00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef ROSBAG_STRUCTURES_H 00036 #define ROSBAG_STRUCTURES_H 00037 00038 #include <map> 00039 #include <vector> 00040 00041 #include "ros/time.h" 00042 #include "ros/ros.h" 00043 #include "macros.h" 00044 00045 namespace rosbag { 00046 00047 struct ROSBAG_DECL ConnectionInfo 00048 { 00049 ConnectionInfo() : id(-1) { } 00050 00051 uint32_t id; 00052 std::string topic; 00053 std::string datatype; 00054 std::string md5sum; 00055 std::string msg_def; 00056 00057 boost::shared_ptr<ros::M_string> header; 00058 }; 00059 00060 ROSBAG_DECL ros::AdvertiseOptions createAdvertiseOptions(const ConnectionInfo* c, uint32_t queue_size); 00061 00062 struct ChunkInfo 00063 { 00064 ros::Time start_time; 00065 ros::Time end_time; 00066 uint64_t pos; 00067 00068 std::map<uint32_t, uint32_t> connection_counts; 00069 }; 00070 00071 struct ROSBAG_DECL ChunkHeader 00072 { 00073 std::string compression; 00074 uint32_t compressed_size; 00075 uint32_t uncompressed_size; 00076 }; 00077 00078 struct ROSBAG_DECL IndexEntry 00079 { 00080 ros::Time time; 00081 uint64_t chunk_pos; 00082 uint32_t offset; 00083 00084 bool operator<(IndexEntry const& b) const { return time < b.time; } 00085 }; 00086 00087 struct ROSBAG_DECL IndexEntryCompare 00088 { 00089 bool operator()(ros::Time const& a, IndexEntry const& b) const { return a < b.time; } 00090 bool operator()(IndexEntry const& a, ros::Time const& b) const { return a.time < b; } 00091 }; 00092 00093 } // namespace rosbag 00094 00095 #endif