query.h

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#ifndef ROSBAG_QUERY_H
#define ROSBAG_QUERY_H
 
#include "ros/time.h"
 
#include <vector>
#include <map>
#include <set>
 
#include <boost/function.hpp>
#include "rosbag/macros.h"
#include "rosbag/structures.h"
 
namespace rosbag {
 
class Bag;
 
class ROSBAG_STORAGE_DECL Query
{
public:
 
    Query(boost::function<bool(ConnectionInfo const*)>& query,
          ros::Time const& start_time = ros::TIME_MIN,
          ros::Time const& end_time   = ros::TIME_MAX);
 
    boost::function<bool(ConnectionInfo const*)> const& getQuery() const;  
 
    ros::Time const& getStartTime() const; 
    ros::Time const& getEndTime()   const; 
 
private:
    boost::function<bool(ConnectionInfo const*)> query_;
    ros::Time start_time_;
    ros::Time end_time_;
};
 
class ROSBAG_STORAGE_DECL TopicQuery
{
public:
    TopicQuery(std::string const& topic);
    TopicQuery(std::vector<std::string> const& topics);
 
    bool operator()(ConnectionInfo const*) const;
 
private:
    std::vector<std::string> topics_;
};
 
class ROSBAG_STORAGE_DECL TypeQuery
{
public:
    TypeQuery(std::string const& type);
    TypeQuery(std::vector<std::string> const& types);
 
    bool operator()(ConnectionInfo const*) const;
 
private:
    std::vector<std::string> types_;
};
 
struct ROSBAG_STORAGE_DECL BagQuery
{
    BagQuery(Bag const* _bag, Query const& _query, uint32_t _bag_revision);
 
    Bag const* bag;
    Query      query;
    uint32_t   bag_revision;
};
 
struct ROSBAG_STORAGE_DECL MessageRange
{
    MessageRange(std::multiset<IndexEntry>::const_iterator const& _begin,
                 std::multiset<IndexEntry>::const_iterator const& _end,
                 ConnectionInfo const* _connection_info,
                 BagQuery const* _bag_query);
 
    std::multiset<IndexEntry>::const_iterator begin;
    std::multiset<IndexEntry>::const_iterator end;
    ConnectionInfo const* connection_info;
    BagQuery const* bag_query;           
};
 
struct ROSBAG_STORAGE_DECL ViewIterHelper
{
    ViewIterHelper(std::multiset<IndexEntry>::const_iterator _iter, MessageRange const* _range);
 
    std::multiset<IndexEntry>::const_iterator iter;
    MessageRange const* range;  
};
 
struct ROSBAG_STORAGE_DECL ViewIterHelperCompare
{
    bool operator()(ViewIterHelper const& a, ViewIterHelper const& b);
};
 
} // namespace rosbag
 
#endif