demo.cpp

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Willow Garage, Inc.
*  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 "ros/node.h"
#include <string>
#include <map>

#include "rosrecord/Player.h"
#include "rosrecord/AnyMsg.h"
#include "std_msgs/String.h"

using namespace std;

void all_handler(string name, ros::Message* m, ros::Time t, ros::Time t_no_use, void* n)
{
  int* counter = (int*)(n);

  cout << "all_handler saw a message named " << name << " with datatype: " << m->__getDataType() << " Count at: " << (*counter)++ << endl;
}

void string_handler(string name, std_msgs::String* str, ros::Time t, ros::Time t_no_use, void* n)
{
  cout << "string_handler saw a message named " << name << " with datatype: " << str->__getDataType() << " and value: " << str->data << endl;
}

class Handler
{
public:
  int counter;

  Handler() : counter(0) {}

  void all_handler(string name, ros::Message* m, ros::Time t, ros::Time t_no_use, void* n)
  {
    cout << "Handler::all_handler saw a message named " << name << " with datatype: " << m->__getDataType() << " Count at: " << counter++ << endl;
  }

  void string_handler(string name, std_msgs::String* str, ros::Time t, ros::Time t_no_use, void* n)
  {
    cout << "Handler::string_handler saw a message named " << name << " with  datatype: " << str->__getDataType() << " and value: " << str->data << endl;
  }
};

int main(int argc, char **argv)
{
  if (argc != 2)
  {
    cout << endl << "usage:" << endl <<  " demo BAG" << endl;
    return 1;
  }

  ros::record::Player player;
  Handler handler;

  int counter = 0;

  if (player.open(string(argv[1]), ros::Time()))
  {
    player.addHandler<AnyMsg>(string("*"), &all_handler, &counter, false);
    player.addHandler<std_msgs::String>(string("chatter"), &string_handler, NULL);
    player.addHandler<AnyMsg>(string("babble"), &Handler::all_handler, &handler, &counter, false);
    player.addHandler<std_msgs::String>(string("*"), &Handler::string_handler, &handler, NULL);
  }

  while(player.nextMsg())
  {
  }

  return 0;
}

---

rosrecord
Author(s): Jeremy Leibs (leibs@willowgarage.com), python code by James Bowman (jamesb@willowgarage.com) and Ken Conley (kwc@willowgarage.com)
autogenerated on Fri Jan 11 09:58:08 2013