Program Listing for File sequential_reader.hpp

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// 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__READERS__SEQUENTIAL_READER_HPP_
#define ROSBAG2_CPP__READERS__SEQUENTIAL_READER_HPP_

#include <memory>
#include <string>
#include <unordered_set>
#include <vector>

#include "rosbag2_cpp/bag_events.hpp"
#include "rosbag2_cpp/converter.hpp"
#include "rosbag2_cpp/reader_interfaces/base_reader_interface.hpp"
#include "rosbag2_cpp/serialization_format_converter_factory.hpp"
#include "rosbag2_cpp/serialization_format_converter_factory_interface.hpp"
#include "rosbag2_cpp/visibility_control.hpp"

#include "rosbag2_storage/metadata_io.hpp"
#include "rosbag2_storage/storage_factory.hpp"
#include "rosbag2_storage/storage_factory_interface.hpp"
#include "rosbag2_storage/storage_filter.hpp"
#include "rosbag2_storage/storage_interfaces/read_only_interface.hpp"

// This is necessary because of using stl types here. It is completely safe, because
// a) the member is not accessible from the outside
// b) there are no inline functions.
#ifdef _WIN32
# pragma warning(push)
# pragma warning(disable:4251)
#endif

namespace rosbag2_cpp
{
namespace readers
{

class ROSBAG2_CPP_PUBLIC SequentialReader
  : public ::rosbag2_cpp::reader_interfaces::BaseReaderInterface
{
public:
  SequentialReader(
    std::unique_ptr<rosbag2_storage::StorageFactoryInterface> storage_factory =
    std::make_unique<rosbag2_storage::StorageFactory>(),
    std::shared_ptr<SerializationFormatConverterFactoryInterface> converter_factory =
    std::make_shared<SerializationFormatConverterFactory>(),
    std::unique_ptr<rosbag2_storage::MetadataIo> metadata_io =
    std::make_unique<rosbag2_storage::MetadataIo>());

  virtual ~SequentialReader();

  void open(
    const rosbag2_storage::StorageOptions & storage_options,
    const ConverterOptions & converter_options) override;

  void close() override;

  bool has_next() override;

  std::shared_ptr<rosbag2_storage::SerializedBagMessage> read_next() override;

  const rosbag2_storage::BagMetadata & get_metadata() const override;

  std::vector<rosbag2_storage::TopicMetadata> get_all_topics_and_types() const override;

  void set_filter(const rosbag2_storage::StorageFilter & storage_filter) override;

  void reset_filter() override;

  void seek(const rcutils_time_point_value_t & timestamp) override;

  virtual bool has_next_file() const;

  virtual std::string get_current_file() const;

  virtual std::string get_current_uri() const;

  void add_event_callbacks(const bag_events::ReaderEventCallbacks & callbacks) override;

  bool has_callback_for_event(const bag_events::BagEvent event) const;

protected:
  virtual void load_current_file();

  virtual void load_next_file();

  virtual void check_topics_serialization_formats(
    const std::vector<rosbag2_storage::TopicInformation> & topics);

  virtual void check_converter_serialization_format(
    const std::string & converter_serialization_format,
    const std::string & storage_serialization_format);

  virtual void fill_topics_metadata();

  virtual void preprocess_current_file() {}

  std::unique_ptr<rosbag2_storage::StorageFactoryInterface> storage_factory_{};
  std::shared_ptr<rosbag2_storage::storage_interfaces::ReadOnlyInterface> storage_{};
  std::unique_ptr<Converter> converter_{};
  std::unique_ptr<rosbag2_storage::MetadataIo> metadata_io_{};
  rosbag2_storage::BagMetadata metadata_{};
  rcutils_time_point_value_t seek_time_ = 0;
  rosbag2_storage::StorageFilter topics_filter_{};
  std::vector<rosbag2_storage::TopicMetadata> topics_metadata_{};
  std::vector<std::string> file_paths_{};  // List of database files.
  std::vector<std::string>::iterator current_file_iterator_{};  // Index of file to read from
  std::unordered_set<std::string> preprocessed_file_paths_;  // List of preprocessed paths

  // Hang on to this because storage_options_ is mutated to point at individual files
  std::string base_folder_;

private:
  rosbag2_storage::StorageOptions storage_options_;
  std::shared_ptr<SerializationFormatConverterFactoryInterface> converter_factory_{};

  bag_events::EventCallbackManager callback_manager_;
};

}  // namespace readers
}  // namespace rosbag2_cpp

#ifdef _WIN32
# pragma warning(pop)
#endif

#endif  // ROSBAG2_CPP__READERS__SEQUENTIAL_READER_HPP_