rosbag: structures.h Source File

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00034 
00035 #ifndef ROSBAG_STRUCTURES_H
00036 #define ROSBAG_STRUCTURES_H
00037 
00038 #include <map>
00039 #include <vector>
00040 
00041 #include "ros/message.h"
00042 #include "ros/time.h"
00043 #include "ros/ros.h"
00044 
00045 namespace rosbag {
00046 
00047 struct ConnectionInfo
00048 {
00049     ConnectionInfo() : id(-1) { }
00050 
00051     uint32_t    id;
00052     std::string topic;
00053     std::string datatype;
00054     std::string md5sum;
00055     std::string msg_def;
00056 
00057     boost::shared_ptr<ros::M_string> header;
00058 };
00059 
00060 ros::AdvertiseOptions createAdvertiseOptions(const ConnectionInfo* c, uint32_t queue_size);
00061 
00062 struct ChunkInfo
00063 {
00064     ros::Time   start_time;    
00065     ros::Time   end_time;      
00066     uint64_t    pos;           
00067 
00068     std::map<uint32_t, uint32_t> connection_counts;   
00069 };
00070 
00071 struct ChunkHeader
00072 {
00073     std::string compression;          
00074     uint32_t    compressed_size;      
00075     uint32_t    uncompressed_size;    
00076 };
00077 
00078 struct IndexEntry
00079 {
00080     ros::Time time;            
00081     uint64_t  chunk_pos;       
00082     uint32_t  offset;          
00083 
00084     bool operator<(IndexEntry const& b) const { return time < b.time; }
00085 };
00086 
00087 struct IndexEntryCompare
00088 {
00089     bool operator()(ros::Time const& a, IndexEntry const& b) const { return a < b.time; }
00090     bool operator()(IndexEntry const& a, ros::Time const& b) const { return a.time < b; }
00091 };
00092 
00093 } // namespace rosbag
00094 
00095 #endif