bag_player.h
Go to the documentation of this file.
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2013, Open Source Robotics Foundation
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_BAG_PLAYER_H
00036 #define ROSBAG_BAG_PLAYER_H
00037 
00038 #include <boost/foreach.hpp>
00039 
00040 #include "rosbag/bag.h"
00041 #include "rosbag/view.h"
00042 
00043 namespace rosbag
00044 {
00045 
00046 
00047 // A helper struct
00048 struct BagCallback
00049 {
00050     virtual ~BagCallback() {};
00051     virtual void call(MessageInstance m) = 0;
00052 };
00053 
00054 // A helper class for the callbacks
00055 template<class T>
00056 class BagCallbackT : public BagCallback
00057 {
00058 public:
00059     typedef boost::function<void (const boost::shared_ptr<const T>&)> Callback;
00060 
00061     BagCallbackT(Callback cb) :
00062         cb_(cb)
00063     {}
00064 
00065     void call(MessageInstance m) {
00066         cb_(m.instantiate<T>());
00067     }
00068 
00069 private:
00070     Callback cb_;
00071 };
00072 
00073 
00074 /* A class for playing back bag files at an API level. It supports
00075    relatime, as well as accelerated and slowed playback. */
00076 class BagPlayer
00077 {
00078 public:
00079   /* Constructor expecting the filename of a bag */
00080   BagPlayer(const std::string &filename) throw(BagException);
00081 
00082   /* Register a callback for a specific topic and type */
00083   template<class T>
00084   void register_callback(const std::string &topic,
00085                          typename BagCallbackT<T>::Callback f);
00086 
00087   /* Unregister a callback for a topic already registered */
00088   void unregister_callback(const std::string &topic);
00089 
00090   /* Set the time in the bag to start.  
00091    * Default is the first message */
00092   void set_start(const ros::Time &start);
00093 
00094   /* Set the time in the bag to stop. 
00095    * Default is the last message */
00096   void set_end(const ros::Time &end);
00097 
00098   /* Set the speed to playback.  1.0 is the default. 
00099    * 2.0 would be twice as fast, 0.5 is half realtime.  */
00100   void set_playback_speed(double scale);
00101 
00102   /* Start playback of the bag file using the parameters previously
00103      set */
00104   void start_play();
00105   
00106   /* Get the current time of the playback */
00107   ros::Time get_time();
00108 
00109   // Destructor
00110   virtual ~BagPlayer();
00111   
00112 
00113   // The bag file interface loaded in the constructor. 
00114   Bag bag;
00115   
00116 private:
00117     ros::Time real_time(const ros::Time &msg_time);
00118 
00119     std::map<std::string, BagCallback *> cbs_;
00120     ros::Time bag_start_;
00121     ros::Time bag_end_;
00122     ros::Time last_message_time_;
00123     double playback_speed_;
00124     ros::Time play_start_;
00125 };
00126 
00127 template<class T>
00128 void BagPlayer::register_callback(const std::string &topic,
00129         typename BagCallbackT<T>::Callback cb) {
00130     cbs_[topic] = new BagCallbackT<T>(cb);
00131 }
00132 
00133 }
00134 
00135 #endif


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