Class MCAPSink
Defined in File mcap_sink.hpp
Inheritance Relationships
Base Type
public DataTamer::DataSinkBase(Class DataSinkBase)
Class Documentation
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class MCAPSink : public DataTamer::DataSinkBase
The MCAPSink is an implementation of DataSinkBase that will save the data as MCAP file (https://mcap.dev/)
Public Functions
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explicit MCAPSink(std::string const &filepath, bool do_compression = false)
MCAPSink. IMPORTANT: if you want the recorder to be more robust to crash/segfault, set
do_compressionto false. Compression is dafe if your application is closing cleanly.- Parameters:
filepath – path of the file to be saved. Should have extension “.mcap”
do_compression – if true, compress the data on the fly.
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~MCAPSink() override
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virtual void addChannel(std::string const &channel_name, Schema const &schema) override
addChannel will register a schema into the sink. That schema will be recognized by its hash.
- Parameters:
name – name of the channel
schema – a schema, suaully obtained from LogChannel::getSchema()
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virtual bool storeSnapshot(const Snapshot &snapshot) override
storeSnapshot contains the code to execute when popping a snapshot from the queue.
- Parameters:
snapshot – data to be pushed into the sink.
- Returns:
true if processed successfully
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void setMaxTimeBeforeReset(std::chrono::seconds reset_time)
After a certain amount of time, the MCAP file will be reset and overwritten. Default value is 600 seconds (10 minutes)
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void stopRecording()
Stop recording and save the file.
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void restartRecording(std::string const &filepath, bool do_compression = false)
restartRecording saves the current file (unless we did it already, calling stopRecording) and start recording into a new one. Note that all the registered channels and their schemas will be copied into the new file.
- Parameters:
filepath – file path of the new file (should be “.mcap” extension)
do_compression – if true, compress the data on the fly.
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explicit MCAPSink(std::string const &filepath, bool do_compression = false)