BagR.cpp

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#include "BagR.h"

 std::vector<BagMessage>* rrosBagRead(const char *filename, std::vector<std::string> *topics, unsigned int max_size){

        rosbag::Bag bag;
        bag.open(filename, rosbag::bagmode::Read);

        //std::cerr << filename << std::endl;

        std::vector<BagMessage> *vecMsg = new std::vector<BagMessage>();
        vecMsg->reserve(1000);
        rosbag::View *view;

        if(topics->size() > 0){
                view = new rosbag::View(bag, rosbag::TopicQuery(*topics));
        } else {
                view = new rosbag::View(bag);
        }


        BOOST_FOREACH(rosbag::MessageInstance const m, *view)
        {
                BagMessage *msg = new BagMessage();
                msg->topic = m.getTopic();
                msg->datatype = m.getDataType();
                msg->time_stamp = m.getTime().toSec();

                msg->ui8Buffer = boost::shared_array<uint8_t> (new uint8_t[m.size()]);
                msg->isStream  = new ros::serialization::IStream(msg->ui8Buffer.get(), m.size());

                m.write(*msg->isStream);

                msg->isStream->advance(-m.size());

                vecMsg->push_back(*msg);

                max_size--;
                if(max_size==0) break;
        }

        bag.close();

        delete view;

        return vecMsg;
}