HardwareCanSourceCanfile.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------
// This file is part of FZIs ic_workspace.
//
// This program is free software licensed under the LGPL
// (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
// You can find a copy of this license in LICENSE folder in the top
// directory of the source code.
//
// © Copyright 2016 FZI Forschungszentrum Informatik, Karlsruhe, Germany
//
// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------
#ifndef ICL_HARDWARE_CAN_SOURCE_HARDWARE_CAN_SOURCE_CAN_FILE_H_INCLUDED
#define ICL_HARDWARE_CAN_SOURCE_HARDWARE_CAN_SOURCE_CAN_FILE_H_INCLUDED

#include <string>

#include <boost/date_time/posix_time/posix_time.hpp>

#include <icl_core/BaseTypes.h>
#include <icl_sourcesink/KeyframePositionResolver.h>

#include <icl_hardware_can/source/ImportExport.h>
#include <icl_hardware_can/source/HardwareCanSource.h>
#include <icl_hardware_can/source/CanFileResolutionHelper.h>

namespace icl_hardware {
namespace can {

class ICL_HARDWARE_CAN_SOURCE_IMPORT_EXPORT HardwareCanSourceCanfile : public HardwareCanSource
{
public:
  typedef boost::shared_ptr<HardwareCanSourceCanfile> Ptr;
  typedef boost::shared_ptr<const HardwareCanSourceCanfile> ConstPtr;

  static icl_sourcesink::URISchemeMap supportedURISchemes()
  {
    using namespace icl_sourcesink;
    URISchemeMap schemes;
    schemes.insert(
      std::make_pair(
        "can+file",
        URISchemeInfo(
          "Reads tCanMessage data from FZI CAN files.",
          "can+file:<filepath>[#start-end]",
          "<filepath> File to read.")));
    return schemes;
  }

  virtual CanMessageStamped::Ptr get() const
  {
    return m_buffer;
  }

  virtual bool isSeekable() const
  {
    return true;
  }

protected:
  HardwareCanSourceCanfile(const std::string& uri,
                           const std::string& name = "HardwareCanSourceCanfile");

  void prepareFile();

  friend class icl_sourcesink::SourceSinkManager;

  friend class icl_sourcesink::DataSourceFactory<HardwareCanSourceCanfile>;

  virtual bool seekImpl(const icl_sourcesink::InternalIndex internal_index);

  virtual bool advance();

private:
  CanMessageStamped::Ptr m_buffer;

  icl_sourcesink::KeyframePositionResolver::Ptr m_resolver_x;

  CanFileResolutionHelper::Ptr m_resolution_helper;

  std::size_t m_sequence_number;
};

SOURCESINK_DECLARE_GENERIC_SOURCE_FACTORY(HardwareCanSourceCanfile)

}
}

#endif