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::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...
bool	isOpen () const
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...
void	swap (Bag &)
template<class T >
void	write (std::string const &topic, ros::MessageEvent< T > const &event)
	Write a message into the bag file. More...
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. More...
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. More...
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. 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, ros::M_string const &fields)
	Bag (const Bag &)
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_ More...
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)
Bag &	operator= (const Bag &)
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 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< 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 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 86 of file bag.h.

Constructor & Destructor Documentation

rosbag::Bag::Bag

(

)

Definition at line 63 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

rosbag::Bag::~Bag

(

)

Definition at line 98 of file bag.cpp.

rosbag::Bag::Bag ( const Bag &  )

private

Member Function Documentation

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

private

Definition at line 657 of file bag.cpp.

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

private

Definition at line 994 of file bag.cpp.

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

private

Definition at line 980 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 1072 of file bag.cpp.

void rosbag::Bag::close

(

)

Close the bag file.

Definition at line 162 of file bag.cpp.

void rosbag::Bag::closeWrite ( )

private

Definition at line 181 of file bag.cpp.

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

private

Definition at line 813 of file bag.cpp.

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

private

Definition at line 747 of file bag.cpp.

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

private

Definition at line 829 of file bag.cpp.

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

private

Definition at line 801 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 479 of file bag.h.

uint32_t rosbag::Bag::getChunkOffset ( ) const

private

Definition at line 403 of file bag.cpp.

uint32_t rosbag::Bag::getChunkThreshold

(

)

const

Get the threshold for creating new chunks.

Definition at line 189 of file bag.cpp.

CompressionType rosbag::Bag::getCompression

(

)

const

Get the compression method to use for writing chunks.

Definition at line 198 of file bag.cpp.

string rosbag::Bag::getFileName

(

)

const

Get the filename of the bag.

Definition at line 185 of file bag.cpp.

uint32_t rosbag::Bag::getMajorVersion

(

)

const

Get the major-version of the open bag file.

Definition at line 245 of file bag.cpp.

uint32_t rosbag::Bag::getMinorVersion

(

)

const

Get the minor-version of the open bag file.

Definition at line 246 of file bag.cpp.

BagMode rosbag::Bag::getMode

(

)

const

Get the mode the bag is in.

Definition at line 186 of file bag.cpp.

uint64_t rosbag::Bag::getSize

(

)

const

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

Definition at line 187 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 394 of file bag.h.

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

private

Definition at line 962 of file bag.cpp.

bool rosbag::Bag::isOpen

(

)

const

Definition at line 1154 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 102 of file bag.cpp.

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

private

Definition at line 140 of file bag.cpp.

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

private

Definition at line 121 of file bag.cpp.

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

private

Definition at line 134 of file bag.cpp.

Bag& rosbag::Bag::operator= ( const Bag &  )

private

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

private

Definition at line 1120 of file bag.cpp.

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

private

Definition at line 478 of file bag.cpp.

void rosbag::Bag::readChunkInfoRecord ( )

private

Definition at line 917 of file bag.cpp.

void rosbag::Bag::readConnectionIndexRecord200 ( )

private

Definition at line 587 of file bag.cpp.

void rosbag::Bag::readConnectionRecord ( )

private

Definition at line 667 of file bag.cpp.

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

private

Definition at line 1067 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 357 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 373 of file bag.cpp.

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

private

Definition at line 1049 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 1003 of file bag.cpp.

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

private

Definition at line 846 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 1029 of file bag.cpp.

template<typename Stream >

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

private

Definition at line 366 of file bag.h.

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

private

Definition at line 778 of file bag.cpp.

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

private

Definition at line 865 of file bag.cpp.

void rosbag::Bag::readMessageDefinitionRecord102 ( )

private

Definition at line 703 of file bag.cpp.

void rosbag::Bag::readTopicIndexRecord102 ( )

private

Definition at line 525 of file bag.cpp.

void rosbag::Bag::readVersion ( )

private

Definition at line 226 of file bag.cpp.

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

private

Definition at line 1121 of file bag.cpp.

void rosbag::Bag::setChunkThreshold

(

uint32_t

chunk_threshold

)

Set the threshold for creating new chunks.

Definition at line 191 of file bag.cpp.

void rosbag::Bag::setCompression

(

CompressionType

compression

)

Set the compression method to use for writing chunks.

Definition at line 200 of file bag.cpp.

void rosbag::Bag::startReadingVersion102 ( )

private

Definition at line 305 of file bag.cpp.

void rosbag::Bag::startReadingVersion200 ( )

private

Definition at line 270 of file bag.cpp.

void rosbag::Bag::startWriting ( )

private

Definition at line 250 of file bag.cpp.

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

private

Definition at line 410 of file bag.cpp.

void rosbag::Bag::stopWriting ( )

private

Definition at line 256 of file bag.cpp.

void rosbag::Bag::stopWritingChunk ( )

private

Definition at line 428 of file bag.cpp.

void rosbag::Bag::swap

(

Bag &

other

)

Definition at line 1123 of file bag.cpp.

template<typename T >

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

private

Definition at line 352 of file bag.h.

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

private

Definition at line 1109 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 332 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 337 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 342 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 347 of file bag.h.

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

private

Definition at line 1118 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 455 of file bag.cpp.

void rosbag::Bag::writeChunkInfoRecords ( )

private

Definition at line 883 of file bag.cpp.

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

private

Definition at line 644 of file bag.cpp.

void rosbag::Bag::writeConnectionRecords ( )

private

Definition at line 637 of file bag.cpp.

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

private

Definition at line 976 of file bag.cpp.

void rosbag::Bag::writeFileHeaderRecord ( )

private

Definition at line 341 of file bag.cpp.

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

private

Definition at line 968 of file bag.cpp.

void rosbag::Bag::writeIndexRecords ( )

private

Definition at line 496 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 590 of file bag.h.

void rosbag::Bag::writeVersion ( )

private

Definition at line 216 of file bag.cpp.

Friends And Related Function Documentation

friend class MessageInstance

friend

Definition at line 88 of file bag.h.

friend class View

friend

Definition at line 89 of file bag.h.

Member Data Documentation

uint32_t rosbag::Bag::bag_revision_

private

Definition at line 288 of file bag.h.

Buffer rosbag::Bag::chunk_buffer_

mutableprivate

reusable buffer to read chunk into

Definition at line 313 of file bag.h.

uint32_t rosbag::Bag::chunk_count_

private

Definition at line 294 of file bag.h.

bool rosbag::Bag::chunk_open_

private

Definition at line 297 of file bag.h.

uint32_t rosbag::Bag::chunk_threshold_

private

Definition at line 287 of file bag.h.

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

private

Definition at line 305 of file bag.h.

CompressionType rosbag::Bag::compression_

private

Definition at line 286 of file bag.h.

uint32_t rosbag::Bag::connection_count_

private

Definition at line 293 of file bag.h.

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

private

Definition at line 307 of file bag.h.

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

private

Definition at line 303 of file bag.h.

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

private

Definition at line 308 of file bag.h.

uint64_t rosbag::Bag::curr_chunk_data_pos_

private

Definition at line 299 of file bag.h.

ChunkInfo rosbag::Bag::curr_chunk_info_

private

Definition at line 298 of file bag.h.

Buffer* rosbag::Bag::current_buffer_

mutableprivate

Definition at line 318 of file bag.h.

Buffer rosbag::Bag::decompress_buffer_

mutableprivate

reusable buffer to decompress chunks into

Definition at line 314 of file bag.h.

uint64_t rosbag::Bag::decompressed_chunk_

mutableprivate

position of decompressed chunk

Definition at line 320 of file bag.h.

ChunkedFile rosbag::Bag::file_

mutableprivate

Definition at line 284 of file bag.h.

uint64_t rosbag::Bag::file_header_pos_

private

Definition at line 291 of file bag.h.

uint64_t rosbag::Bag::file_size_

private

Definition at line 290 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 310 of file bag.h.

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

private

Definition at line 302 of file bag.h.

uint64_t rosbag::Bag::index_data_pos_

private

Definition at line 292 of file bag.h.

BagMode rosbag::Bag::mode_

private

Definition at line 283 of file bag.h.

Buffer rosbag::Bag::outgoing_chunk_buffer_

mutableprivate

reusable buffer to read chunk into

Definition at line 316 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 311 of file bag.h.

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

private

Definition at line 301 of file bag.h.

int rosbag::Bag::version_

private

Definition at line 285 of file bag.h.

---

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

• bag.h
• bag.cpp