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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef ROSBAG_VIEW_H 00036 #define ROSBAG_VIEW_H 00037 00038 #include <boost/function.hpp> 00039 #include <boost/iterator/iterator_facade.hpp> 00040 00041 #include "rosbag/message_instance.h" 00042 #include "rosbag/query.h" 00043 00044 namespace rosbag { 00045 00046 class MessageRange; 00047 class IndexEntry; 00048 class ViewIterHelper; 00049 00050 class View 00051 { 00052 friend class Bag; 00053 00054 public: 00056 00062 class iterator : public boost::iterator_facade<iterator, 00063 MessageInstance, 00064 boost::forward_traversal_tag> 00065 { 00066 public: 00067 iterator(iterator const& i); 00068 iterator(); 00069 ~iterator(); 00070 00071 protected: 00072 iterator(View* view, bool end = false); 00073 00074 private: 00075 friend class View; 00076 friend class boost::iterator_core_access; 00077 00078 void populate(); 00079 void populateSeek(std::multiset<IndexEntry>::const_iterator iter); 00080 00081 bool equal(iterator const& other) const; 00082 00083 void increment(); 00084 00085 MessageInstance& dereference() const; 00086 00087 private: 00088 View* view_; 00089 std::vector<ViewIterHelper> iters_; 00090 uint32_t view_revision_; 00091 mutable MessageInstance* message_instance_; 00092 }; 00093 00094 typedef iterator const_iterator; 00095 00096 struct TrueQuery { 00097 bool operator()(ConnectionInfo const*) const { return true; }; 00098 }; 00099 00101 00104 View(bool const& reduce_overlap = false); 00105 00107 00113 View(Bag const& bag, ros::Time const& start_time = ros::TIME_MIN, ros::Time const& end_time = ros::TIME_MAX, bool const& reduce_overlap = false); 00114 00116 00123 View(Bag const& bag, boost::function<bool(ConnectionInfo const*)> query, 00124 ros::Time const& start_time = ros::TIME_MIN, ros::Time const& end_time = ros::TIME_MAX, bool const& reduce_overlap = false); 00125 00126 ~View(); 00127 00128 iterator begin(); 00129 iterator end(); 00130 uint32_t size(); 00131 00133 00138 void addQuery(Bag const& bag, ros::Time const& start_time = ros::TIME_MIN, ros::Time const& end_time = ros::TIME_MAX); 00139 00141 00147 void addQuery(Bag const& bag, boost::function<bool(ConnectionInfo const*)> query, 00148 ros::Time const& start_time = ros::TIME_MIN, ros::Time const& end_time = ros::TIME_MAX); 00149 00150 std::vector<const ConnectionInfo*> getConnections(); 00151 00152 ros::Time getBeginTime(); 00153 ros::Time getEndTime(); 00154 00155 protected: 00156 friend class iterator; 00157 00158 void updateQueries(BagQuery* q); 00159 void update(); 00160 00161 MessageInstance* newMessageInstance(ConnectionInfo const* connection_info, IndexEntry const& index, Bag const& bag); 00162 00163 private: 00164 View(View const& view); 00165 View& operator=(View const& view); 00166 00167 protected: 00168 std::vector<MessageRange*> ranges_; 00169 std::vector<BagQuery*> queries_; 00170 uint32_t view_revision_; 00171 00172 uint32_t size_cache_; 00173 uint32_t size_revision_; 00174 00175 bool reduce_overlap_; 00176 }; 00177 00178 } // namespace rosbag 00179 00180 #endif