rosbag::Bag Class Reference

#include <bag.h>

List of all members.

Public Member Functions
	Bag ()
	Bag (std::string const &filename, uint32_t mode=bagmode::Read)
	Open a bag file.
void	close ()
	Close the bag file.
uint32_t	getChunkThreshold () const
	Get the threshold for creating new chunks.
CompressionType	getCompression () const
	Get the compression method to use for writing chunks.
std::string	getFileName () const
	Get the filename of the bag.
uint32_t	getMajorVersion () const
	Get the major-version of the open bag file.
uint32_t	getMinorVersion () const
	Get the minor-version of the open bag file.
BagMode	getMode () const
	Get the mode the bag is in.
uint64_t	getSize () const
	Get the current size of the bag file (a lower bound)
void	open (std::string const &filename, uint32_t mode=bagmode::Read)
	Open a bag file.
void	setChunkThreshold (uint32_t chunk_threshold)
	Set the threshold for creating new chunks.
void	setCompression (CompressionType compression)
	Set the compression method to use for writing chunks.
template<class T >
void	write (std::string const &topic, ros::MessageEvent< T > const &event)
	Write a message into the bag file.
template<class T >
void	write (std::string const &topic, ros::Time const &time, T const &msg, boost::shared_ptr< ros::M_string > connection_header=boost::shared_ptr< ros::M_string >())
	Write a message into the bag file.
template<class T >
void	write (std::string const &topic, ros::Time const &time, boost::shared_ptr< T const > const &msg, boost::shared_ptr< ros::M_string > connection_header=boost::shared_ptr< ros::M_string >())
	Write a message into the bag file.
template<class T >
void	write (std::string const &topic, ros::Time const &time, boost::shared_ptr< T > const &msg, boost::shared_ptr< ros::M_string > connection_header=boost::shared_ptr< ros::M_string >())
	Write a message into the bag file.
	~Bag ()
Private Member Functions
void	appendConnectionRecordToBuffer (Buffer &buf, ConnectionInfo const *connection_info)
void	appendDataLengthToBuffer (Buffer &buf, uint32_t data_len)
void	appendHeaderToBuffer (Buffer &buf, ros::M_string const &fields)
ros::M_string::const_iterator	checkField (ros::M_string const &fields, std::string const &field, unsigned int min_len, unsigned int max_len, bool required) const
void	closeWrite ()
void	decompressBz2Chunk (ChunkHeader const &chunk_header) const
void	decompressChunk (uint64_t chunk_pos) const
void	decompressLz4Chunk (ChunkHeader const &chunk_header) const
void	decompressRawChunk (ChunkHeader const &chunk_header) const
template<class T >
void	doWrite (std::string const &topic, ros::Time const &time, T const &msg, boost::shared_ptr< ros::M_string > const &connection_header)
uint32_t	getChunkOffset () const
template<class T >
boost::shared_ptr< T >	instantiateBuffer (IndexEntry const &index_entry) const
	deserializes the message held in record_buffer_
bool	isOp (ros::M_string &fields, uint8_t reqOp) const
void	openAppend (std::string const &filename)
void	openRead (std::string const &filename)
void	openWrite (std::string const &filename)
void	read (char *b, std::streamsize n) const
void	readChunkHeader (ChunkHeader &chunk_header) const
void	readChunkInfoRecord ()
void	readConnectionIndexRecord200 ()
void	readConnectionRecord ()
bool	readDataLength (uint32_t &data_size) const
template<typename T >
bool	readField (ros::M_string const &fields, std::string const &field_name, bool required, T *data) const
bool	readField (ros::M_string const &fields, std::string const &field_name, unsigned int min_len, unsigned int max_len, bool required, std::string &data) const
bool	readField (ros::M_string const &fields, std::string const &field_name, bool required, std::string &data) const
bool	readField (ros::M_string const &fields, std::string const &field_name, bool required, ros::Time &data) const
void	readFileHeaderRecord ()
bool	readHeader (ros::Header &header) const
void	readHeaderFromBuffer (Buffer &buffer, uint32_t offset, ros::Header &header, uint32_t &data_size, uint32_t &bytes_read) const
ros::Header	readMessageDataHeader (IndexEntry const &index_entry)
void	readMessageDataHeaderFromBuffer (Buffer &buffer, uint32_t offset, ros::Header &header, uint32_t &data_size, uint32_t &bytes_read) const
template<typename Stream >
void	readMessageDataIntoStream (IndexEntry const &index_entry, Stream &stream) const
void	readMessageDataRecord102 (uint64_t offset, ros::Header &header) const
uint32_t	readMessageDataSize (IndexEntry const &index_entry) const
void	readMessageDefinitionRecord102 ()
void	readTopicIndexRecord102 ()
void	readVersion ()
void	seek (uint64_t pos, int origin=std::ios_base::beg) const
void	startReadingVersion102 ()
void	startReadingVersion200 ()
void	startWriting ()
void	startWritingChunk (ros::Time time)
void	stopWriting ()
void	stopWritingChunk ()
template<typename T >
std::string	toHeaderString (T const *field) const
std::string	toHeaderString (ros::Time const *field) const
void	write (char const *s, std::streamsize n)
void	write (std::string const &s)
void	writeChunkHeader (CompressionType compression, uint32_t compressed_size, uint32_t uncompressed_size)
void	writeChunkInfoRecords ()
void	writeConnectionRecord (ConnectionInfo const *connection_info)
void	writeConnectionRecords ()
void	writeDataLength (uint32_t data_len)
void	writeFileHeaderRecord ()
void	writeHeader (ros::M_string const &fields)
void	writeIndexRecords ()
template<class T >
void	writeMessageDataRecord (uint32_t conn_id, ros::Time const &time, T const &msg)
void	writeVersion ()
Private Attributes
uint32_t	bag_revision_
Buffer	chunk_buffer_
	reusable buffer to read chunk into
uint32_t	chunk_count_
bool	chunk_open_
uint32_t	chunk_threshold_
std::vector< ChunkInfo >	chunks_
CompressionType	compression_
uint32_t	connection_count_
std::map< uint32_t, std::multiset< IndexEntry > >	connection_indexes_
std::map< uint32_t, ConnectionInfo * >	connections_
std::map< uint32_t, std::multiset< IndexEntry > >	curr_chunk_connection_indexes_
uint64_t	curr_chunk_data_pos_
ChunkInfo	curr_chunk_info_
Buffer *	current_buffer_
Buffer	decompress_buffer_
	reusable buffer to decompress chunks into
uint64_t	decompressed_chunk_
	position of decompressed chunk
ChunkedFile	file_
uint64_t	file_header_pos_
uint64_t	file_size_
Buffer	header_buffer_
	reusable buffer in which to assemble the record header before writing to file
std::map< ros::M_string, uint32_t >	header_connection_ids_
uint64_t	index_data_pos_
BagMode	mode_
Buffer	outgoing_chunk_buffer_
	reusable buffer to read chunk into
Buffer	record_buffer_
	reusable buffer in which to assemble the record data before writing to file
std::map< std::string, uint32_t >	topic_connection_ids_
int	version_
Friends
class	MessageInstance
class	View

---

Detailed Description

Definition at line 83 of file bag.h.

---

Constructor & Destructor Documentation

rosbag::Bag::Bag

(

)

Definition at line 60 of file bag.cpp.

rosbag::Bag::Bag	(	std::string const &	filename,
		uint32_t	mode = bagmode::Read
	)

Open a bag file.

Parameters:

filename	The bag file to open
mode	The mode to use (either read, write or append)

Can throw BagException

rosbag::Bag::~Bag

(

)

Definition at line 95 of file bag.cpp.

---

Member Function Documentation

void rosbag::Bag::appendConnectionRecordToBuffer	(	Buffer &	buf,
		ConnectionInfo const *	connection_info
	)		[private]

Definition at line 654 of file bag.cpp.

void rosbag::Bag::appendDataLengthToBuffer	(	Buffer &	buf,
		uint32_t	data_len
	)		[private]

Definition at line 991 of file bag.cpp.

void rosbag::Bag::appendHeaderToBuffer	(	Buffer &	buf,
		ros::M_string const &	fields
	)		[private]

Definition at line 977 of file bag.cpp.

M_string::const_iterator rosbag::Bag::checkField	(	ros::M_string const &	fields,
		std::string const &	field,
		unsigned int	min_len,
		unsigned int	max_len,
		bool	required
	)		const [private]

Definition at line 1069 of file bag.cpp.

void rosbag::Bag::close

(

)

Close the bag file.

Definition at line 159 of file bag.cpp.

void rosbag::Bag::closeWrite

(

)

[private]

Definition at line 178 of file bag.cpp.

void rosbag::Bag::decompressBz2Chunk

(

ChunkHeader const &

chunk_header

)

const [private]

Definition at line 810 of file bag.cpp.

void rosbag::Bag::decompressChunk

(

uint64_t

chunk_pos

)

const [private]

Definition at line 744 of file bag.cpp.

void rosbag::Bag::decompressLz4Chunk

(

ChunkHeader const &

chunk_header

)

const [private]

Definition at line 826 of file bag.cpp.

void rosbag::Bag::decompressRawChunk

(

ChunkHeader const &

chunk_header

)

const [private]

Definition at line 798 of file bag.cpp.

template<class T >

void rosbag::Bag::doWrite	(	std::string const &	topic,
		ros::Time const &	time,
		T const &	msg,
		boost::shared_ptr< ros::M_string > const &	connection_header
	)		[private]

Definition at line 469 of file bag.h.

uint32_t rosbag::Bag::getChunkOffset

(

)

const [private]

Definition at line 400 of file bag.cpp.

uint32_t rosbag::Bag::getChunkThreshold

(

)

const

Get the threshold for creating new chunks.

Definition at line 186 of file bag.cpp.

CompressionType rosbag::Bag::getCompression

(

)

const

Get the compression method to use for writing chunks.

Definition at line 195 of file bag.cpp.

string rosbag::Bag::getFileName

(

)

const

Get the filename of the bag.

Definition at line 182 of file bag.cpp.

uint32_t rosbag::Bag::getMajorVersion

(

)

const

Get the major-version of the open bag file.

Definition at line 242 of file bag.cpp.

uint32_t rosbag::Bag::getMinorVersion

(

)

const

Get the minor-version of the open bag file.

Definition at line 243 of file bag.cpp.

BagMode rosbag::Bag::getMode

(

)

const

Get the mode the bag is in.

Definition at line 183 of file bag.cpp.

uint64_t rosbag::Bag::getSize

(

)

const

Get the current size of the bag file (a lower bound)

Definition at line 184 of file bag.cpp.

template<class T >

boost::shared_ptr< T > rosbag::Bag::instantiateBuffer

(

IndexEntry const &

index_entry

)

const [private]

deserializes the message held in record_buffer_

Definition at line 384 of file bag.h.

bool rosbag::Bag::isOp	(	ros::M_string &	fields,
		uint8_t	reqOp
	)		const [private]

Definition at line 959 of file bag.cpp.

void rosbag::Bag::open	(	std::string const &	filename,
		uint32_t	mode = bagmode::Read
	)

Open a bag file.

Parameters:

filename	The bag file to open
mode	The mode to use (either read, write or append)

Can throw BagException

Definition at line 99 of file bag.cpp.

void rosbag::Bag::openAppend

(

std::string const &

filename

)

[private]

Definition at line 137 of file bag.cpp.

void rosbag::Bag::openRead

(

std::string const &

filename

)

[private]

Definition at line 118 of file bag.cpp.

void rosbag::Bag::openWrite

(

std::string const &

filename

)

[private]

Definition at line 131 of file bag.cpp.

void rosbag::Bag::read	(	char *	b,
		std::streamsize	n
	)		const [private]

Definition at line 1117 of file bag.cpp.

void rosbag::Bag::readChunkHeader

(

ChunkHeader &

chunk_header

)

const [private]

Definition at line 475 of file bag.cpp.

void rosbag::Bag::readChunkInfoRecord

(

)

[private]

Definition at line 914 of file bag.cpp.

void rosbag::Bag::readConnectionIndexRecord200

(

)

[private]

Definition at line 584 of file bag.cpp.

void rosbag::Bag::readConnectionRecord

(

)

[private]

Definition at line 664 of file bag.cpp.

bool rosbag::Bag::readDataLength

(

uint32_t &

data_size

)

const [private]

Definition at line 1064 of file bag.cpp.

template<typename T >

bool rosbag::Bag::readField	(	ros::M_string const &	fields,
		std::string const &	field_name,
		bool	required,
		T *	data
	)		const [private]

Definition at line 347 of file bag.h.

bool rosbag::Bag::readField	(	ros::M_string const &	fields,
		std::string const &	field_name,
		unsigned int	min_len,
		unsigned int	max_len,
		bool	required,
		std::string &	data
	)		const [private]

bool rosbag::Bag::readField	(	ros::M_string const &	fields,
		std::string const &	field_name,
		bool	required,
		std::string &	data
	)		const [private]

bool rosbag::Bag::readField	(	ros::M_string const &	fields,
		std::string const &	field_name,
		bool	required,
		ros::Time &	data
	)		const [private]

void rosbag::Bag::readFileHeaderRecord

(

)

[private]

Definition at line 370 of file bag.cpp.

bool rosbag::Bag::readHeader

(

ros::Header &

header

)

const [private]

Definition at line 1046 of file bag.cpp.

void rosbag::Bag::readHeaderFromBuffer	(	Buffer &	buffer,
		uint32_t	offset,
		ros::Header &	header,
		uint32_t &	data_size,
		uint32_t &	bytes_read
	)		const [private]

Todo:

clean this up

Definition at line 1000 of file bag.cpp.

ros::Header rosbag::Bag::readMessageDataHeader

(

IndexEntry const &

index_entry

)

[private]

Definition at line 843 of file bag.cpp.

void rosbag::Bag::readMessageDataHeaderFromBuffer	(	Buffer &	buffer,
		uint32_t	offset,
		ros::Header &	header,
		uint32_t &	data_size,
		uint32_t &	bytes_read
	)		const [private]

Definition at line 1026 of file bag.cpp.

template<typename Stream >

void rosbag::Bag::readMessageDataIntoStream	(	IndexEntry const &	index_entry,
		Stream &	stream
	)		const [private]

Definition at line 356 of file bag.h.

void rosbag::Bag::readMessageDataRecord102	(	uint64_t	offset,
		ros::Header &	header
	)		const [private]

Definition at line 775 of file bag.cpp.

uint32_t rosbag::Bag::readMessageDataSize

(

IndexEntry const &

index_entry

)

const [private]

Definition at line 862 of file bag.cpp.

void rosbag::Bag::readMessageDefinitionRecord102

(

)

[private]

Definition at line 700 of file bag.cpp.

void rosbag::Bag::readTopicIndexRecord102

(

)

[private]

Definition at line 522 of file bag.cpp.

void rosbag::Bag::readVersion

(

)

[private]

Definition at line 223 of file bag.cpp.

void rosbag::Bag::seek	(	uint64_t	pos,
		int	origin = std::ios_base::beg
	)		const [private]

Definition at line 1118 of file bag.cpp.

void rosbag::Bag::setChunkThreshold

(

uint32_t

chunk_threshold

)

Set the threshold for creating new chunks.

Definition at line 188 of file bag.cpp.

void rosbag::Bag::setCompression

(

CompressionType

compression

)

Set the compression method to use for writing chunks.

Definition at line 197 of file bag.cpp.

void rosbag::Bag::startReadingVersion102

(

)

[private]

Definition at line 302 of file bag.cpp.

void rosbag::Bag::startReadingVersion200

(

)

[private]

Definition at line 267 of file bag.cpp.

void rosbag::Bag::startWriting

(

)

[private]

Definition at line 247 of file bag.cpp.

void rosbag::Bag::startWritingChunk

(

ros::Time

time

)

[private]

Definition at line 407 of file bag.cpp.

void rosbag::Bag::stopWriting

(

)

[private]

Definition at line 253 of file bag.cpp.

void rosbag::Bag::stopWritingChunk

(

)

[private]

Definition at line 425 of file bag.cpp.

template<typename T >

std::string rosbag::Bag::toHeaderString

(

T const *

field

)

const [private]

Definition at line 342 of file bag.h.

std::string rosbag::Bag::toHeaderString

(

ros::Time const *

field

)

const [private]

Definition at line 1106 of file bag.cpp.

template<class T >

void rosbag::Bag::write	(	std::string const &	topic,
		ros::MessageEvent< T > const &	event
	)

Write a message into the bag file.

Parameters:

topic	The topic name
event	The message event to be added

Can throw BagIOException

Definition at line 322 of file bag.h.

template<class T >

void rosbag::Bag::write	(	std::string const &	topic,
		ros::Time const &	time,
		T const &	msg,
		boost::shared_ptr< ros::M_string >	connection_header = boost::shared_ptr<ros::M_string>()
	)

Write a message into the bag file.

Parameters:

topic	The topic name
time	Timestamp of the message
msg	The message to be added
connection_header	A connection header.

Can throw BagIOException

Definition at line 327 of file bag.h.

template<class T >

void rosbag::Bag::write	(	std::string const &	topic,
		ros::Time const &	time,
		boost::shared_ptr< T const > const &	msg,
		boost::shared_ptr< ros::M_string >	connection_header = boost::shared_ptr<ros::M_string>()
	)

Write a message into the bag file.

Parameters:

topic	The topic name
time	Timestamp of the message
msg	The message to be added
connection_header	A connection header.

Can throw BagIOException

Definition at line 332 of file bag.h.

template<class T >

void rosbag::Bag::write	(	std::string const &	topic,
		ros::Time const &	time,
		boost::shared_ptr< T > const &	msg,
		boost::shared_ptr< ros::M_string >	connection_header = boost::shared_ptr<ros::M_string>()
	)

Write a message into the bag file.

Parameters:

topic	The topic name
time	Timestamp of the message
msg	The message to be added
connection_header	A connection header.

Can throw BagIOException

Definition at line 337 of file bag.h.

void rosbag::Bag::write	(	char const *	s,
		std::streamsize	n
	)		[private]

Definition at line 1115 of file bag.cpp.

void rosbag::Bag::write

(

std::string const &

s

)

[private]

void rosbag::Bag::writeChunkHeader	(	CompressionType	compression,
		uint32_t	compressed_size,
		uint32_t	uncompressed_size
	)		[private]

Definition at line 452 of file bag.cpp.

void rosbag::Bag::writeChunkInfoRecords

(

)

[private]

Definition at line 880 of file bag.cpp.

void rosbag::Bag::writeConnectionRecord

(

ConnectionInfo const *

connection_info

)

[private]

Definition at line 641 of file bag.cpp.

void rosbag::Bag::writeConnectionRecords

(

)

[private]

Definition at line 634 of file bag.cpp.

void rosbag::Bag::writeDataLength

(

uint32_t

data_len

)

[private]

Definition at line 973 of file bag.cpp.

void rosbag::Bag::writeFileHeaderRecord

(

)

[private]

Definition at line 338 of file bag.cpp.

void rosbag::Bag::writeHeader

(

ros::M_string const &

fields

)

[private]

Definition at line 965 of file bag.cpp.

void rosbag::Bag::writeIndexRecords

(

)

[private]

Definition at line 493 of file bag.cpp.

template<class T >

void rosbag::Bag::writeMessageDataRecord	(	uint32_t	conn_id,
		ros::Time const &	time,
		T const &	msg
	)		[private]

Definition at line 580 of file bag.h.

void rosbag::Bag::writeVersion

(

)

[private]

Definition at line 213 of file bag.cpp.

---

Friends And Related Function Documentation

friend class MessageInstance [friend]

Definition at line 85 of file bag.h.

friend class View [friend]

Definition at line 86 of file bag.h.

---

Member Data Documentation

uint32_t rosbag::Bag::bag_revision_ [private]

Definition at line 278 of file bag.h.

Buffer rosbag::Bag::chunk_buffer_ [mutable, private]

reusable buffer to read chunk into

Definition at line 303 of file bag.h.

uint32_t rosbag::Bag::chunk_count_ [private]

Definition at line 284 of file bag.h.

bool rosbag::Bag::chunk_open_ [private]

Definition at line 287 of file bag.h.

uint32_t rosbag::Bag::chunk_threshold_ [private]

Definition at line 277 of file bag.h.

std::vector<ChunkInfo> rosbag::Bag::chunks_ [private]

Definition at line 295 of file bag.h.

CompressionType rosbag::Bag::compression_ [private]

Definition at line 276 of file bag.h.

uint32_t rosbag::Bag::connection_count_ [private]

Definition at line 283 of file bag.h.

std::map<uint32_t, std::multiset<IndexEntry> > rosbag::Bag::connection_indexes_ [private]

Definition at line 297 of file bag.h.

std::map<uint32_t, ConnectionInfo*> rosbag::Bag::connections_ [private]

Definition at line 293 of file bag.h.

std::map<uint32_t, std::multiset<IndexEntry> > rosbag::Bag::curr_chunk_connection_indexes_ [private]

Definition at line 298 of file bag.h.

uint64_t rosbag::Bag::curr_chunk_data_pos_ [private]

Definition at line 289 of file bag.h.

ChunkInfo rosbag::Bag::curr_chunk_info_ [private]

Definition at line 288 of file bag.h.

Buffer* rosbag::Bag::current_buffer_ [mutable, private]

Definition at line 308 of file bag.h.

Buffer rosbag::Bag::decompress_buffer_ [mutable, private]

reusable buffer to decompress chunks into

Definition at line 304 of file bag.h.

uint64_t rosbag::Bag::decompressed_chunk_ [mutable, private]

position of decompressed chunk

Definition at line 310 of file bag.h.

ChunkedFile rosbag::Bag::file_ [mutable, private]

Definition at line 274 of file bag.h.

uint64_t rosbag::Bag::file_header_pos_ [private]

Definition at line 281 of file bag.h.

uint64_t rosbag::Bag::file_size_ [private]

Definition at line 280 of file bag.h.

Buffer rosbag::Bag::header_buffer_ [mutable, private]

reusable buffer in which to assemble the record header before writing to file

Definition at line 300 of file bag.h.

std::map<ros::M_string, uint32_t> rosbag::Bag::header_connection_ids_ [private]

Definition at line 292 of file bag.h.

uint64_t rosbag::Bag::index_data_pos_ [private]

Definition at line 282 of file bag.h.

BagMode rosbag::Bag::mode_ [private]

Definition at line 273 of file bag.h.

Buffer rosbag::Bag::outgoing_chunk_buffer_ [mutable, private]

reusable buffer to read chunk into

Definition at line 306 of file bag.h.

Buffer rosbag::Bag::record_buffer_ [mutable, private]

reusable buffer in which to assemble the record data before writing to file

Definition at line 301 of file bag.h.

std::map<std::string, uint32_t> rosbag::Bag::topic_connection_ids_ [private]

Definition at line 291 of file bag.h.

int rosbag::Bag::version_ [private]

Definition at line 275 of file bag.h.

---

The documentation for this class was generated from the following files:

• bag.h
• bag.cpp