Public Member Functions | Private Member Functions | Private Attributes | Friends | List of all members
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...
 
 Bag (Bag &&other)
 
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...
 
Bagoperator= (Bag &&other)
 
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
 
void init ()
 
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)
 
Bagoperator= (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< ChunkInfochunks_
 
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_
 
Buffercurrent_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 96 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 
)
explicit

Open a bag file.

Parameters
filenameThe bag file to open
modeThe mode to use (either read, write or append)

Can throw BagException

rosbag::Bag::~Bag ( )

Definition at line 85 of file bag.cpp.

rosbag::Bag::Bag ( Bag &&  other)

Definition at line 73 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 663 of file bag.cpp.

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

Definition at line 1000 of file bag.cpp.

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

Definition at line 986 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 1078 of file bag.cpp.

void rosbag::Bag::close ( )

Close the bag file.

Definition at line 166 of file bag.cpp.

void rosbag::Bag::closeWrite ( )
private

Definition at line 187 of file bag.cpp.

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

Definition at line 819 of file bag.cpp.

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

Definition at line 753 of file bag.cpp.

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

Definition at line 835 of file bag.cpp.

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

Definition at line 807 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 498 of file bag.h.

uint32_t rosbag::Bag::getChunkOffset ( ) const
private

Definition at line 409 of file bag.cpp.

uint32_t rosbag::Bag::getChunkThreshold ( ) const

Get the threshold for creating new chunks.

Definition at line 195 of file bag.cpp.

CompressionType rosbag::Bag::getCompression ( ) const

Get the compression method to use for writing chunks.

Definition at line 204 of file bag.cpp.

string rosbag::Bag::getFileName ( ) const

Get the filename of the bag.

Definition at line 191 of file bag.cpp.

uint32_t rosbag::Bag::getMajorVersion ( ) const

Get the major-version of the open bag file.

Definition at line 251 of file bag.cpp.

uint32_t rosbag::Bag::getMinorVersion ( ) const

Get the minor-version of the open bag file.

Definition at line 252 of file bag.cpp.

BagMode rosbag::Bag::getMode ( ) const

Get the mode the bag is in.

Definition at line 192 of file bag.cpp.

uint64_t rosbag::Bag::getSize ( ) const

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

Definition at line 193 of file bag.cpp.

void rosbag::Bag::init ( )
private

Definition at line 89 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 413 of file bag.h.

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

Definition at line 968 of file bag.cpp.

bool rosbag::Bag::isOpen ( ) const

Definition at line 1160 of file bag.cpp.

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

Open a bag file.

Parameters
filenameThe bag file to open
modeThe mode to use (either read, write or append)

Can throw BagException

Definition at line 106 of file bag.cpp.

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

Definition at line 144 of file bag.cpp.

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

Definition at line 125 of file bag.cpp.

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

Definition at line 138 of file bag.cpp.

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

Definition at line 78 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 1126 of file bag.cpp.

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

Definition at line 484 of file bag.cpp.

void rosbag::Bag::readChunkInfoRecord ( )
private

Definition at line 923 of file bag.cpp.

void rosbag::Bag::readConnectionIndexRecord200 ( )
private

Definition at line 593 of file bag.cpp.

void rosbag::Bag::readConnectionRecord ( )
private

Definition at line 673 of file bag.cpp.

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

Definition at line 1073 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 376 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 379 of file bag.cpp.

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

Definition at line 1055 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 1009 of file bag.cpp.

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

Definition at line 852 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 1035 of file bag.cpp.

template<typename Stream >
void rosbag::Bag::readMessageDataIntoStream ( IndexEntry const &  index_entry,
Stream stream 
) const
private

Definition at line 385 of file bag.h.

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

Definition at line 784 of file bag.cpp.

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

Definition at line 871 of file bag.cpp.

void rosbag::Bag::readMessageDefinitionRecord102 ( )
private

Definition at line 709 of file bag.cpp.

void rosbag::Bag::readTopicIndexRecord102 ( )
private

Definition at line 531 of file bag.cpp.

void rosbag::Bag::readVersion ( )
private

Definition at line 232 of file bag.cpp.

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

Definition at line 1127 of file bag.cpp.

void rosbag::Bag::setChunkThreshold ( uint32_t  chunk_threshold)

Set the threshold for creating new chunks.

Definition at line 197 of file bag.cpp.

void rosbag::Bag::setCompression ( CompressionType  compression)

Set the compression method to use for writing chunks.

Definition at line 206 of file bag.cpp.

void rosbag::Bag::startReadingVersion102 ( )
private

Definition at line 311 of file bag.cpp.

void rosbag::Bag::startReadingVersion200 ( )
private

Definition at line 276 of file bag.cpp.

void rosbag::Bag::startWriting ( )
private

Definition at line 256 of file bag.cpp.

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

Definition at line 416 of file bag.cpp.

void rosbag::Bag::stopWriting ( )
private

Definition at line 262 of file bag.cpp.

void rosbag::Bag::stopWritingChunk ( )
private

Definition at line 434 of file bag.cpp.

void rosbag::Bag::swap ( Bag other)

Definition at line 1129 of file bag.cpp.

template<typename T >
std::string rosbag::Bag::toHeaderString ( T const *  field) const
private

Definition at line 371 of file bag.h.

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

Definition at line 1115 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
topicThe topic name
eventThe message event to be added

Can throw BagIOException

Definition at line 351 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
topicThe topic name
timeTimestamp of the message
msgThe message to be added
connection_headerA connection header.

Can throw BagIOException

Definition at line 356 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
topicThe topic name
timeTimestamp of the message
msgThe message to be added
connection_headerA connection header.

Can throw BagIOException

Definition at line 361 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
topicThe topic name
timeTimestamp of the message
msgThe message to be added
connection_headerA connection header.

Can throw BagIOException

Definition at line 366 of file bag.h.

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

Definition at line 1124 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 461 of file bag.cpp.

void rosbag::Bag::writeChunkInfoRecords ( )
private

Definition at line 889 of file bag.cpp.

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

Definition at line 650 of file bag.cpp.

void rosbag::Bag::writeConnectionRecords ( )
private

Definition at line 643 of file bag.cpp.

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

Definition at line 982 of file bag.cpp.

void rosbag::Bag::writeFileHeaderRecord ( )
private

Definition at line 347 of file bag.cpp.

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

Definition at line 974 of file bag.cpp.

void rosbag::Bag::writeIndexRecords ( )
private

Definition at line 502 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 609 of file bag.h.

void rosbag::Bag::writeVersion ( )
private

Definition at line 222 of file bag.cpp.

Friends And Related Function Documentation

friend class MessageInstance
friend

Definition at line 98 of file bag.h.

friend class View
friend

Definition at line 99 of file bag.h.

Member Data Documentation

uint32_t rosbag::Bag::bag_revision_
private

Definition at line 307 of file bag.h.

Buffer rosbag::Bag::chunk_buffer_
mutableprivate

reusable buffer to read chunk into

Definition at line 332 of file bag.h.

uint32_t rosbag::Bag::chunk_count_
private

Definition at line 313 of file bag.h.

bool rosbag::Bag::chunk_open_
private

Definition at line 316 of file bag.h.

uint32_t rosbag::Bag::chunk_threshold_
private

Definition at line 306 of file bag.h.

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

Definition at line 324 of file bag.h.

CompressionType rosbag::Bag::compression_
private

Definition at line 305 of file bag.h.

uint32_t rosbag::Bag::connection_count_
private

Definition at line 312 of file bag.h.

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

Definition at line 326 of file bag.h.

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

Definition at line 322 of file bag.h.

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

Definition at line 327 of file bag.h.

uint64_t rosbag::Bag::curr_chunk_data_pos_
private

Definition at line 318 of file bag.h.

ChunkInfo rosbag::Bag::curr_chunk_info_
private

Definition at line 317 of file bag.h.

Buffer* rosbag::Bag::current_buffer_
mutableprivate

Definition at line 337 of file bag.h.

Buffer rosbag::Bag::decompress_buffer_
mutableprivate

reusable buffer to decompress chunks into

Definition at line 333 of file bag.h.

uint64_t rosbag::Bag::decompressed_chunk_
mutableprivate

position of decompressed chunk

Definition at line 339 of file bag.h.

ChunkedFile rosbag::Bag::file_
mutableprivate

Definition at line 303 of file bag.h.

uint64_t rosbag::Bag::file_header_pos_
private

Definition at line 310 of file bag.h.

uint64_t rosbag::Bag::file_size_
private

Definition at line 309 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 329 of file bag.h.

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

Definition at line 321 of file bag.h.

uint64_t rosbag::Bag::index_data_pos_
private

Definition at line 311 of file bag.h.

BagMode rosbag::Bag::mode_
private

Definition at line 302 of file bag.h.

Buffer rosbag::Bag::outgoing_chunk_buffer_
mutableprivate

reusable buffer to read chunk into

Definition at line 335 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 330 of file bag.h.

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

Definition at line 320 of file bag.h.

int rosbag::Bag::version_
private

Definition at line 304 of file bag.h.


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


rosbag_storage
Author(s):
autogenerated on Sun Feb 3 2019 03:29:47