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h1:M1YKkFIboKNieVO5DLUEVzQfGwJD30Nv2jfUgzb5UcE= +gopkg.in/errgo.v2 v2.1.0 h1:0vLT13EuvQ0hNvakwLuFZ/jYrLp5F3kcWHXdRggjCE8= +honnef.co/go/tools v0.0.1-2020.1.4 h1:UoveltGrhghAA7ePc+e+QYDHXrBps2PqFZiHkGR/xK8= +modernc.org/libc v1.21.5 h1:xBkU9fnHV+hvZuPSRszN0AXDG4M7nwPLwTWwkYcvLCI= +modernc.org/libc v1.21.5/go.mod h1:przBsL5RDOZajTVslkugzLBj1evTue36jEomFQOoYuI= +modernc.org/mathutil v1.5.0 h1:rV0Ko/6SfM+8G+yKiyI830l3Wuz1zRutdslNoQ0kfiQ= +modernc.org/mathutil v1.5.0/go.mod h1:mZW8CKdRPY1v87qxC/wUdX5O1qDzXMP5TH3wjfpga6E= +modernc.org/memory v1.4.0 h1:crykUfNSnMAXaOJnnxcSzbUGMqkLWjklJKkBK2nwZwk= +modernc.org/memory v1.4.0/go.mod h1:PkUhL0Mugw21sHPeskwZW4D6VscE/GQJOnIpCnW6pSU= +modernc.org/sqlite v1.20.0 h1:80zmD3BGkm8BZ5fUi/4lwJQHiO3GXgIUvZRXpoIfROY= +modernc.org/sqlite v1.20.0/go.mod h1:EsYz8rfOvLCiYTy5ZFsOYzoCcRMu98YYkwAcCw5YIYw= +rsc.io/binaryregexp v0.2.0 h1:HfqmD5MEmC0zvwBuF187nq9mdnXjXsSivRiXN7SmRkE= +rsc.io/quote/v3 v3.1.0 h1:9JKUTTIUgS6kzR9mK1YuGKv6Nl+DijDNIc0ghT58FaY= +rsc.io/sampler v1.3.0 h1:7uVkIFmeBqHfdjD+gZwtXXI+RODJ2Wc4O7MPEh/QiW4= +zombiezen.com/go/sqlite v0.12.0 h1:0IDiV/XR6fWS2iFcOuVpGg3O2rJV0uVYEW30ANTKjeE= +zombiezen.com/go/sqlite v0.12.0/go.mod h1:RKdRR9xoQDSnB47yy7G4PtrjGZJtupb/SyEbJZLaRes= diff --git a/go/mcap/go.mod b/go/mcap/go.mod index d4ad84fc1..6aa90f883 100644 --- a/go/mcap/go.mod +++ b/go/mcap/go.mod @@ -10,7 +10,7 @@ require ( require ( github.com/davecgh/go-spew v1.1.1 // indirect - github.com/kr/pretty v0.3.0 // indirect + github.com/kr/pretty v0.3.1 // indirect github.com/pmezard/go-difflib v1.0.0 // indirect gopkg.in/check.v1 v1.0.0-20180628173108-788fd7840127 // indirect gopkg.in/yaml.v3 v3.0.1 // indirect diff --git a/go/mcap/go.sum b/go/mcap/go.sum index 9b52a5a7c..6c07f6f9c 100644 --- a/go/mcap/go.sum +++ b/go/mcap/go.sum @@ -1,12 +1,23 @@ +github.com/creack/pty v1.1.9/go.mod h1:oKZEueFk5CKHvIhNR5MUki03XCEU+Q6VDXinZuGJ33E= github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c= +github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38= github.com/klauspost/compress v1.16.7 h1:2mk3MPGNzKyxErAw8YaohYh69+pa4sIQSC0fPGCFR9I= -github.com/kr/pretty v0.3.0 h1:WgNl7dwNpEZ6jJ9k1snq4pZsg7DOEN8hP9Xw0Tsjwk0= +github.com/klauspost/compress v1.16.7/go.mod h1:ntbaceVETuRiXiv4DpjP66DpAtAGkEQskQzEyD//IeE= +github.com/kr/pretty v0.3.1 h1:flRD4NNwYAUpkphVc1HcthR4KEIFJ65n8Mw5qdRn3LE= +github.com/kr/pretty v0.3.1/go.mod h1:hoEshYVHaxMs3cyo3Yncou5ZscifuDolrwPKZanG3xk= github.com/kr/text v0.2.0 h1:5Nx0Ya0ZqY2ygV366QzturHI13Jq95ApcVaJBhpS+AY= +github.com/kr/text v0.2.0/go.mod h1:eLer722TekiGuMkidMxC/pM04lWEeraHUUmBw8l2grE= github.com/pierrec/lz4/v4 v4.1.21 h1:yOVMLb6qSIDP67pl/5F7RepeKYu/VmTyEXvuMI5d9mQ= +github.com/pierrec/lz4/v4 v4.1.21/go.mod h1:gZWDp/Ze/IJXGXf23ltt2EXimqmTUXEy0GFuRQyBid4= +github.com/pkg/diff v0.0.0-20210226163009-20ebb0f2a09e/go.mod h1:pJLUxLENpZxwdsKMEsNbx1VGcRFpLqf3715MtcvvzbA= github.com/pmezard/go-difflib v1.0.0 h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZbAQM= github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4= -github.com/rogpeppe/go-internal v1.6.1 h1:/FiVV8dS/e+YqF2JvO3yXRFbBLTIuSDkuC7aBOAvL+k= +github.com/rogpeppe/go-internal v1.9.0 h1:73kH8U+JUqXU8lRuOHeVHaa/SZPifC7BkcraZVejAe8= +github.com/rogpeppe/go-internal v1.9.0/go.mod h1:WtVeX8xhTBvf0smdhujwtBcq4Qrzq/fJaraNFVN+nFs= github.com/stretchr/testify v1.9.0 h1:HtqpIVDClZ4nwg75+f6Lvsy/wHu+3BoSGCbBAcpTsTg= +github.com/stretchr/testify v1.9.0/go.mod h1:r2ic/lqez/lEtzL7wO/rwa5dbSLXVDPFyf8C91i36aY= gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0= gopkg.in/check.v1 v1.0.0-20180628173108-788fd7840127 h1:qIbj1fsPNlZgppZ+VLlY7N33q108Sa+fhmuc+sWQYwY= +gopkg.in/check.v1 v1.0.0-20180628173108-788fd7840127/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0= gopkg.in/yaml.v3 v3.0.1 h1:fxVm/GzAzEWqLHuvctI91KS9hhNmmWOoWu0XTYJS7CA= +gopkg.in/yaml.v3 v3.0.1/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM= diff --git a/go/mcap/reader_test.go b/go/mcap/reader_test.go index e1322f16a..a463ecc2c 100644 --- a/go/mcap/reader_test.go +++ b/go/mcap/reader_test.go @@ -772,7 +772,7 @@ func TestReadingMessageOrderWithOverlappingChunks(t *testing.T) { } var now uint64 = 100 addMsg(now) - for writer.compressedWriter.Size() != 0 { + for writer.uncompressedSize() != 0 { now += 10 addMsg(now) } @@ -782,7 +782,7 @@ func TestReadingMessageOrderWithOverlappingChunks(t *testing.T) { now -= 55 addMsg(now) - for writer.compressedWriter.Size() != 0 { + for writer.uncompressedSize() != 0 { now += 10 addMsg(now) } diff --git a/go/mcap/writer.go b/go/mcap/writer.go index d181a643a..06cee1a25 100644 --- a/go/mcap/writer.go +++ b/go/mcap/writer.go @@ -23,17 +23,15 @@ type Writer struct { // MetadataIndexes created over the course of the recording. MetadataIndexes []*MetadataIndex - channelIDs []uint16 - schemaIDs []uint16 - channels map[uint16]*Channel - schemas map[uint16]*Schema - messageIndexes map[uint16]*MessageIndex - w *writeSizer - buf []byte - msg []byte - uncompressed *bytes.Buffer - compressed *bytes.Buffer - compressedWriter *countingCRCWriter + channelIDs []uint16 + schemaIDs []uint16 + channels map[uint16]*Channel + schemas map[uint16]*Schema + messageIndexes map[uint16]*MessageIndex + w *writeSizer + buf []byte + msg []byte + uncompressed bytes.Buffer currentChunkStartTime uint64 currentChunkEndTime uint64 @@ -110,7 +108,7 @@ func (w *Writer) WriteSchema(s *Schema) (err error) { offset += putPrefixedString(w.msg[offset:], s.Encoding) offset += putPrefixedBytes(w.msg[offset:], s.Data) if w.opts.Chunked && !w.closed { - _, err = w.writeRecord(w.compressedWriter, OpSchema, w.msg[:offset]) + _, err = w.writeRecord(w.uncompressedWriter(), OpSchema, w.msg[:offset]) } else { _, err = w.writeRecord(w.w, OpSchema, w.msg[:offset]) } @@ -149,7 +147,7 @@ func (w *Writer) WriteChannel(c *Channel) error { offset += copy(w.msg[offset:], userdata) var err error if w.opts.Chunked && !w.closed { - _, err = w.writeRecord(w.compressedWriter, OpChannel, w.msg[:offset]) + _, err = w.writeRecord(w.uncompressedWriter(), OpChannel, w.msg[:offset]) if err != nil { return err } @@ -193,8 +191,8 @@ func (w *Writer) WriteMessage(m *Message) error { } w.messageIndexes[m.ChannelID] = idx } - idx.Add(m.LogTime, uint64(w.compressedWriter.Size())) - _, err := w.writeRecord(w.compressedWriter, OpMessage, w.msg[:offset]) + idx.Add(m.LogTime, uint64(w.uncompressedSize())) + _, err := w.writeRecord(w.uncompressedWriter(), OpMessage, w.msg[:offset]) if err != nil { return err } @@ -205,7 +203,7 @@ func (w *Writer) WriteMessage(m *Message) error { if m.LogTime < w.currentChunkStartTime { w.currentChunkStartTime = m.LogTime } - if w.compressedWriter.Size() > w.opts.ChunkSize { + if int64(w.uncompressedSize()) > w.opts.ChunkSize { err := w.flushActiveChunk() if err != nil { return err @@ -414,21 +412,34 @@ func (w *Writer) WriteDataEnd(e *DataEnd) error { return err } +func (w *Writer) uncompressedSize() int { + return w.uncompressed.Len() +} + func (w *Writer) flushActiveChunk() error { - if w.compressedWriter.Size() == 0 { + if w.uncompressedSize() == 0 { return nil } - err := w.compressedWriter.Close() + var buf bytes.Buffer + cw, err := w.newCompressedWriter(&buf) if err != nil { - return err + return fmt.Errorf("creating compressed writer: %w", err) + } + _, err = cw.Write(w.uncompressed.Bytes()) + if err != nil { + return fmt.Errorf("writing uncompressed data to compressor: %w", err) + } + err = cw.Close() + if err != nil { + return fmt.Errorf("finalizing compressor: %w", err) } - crc := w.compressedWriter.CRC() - compressedlen := w.compressed.Len() - uncompressedlen := w.compressedWriter.Size() + + compressedLen := buf.Len() + uncompressedLen := w.uncompressedSize() // the "top fields" are all fields of the chunk record except for the compressed records. topFieldsLen := 8 + 8 + 8 + 4 + 4 + len(w.opts.Compression) + 8 - msglen := topFieldsLen + compressedlen + msgLen := topFieldsLen + compressedLen chunkStartOffset := w.w.Size() var start, end uint64 if w.currentChunkMessageCount != 0 { @@ -446,25 +457,22 @@ func (w *Writer) flushActiveChunk() error { return err } - offset += putUint64(w.msg[offset:], uint64(msglen)) + offset += putUint64(w.msg[offset:], uint64(msgLen)) offset += putUint64(w.msg[offset:], start) offset += putUint64(w.msg[offset:], end) - offset += putUint64(w.msg[offset:], uint64(uncompressedlen)) - offset += putUint32(w.msg[offset:], crc) + offset += putUint64(w.msg[offset:], uint64(uncompressedLen)) + offset += putUint32(w.msg[offset:], cw.CRC()) offset += putPrefixedString(w.msg[offset:], string(w.opts.Compression)) - offset += putUint64(w.msg[offset:], uint64(w.compressed.Len())) + offset += putUint64(w.msg[offset:], uint64(buf.Len())) _, err = w.w.Write(w.msg[:offset]) if err != nil { return err } - _, err = w.w.Write(w.compressed.Bytes()) + _, err = w.w.Write(buf.Bytes()) if err != nil { return err } - w.compressed.Reset() - w.compressedWriter.Reset(w.compressed) - w.compressedWriter.ResetSize() - w.compressedWriter.ResetCRC() + w.uncompressed.Reset() chunkEndOffset := w.w.Size() // message indexes @@ -492,8 +500,8 @@ func (w *Writer) flushActiveChunk() error { MessageIndexOffsets: messageIndexOffsets, MessageIndexLength: messageIndexLength, Compression: w.opts.Compression, - CompressedSize: uint64(compressedlen), - UncompressedSize: uint64(uncompressedlen), + CompressedSize: uint64(compressedLen), + UncompressedSize: uint64(uncompressedLen), }) for _, idx := range w.messageIndexes { idx.Reset() @@ -744,13 +752,16 @@ const ( ) type CustomCompressor interface { - Compressor() ResettableWriteCloser + NewCompressor() (ResettableWriteCloser, error) Compression() CompressionFormat } // NewCustomCompressor returns a structure that may be supplied to writer // options as a custom chunk compressor. -func NewCustomCompressor(compression CompressionFormat, compressor ResettableWriteCloser) CustomCompressor { +func NewCustomCompressor( + compression CompressionFormat, + compressor func() (ResettableWriteCloser, error), +) CustomCompressor { return &customCompressor{ compression: compression, compressor: compressor, @@ -759,11 +770,11 @@ func NewCustomCompressor(compression CompressionFormat, compressor ResettableWri type customCompressor struct { compression CompressionFormat - compressor ResettableWriteCloser + compressor func() (ResettableWriteCloser, error) } -func (c *customCompressor) Compressor() ResettableWriteCloser { - return c.compressor +func (c *customCompressor) NewCompressor() (ResettableWriteCloser, error) { + return c.compressor() } func (c *customCompressor) Compression() CompressionFormat { @@ -856,57 +867,67 @@ func encoderLevelFromZstd(level CompressionLevel) zstd.EncoderLevel { } } +func newCompressor(compressed *bytes.Buffer, opts *WriterOptions) (ResettableWriteCloser, error) { + switch { + case opts.Compressor != nil: // must be top + // override the compression option. We can't check for a mismatch here + // because "none compression" is an empty string. + opts.Compression = opts.Compressor.Compression() + if opts.Compressor.Compression() == "" { + return nil, fmt.Errorf("custom compressor requires compression format") + } + c, err := opts.Compressor.NewCompressor() + if err != nil { + return nil, err + } + c.Reset(compressed) + return c, nil + case opts.Compression == CompressionZSTD: + level := encoderLevelFromZstd(opts.CompressionLevel) + return zstd.NewWriter(compressed, zstd.WithEncoderLevel(level)) + case opts.Compression == CompressionLZ4: + level := encoderLevelFromLZ4(opts.CompressionLevel) + lzw := lz4.NewWriter(compressed) + _ = lzw.Apply(lz4.CompressionLevelOption(level)) + return lzw, nil + case opts.Compression == CompressionNone: + return newCountingCRCWriter(bufCloser{compressed}, opts.IncludeCRC), nil + default: + return nil, fmt.Errorf("unsupported compression: %v", opts.Compression) + } +} + +func (w *Writer) newCompressedWriter(compressed *bytes.Buffer) (*countingCRCWriter, error) { + opts := w.opts + if !opts.Chunked { + panic("this should never get called when chunking isn't enabled") + } + compressor, err := newCompressor(compressed, opts) + if err != nil { + return nil, err + } + return newCountingCRCWriter(compressor, opts.IncludeCRC), nil +} + // NewWriter returns a new MCAP writer. -func NewWriter(w io.Writer, opts *WriterOptions) (*Writer, error) { +func NewWriter(w io.Writer, opts *WriterOptions) (ret *Writer, err error) { writer := newWriteSizer(w, opts.IncludeCRC) if !opts.SkipMagic { if _, err := writer.Write(Magic); err != nil { return nil, err } } - compressed := bytes.Buffer{} - var compressedWriter *countingCRCWriter - if opts.Chunked { - switch { - case opts.Compressor != nil: // must be top - // override the compression option. We can't check for a mismatch here - // because "none compression" is an empty string. - opts.Compression = opts.Compressor.Compression() - if opts.Compressor.Compression() == "" { - return nil, fmt.Errorf("custom compressor requires compression format") - } - opts.Compressor.Compressor().Reset(&compressed) - compressedWriter = newCountingCRCWriter(opts.Compressor.Compressor(), opts.IncludeCRC) - case opts.Compression == CompressionZSTD: - level := encoderLevelFromZstd(opts.CompressionLevel) - zw, err := zstd.NewWriter(&compressed, zstd.WithEncoderLevel(level)) - if err != nil { - return nil, err - } - compressedWriter = newCountingCRCWriter(zw, opts.IncludeCRC) - case opts.Compression == CompressionLZ4: - level := encoderLevelFromLZ4(opts.CompressionLevel) - lzw := lz4.NewWriter(&compressed) - _ = lzw.Apply(lz4.CompressionLevelOption(level)) - compressedWriter = newCountingCRCWriter(lzw, opts.IncludeCRC) - case opts.Compression == CompressionNone: - compressedWriter = newCountingCRCWriter(bufCloser{&compressed}, opts.IncludeCRC) - default: - return nil, fmt.Errorf("unsupported compression") - } - if opts.ChunkSize == 0 { - opts.ChunkSize = 1024 * 1024 - } + if opts.ChunkSize == 0 { + opts.ChunkSize = 1024 * 1024 } - return &Writer{ + // Should we check here that compression options are valid? For now I haven't added it as it's + // going to come up pretty quickly while writing anyway, and introduces some extra complexity. + ret = &Writer{ w: writer, buf: make([]byte, 32), channels: make(map[uint16]*Channel), schemas: make(map[uint16]*Schema), messageIndexes: make(map[uint16]*MessageIndex), - uncompressed: &bytes.Buffer{}, - compressed: &compressed, - compressedWriter: compressedWriter, currentChunkStartTime: math.MaxUint64, currentChunkEndTime: 0, currentChunkMessageCount: 0, @@ -916,5 +937,10 @@ func NewWriter(w io.Writer, opts *WriterOptions) (*Writer, error) { MessageEndTime: 0, }, opts: opts, - }, nil + } + return ret, nil +} + +func (w *Writer) uncompressedWriter() io.Writer { + return &w.uncompressed } diff --git a/go/mcap/writer_test.go b/go/mcap/writer_test.go index f56227115..c121bbed8 100644 --- a/go/mcap/writer_test.go +++ b/go/mcap/writer_test.go @@ -703,16 +703,18 @@ func assertReadable(t *testing.T, rs io.ReadSeeker) { func TestBYOCompressor(t *testing.T) { buf := &bytes.Buffer{} // example - custom lz4 settings - lzw := lz4.NewWriter(nil) blockCount := 0 - require.NoError(t, lzw.Apply(lz4.OnBlockDoneOption(func(int) { - blockCount++ - }))) writer, err := NewWriter(buf, &WriterOptions{ - Chunked: true, - ChunkSize: 1024, - Compressor: NewCustomCompressor("lz4", lzw), + Chunked: true, + ChunkSize: 1024, + Compressor: NewCustomCompressor("lz4", func() (ResettableWriteCloser, error) { + lzw := lz4.NewWriter(nil) + require.NoError(t, lzw.Apply(lz4.OnBlockDoneOption(func(int) { + blockCount++ + }))) + return lzw, nil + }), }) require.NoError(t, err)