Program Listing for File storage_options.hpp

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// Copyright 2018, Bosch Software Innovations GmbH.
//
// 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_OPTIONS_HPP_
#define ROSBAG2_STORAGE__STORAGE_OPTIONS_HPP_

#include <cstdint>
#include <string>
#include <unordered_map>

#include "rosbag2_storage/visibility_control.hpp"
#include "rosbag2_storage/yaml.hpp"

namespace rosbag2_storage
{

struct StorageOptions
{
public:
  std::string uri;
  std::string storage_id;

  // The maximum size a bagfile can be, in bytes, before it is split.
  // A value of 0 indicates that bagfile splitting will not be used.
  uint64_t max_bagfile_size = 0;

  // The maximum duration a bagfile can be, in seconds, before it is split.
  // A value of 0 indicates that bagfile splitting will not be used.
  uint64_t max_bagfile_duration = 0;

  // The cache size indiciates how many messages can maximally be hold in cache
  // before these being written to disk.
  // A value of 0 disables caching and every write happens directly to disk.
  uint64_t max_cache_size = 0;

  // Preset storage configuration. Preset settings can be overriden with
  // corresponding settings specified through storage_config_uri file
  std::string storage_preset_profile = "";

  // Storage specific configuration file.
  // Defaults to empty string.
  std::string storage_config_uri = "";

  // Enable snapshot mode.
  // Defaults to disabled.
  bool snapshot_mode = false;

  // Start and end time for cutting
  int64_t start_time_ns = -1;
  int64_t end_time_ns = -1;

  // Stores the custom data
  std::unordered_map<std::string, std::string> custom_data{};
};

}  // namespace rosbag2_storage

namespace YAML
{
template<>
struct ROSBAG2_STORAGE_PUBLIC convert<rosbag2_storage::StorageOptions>
{
  static Node encode(const rosbag2_storage::StorageOptions & storage_options);
  static bool decode(const Node & node, rosbag2_storage::StorageOptions & storage_options);
};
}  // namespace YAML

#endif  // ROSBAG2_STORAGE__STORAGE_OPTIONS_HPP_