Program Listing for File base_read_interface.hpp

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// Copyright 2018 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef ROSBAG2_STORAGE__STORAGE_INTERFACES__BASE_READ_INTERFACE_HPP_
#define ROSBAG2_STORAGE__STORAGE_INTERFACES__BASE_READ_INTERFACE_HPP_

#include <memory>
#include <string>
#include <vector>

#include "rosbag2_storage/message_definition.hpp"
#include "rosbag2_storage/serialized_bag_message.hpp"
#include "rosbag2_storage/topic_metadata.hpp"
#include "rosbag2_storage/visibility_control.hpp"

namespace rosbag2_storage
{

struct ReadOrder
{
  enum SortBy
  {
    ReceivedTimestamp,
    PublishedTimestamp,  // NOTE: not implemented in ROS 2 core
    File
  };

  // Sorting criterion for reading out messages, ascending by default
  SortBy sort_by = ReceivedTimestamp;
  // If true, changes sort order to descending
  bool reverse = false;

  ReadOrder(SortBy sort_by, bool reverse)
  : sort_by(sort_by), reverse(reverse) {}
  ReadOrder() {}
};

inline bool operator==(const ReadOrder & a, const ReadOrder & b)
{
  return a.sort_by == b.sort_by && a.reverse == b.reverse;
}

namespace storage_interfaces
{

class ROSBAG2_STORAGE_PUBLIC BaseReadInterface
{
public:
  virtual ~BaseReadInterface() = default;

  virtual bool set_read_order(const ReadOrder & read_order) = 0;

  virtual bool has_next() = 0;

  virtual std::shared_ptr<SerializedBagMessage> read_next() = 0;

  virtual std::vector<TopicMetadata> get_all_topics_and_types() = 0;

  virtual void get_all_message_definitions(std::vector<MessageDefinition> & definitions) = 0;
};

}  // namespace storage_interfaces
}  // namespace rosbag2_storage

#endif  // ROSBAG2_STORAGE__STORAGE_INTERFACES__BASE_READ_INTERFACE_HPP_