bag_view.h

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// Filtering view on (multiple) bag files
// Author: Max Schwarz <max.schwarz@ais.uni-bonn.de>

#ifndef ROSBAG_FANCY_BAG_VIEW_H
#define ROSBAG_FANCY_BAG_VIEW_H

#include "bag_reader.h"

namespace rosbag_fancy
{

class BagView
{
public:
        class Iterator;

        class MultiBagMessage
        {
        public:
                const BagReader::Message* msg = {};
                unsigned int bagIndex = 0;
        };

        class Iterator
        {
        public:
                using iterator_category = std::input_iterator_tag;
                using value_type        = BagReader::Message;
                using reference         = const MultiBagMessage&;
                using pointer           = const MultiBagMessage*;

                Iterator() {}
                ~Iterator();

                Iterator(const Iterator&) = default;
                Iterator& operator=(const Iterator&) = default;

                reference operator*();
                pointer operator->() { return &(**this); }

                Iterator& operator++();
                Iterator operator++(int) { Iterator tmp = *this; ++(*this); return tmp; }

                friend bool operator== (const Iterator& a, const Iterator& b);
                friend bool operator!= (const Iterator& a, const Iterator& b);

        private:
                friend class BagView;

                explicit Iterator(const BagView* view);
                Iterator(const BagView* view, const ros::Time& time);

                class Private;
                std::shared_ptr<Private> m_d;
        };

        BagView();
        ~BagView();

        BagView(const BagView&) = delete;
        BagView& operator=(const BagView&) = delete;

        void addBag(BagReader* reader);
        void addBag(BagReader* reader, const std::function<bool(const BagReader::Connection&)>& connectionPredicate);

        ros::Time startTime() const;
        ros::Time endTime() const;

        Iterator begin() const;
        Iterator end() const;
        Iterator findTime(const ros::Time& time) const;

private:
        friend class Iterator::Private;
        class Private;
        std::unique_ptr<Private> m_d;
};

}

#endif