rosbag::Bag Class Reference

#include <bag.h>

Public Member Functions
	Bag ()
	Bag (std::string const &filename, uint32_t mode=bagmode::Read)
	Open a bag file. More...
void	close ()
	Close the bag file. More...
uint32_t	getChunkThreshold () const
	Get the threshold for creating new chunks. More...
CompressionType	getCompression () const
	Get the compression method to use for writing chunks. More...
std::tuple< std::string, uint64_t, uint64_t >	getCompressionInfo () const
std::string	getFileName () const
	Get the filename of the bag. More...
uint32_t	getMajorVersion () const
	Get the major-version of the open bag file. More...
uint32_t	getMinorVersion () const
	Get the minor-version of the open bag file. More...
BagMode	getMode () const
	Get the mode the bag is in. More...
uint64_t	getSize () const
	Get the current size of the bag file (a lower bound) More...
void	open (std::string const &filename, uint32_t mode=bagmode::Read)
	Open a bag file. More...
void	setChunkThreshold (uint32_t chunk_threshold)
	Set the threshold for creating new chunks. More...
void	setCompression (CompressionType compression)
	Set the compression method to use for writing chunks. More...
template<class T >
void	write (std::string const &topic, rs2rosinternal::MessageEvent< T > const &event)
	Write a message into the bag file. More...
template<class T >
void	write (std::string const &topic, rs2rosinternal::Time const &time, T const &msg, std::shared_ptr< rs2rosinternal::M_string > connection_header=std::shared_ptr< rs2rosinternal::M_string >())
	Write a message into the bag file. More...
template<class T >
void	write (std::string const &topic, rs2rosinternal::Time const &time, std::shared_ptr< T const > const &msg, std::shared_ptr< rs2rosinternal::M_string > connection_header=std::shared_ptr< rs2rosinternal::M_string >())
	Write a message into the bag file. More...
template<class T >
void	write (std::string const &topic, rs2rosinternal::Time const &time, std::shared_ptr< T > const &msg, std::shared_ptr< rs2rosinternal::M_string > connection_header=std::shared_ptr< rs2rosinternal::M_string >())
	Write a message into the bag file. More...
	~Bag ()

Private Member Functions
void	appendConnectionRecordToBuffer (Buffer &buf, ConnectionInfo const *connection_info)
void	appendDataLengthToBuffer (Buffer &buf, uint32_t data_len)
void	appendHeaderToBuffer (Buffer &buf, rs2rosinternal::M_string const &fields)
rs2rosinternal::M_string::const_iterator	checkField (rs2rosinternal::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, rs2rosinternal::Time const &time, T const &msg, std::shared_ptr< rs2rosinternal::M_string > const &connection_header)
uint32_t	getChunkOffset () const
template<class T >
std::shared_ptr< T >	instantiateBuffer (IndexEntry const &index_entry) const
	deserializes the message held in record_buffer_ More...
bool	isOp (rs2rosinternal::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 (rs2rosinternal::M_string const &fields, std::string const &field_name, bool required, T *data) const
bool	readField (rs2rosinternal::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 (rs2rosinternal::M_string const &fields, std::string const &field_name, bool required, std::string &data) const
bool	readField (rs2rosinternal::M_string const &fields, std::string const &field_name, bool required, rs2rosinternal::Time &data) const
void	readFileHeaderRecord ()
bool	readHeader (rs2rosinternal::Header &header) const
void	readHeaderFromBuffer (Buffer &buffer, uint32_t offset, rs2rosinternal::Header &header, uint32_t &data_size, uint32_t &bytes_read) const
rs2rosinternal::Header	readMessageDataHeader (IndexEntry const &index_entry)
void	readMessageDataHeaderFromBuffer (Buffer &buffer, uint32_t offset, rs2rosinternal::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, rs2rosinternal::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 (rs2rosinternal::Time time)
void	stopWriting ()
void	stopWritingChunk ()
template<typename T >
std::string	toHeaderString (T const *field) const
std::string	toHeaderString (rs2rosinternal::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 (rs2rosinternal::M_string const &fields)
void	writeIndexRecords ()
template<class T >
void	writeMessageDataRecord (uint32_t conn_id, rs2rosinternal::Time const &time, T const &msg)
void	writeVersion ()

Private Attributes
uint32_t	bag_revision_
Buffer	chunk_buffer_
	reusable buffer to read chunk into More...
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 More...
uint64_t	decompressed_chunk_
	position of decompressed chunk More...
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 More...
std::map< rs2rosinternal::M_string, uint32_t >	header_connection_ids_
uint64_t	index_data_pos_
BagMode	mode_
Buffer	outgoing_chunk_buffer_
	reusable buffer to read chunk into More...
Buffer	record_buffer_
	reusable buffer in which to assemble the record data before writing to file More...
std::map< std::string, uint32_t >	topic_connection_ids_
int	version_

Friends
class	MessageInstance
class	View

Detailed Description

Definition at line 84 of file bag.h.

Constructor & Destructor Documentation

rosbag::Bag::Bag

(

)

Definition at line 62 of file bag.cpp.

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

explicit

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 80 of file bag.cpp.

rosbag::Bag::~Bag

(

)

Definition at line 97 of file bag.cpp.

Member Function Documentation

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

private

Definition at line 698 of file bag.cpp.

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

private

Definition at line 1034 of file bag.cpp.

void rosbag::Bag::appendHeaderToBuffer ( Buffer &  buf, rs2rosinternal::M_string const &  fields  )

private

Definition at line 1020 of file bag.cpp.

M_string::const_iterator rosbag::Bag::checkField ( rs2rosinternal::M_string const &  fields, std::string const &  field, unsigned int  min_len, unsigned int  max_len, bool  required  ) const

private

Definition at line 1112 of file bag.cpp.

void rosbag::Bag::close

(

)

Close the bag file.

Definition at line 161 of file bag.cpp.

void rosbag::Bag::closeWrite ( )

private

Definition at line 180 of file bag.cpp.

void rosbag::Bag::decompressBz2Chunk ( ChunkHeader const &  chunk_header ) const

private

Definition at line 854 of file bag.cpp.

void rosbag::Bag::decompressChunk ( uint64_t  chunk_pos ) const

private

Definition at line 788 of file bag.cpp.

void rosbag::Bag::decompressLz4Chunk ( ChunkHeader const &  chunk_header ) const

private

Definition at line 870 of file bag.cpp.

void rosbag::Bag::decompressRawChunk ( ChunkHeader const &  chunk_header ) const

private

Definition at line 842 of file bag.cpp.

template<class T >

void rosbag::Bag::doWrite ( std::string const &  topic, rs2rosinternal::Time const &  time, T const &  msg, std::shared_ptr< rs2rosinternal::M_string > const &  connection_header  )

private

Definition at line 471 of file bag.h.

uint32_t rosbag::Bag::getChunkOffset ( ) const

private

Definition at line 444 of file bag.cpp.

uint32_t rosbag::Bag::getChunkThreshold

(

)

const

Get the threshold for creating new chunks.

Definition at line 188 of file bag.cpp.

CompressionType rosbag::Bag::getCompression

(

)

const

Get the compression method to use for writing chunks.

Definition at line 197 of file bag.cpp.

std::tuple< std::string, uint64_t, uint64_t > rosbag::Bag::getCompressionInfo

(

)

const

Definition at line 199 of file bag.cpp.

string rosbag::Bag::getFileName

(

)

const

Get the filename of the bag.

Definition at line 184 of file bag.cpp.

uint32_t rosbag::Bag::getMajorVersion

(

)

const

Get the major-version of the open bag file.

Definition at line 286 of file bag.cpp.

uint32_t rosbag::Bag::getMinorVersion

(

)

const

Get the minor-version of the open bag file.

Definition at line 287 of file bag.cpp.

BagMode rosbag::Bag::getMode

(

)

const

Get the mode the bag is in.

Definition at line 185 of file bag.cpp.

uint64_t rosbag::Bag::getSize

(

)

const

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

Definition at line 186 of file bag.cpp.

template<class T >

std::shared_ptr< T > rosbag::Bag::instantiateBuffer ( IndexEntry const &  index_entry ) const

private

deserializes the message held in record_buffer_

Definition at line 386 of file bag.h.

bool rosbag::Bag::isOp ( rs2rosinternal::M_string &  fields, uint8_t  reqOp  ) const

private

Definition at line 1002 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 101 of file bag.cpp.

void rosbag::Bag::openAppend ( std::string const &  filename )

private

Definition at line 139 of file bag.cpp.

void rosbag::Bag::openRead ( std::string const &  filename )

private

Definition at line 120 of file bag.cpp.

void rosbag::Bag::openWrite ( std::string const &  filename )

private

Definition at line 133 of file bag.cpp.

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

private

Definition at line 1160 of file bag.cpp.

void rosbag::Bag::readChunkHeader ( ChunkHeader &  chunk_header ) const

private

Definition at line 519 of file bag.cpp.

void rosbag::Bag::readChunkInfoRecord ( )

private

Definition at line 957 of file bag.cpp.

void rosbag::Bag::readConnectionIndexRecord200 ( )

private

Definition at line 628 of file bag.cpp.

void rosbag::Bag::readConnectionRecord ( )

private

Definition at line 708 of file bag.cpp.

bool rosbag::Bag::readDataLength ( uint32_t &  data_size ) const

private

Definition at line 1107 of file bag.cpp.

template<typename T >

bool rosbag::Bag::readField ( rs2rosinternal::M_string const &  fields, std::string const &  field_name, bool  required, T *  data  ) const

private

Definition at line 349 of file bag.h.

bool rosbag::Bag::readField ( rs2rosinternal::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 ( rs2rosinternal::M_string const &  fields, std::string const &  field_name, bool  required, std::string &  data  ) const

private

bool rosbag::Bag::readField ( rs2rosinternal::M_string const &  fields, std::string const &  field_name, bool  required, rs2rosinternal::Time &  data  ) const

private

void rosbag::Bag::readFileHeaderRecord ( )

private

Definition at line 414 of file bag.cpp.

bool rosbag::Bag::readHeader ( rs2rosinternal::Header &  header ) const

private

Definition at line 1089 of file bag.cpp.

void rosbag::Bag::readHeaderFromBuffer ( Buffer &  buffer, uint32_t  offset, rs2rosinternal::Header &  header, uint32_t &  data_size, uint32_t &  bytes_read  ) const

private

Todo:

clean this up

Definition at line 1043 of file bag.cpp.

rs2rosinternal::Header rosbag::Bag::readMessageDataHeader ( IndexEntry const &  index_entry )

private

Definition at line 887 of file bag.cpp.

void rosbag::Bag::readMessageDataHeaderFromBuffer ( Buffer &  buffer, uint32_t  offset, rs2rosinternal::Header &  header, uint32_t &  data_size, uint32_t &  bytes_read  ) const

private

Definition at line 1069 of file bag.cpp.

template<typename Stream >

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

private

Definition at line 358 of file bag.h.

void rosbag::Bag::readMessageDataRecord102 ( uint64_t  offset, rs2rosinternal::Header &  header  ) const

private

Definition at line 819 of file bag.cpp.

uint32_t rosbag::Bag::readMessageDataSize ( IndexEntry const &  index_entry ) const

private

Definition at line 906 of file bag.cpp.

void rosbag::Bag::readMessageDefinitionRecord102 ( )

private

Definition at line 744 of file bag.cpp.

void rosbag::Bag::readTopicIndexRecord102 ( )

private

Definition at line 566 of file bag.cpp.

void rosbag::Bag::readVersion ( )

private

Definition at line 267 of file bag.cpp.

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

private

Definition at line 1161 of file bag.cpp.

void rosbag::Bag::setChunkThreshold

(

uint32_t

chunk_threshold

)

Set the threshold for creating new chunks.

Definition at line 190 of file bag.cpp.

void rosbag::Bag::setCompression

(

CompressionType

compression

)

Set the compression method to use for writing chunks.

Definition at line 241 of file bag.cpp.

void rosbag::Bag::startReadingVersion102 ( )

private

Definition at line 346 of file bag.cpp.

void rosbag::Bag::startReadingVersion200 ( )

private

Definition at line 311 of file bag.cpp.

void rosbag::Bag::startWriting ( )

private

Definition at line 291 of file bag.cpp.

void rosbag::Bag::startWritingChunk ( rs2rosinternal::Time  time )

private

Definition at line 451 of file bag.cpp.

void rosbag::Bag::stopWriting ( )

private

Definition at line 297 of file bag.cpp.

void rosbag::Bag::stopWritingChunk ( )

private

Definition at line 469 of file bag.cpp.

template<typename T >

std::string rosbag::Bag::toHeaderString ( T const *  field ) const

private

Definition at line 344 of file bag.h.

std::string rosbag::Bag::toHeaderString ( rs2rosinternal::Time const *  field ) const

private

Definition at line 1149 of file bag.cpp.

template<class T >

void rosbag::Bag::write	(	std::string const &	topic,
		rs2rosinternal::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 324 of file bag.h.

template<class T >

void rosbag::Bag::write	(	std::string const &	topic,
		rs2rosinternal::Time const &	time,
		T const &	msg,
		std::shared_ptr< rs2rosinternal::M_string >	connection_header = std::shared_ptr<rs2rosinternal::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 329 of file bag.h.

template<class T >

void rosbag::Bag::write	(	std::string const &	topic,
		rs2rosinternal::Time const &	time,
		std::shared_ptr< T const > const &	msg,
		std::shared_ptr< rs2rosinternal::M_string >	connection_header = std::shared_ptr<rs2rosinternal::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 334 of file bag.h.

template<class T >

void rosbag::Bag::write	(	std::string const &	topic,
		rs2rosinternal::Time const &	time,
		std::shared_ptr< T > const &	msg,
		std::shared_ptr< rs2rosinternal::M_string >	connection_header = std::shared_ptr<rs2rosinternal::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 339 of file bag.h.

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

private

Definition at line 1158 of file bag.cpp.

void rosbag::Bag::write ( std::string const &  s )

private

Definition at line 1157 of file bag.cpp.

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

private

Definition at line 496 of file bag.cpp.

void rosbag::Bag::writeChunkInfoRecords ( )

private

Definition at line 924 of file bag.cpp.

void rosbag::Bag::writeConnectionRecord ( ConnectionInfo const *  connection_info )

private

Definition at line 685 of file bag.cpp.

void rosbag::Bag::writeConnectionRecords ( )

private

Definition at line 678 of file bag.cpp.

void rosbag::Bag::writeDataLength ( uint32_t  data_len )

private

Definition at line 1016 of file bag.cpp.

void rosbag::Bag::writeFileHeaderRecord ( )

private

Definition at line 382 of file bag.cpp.

void rosbag::Bag::writeHeader ( rs2rosinternal::M_string const &  fields )

private

Definition at line 1008 of file bag.cpp.

void rosbag::Bag::writeIndexRecords ( )

private

Definition at line 537 of file bag.cpp.

template<class T >

void rosbag::Bag::writeMessageDataRecord ( uint32_t  conn_id, rs2rosinternal::Time const &  time, T const &  msg  )

private

Definition at line 582 of file bag.h.

void rosbag::Bag::writeVersion ( )

private

Definition at line 257 of file bag.cpp.

Friends And Related Function Documentation

friend class MessageInstance

friend

Definition at line 86 of file bag.h.

friend class View

friend

Definition at line 87 of file bag.h.

Member Data Documentation

uint32_t rosbag::Bag::bag_revision_

private

Definition at line 280 of file bag.h.

Buffer rosbag::Bag::chunk_buffer_

mutableprivate

reusable buffer to read chunk into

Definition at line 305 of file bag.h.

uint32_t rosbag::Bag::chunk_count_

private

Definition at line 286 of file bag.h.

bool rosbag::Bag::chunk_open_

private

Definition at line 289 of file bag.h.

uint32_t rosbag::Bag::chunk_threshold_

private

Definition at line 279 of file bag.h.

std::vector<ChunkInfo> rosbag::Bag::chunks_

private

Definition at line 297 of file bag.h.

CompressionType rosbag::Bag::compression_

private

Definition at line 278 of file bag.h.

uint32_t rosbag::Bag::connection_count_

private

Definition at line 285 of file bag.h.

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

private

Definition at line 299 of file bag.h.

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

private

Definition at line 295 of file bag.h.

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

private

Definition at line 300 of file bag.h.

uint64_t rosbag::Bag::curr_chunk_data_pos_

private

Definition at line 291 of file bag.h.

ChunkInfo rosbag::Bag::curr_chunk_info_

private

Definition at line 290 of file bag.h.

Buffer* rosbag::Bag::current_buffer_

mutableprivate

Definition at line 310 of file bag.h.

Buffer rosbag::Bag::decompress_buffer_

mutableprivate

reusable buffer to decompress chunks into

Definition at line 306 of file bag.h.

uint64_t rosbag::Bag::decompressed_chunk_

mutableprivate

position of decompressed chunk

Definition at line 312 of file bag.h.

ChunkedFile rosbag::Bag::file_

mutableprivate

Definition at line 276 of file bag.h.

uint64_t rosbag::Bag::file_header_pos_

private

Definition at line 283 of file bag.h.

uint64_t rosbag::Bag::file_size_

private

Definition at line 282 of file bag.h.

Buffer rosbag::Bag::header_buffer_

mutableprivate

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

Definition at line 302 of file bag.h.

std::map<rs2rosinternal::M_string, uint32_t> rosbag::Bag::header_connection_ids_

private

Definition at line 294 of file bag.h.

uint64_t rosbag::Bag::index_data_pos_

private

Definition at line 284 of file bag.h.

BagMode rosbag::Bag::mode_

private

Definition at line 275 of file bag.h.

Buffer rosbag::Bag::outgoing_chunk_buffer_

mutableprivate

reusable buffer to read chunk into

Definition at line 308 of file bag.h.

Buffer rosbag::Bag::record_buffer_

mutableprivate

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

Definition at line 303 of file bag.h.

std::map<std::string, uint32_t> rosbag::Bag::topic_connection_ids_

private

Definition at line 293 of file bag.h.

int rosbag::Bag::version_

private

Definition at line 277 of file bag.h.

---

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

• bag.h
• bag.cpp