Program Listing for File base_reader_interface.hpp
↰ Return to documentation for file (/tmp/ws/src/rosbag2/rosbag2_cpp/include/rosbag2_cpp/reader_interfaces/base_reader_interface.hpp
)
// Copyright 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef ROSBAG2_CPP__READER_INTERFACES__BASE_READER_INTERFACE_HPP_
#define ROSBAG2_CPP__READER_INTERFACES__BASE_READER_INTERFACE_HPP_
#include <memory>
#include <vector>
#include "rcutils/types.h"
#include "rosbag2_cpp/bag_events.hpp"
#include "rosbag2_cpp/converter_options.hpp"
#include "rosbag2_cpp/visibility_control.hpp"
#include "rosbag2_storage/bag_metadata.hpp"
#include "rosbag2_storage/serialized_bag_message.hpp"
#include "rosbag2_storage/storage_filter.hpp"
#include "rosbag2_storage/storage_options.hpp"
#include "rosbag2_storage/topic_metadata.hpp"
namespace rosbag2_cpp
{
namespace reader_interfaces
{
class ROSBAG2_CPP_PUBLIC BaseReaderInterface
{
public:
virtual ~BaseReaderInterface() {}
virtual void open(
const rosbag2_storage::StorageOptions & storage_options,
const ConverterOptions & converter_options) = 0;
virtual void close() = 0;
virtual bool has_next() = 0;
virtual std::shared_ptr<rosbag2_storage::SerializedBagMessage> read_next() = 0;
virtual const rosbag2_storage::BagMetadata & get_metadata() const = 0;
virtual std::vector<rosbag2_storage::TopicMetadata> get_all_topics_and_types() const = 0;
virtual void set_filter(const rosbag2_storage::StorageFilter & storage_filter) = 0;
virtual void reset_filter() = 0;
virtual void seek(const rcutils_time_point_value_t & timestamp) = 0;
virtual void add_event_callbacks(const bag_events::ReaderEventCallbacks & callbacks) = 0;
};
} // namespace reader_interfaces
} // namespace rosbag2_cpp
#endif // ROSBAG2_CPP__READER_INTERFACES__BASE_READER_INTERFACE_HPP_