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Ivan
2022-04-05 11:42:28 +03:00
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452
thirdparty/ros/ros_comm/utilities/roslz4/src/_roslz4module.c vendored Normal file
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2014, Ben Charrow
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
********************************************************************/
#include "Python.h"
#include "roslz4/lz4s.h"
struct module_state {
PyObject *error;
};
#if PY_MAJOR_VERSION >= 3
#define GETSTATE(m) ((struct module_state*)PyModule_GetState(m))
#else
#define GETSTATE(m) (&_state)
static struct module_state _state;
#endif
/* Taken from Python's _bz2module.c */
static int
grow_buffer(PyObject **buf)
{
/* Expand the buffer by an amount proportional to the current size,
giving us amortized linear-time behavior. Use a less-than-double
growth factor to avoid excessive allocation. */
size_t size = PyBytes_GET_SIZE(*buf);
size_t new_size = size + (size >> 3) + 6;
if (new_size > size) {
return _PyBytes_Resize(buf, new_size);
} else { /* overflow */
PyErr_SetString(PyExc_OverflowError,
"Unable to allocate buffer - output too large");
return -1;
}
}
/*============================== LZ4Compressor ==============================*/
typedef struct {
PyObject_HEAD
roslz4_stream stream;
} LZ4Compressor;
static void
LZ4Compressor_dealloc(LZ4Compressor *self)
{
roslz4_compressEnd(&self->stream);
Py_TYPE(self)->tp_free((PyObject*)self);
}
static int
LZ4Compressor_init(LZ4Compressor *self, PyObject *args, PyObject *kwds)
{
(void)kwds;
if (!PyArg_ParseTuple(args, ":__init__")) {
return -1;
}
int ret = roslz4_compressStart(&self->stream, 6);
if (ret != ROSLZ4_OK) {
PyErr_SetString(PyExc_RuntimeError, "error initializing roslz4 stream");
return -1;
}
return 0;
}
static PyObject *
compress_impl(LZ4Compressor *self, Py_buffer *input, PyObject *output)
{
/* Allocate output string */
int initial_size = roslz4_blockSizeFromIndex(self->stream.block_size_id) + 64;
output = PyBytes_FromStringAndSize(NULL, initial_size);
if (!output) {
if (input != NULL) { PyBuffer_Release(input); }
return NULL;
}
/* Setup stream */
int action;
if (input != NULL) {
action = ROSLZ4_RUN;
self->stream.input_next = input->buf;
self->stream.input_left = input->len;
} else {
action = ROSLZ4_FINISH;
self->stream.input_next = NULL;
self->stream.input_left = 0;
}
self->stream.output_next = PyBytes_AS_STRING(output);
self->stream.output_left = PyBytes_GET_SIZE(output);
/* Compress data */
int status;
int output_written = 0;
while ((action == ROSLZ4_FINISH) ||
(action == ROSLZ4_RUN && self->stream.input_left > 0)) {
int out_start = self->stream.total_out;
status = roslz4_compress(&self->stream, action);
output_written += self->stream.total_out - out_start;
if (status == ROSLZ4_OK) {
continue;
} else if (status == ROSLZ4_STREAM_END) {
break;
} else if (status == ROSLZ4_OUTPUT_SMALL) {
if (grow_buffer(&output) < 0) {
goto error;
}
self->stream.output_next = PyBytes_AS_STRING(output) + output_written;
self->stream.output_left = PyBytes_GET_SIZE(output) - output_written;
} else if (status == ROSLZ4_PARAM_ERROR) {
PyErr_SetString(PyExc_IOError, "bad block size parameter");
goto error;
} else if (status == ROSLZ4_ERROR) {
PyErr_SetString(PyExc_IOError, "error compressing");
goto error;
} else {
PyErr_Format(PyExc_RuntimeError, "unhandled return code %i", status);
goto error;
}
}
/* Shrink return buffer */
if (output_written != PyBytes_GET_SIZE(output)) {
_PyBytes_Resize(&output, output_written);
}
if (input != NULL) { PyBuffer_Release(input); }
return output;
error:
if (input != NULL) { PyBuffer_Release(input); }
Py_XDECREF(output);
return NULL;
}
static PyObject *
LZ4Compressor_compress(LZ4Compressor *self, PyObject *args)
{
Py_buffer input;
PyObject *output = NULL;
/* TODO: Keyword argument */
if (!PyArg_ParseTuple(args, "s*:compress", &input)) {
return NULL;
}
return compress_impl(self, &input, output);
}
static PyObject *
LZ4Compressor_flush(LZ4Compressor *self, PyObject *args)
{
PyObject *output = NULL;
if (!PyArg_ParseTuple(args, ":flush")) {
return NULL;
}
return compress_impl(self, NULL, output);
}
static PyMethodDef LZ4Compressor_methods[] = {
{"compress", (PyCFunction)LZ4Compressor_compress, METH_VARARGS, "method doc"},
{"flush", (PyCFunction)LZ4Compressor_flush, METH_VARARGS, "method doc"},
{NULL} /* Sentinel */
};
static PyTypeObject LZ4Compressor_Type = {
PyVarObject_HEAD_INIT(NULL, 0)
"_roslz4.LZ4Compressor", /* tp_name */
sizeof(LZ4Compressor), /* tp_basicsize */
0, /* tp_itemsize */
(destructor)LZ4Compressor_dealloc, /* tp_dealloc */
0, /* tp_print */
0, /* tp_getattr */
0, /* tp_setattr */
0, /* tp_compare */
0, /* tp_repr */
0, /* tp_as_number */
0, /* tp_as_sequence */
0, /* tp_as_mapping */
0, /* tp_hash */
0, /* tp_call */
0, /* tp_str */
0, /* tp_getattro */
0, /* tp_setattro */
0, /* tp_as_buffer */
Py_TPFLAGS_DEFAULT, /* tp_flags */
"LZ4Compressor objects", /* tp_doc */
0, /* tp_traverse */
0, /* tp_clear */
0, /* tp_richcompare */
0, /* tp_weaklistoffset */
0, /* tp_iter */
0, /* tp_iternext */
LZ4Compressor_methods, /* tp_methods */
0, /* tp_members */
0, /* tp_getset */
0, /* tp_base */
0, /* tp_dict */
0, /* tp_descr_get */
0, /* tp_descr_set */
0, /* tp_dictoffset */
(initproc)LZ4Compressor_init /* tp_init */
};
/*============================= LZ4Decompressor =============================*/
typedef struct {
PyObject_HEAD
roslz4_stream stream;
} LZ4Decompressor;
static void
LZ4Decompressor_dealloc(LZ4Decompressor *self)
{
roslz4_decompressEnd(&self->stream);
Py_TYPE(self)->tp_free((PyObject*)self);
}
static int
LZ4Decompressor_init(LZ4Decompressor *self, PyObject *args, PyObject *kwds)
{
(void)kwds;
if (!PyArg_ParseTuple(args, ":__init__")) {
return -1;
}
int ret = roslz4_decompressStart(&self->stream);
if (ret != ROSLZ4_OK) {
PyErr_SetString(PyExc_RuntimeError, "error initializing roslz4 stream");
return -1;
}
return 0;
}
static PyObject *
LZ4Decompressor_decompress(LZ4Decompressor *self, PyObject *args)
{
Py_buffer input;
PyObject *output = NULL;
/* TODO: Keyword argument */
if (!PyArg_ParseTuple(args, "s*:decompress", &input)) {
return NULL;
}
/* Allocate 1 output block. If header not read, use compression block size */
int block_size;
if (self->stream.block_size_id == -1 ) {
block_size = roslz4_blockSizeFromIndex(6);
} else {
block_size = roslz4_blockSizeFromIndex(self->stream.block_size_id);
}
output = PyBytes_FromStringAndSize(NULL, block_size);
if (!output) {
PyBuffer_Release(&input);
return NULL;
}
/* Setup stream */
self->stream.input_next = input.buf;
self->stream.input_left = input.len;
self->stream.output_next = PyBytes_AS_STRING(output);
self->stream.output_left = PyBytes_GET_SIZE(output);
int output_written = 0;
while (self->stream.input_left > 0) {
int out_start = self->stream.total_out;
int status = roslz4_decompress(&self->stream);
output_written += self->stream.total_out - out_start;
if (status == ROSLZ4_OK) {
continue;
} else if (status == ROSLZ4_STREAM_END) {
break;
} else if (status == ROSLZ4_OUTPUT_SMALL) {
if (grow_buffer(&output) < 0) {
goto error;
}
self->stream.output_next = PyBytes_AS_STRING(output) + output_written;
self->stream.output_left = PyBytes_GET_SIZE(output) - output_written;
} else if (status == ROSLZ4_ERROR) {
PyErr_SetString(PyExc_IOError, "error decompressing");
goto error;
} else if (status == ROSLZ4_DATA_ERROR) {
PyErr_SetString(PyExc_IOError, "malformed data to decompress");
goto error;
} else {
PyErr_Format(PyExc_RuntimeError, "unhandled return code %i", status);
goto error;
}
}
if (output_written != PyBytes_GET_SIZE(output)) {
_PyBytes_Resize(&output, output_written);
}
PyBuffer_Release(&input);
return output;
error:
PyBuffer_Release(&input);
Py_XDECREF(output);
return NULL;
}
static PyMethodDef LZ4Decompressor_methods[] = {
{"decompress", (PyCFunction)LZ4Decompressor_decompress, METH_VARARGS, "method doc"},
{NULL} /* Sentinel */
};
static PyTypeObject LZ4Decompressor_Type = {
PyVarObject_HEAD_INIT(NULL, 0)
"_roslz4.LZ4Decompressor", /* tp_name */
sizeof(LZ4Decompressor), /* tp_basicsize */
0, /* tp_itemsize */
(destructor)LZ4Decompressor_dealloc, /* tp_dealloc */
0, /* tp_print */
0, /* tp_getattr */
0, /* tp_setattr */
0, /* tp_compare */
0, /* tp_repr */
0, /* tp_as_number */
0, /* tp_as_sequence */
0, /* tp_as_mapping */
0, /* tp_hash */
0, /* tp_call */
0, /* tp_str */
0, /* tp_getattro */
0, /* tp_setattro */
0, /* tp_as_buffer */
Py_TPFLAGS_DEFAULT, /* tp_flags */
"LZ4Decompressor objects", /* tp_doc */
0, /* tp_traverse */
0, /* tp_clear */
0, /* tp_richcompare */
0, /* tp_weaklistoffset */
0, /* tp_iter */
0, /* tp_iternext */
LZ4Decompressor_methods, /* tp_methods */
0, /* tp_members */
0, /* tp_getset */
0, /* tp_base */
0, /* tp_dict */
0, /* tp_descr_get */
0, /* tp_descr_set */
0, /* tp_dictoffset */
(initproc)LZ4Decompressor_init /* tp_init */
};
/*========================== Module initialization ==========================*/
#if PY_MAJOR_VERSION >= 3
static int roslz4_traverse(PyObject *m, visitproc visit, void *arg) {
Py_VISIT(GETSTATE(m)->error);
return 0;
}
static int roslz4_clear(PyObject *m) {
Py_CLEAR(GETSTATE(m)->error);
return 0;
}
static struct PyModuleDef moduledef = {
PyModuleDef_HEAD_INIT,
"_roslz4",
NULL,
sizeof(struct module_state),
NULL,
NULL,
roslz4_traverse,
roslz4_clear,
NULL
};
#define INITERROR return NULL
PyObject *
PyInit__roslz4(void)
#else
#define INITERROR return
void
init_roslz4(void)
#endif
{
PyObject *m;
LZ4Compressor_Type.tp_new = PyType_GenericNew;
if (PyType_Ready(&LZ4Compressor_Type) < 0) {
INITERROR;
}
LZ4Decompressor_Type.tp_new = PyType_GenericNew;
if (PyType_Ready(&LZ4Decompressor_Type) < 0) {
INITERROR;
}
#if PY_MAJOR_VERSION >= 3
m = PyModule_Create(&moduledef);
#else
m = Py_InitModule("_roslz4", NULL);
#endif
if (m == NULL) {
INITERROR;
}
Py_INCREF(&LZ4Compressor_Type);
PyModule_AddObject(m, "LZ4Compressor", (PyObject *)&LZ4Compressor_Type);
Py_INCREF(&LZ4Decompressor_Type);
PyModule_AddObject(m, "LZ4Decompressor", (PyObject *)&LZ4Decompressor_Type);
#if PY_MAJOR_VERSION >= 3
return m;
#endif
}

627
thirdparty/ros/ros_comm/utilities/roslz4/src/lz4s.c vendored Normal file
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2014, Ben Charrow
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
********************************************************************/
#include "roslz4/lz4s.h"
#include "xxhash.h"
#include <stdint.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#if 0
#define DEBUG(...) fprintf(stderr, __VA_ARGS__)
#else
#define DEBUG(...)
#endif
// magic numbers
const uint32_t kMagicNumber = 0x184D2204;
const uint32_t kEndOfStream = 0x00000000;
// Bitmasks
const uint8_t k1Bits = 0x01;
const uint8_t k2Bits = 0x03;
const uint8_t k3Bits = 0x07;
const uint8_t k4Bits = 0x0F;
const uint8_t k8Bits = 0xFF;
uint32_t readUInt32(unsigned char *buffer) {
return ((buffer[0] << 0) | (buffer[1] << 8) |
(buffer[2] << 16) | (buffer[3] << 24));
}
void writeUInt32(unsigned char *buffer, uint32_t val) {
buffer[0] = val & 0xFF;
buffer[1] = (val >> 8) & 0xFF;
buffer[2] = (val >> 16) & 0xFF;
buffer[3] = (val >> 24) & 0xFF;
}
int min(int a, int b) {
return a < b ? a : b;
}
/*========================== Low level compression ==========================*/
typedef struct {
int block_independence_flag;
int block_checksum_flag;
int stream_checksum_flag;
char *buffer;
int buffer_size;
int buffer_offset;
int finished; // 1 if done compressing/decompressing; 0 otherwise
void* xxh32_state;
// Compression state
int wrote_header;
// Decompression state
char header[10];
uint32_t block_size; // Size of current block
int block_size_read; // # of bytes read for current block_size
int block_uncompressed; // 1 if block is uncompressed, 0 otherwise
uint32_t stream_checksum; // Storage for checksum
int stream_checksum_read; // # of bytes read for stream_checksum
} stream_state;
void advanceInput(roslz4_stream *str, int nbytes) {
str->input_next += nbytes;
str->input_left -= nbytes;
str->total_in += nbytes;
}
void advanceOutput(roslz4_stream *str, int nbytes) {
str->output_next += nbytes;
str->output_left -= nbytes;
str->total_out += nbytes;
}
void fillUInt32(roslz4_stream *str, uint32_t *dest_val, int *offset) {
char *dest = (char*) dest_val;
int to_copy = min(4 - *offset, str->input_left);
memcpy(dest + *offset, str->input_next, to_copy);
advanceInput(str, to_copy);
*offset += to_copy;
}
int writeHeader(roslz4_stream *str) {
if (str->output_left < 7) {
return ROSLZ4_OUTPUT_SMALL; // Output must have 7 bytes
}
stream_state *state = str->state;
writeUInt32((unsigned char*) str->output_next, kMagicNumber);
int version = 1;
char *out = str->output_next;
*(out+4) = ((unsigned)version & k2Bits) << 6;
*(out+4) |= ((unsigned)state->block_independence_flag & k1Bits) << 5;
*(out+4) |= ((unsigned)state->block_checksum_flag & k1Bits) << 4;
*(out+4) |= ((unsigned)state->stream_checksum_flag & k1Bits) << 2;
*(out+5) = ((unsigned)str->block_size_id & k3Bits) << 4;
// Checksum: 2nd byte of hash of header flags
unsigned char checksum = (XXH32(str->output_next + 4, 2, 0) >> 8) & k8Bits;
*(str->output_next+6) = checksum;
advanceOutput(str, 7);
DEBUG("writeHeader() Put 7 bytes in output\n");
return ROSLZ4_OK;
}
int writeEOS(roslz4_stream *str) {
if (str->output_left < 8) {
return ROSLZ4_OUTPUT_SMALL;
}
stream_state *state = str->state;
state->finished = 1;
writeUInt32((unsigned char*) str->output_next, kEndOfStream);
advanceOutput(str, 4);
uint32_t stream_checksum = XXH32_digest(state->xxh32_state);
writeUInt32((unsigned char*) str->output_next, stream_checksum);
advanceOutput(str, 4);
state->xxh32_state = NULL;
DEBUG("writeEOS() Wrote 8 bytes to output %i\n", str->output_left);
return ROSLZ4_STREAM_END;
}
// If successfull, number of bytes written to output
// If error, LZ4 return code
int bufferToOutput(roslz4_stream *str) {
stream_state *state = str->state;
uint32_t uncomp_size = state->buffer_offset;
if (state->buffer_offset == 0) {
return 0; // No data to flush
} else if (str->output_left - 4 < uncomp_size) {
DEBUG("bufferToOutput() Not enough space left in output\n");
return ROSLZ4_OUTPUT_SMALL;
}
DEBUG("bufferToOutput() Flushing %i bytes, %i left in output\n",
state->buffer_offset, str->output_left);
// Shrink output by 1 to detect if data is not compressible
uint32_t comp_size = LZ4_compress_limitedOutput(state->buffer,
str->output_next + 4,
(int) state->buffer_offset,
(int) uncomp_size - 1);
uint32_t wrote;
if (comp_size > 0) {
DEBUG("bufferToOutput() Compressed to %i bytes\n", comp_size);
// Write compressed data size
wrote = 4 + comp_size;
writeUInt32((unsigned char*)str->output_next, comp_size);
} else {
// Write uncompressed data
DEBUG("bufferToOutput() Can't compress, copying input\n");
memcpy(str->output_next + 4, state->buffer, uncomp_size);
// Write uncompressed data size. Signal data is uncompressed with high
// order bit; won't confuse decompression because max block size is < 2GB
wrote = 4 + uncomp_size;
writeUInt32((unsigned char*) str->output_next, uncomp_size | 0x80000000);
}
advanceOutput(str, wrote);
state->buffer_offset -= uncomp_size;
DEBUG("bufferToOutput() Ate %i from buffer, wrote %i to output (%i)\n",
uncomp_size, wrote, str->output_left);
return wrote;
}
// Copy as much data as possible from input to internal buffer
// Return number of bytes written if successful, LZ4 error code on error
int inputToBuffer(roslz4_stream *str) {
stream_state *state = str->state;
if (str->input_left == 0 ||
state->buffer_size == state->buffer_offset) {
return 0;
}
int buffer_left = state->buffer_size - state->buffer_offset;
int to_copy = min(str->input_left, buffer_left);
int ret = XXH32_update(state->xxh32_state, str->input_next, to_copy);
if (ret == XXH_ERROR) { return ROSLZ4_ERROR; }
memcpy(state->buffer + state->buffer_offset, str->input_next, to_copy);
advanceInput(str, to_copy);
state->buffer_offset += to_copy;
DEBUG("inputToBuffer() Wrote % 5i bytes to buffer (size=% 5i)\n",
to_copy, state->buffer_offset);
return to_copy;
}
int streamStateAlloc(roslz4_stream *str) {
stream_state *state = (stream_state*) malloc(sizeof(stream_state));
if (state == NULL) {
return ROSLZ4_MEMORY_ERROR; // Allocation of state failed
}
str->state = state;
str->block_size_id = -1;
state->block_independence_flag = 1;
state->block_checksum_flag = 0;
state->stream_checksum_flag = 1;
state->finished = 0;
state->xxh32_state = XXH32_init(0);
state->stream_checksum = 0;
state->stream_checksum_read = 0;
state->wrote_header = 0;
state->buffer_offset = 0;
state->buffer_size = 0;
state->buffer = NULL;
state->block_size = 0;
state->block_size_read = 0;
state->block_uncompressed = 0;
str->total_in = 0;
str->total_out = 0;
return ROSLZ4_OK;
}
int streamResizeBuffer(roslz4_stream *str, int block_size_id) {
stream_state *state = str->state;
if (!(4 <= block_size_id && block_size_id <= 7)) {
return ROSLZ4_PARAM_ERROR; // Invalid block size
}
str->block_size_id = block_size_id;
state->buffer_offset = 0;
state->buffer_size = roslz4_blockSizeFromIndex(str->block_size_id);
state->buffer = (char*) malloc(sizeof(char) * state->buffer_size);
if (state->buffer == NULL) {
return ROSLZ4_MEMORY_ERROR; // Allocation of buffer failed
}
return ROSLZ4_OK;
}
void streamStateFree(roslz4_stream *str) {
stream_state *state = str->state;
if (state != NULL) {
if (state->buffer != NULL) {
free(state->buffer);
}
if (state->xxh32_state != NULL) {
XXH32_digest(state->xxh32_state);
}
free(state);
str->state = NULL;
}
}
int roslz4_blockSizeFromIndex(int block_id) {
return (1 << (8 + (2 * block_id)));
}
int roslz4_compressStart(roslz4_stream *str, int block_size_id) {
int ret = streamStateAlloc(str);
if (ret < 0) { return ret; }
return streamResizeBuffer(str, block_size_id);
}
int roslz4_compress(roslz4_stream *str, int action) {
int ret;
stream_state *state = str->state;
if (action != ROSLZ4_RUN && action != ROSLZ4_FINISH) {
return ROSLZ4_PARAM_ERROR; // Unrecognized compression action
} else if (state->finished) {
return ROSLZ4_ERROR; // Cannot call action on finished stream
}
if (!state->wrote_header) {
ret = writeHeader(str);
if (ret < 0) { return ret; }
state->wrote_header = 1;
}
// Copy input to internal buffer, compressing when full or finishing stream
int read = 0, wrote = 0;
do {
read = inputToBuffer(str);
if (read < 0) { return read; }
wrote = 0;
if (action == ROSLZ4_FINISH || state->buffer_offset == state->buffer_size) {
wrote = bufferToOutput(str);
if (wrote < 0) { return wrote; }
}
} while (read > 0 || wrote > 0);
// Signal end of stream if finishing up, otherwise done
if (action == ROSLZ4_FINISH) {
return writeEOS(str);
} else {
return ROSLZ4_OK;
}
}
void roslz4_compressEnd(roslz4_stream *str) {
streamStateFree(str);
}
/*========================= Low level decompression =========================*/
int roslz4_decompressStart(roslz4_stream *str) {
return streamStateAlloc(str);
// Can't allocate internal buffer, block size is unknown until header is read
}
// Return 1 if header is present, 0 if more data is needed,
// LZ4 error code (< 0) if error
int processHeader(roslz4_stream *str) {
stream_state *state = str->state;
if (str->total_in >= 7) {
return 1;
}
// Populate header buffer
int to_copy = min(7 - str->total_in, str->input_left);
memcpy(state->header + str->total_in, str->input_next, to_copy);
advanceInput(str, to_copy);
if (str->total_in < 7) {
return 0;
}
// Parse header buffer
unsigned char *header = (unsigned char*) state->header;
uint32_t magic_number = readUInt32(header);
if (magic_number != kMagicNumber) {
return ROSLZ4_DATA_ERROR; // Stream does not start with magic number
}
// Check descriptor flags
int version = (header[4] >> 6) & k2Bits;
int block_independence_flag = (header[4] >> 5) & k1Bits;
int block_checksum_flag = (header[4] >> 4) & k1Bits;
int stream_size_flag = (header[4] >> 3) & k1Bits;
int stream_checksum_flag = (header[4] >> 2) & k1Bits;
int reserved1 = (header[4] >> 1) & k1Bits;
int preset_dictionary_flag = (header[4] >> 0) & k1Bits;
int reserved2 = (header[5] >> 7) & k1Bits;
int block_max_id = (header[5] >> 4) & k3Bits;
int reserved3 = (header[5] >> 0) & k4Bits;
// LZ4 standard requirements
if (version != 1) {
return ROSLZ4_DATA_ERROR; // Wrong version number
}
if (reserved1 != 0 || reserved2 != 0 || reserved3 != 0) {
return ROSLZ4_DATA_ERROR; // Reserved bits must be 0
}
if (!(4 <= block_max_id && block_max_id <= 7)) {
return ROSLZ4_DATA_ERROR; // Invalid block size
}
// Implementation requirements
if (stream_size_flag != 0) {
return ROSLZ4_DATA_ERROR; // Stream size not supported
}
if (preset_dictionary_flag != 0) {
return ROSLZ4_DATA_ERROR; // Dictionary not supported
}
if (block_independence_flag != 1) {
return ROSLZ4_DATA_ERROR; // Block dependence not supported
}
if (block_checksum_flag != 0) {
return ROSLZ4_DATA_ERROR; // Block checksums not supported
}
if (stream_checksum_flag != 1) {
return ROSLZ4_DATA_ERROR; // Must have stream checksum
}
int header_checksum = (XXH32(header + 4, 2, 0) >> 8) & k8Bits;
int stored_header_checksum = (header[6] >> 0) & k8Bits;
if (header_checksum != stored_header_checksum) {
return ROSLZ4_DATA_ERROR; // Header checksum doesn't match
}
int ret = streamResizeBuffer(str, block_max_id);
if (ret == ROSLZ4_OK) {
return 1;
} else {
return ret;
}
}
// Read block size, return 1 if value is stored in state->block_size 0 otherwise
int readBlockSize(roslz4_stream *str) {
stream_state *state = str->state;
if (state->block_size_read < 4) {
fillUInt32(str, &state->block_size, &state->block_size_read);
if (state->block_size_read == 4) {
state->block_size = readUInt32((unsigned char*)&state->block_size);
state->block_uncompressed = ((unsigned)state->block_size >> 31) & k1Bits;
state->block_size &= 0x7FFFFFFF;
DEBUG("readBlockSize() Block size = %i uncompressed = %i\n",
state->block_size, state->block_uncompressed);
return 1;
} else {
return 0;
}
}
return 1;
}
// Copy at most one blocks worth of data from input to internal buffer.
// Return 1 if whole block has been read, 0 if not, LZ4 error otherwise
int readBlock(roslz4_stream *str) {
stream_state *state = str->state;
if (state->block_size_read != 4 || state->block_size == kEndOfStream) {
return ROSLZ4_ERROR;
}
int block_left = state->block_size - state->buffer_offset;
int to_copy = min(str->input_left, block_left);
memcpy(state->buffer + state->buffer_offset, str->input_next, to_copy);
advanceInput(str, to_copy);
state->buffer_offset += to_copy;
DEBUG("readBlock() Read %i bytes from input (block = %i/%i)\n",
to_copy, state->buffer_offset, state->block_size);
return state->buffer_offset == state->block_size;
}
int decompressBlock(roslz4_stream *str) {
stream_state *state = str->state;
if (state->block_size_read != 4 || state->block_size != state->buffer_offset) {
// Internal error: Can't decompress block, it's not in buffer
return ROSLZ4_ERROR;
}
if (state->block_uncompressed) {
if (str->output_left >= state->block_size) {
memcpy(str->output_next, state->buffer, state->block_size);
int ret = XXH32_update(state->xxh32_state, str->output_next,
state->block_size);
if (ret == XXH_ERROR) { return ROSLZ4_ERROR; }
advanceOutput(str, state->block_size);
state->block_size_read = 0;
state->buffer_offset = 0;
return ROSLZ4_OK;
} else {
return ROSLZ4_OUTPUT_SMALL;
}
} else {
int decomp_size;
decomp_size = LZ4_decompress_safe(state->buffer, str->output_next,
state->block_size, str->output_left);
if (decomp_size < 0) {
if (str->output_left >= state->buffer_size) {
return ROSLZ4_DATA_ERROR; // Must be a problem with the data stream
} else {
// Data error or output is small; increase output to disambiguate
return ROSLZ4_OUTPUT_SMALL;
}
} else {
int ret = XXH32_update(state->xxh32_state, str->output_next, decomp_size);
if (ret == XXH_ERROR) { return ROSLZ4_ERROR; }
advanceOutput(str, decomp_size);
state->block_size_read = 0;
state->buffer_offset = 0;
return ROSLZ4_OK;
}
}
}
int readChecksum(roslz4_stream *str) {
stream_state *state = str->state;
fillUInt32(str, &state->stream_checksum, &state->stream_checksum_read);
if (state->stream_checksum_read == 4) {
state->finished = 1;
state->stream_checksum = readUInt32((unsigned char*)&state->stream_checksum);
uint32_t checksum = XXH32_digest(state->xxh32_state);
state->xxh32_state = NULL;
if (checksum == state->stream_checksum) {
return ROSLZ4_STREAM_END;
} else {
return ROSLZ4_DATA_ERROR;
}
}
return ROSLZ4_OK;
}
int roslz4_decompress(roslz4_stream *str) {
stream_state *state = str->state;
if (state->finished) {
return ROSLZ4_ERROR; // Already reached end of stream
}
// Return if header isn't present or error was encountered
int ret = processHeader(str);
if (ret <= 0) {
return ret;
}
// Read in blocks and decompress them as long as there's data to be processed
while (str->input_left > 0) {
ret = readBlockSize(str);
if (ret == 0) { return ROSLZ4_OK; }
if (state->block_size == kEndOfStream) {
return readChecksum(str);
}
ret = readBlock(str);
if (ret == 0) { return ROSLZ4_OK; }
else if (ret < 0) { return ret; }
ret = decompressBlock(str);
if (ret < 0) { return ret; }
}
return ROSLZ4_OK;
}
void roslz4_decompressEnd(roslz4_stream *str) {
streamStateFree(str);
}
/*=================== Oneshot compression / decompression ===================*/
int roslz4_buffToBuffCompress(char *input, unsigned int input_size,
char *output, unsigned int *output_size,
int block_size_id) {
roslz4_stream stream;
stream.input_next = input;
stream.input_left = input_size;
stream.output_next = output;
stream.output_left = *output_size;
int ret;
ret = roslz4_compressStart(&stream, block_size_id);
if (ret != ROSLZ4_OK) {
roslz4_compressEnd(&stream);
return ret;
}
while (stream.input_left > 0 && ret != ROSLZ4_STREAM_END) {
ret = roslz4_compress(&stream, ROSLZ4_FINISH);
if (ret == ROSLZ4_ERROR || ret == ROSLZ4_OUTPUT_SMALL) {
roslz4_compressEnd(&stream);
return ret;
}
}
*output_size = *output_size - stream.output_left;
roslz4_compressEnd(&stream);
if (stream.input_left == 0 && ret == ROSLZ4_STREAM_END) {
return ROSLZ4_OK; // Success
} else {
return ROSLZ4_ERROR; // User did not provide exact buffer
}
}
int roslz4_buffToBuffDecompress(char *input, unsigned int input_size,
char *output, unsigned int *output_size) {
roslz4_stream stream;
stream.input_next = input;
stream.input_left = input_size;
stream.output_next = output;
stream.output_left = *output_size;
int ret;
ret = roslz4_decompressStart(&stream);
if (ret != ROSLZ4_OK) { return ret; }
while (stream.input_left > 0 && ret != ROSLZ4_STREAM_END) {
ret = roslz4_decompress(&stream);
if (ret < 0) {
roslz4_decompressEnd(&stream);
return ret;
}
}
*output_size = *output_size - stream.output_left;
roslz4_decompressEnd(&stream);
if (stream.input_left == 0 && ret == ROSLZ4_STREAM_END) {
return ROSLZ4_OK; // Success
} else {
return ROSLZ4_ERROR; // User did not provide exact buffer
}
}

42
thirdparty/ros/ros_comm/utilities/roslz4/src/roslz4/__init__.py vendored Normal file
View File

@@ -0,0 +1,42 @@
# Software License Agreement (BSD License)
#
# Copyright (c) 2014, Ben Charrow
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
from ._roslz4 import *
def compress(data):
compressor = LZ4Compressor()
return compressor.compress(data) + compressor.flush()
def decompress(data):
decompressor = LZ4Decompressor()
output = decompressor.decompress(data)
return output

475
thirdparty/ros/ros_comm/utilities/roslz4/src/xxhash.c vendored Normal file
View File

@@ -0,0 +1,475 @@
/*
xxHash - Fast Hash algorithm
Copyright (C) 2012-2014, Yann Collet.
BSD 2-Clause License (http://www.opensource.org/licenses/bsd-license.php)
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are
met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above
copyright notice, this list of conditions and the following disclaimer
in the documentation and/or other materials provided with the
distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
You can contact the author at :
- xxHash source repository : http://code.google.com/p/xxhash/
*/
//**************************************
// Tuning parameters
//**************************************
// Unaligned memory access is automatically enabled for "common" CPU, such as x86.
// For others CPU, the compiler will be more cautious, and insert extra code to ensure aligned access is respected.
// If you know your target CPU supports unaligned memory access, you want to force this option manually to improve performance.
// You can also enable this parameter if you know your input data will always be aligned (boundaries of 4, for U32).
#if defined(__ARM_FEATURE_UNALIGNED) || defined(__i386) || defined(_M_IX86) || defined(__x86_64__) || defined(_M_X64)
# define XXH_USE_UNALIGNED_ACCESS 1
#endif
// XXH_ACCEPT_NULL_INPUT_POINTER :
// If the input pointer is a null pointer, xxHash default behavior is to trigger a memory access error, since it is a bad pointer.
// When this option is enabled, xxHash output for null input pointers will be the same as a null-length input.
// This option has a very small performance cost (only measurable on small inputs).
// By default, this option is disabled. To enable it, uncomment below define :
//#define XXH_ACCEPT_NULL_INPUT_POINTER 1
// XXH_FORCE_NATIVE_FORMAT :
// By default, xxHash library provides endian-independant Hash values, based on little-endian convention.
// Results are therefore identical for little-endian and big-endian CPU.
// This comes at a performance cost for big-endian CPU, since some swapping is required to emulate little-endian format.
// Should endian-independance be of no importance for your application, you may set the #define below to 1.
// It will improve speed for Big-endian CPU.
// This option has no impact on Little_Endian CPU.
#define XXH_FORCE_NATIVE_FORMAT 0
//**************************************
// Compiler Specific Options
//**************************************
// Disable some Visual warning messages
#ifdef _MSC_VER // Visual Studio
# pragma warning(disable : 4127) // disable: C4127: conditional expression is constant
#endif
#ifdef _MSC_VER // Visual Studio
# define FORCE_INLINE static __forceinline
#else
# ifdef __GNUC__
# define FORCE_INLINE static inline __attribute__((always_inline))
# else
# define FORCE_INLINE static inline
# endif
#endif
//**************************************
// Includes & Memory related functions
//**************************************
#include "xxhash.h"
// Modify the local functions below should you wish to use some other memory related routines
// for malloc(), free()
#include <stdlib.h>
FORCE_INLINE void* XXH_malloc(size_t s) { return malloc(s); }
FORCE_INLINE void XXH_free (void* p) { free(p); }
// for memcpy()
#include <string.h>
FORCE_INLINE void* XXH_memcpy(void* dest, const void* src, size_t size) { return memcpy(dest,src,size); }
//**************************************
// Basic Types
//**************************************
#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L // C99
# include <stdint.h>
typedef uint8_t BYTE;
typedef uint16_t U16;
typedef uint32_t U32;
typedef int32_t S32;
typedef uint64_t U64;
#else
typedef unsigned char BYTE;
typedef unsigned short U16;
typedef unsigned int U32;
typedef signed int S32;
typedef unsigned long long U64;
#endif
#if defined(__GNUC__) && !defined(XXH_USE_UNALIGNED_ACCESS)
# define _PACKED __attribute__ ((packed))
#else
# define _PACKED
#endif
#if !defined(XXH_USE_UNALIGNED_ACCESS) && !defined(__GNUC__)
# ifdef __IBMC__
# pragma pack(1)
# else
# pragma pack(push, 1)
# endif
#endif
typedef struct _U32_S { U32 v; } _PACKED U32_S;
#if !defined(XXH_USE_UNALIGNED_ACCESS) && !defined(__GNUC__)
# pragma pack(pop)
#endif
#define A32(x) (((U32_S *)(x))->v)
//***************************************
// Compiler-specific Functions and Macros
//***************************************
#define GCC_VERSION (__GNUC__ * 100 + __GNUC_MINOR__)
// Note : although _rotl exists for minGW (GCC under windows), performance seems poor
#if defined(_MSC_VER)
# define XXH_rotl32(x,r) _rotl(x,r)
#else
# define XXH_rotl32(x,r) ((x << r) | (x >> (32 - r)))
#endif
#if defined(_MSC_VER) // Visual Studio
# define XXH_swap32 _byteswap_ulong
#elif GCC_VERSION >= 403
# define XXH_swap32 __builtin_bswap32
#else
static inline U32 XXH_swap32 (U32 x) {
return ((x << 24) & 0xff000000 ) |
((x << 8) & 0x00ff0000 ) |
((x >> 8) & 0x0000ff00 ) |
((x >> 24) & 0x000000ff );}
#endif
//**************************************
// Constants
//**************************************
#define PRIME32_1 2654435761U
#define PRIME32_2 2246822519U
#define PRIME32_3 3266489917U
#define PRIME32_4 668265263U
#define PRIME32_5 374761393U
//**************************************
// Architecture Macros
//**************************************
typedef enum { XXH_bigEndian=0, XXH_littleEndian=1 } XXH_endianess;
#ifndef XXH_CPU_LITTLE_ENDIAN // It is possible to define XXH_CPU_LITTLE_ENDIAN externally, for example using a compiler switch
static const int one = 1;
# define XXH_CPU_LITTLE_ENDIAN (*(char*)(&one))
#endif
//**************************************
// Macros
//**************************************
#define XXH_STATIC_ASSERT(c) { enum { XXH_static_assert = 1/(!!(c)) }; } // use only *after* variable declarations
//****************************
// Memory reads
//****************************
typedef enum { XXH_aligned, XXH_unaligned } XXH_alignment;
FORCE_INLINE U32 XXH_readLE32_align(const U32* ptr, XXH_endianess endian, XXH_alignment align)
{
if (align==XXH_unaligned)
return endian==XXH_littleEndian ? A32(ptr) : XXH_swap32(A32(ptr));
else
return endian==XXH_littleEndian ? *ptr : XXH_swap32(*ptr);
}
FORCE_INLINE U32 XXH_readLE32(const U32* ptr, XXH_endianess endian) { return XXH_readLE32_align(ptr, endian, XXH_unaligned); }
//****************************
// Simple Hash Functions
//****************************
FORCE_INLINE U32 XXH32_endian_align(const void* input, int len, U32 seed, XXH_endianess endian, XXH_alignment align)
{
const BYTE* p = (const BYTE*)input;
const BYTE* const bEnd = p + len;
U32 h32;
#ifdef XXH_ACCEPT_NULL_INPUT_POINTER
if (p==NULL) { len=0; p=(const BYTE*)(size_t)16; }
#endif
if (len>=16)
{
const BYTE* const limit = bEnd - 16;
U32 v1 = seed + PRIME32_1 + PRIME32_2;
U32 v2 = seed + PRIME32_2;
U32 v3 = seed + 0;
U32 v4 = seed - PRIME32_1;
do
{
v1 += XXH_readLE32_align((const U32*)p, endian, align) * PRIME32_2; v1 = XXH_rotl32(v1, 13); v1 *= PRIME32_1; p+=4;
v2 += XXH_readLE32_align((const U32*)p, endian, align) * PRIME32_2; v2 = XXH_rotl32(v2, 13); v2 *= PRIME32_1; p+=4;
v3 += XXH_readLE32_align((const U32*)p, endian, align) * PRIME32_2; v3 = XXH_rotl32(v3, 13); v3 *= PRIME32_1; p+=4;
v4 += XXH_readLE32_align((const U32*)p, endian, align) * PRIME32_2; v4 = XXH_rotl32(v4, 13); v4 *= PRIME32_1; p+=4;
} while (p<=limit);
h32 = XXH_rotl32(v1, 1) + XXH_rotl32(v2, 7) + XXH_rotl32(v3, 12) + XXH_rotl32(v4, 18);
}
else
{
h32 = seed + PRIME32_5;
}
h32 += (U32) len;
while (p<=bEnd-4)
{
h32 += XXH_readLE32_align((const U32*)p, endian, align) * PRIME32_3;
h32 = XXH_rotl32(h32, 17) * PRIME32_4 ;
p+=4;
}
while (p<bEnd)
{
h32 += (*p) * PRIME32_5;
h32 = XXH_rotl32(h32, 11) * PRIME32_1 ;
p++;
}
h32 ^= h32 >> 15;
h32 *= PRIME32_2;
h32 ^= h32 >> 13;
h32 *= PRIME32_3;
h32 ^= h32 >> 16;
return h32;
}
U32 XXH32(const void* input, int len, U32 seed)
{
#if 0
// Simple version, good for code maintenance, but unfortunately slow for small inputs
void* state = XXH32_init(seed);
XXH32_update(state, input, len);
return XXH32_digest(state);
#else
XXH_endianess endian_detected = (XXH_endianess)XXH_CPU_LITTLE_ENDIAN;
# if !defined(XXH_USE_UNALIGNED_ACCESS)
if ((((size_t)input) & 3)) // Input is aligned, let's leverage the speed advantage
{
if ((endian_detected==XXH_littleEndian) || XXH_FORCE_NATIVE_FORMAT)
return XXH32_endian_align(input, len, seed, XXH_littleEndian, XXH_aligned);
else
return XXH32_endian_align(input, len, seed, XXH_bigEndian, XXH_aligned);
}
# endif
if ((endian_detected==XXH_littleEndian) || XXH_FORCE_NATIVE_FORMAT)
return XXH32_endian_align(input, len, seed, XXH_littleEndian, XXH_unaligned);
else
return XXH32_endian_align(input, len, seed, XXH_bigEndian, XXH_unaligned);
#endif
}
//****************************
// Advanced Hash Functions
//****************************
struct XXH_state32_t
{
U64 total_len;
U32 seed;
U32 v1;
U32 v2;
U32 v3;
U32 v4;
int memsize;
char memory[16];
};
int XXH32_sizeofState()
{
XXH_STATIC_ASSERT(XXH32_SIZEOFSTATE >= sizeof(struct XXH_state32_t)); // A compilation error here means XXH32_SIZEOFSTATE is not large enough
return sizeof(struct XXH_state32_t);
}
XXH_errorcode XXH32_resetState(void* state_in, U32 seed)
{
struct XXH_state32_t * state = (struct XXH_state32_t *) state_in;
state->seed = seed;
state->v1 = seed + PRIME32_1 + PRIME32_2;
state->v2 = seed + PRIME32_2;
state->v3 = seed + 0;
state->v4 = seed - PRIME32_1;
state->total_len = 0;
state->memsize = 0;
return XXH_OK;
}
void* XXH32_init (U32 seed)
{
void* state = XXH_malloc (sizeof(struct XXH_state32_t));
XXH32_resetState(state, seed);
return state;
}
FORCE_INLINE XXH_errorcode XXH32_update_endian (void* state_in, const void* input, int len, XXH_endianess endian)
{
struct XXH_state32_t * state = (struct XXH_state32_t *) state_in;
const BYTE* p = (const BYTE*)input;
const BYTE* const bEnd = p + len;
#ifdef XXH_ACCEPT_NULL_INPUT_POINTER
if (input==NULL) return XXH_ERROR;
#endif
state->total_len += len;
if (state->memsize + len < 16) // fill in tmp buffer
{
XXH_memcpy(state->memory + state->memsize, input, len);
state->memsize += len;
return XXH_OK;
}
if (state->memsize) // some data left from previous update
{
XXH_memcpy(state->memory + state->memsize, input, 16-state->memsize);
{
const U32* p32 = (const U32*)state->memory;
state->v1 += XXH_readLE32(p32, endian) * PRIME32_2; state->v1 = XXH_rotl32(state->v1, 13); state->v1 *= PRIME32_1; p32++;
state->v2 += XXH_readLE32(p32, endian) * PRIME32_2; state->v2 = XXH_rotl32(state->v2, 13); state->v2 *= PRIME32_1; p32++;
state->v3 += XXH_readLE32(p32, endian) * PRIME32_2; state->v3 = XXH_rotl32(state->v3, 13); state->v3 *= PRIME32_1; p32++;
state->v4 += XXH_readLE32(p32, endian) * PRIME32_2; state->v4 = XXH_rotl32(state->v4, 13); state->v4 *= PRIME32_1; p32++;
}
p += 16-state->memsize;
state->memsize = 0;
}
if (p <= bEnd-16)
{
const BYTE* const limit = bEnd - 16;
U32 v1 = state->v1;
U32 v2 = state->v2;
U32 v3 = state->v3;
U32 v4 = state->v4;
do
{
v1 += XXH_readLE32((const U32*)p, endian) * PRIME32_2; v1 = XXH_rotl32(v1, 13); v1 *= PRIME32_1; p+=4;
v2 += XXH_readLE32((const U32*)p, endian) * PRIME32_2; v2 = XXH_rotl32(v2, 13); v2 *= PRIME32_1; p+=4;
v3 += XXH_readLE32((const U32*)p, endian) * PRIME32_2; v3 = XXH_rotl32(v3, 13); v3 *= PRIME32_1; p+=4;
v4 += XXH_readLE32((const U32*)p, endian) * PRIME32_2; v4 = XXH_rotl32(v4, 13); v4 *= PRIME32_1; p+=4;
} while (p<=limit);
state->v1 = v1;
state->v2 = v2;
state->v3 = v3;
state->v4 = v4;
}
if (p < bEnd)
{
XXH_memcpy(state->memory, p, bEnd-p);
state->memsize = (int)(bEnd-p);
}
return XXH_OK;
}
XXH_errorcode XXH32_update (void* state_in, const void* input, int len)
{
XXH_endianess endian_detected = (XXH_endianess)XXH_CPU_LITTLE_ENDIAN;
if ((endian_detected==XXH_littleEndian) || XXH_FORCE_NATIVE_FORMAT)
return XXH32_update_endian(state_in, input, len, XXH_littleEndian);
else
return XXH32_update_endian(state_in, input, len, XXH_bigEndian);
}
FORCE_INLINE U32 XXH32_intermediateDigest_endian (void* state_in, XXH_endianess endian)
{
struct XXH_state32_t * state = (struct XXH_state32_t *) state_in;
const BYTE * p = (const BYTE*)state->memory;
BYTE* bEnd = (BYTE*)state->memory + state->memsize;
U32 h32;
if (state->total_len >= 16)
{
h32 = XXH_rotl32(state->v1, 1) + XXH_rotl32(state->v2, 7) + XXH_rotl32(state->v3, 12) + XXH_rotl32(state->v4, 18);
}
else
{
h32 = state->seed + PRIME32_5;
}
h32 += (U32) state->total_len;
while (p<=bEnd-4)
{
h32 += XXH_readLE32((const U32*)p, endian) * PRIME32_3;
h32 = XXH_rotl32(h32, 17) * PRIME32_4;
p+=4;
}
while (p<bEnd)
{
h32 += (*p) * PRIME32_5;
h32 = XXH_rotl32(h32, 11) * PRIME32_1;
p++;
}
h32 ^= h32 >> 15;
h32 *= PRIME32_2;
h32 ^= h32 >> 13;
h32 *= PRIME32_3;
h32 ^= h32 >> 16;
return h32;
}
U32 XXH32_intermediateDigest (void* state_in)
{
XXH_endianess endian_detected = (XXH_endianess)XXH_CPU_LITTLE_ENDIAN;
if ((endian_detected==XXH_littleEndian) || XXH_FORCE_NATIVE_FORMAT)
return XXH32_intermediateDigest_endian(state_in, XXH_littleEndian);
else
return XXH32_intermediateDigest_endian(state_in, XXH_bigEndian);
}
U32 XXH32_digest (void* state_in)
{
U32 h32 = XXH32_intermediateDigest(state_in);
XXH_free(state_in);
return h32;
}

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thirdparty/ros/ros_comm/utilities/roslz4/src/xxhash.h vendored Normal file
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/*
xxHash - Fast Hash algorithm
Header File
Copyright (C) 2012-2014, Yann Collet.
BSD 2-Clause License (http://www.opensource.org/licenses/bsd-license.php)
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are
met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above
copyright notice, this list of conditions and the following disclaimer
in the documentation and/or other materials provided with the
distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
You can contact the author at :
- xxHash source repository : http://code.google.com/p/xxhash/
*/
/* Notice extracted from xxHash homepage :
xxHash is an extremely fast Hash algorithm, running at RAM speed limits.
It also successfully passes all tests from the SMHasher suite.
Comparison (single thread, Windows Seven 32 bits, using SMHasher on a Core 2 Duo @3GHz)
Name Speed Q.Score Author
xxHash 5.4 GB/s 10
CrapWow 3.2 GB/s 2 Andrew
MumurHash 3a 2.7 GB/s 10 Austin Appleby
SpookyHash 2.0 GB/s 10 Bob Jenkins
SBox 1.4 GB/s 9 Bret Mulvey
Lookup3 1.2 GB/s 9 Bob Jenkins
SuperFastHash 1.2 GB/s 1 Paul Hsieh
CityHash64 1.05 GB/s 10 Pike & Alakuijala
FNV 0.55 GB/s 5 Fowler, Noll, Vo
CRC32 0.43 GB/s 9
MD5-32 0.33 GB/s 10 Ronald L. Rivest
SHA1-32 0.28 GB/s 10
Q.Score is a measure of quality of the hash function.
It depends on successfully passing SMHasher test set.
10 is a perfect score.
*/
#pragma once
#if defined (__cplusplus)
extern "C" {
#endif
//****************************
// Type
//****************************
typedef enum { XXH_OK=0, XXH_ERROR } XXH_errorcode;
//****************************
// Simple Hash Functions
//****************************
unsigned int XXH32 (const void* input, int len, unsigned int seed);
/*
XXH32() :
Calculate the 32-bits hash of sequence of length "len" stored at memory address "input".
The memory between input & input+len must be valid (allocated and read-accessible).
"seed" can be used to alter the result predictably.
This function successfully passes all SMHasher tests.
Speed on Core 2 Duo @ 3 GHz (single thread, SMHasher benchmark) : 5.4 GB/s
Note that "len" is type "int", which means it is limited to 2^31-1.
If your data is larger, use the advanced functions below.
*/
//****************************
// Advanced Hash Functions
//****************************
void* XXH32_init (unsigned int seed);
XXH_errorcode XXH32_update (void* state, const void* input, int len);
unsigned int XXH32_digest (void* state);
/*
These functions calculate the xxhash of an input provided in several small packets,
as opposed to an input provided as a single block.
It must be started with :
void* XXH32_init()
The function returns a pointer which holds the state of calculation.
This pointer must be provided as "void* state" parameter for XXH32_update().
XXH32_update() can be called as many times as necessary.
The user must provide a valid (allocated) input.
The function returns an error code, with 0 meaning OK, and any other value meaning there is an error.
Note that "len" is type "int", which means it is limited to 2^31-1.
If your data is larger, it is recommended to chunk your data into blocks
of size for example 2^30 (1GB) to avoid any "int" overflow issue.
Finally, you can end the calculation anytime, by using XXH32_digest().
This function returns the final 32-bits hash.
You must provide the same "void* state" parameter created by XXH32_init().
Memory will be freed by XXH32_digest().
*/
int XXH32_sizeofState();
XXH_errorcode XXH32_resetState(void* state, unsigned int seed);
#define XXH32_SIZEOFSTATE 48
typedef struct { long long ll[(XXH32_SIZEOFSTATE+(sizeof(long long)-1))/sizeof(long long)]; } XXH32_stateSpace_t;
/*
These functions allow user application to make its own allocation for state.
XXH32_sizeofState() is used to know how much space must be allocated for the xxHash 32-bits state.
Note that the state must be aligned to access 'long long' fields. Memory must be allocated and referenced by a pointer.
This pointer must then be provided as 'state' into XXH32_resetState(), which initializes the state.
For static allocation purposes (such as allocation on stack, or freestanding systems without malloc()),
use the structure XXH32_stateSpace_t, which will ensure that memory space is large enough and correctly aligned to access 'long long' fields.
*/
unsigned int XXH32_intermediateDigest (void* state);
/*
This function does the same as XXH32_digest(), generating a 32-bit hash,
but preserve memory context.
This way, it becomes possible to generate intermediate hashes, and then continue feeding data with XXH32_update().
To free memory context, use XXH32_digest(), or free().
*/
//****************************
// Deprecated function names
//****************************
// The following translations are provided to ease code transition
// You are encouraged to no longer this function names
#define XXH32_feed XXH32_update
#define XXH32_result XXH32_digest
#define XXH32_getIntermediateResult XXH32_intermediateDigest
#if defined (__cplusplus)
}
#endif