The size of the OSF file in bytes.

std::string path() const

Returns the path of the OSF file.

Returns:

The path of the OSF file.

ouster::sdk::core::Version version()

Returns the version of the OSF file.

Returns:

The version of the OSF file.

OsfOffset metadata_offset()

Returns the osf_offset in the OSF file where the metadata section is located.

Returns:

Offset to the metadata

OsfOffset chunks_offset()

Returns the osf_offset in the OSF file where the chunk section is located.

Throws:

std::runtime_error – Exception on bad osf file.

Returns:

Offset to the chunks

bool good() const

Return the status of the OSF file.

Returns:

If the OSF file is good or not.

virtual OsfBuffer read(OsfOffset offset) = 0

Read the following span of bytes (represented by OsfOffset) into the provided OsfBuffer.

Throws:

std::out_of_range – if the offset exceeds file size or is invalid.

Parameters:

offset – [in] The offset and number of bytes to read.

Returns:

an OsfBuffer initialized with the data specified by the offset.

virtual OsfBuffer read(OsfOffset base_offset, OsfOffset offset) = 0

Read the following span of bytes (represented by OsfOffset) using the provided base offset into the provided OsfBuffer.

Throws:

std::out_of_range – if the offset exceeds file size or is invalid.

Parameters:

  • offset – [in] The offset and number of bytes to read.

  • base_offset – [in]

Returns:

an OsfBuffer initialized with the data specified by the offset.

virtual void close()

Clears file handle and allocated resources.

In current mmap implementation it’s unmapping memory and essentially invalidates the memory addresses that might be captured within MessageRefs and Reader.

See also

ouster::sdk::osf::MessageRef, ouster::sdk::osf::Reader

std::string to_string()

Debug helper method to dump OsfFile state to a string.

Returns:

The string representation of OsfFile

OsfFile(const OsfFile&) = delete

Copy policy: Don’t allow the copying of the file handler.

OsfFile &operator=(const OsfFile&) = delete

Copy policy: Don’t allow the copying of the file handler.

OsfFile(OsfFile &&other)

Move policy: Allow transferring ownership of the underlying file handler (mmap).

Parameters:

other[in] – The OSF file to move

OsfFile &operator=(OsfFile &&other)

Move policy: Allow transferring ownership of the underlying file handler (mmap).

Parameters:

other[in] – The OSF file to move

OsfOffset get_header_chunk_offset()

Get a pointer to the start of the header chunk.

Returns:

Pointer to the header chunk. nullptr if filestream is bad.

OsfOffset get_metadata_chunk_offset()

Get a pointer to the start of the header chunk.

Returns:

Pointer to the metadata chunk. nullptr if filestream is bad.

const OsfBuffer &get_header_chunk()

Returns a reference to OSF buffer containing the OSF header chunk.

Returns:

Reference to the OsfBuffer containing header data.

const OsfBuffer &get_metadata_chunk()

Returns a reference to buffer containing the OSF metadata chunk.

Returns:

Reference to the OsfBuffer containing metadata.

Public Static Functions

static OUSTER_DIAGNOSTIC_POP uint64_t serialized_version (ouster::sdk::core::Version parsed_version)

Convert the parsed version to its integer representation.

Parameters:

parsed_version[in] – the version to encode.

Returns:

The integer value that should be written to the header given this parsed version.

Public Static Attributes

static const ouster::sdk::core::Version CURRENT_VERSION

The most recent public version of the OSF schema.

static OUSTER_DIAGNOSTIC_PUSH OUSTER_DIAGNOSTIC_IGNORE_UNUSED const ouster::sdk::core::Version current_version

Deprecated:

Use CURRENT_VERSION

bool operator!() const

Return the negated status of the OSF file.

Returns:

If the OSF file is good or not, negated.

explicit operator bool() const

Return the status of the OSF file.

Returns:

If the OSF file is good or not.