00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef ROSBAG_CONSTANTS_H 00036 #define ROSBAG_CONSTANTS_H 00037 00038 #include <string> 00039 #include <stdint.h> 00040 00041 namespace rosbag { 00042 00043 // Bag file version to write 00044 static const std::string VERSION = "2.0"; 00045 00046 // Header field delimiter 00047 static const unsigned char FIELD_DELIM = '='; 00048 00049 // Current header fields 00050 static const std::string OP_FIELD_NAME = "op"; 00051 static const std::string TOPIC_FIELD_NAME = "topic"; 00052 static const std::string VER_FIELD_NAME = "ver"; 00053 static const std::string COUNT_FIELD_NAME = "count"; 00054 static const std::string INDEX_POS_FIELD_NAME = "index_pos"; // 1.2+ 00055 static const std::string CONNECTION_COUNT_FIELD_NAME = "conn_count"; // 2.0+ 00056 static const std::string CHUNK_COUNT_FIELD_NAME = "chunk_count"; // 2.0+ 00057 static const std::string CONNECTION_FIELD_NAME = "conn"; // 2.0+ 00058 static const std::string COMPRESSION_FIELD_NAME = "compression"; // 2.0+ 00059 static const std::string SIZE_FIELD_NAME = "size"; // 2.0+ 00060 static const std::string TIME_FIELD_NAME = "time"; // 2.0+ 00061 static const std::string START_TIME_FIELD_NAME = "start_time"; // 2.0+ 00062 static const std::string END_TIME_FIELD_NAME = "end_time"; // 2.0+ 00063 static const std::string CHUNK_POS_FIELD_NAME = "chunk_pos"; // 2.0+ 00064 00065 // Legacy header fields 00066 static const std::string MD5_FIELD_NAME = "md5"; // <2.0 00067 static const std::string TYPE_FIELD_NAME = "type"; // <2.0 00068 static const std::string DEF_FIELD_NAME = "def"; // <2.0 00069 static const std::string SEC_FIELD_NAME = "sec"; // <2.0 00070 static const std::string NSEC_FIELD_NAME = "nsec"; // <2.0 00071 static const std::string LATCHING_FIELD_NAME = "latching"; // <2.0 00072 static const std::string CALLERID_FIELD_NAME = "callerid"; // <2.0 00073 00074 // Current "op" field values 00075 static const unsigned char OP_MSG_DATA = 0x02; 00076 static const unsigned char OP_FILE_HEADER = 0x03; 00077 static const unsigned char OP_INDEX_DATA = 0x04; 00078 static const unsigned char OP_CHUNK = 0x05; 00079 static const unsigned char OP_CHUNK_INFO = 0x06; 00080 static const unsigned char OP_CONNECTION = 0x07; 00081 00082 // Legacy "op" field values 00083 static const unsigned char OP_MSG_DEF = 0x01; 00084 00085 // Bytes reserved for file header record (4KB) 00086 static const uint32_t FILE_HEADER_LENGTH = 4 * 1024; 00087 00088 // Index data record version to write 00089 static const uint32_t INDEX_VERSION = 1; 00090 00091 // Chunk info record version to write 00092 static const uint32_t CHUNK_INFO_VERSION = 1; 00093 00094 // Compression types 00095 static const std::string COMPRESSION_NONE = "none"; 00096 static const std::string COMPRESSION_BZ2 = "bz2"; 00097 static const std::string COMPRESSION_LZ4 = "lz4"; 00098 00099 } // namespace rosbag 00100 00101 #endif