bag_player.h
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00034 
00035 #ifndef ROSBAG_BAG_PLAYER_H
00036 #define ROSBAG_BAG_PLAYER_H
00037 
00038 #include <boost/foreach.hpp>
00039 
00040 #include "rosbag/bag.h"
00041 #include "rosbag/view.h"
00042 
00043 namespace rosbag
00044 {
00045 
00046 
00047 // A helper struct
00048 struct BagCallback
00049 {
00050     virtual ~BagCallback() {};
00051     virtual void call(MessageInstance m) = 0;
00052 };
00053 
00054 // A helper class for the callbacks
00055 template<class T>
00056 class BagCallbackT : public BagCallback
00057 {
00058 public:
00059     typedef boost::function<void (const boost::shared_ptr<const T>&)> Callback;
00060 
00061     BagCallbackT(Callback cb) :
00062         cb_(cb)
00063     {}
00064 
00065     void call(MessageInstance m) {
00066         cb_(m.instantiate<T>());
00067     }
00068 
00069 private:
00070     Callback cb_;
00071 };
00072 
00073 
00074 /* A class for playing back bag files at an API level. It supports
00075    relatime, as well as accelerated and slowed playback. */
00076 class BagPlayer
00077 {
00078 public:
00079   /* Constructor expecting the filename of a bag */
00080   BagPlayer(const std::string &filename) throw(BagException);
00081 
00082   /* Register a callback for a specific topic and type */
00083   template<class T>
00084   void register_callback(const std::string &topic,
00085                          typename BagCallbackT<T>::Callback f);
00086 
00087   /* Unregister a callback for a topic already registered */
00088   void unregister_callback(const std::string &topic);
00089 
00090   /* Set the time in the bag to start.  
00091    * Default is the first message */
00092   void set_start(const ros::Time &start);
00093 
00094   /* Set the time in the bag to stop. 
00095    * Default is the last message */
00096   void set_end(const ros::Time &end);
00097 
00098   /* Set the speed to playback.  1.0 is the default. 
00099    * 2.0 would be twice as fast, 0.5 is half realtime.  */
00100   void set_playback_speed(double scale);
00101 
00102   /* Start playback of the bag file using the parameters previously
00103      set */
00104   void start_play();
00105   
00106   /* Get the current time of the playback */
00107   ros::Time get_time();
00108 
00109   // Destructor
00110   virtual ~BagPlayer();
00111   
00112 
00113   // The bag file interface loaded in the constructor. 
00114   Bag bag;
00115   
00116 private:
00117     ros::Time real_time(const ros::Time &msg_time);
00118 
00119     std::map<std::string, BagCallback *> cbs_;
00120     ros::Time bag_start_;
00121     ros::Time bag_end_;
00122     ros::Time last_message_time_;
00123     double playback_speed_;
00124     ros::Time play_start_;
00125 };
00126 
00127 template<class T>
00128 void BagPlayer::register_callback(const std::string &topic,
00129         typename BagCallbackT<T>::Callback cb) {
00130     cbs_[topic] = new BagCallbackT<T>(cb);
00131 }
00132 
00133 }
00134 
00135 #endif


rosbag_storage
Author(s):
autogenerated on Thu Jun 6 2019 21:09:52