constants.h

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#ifndef ROSBAG_CONSTANTS_H
#define ROSBAG_CONSTANTS_H

#include <string>
#include <stdint.h>

namespace rosbag {

// Bag file version to write
static const std::string VERSION = "2.0";

// Header field delimiter
static const unsigned char FIELD_DELIM = '=';

// Current header fields
static const std::string OP_FIELD_NAME               = "op";
static const std::string TOPIC_FIELD_NAME            = "topic";
static const std::string VER_FIELD_NAME              = "ver";
static const std::string COUNT_FIELD_NAME            = "count";
static const std::string INDEX_POS_FIELD_NAME        = "index_pos";     // 1.2+
static const std::string CONNECTION_COUNT_FIELD_NAME = "conn_count";    // 2.0+
static const std::string CHUNK_COUNT_FIELD_NAME      = "chunk_count";   // 2.0+
static const std::string CONNECTION_FIELD_NAME       = "conn";          // 2.0+
static const std::string COMPRESSION_FIELD_NAME      = "compression";   // 2.0+
static const std::string SIZE_FIELD_NAME             = "size";          // 2.0+
static const std::string TIME_FIELD_NAME             = "time";          // 2.0+
static const std::string START_TIME_FIELD_NAME       = "start_time";    // 2.0+
static const std::string END_TIME_FIELD_NAME         = "end_time";      // 2.0+
static const std::string CHUNK_POS_FIELD_NAME        = "chunk_pos";     // 2.0+

// Legacy header fields
static const std::string MD5_FIELD_NAME      = "md5";           // <2.0
static const std::string TYPE_FIELD_NAME     = "type";          // <2.0
static const std::string DEF_FIELD_NAME      = "def";           // <2.0
static const std::string SEC_FIELD_NAME      = "sec";           // <2.0
static const std::string NSEC_FIELD_NAME     = "nsec";          // <2.0
static const std::string LATCHING_FIELD_NAME = "latching";      // <2.0
static const std::string CALLERID_FIELD_NAME = "callerid";      // <2.0

// Current "op" field values
static const unsigned char OP_MSG_DATA    = 0x02;
static const unsigned char OP_FILE_HEADER = 0x03;
static const unsigned char OP_INDEX_DATA  = 0x04;
static const unsigned char OP_CHUNK       = 0x05;
static const unsigned char OP_CHUNK_INFO  = 0x06;
static const unsigned char OP_CONNECTION  = 0x07;

// Legacy "op" field values
static const unsigned char OP_MSG_DEF     = 0x01;

// Bytes reserved for file header record (4KB)
static const uint32_t FILE_HEADER_LENGTH = 4 * 1024;

// Index data record version to write
static const uint32_t INDEX_VERSION = 1;

// Chunk info record version to write
static const uint32_t CHUNK_INFO_VERSION = 1;

// Compression types
static const std::string COMPRESSION_NONE = "none";
static const std::string COMPRESSION_BZ2  = "bz2";
static const std::string COMPRESSION_LZ4  = "lz4";

} // namespace rosbag

#endif