bag_player.cpp
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00001 #include "rosbag/bag_player.h"
00002 
00003 #define foreach BOOST_FOREACH
00004 
00005 namespace rosbag
00006 {
00007 
00008 BagPlayer::BagPlayer(const std::string &fname) throw(BagException) {
00009     bag.open(fname, rosbag::bagmode::Read);
00010     ros::Time::init();
00011     View v(bag);
00012     bag_start_ = v.getBeginTime();
00013     bag_end_ = v.getEndTime();
00014     last_message_time_ = ros::Time(0);
00015     playback_speed_ = 1.0;
00016 }
00017 
00018 BagPlayer::~BagPlayer() {
00019     bag.close();
00020 }
00021 
00022 ros::Time BagPlayer::get_time() {
00023     return last_message_time_;
00024 }
00025 
00026 void BagPlayer::set_start(const ros::Time &start) {
00027     bag_start_ = start;
00028 }
00029 
00030 void BagPlayer::set_end(const ros::Time &end) {
00031     bag_end_ = end;
00032 }
00033 
00034 void BagPlayer::set_playback_speed(double scale) {
00035   if (scale > 0.0)
00036     playback_speed_ = scale;
00037 }
00038 
00039 ros::Time BagPlayer::real_time(const ros::Time &msg_time) {
00040   return play_start_ + (msg_time - bag_start_) * (1 / playback_speed_);
00041 }
00042 
00043 void BagPlayer::start_play() {
00044 
00045     std::vector<std::string> topics;
00046     std::pair<std::string, BagCallback *> cb;
00047     foreach(cb, cbs_)
00048         topics.push_back(cb.first);
00049 
00050     View view(bag, TopicQuery(topics), bag_start_, bag_end_);
00051     play_start_ = ros::Time::now();
00052 
00053     foreach(MessageInstance const m, view)
00054     {
00055         if (cbs_.find(m.getTopic()) == cbs_.end())
00056             continue;
00057 
00058         ros::Time::sleepUntil(real_time(m.getTime()));
00059 
00060         last_message_time_ = m.getTime(); /* this is the recorded time */
00061         cbs_[m.getTopic()]->call(m);
00062     }
00063 }
00064 
00065 void BagPlayer::unregister_callback(const std::string &topic) {
00066     delete cbs_[topic];
00067     cbs_.erase(topic);
00068 }
00069 
00070 }
00071 


rosbag_storage
Author(s):
autogenerated on Tue Mar 7 2017 03:44:35