#include <bag.h>

Public Member Functions
	Bag ()

	Bag (std::string const &filename, uint32_t mode=bagmode::Read)
	Open a bag file. More...

	Bag (Bag &&other)

void	close ()
	Close the bag file. More...

uint32_t	getChunkThreshold () const
	Get the threshold for creating new chunks. More...

CompressionType	getCompression () const
	Get the compression method to use for writing chunks. More...

std::string	getFileName () const
	Get the filename of the bag. More...

uint32_t	getMajorVersion () const
	Get the major-version of the open bag file. More...

uint32_t	getMinorVersion () const
	Get the minor-version of the open bag file. More...

BagMode	getMode () const
	Get the mode the bag is in. More...

uint64_t	getSize () const
	Get the current size of the bag file (a lower bound) More...

bool	isOpen () const

void	open (std::string const &filename, uint32_t mode=bagmode::Read)
	Open a bag file. More...

Bag &	operator= (Bag &&other)

void	setChunkThreshold (uint32_t chunk_threshold)
	Set the threshold for creating new chunks. More...

void	setCompression (CompressionType compression)
	Set the compression method to use for writing chunks. More...

void	swap (Bag &)

template<class T >
void	write (std::string const &topic, ros::MessageEvent< T > const &event)
	Write a message into the bag file. More...

template<class T >
void	write (std::string const &topic, ros::Time const &time, T const &msg, boost::shared_ptr< ros::M_string > connection_header=boost::shared_ptr< ros::M_string >())
	Write a message into the bag file. More...

template<class T >
void	write (std::string const &topic, ros::Time const &time, boost::shared_ptr< T const > const &msg, boost::shared_ptr< ros::M_string > connection_header=boost::shared_ptr< ros::M_string >())
	Write a message into the bag file. More...

template<class T >
void	write (std::string const &topic, ros::Time const &time, boost::shared_ptr< T > const &msg, boost::shared_ptr< ros::M_string > connection_header=boost::shared_ptr< ros::M_string >())
	Write a message into the bag file. More...

	~Bag ()

Private Member Functions
void	appendConnectionRecordToBuffer (Buffer &buf, ConnectionInfo const *connection_info)

void	appendDataLengthToBuffer (Buffer &buf, uint32_t data_len)

void	appendHeaderToBuffer (Buffer &buf, ros::M_string const &fields)

	Bag (const Bag &)

ros::M_string::const_iterator	checkField (ros::M_string const &fields, std::string const &field, unsigned int min_len, unsigned int max_len, bool required) const

void	closeWrite ()

void	decompressBz2Chunk (ChunkHeader const &chunk_header) const

void	decompressChunk (uint64_t chunk_pos) const

void	decompressLz4Chunk (ChunkHeader const &chunk_header) const

void	decompressRawChunk (ChunkHeader const &chunk_header) const

template<class T >
void	doWrite (std::string const &topic, ros::Time const &time, T const &msg, boost::shared_ptr< ros::M_string > const &connection_header)

uint32_t	getChunkOffset () const

void	init ()

template<class T >
boost::shared_ptr< T >	instantiateBuffer (IndexEntry const &index_entry) const
	deserializes the message held in record_buffer_ More...

bool	isOp (ros::M_string &fields, uint8_t reqOp) const

void	openAppend (std::string const &filename)

void	openRead (std::string const &filename)

void	openWrite (std::string const &filename)

Bag &	operator= (const Bag &)

void	read (char *b, std::streamsize n) const

void	readChunkHeader (ChunkHeader &chunk_header) const

void	readChunkInfoRecord ()

void	readConnectionIndexRecord200 ()

void	readConnectionRecord ()

bool	readDataLength (uint32_t &data_size) const

template<typename T >
bool	readField (ros::M_string const &fields, std::string const &field_name, bool required, T *data) const

bool	readField (ros::M_string const &fields, std::string const &field_name, unsigned int min_len, unsigned int max_len, bool required, std::string &data) const

bool	readField (ros::M_string const &fields, std::string const &field_name, bool required, std::string &data) const

bool	readField (ros::M_string const &fields, std::string const &field_name, bool required, ros::Time &data) const

void	readFileHeaderRecord ()

bool	readHeader (ros::Header &header) const

void	readHeaderFromBuffer (Buffer &buffer, uint32_t offset, ros::Header &header, uint32_t &data_size, uint32_t &bytes_read) const

ros::Header	readMessageDataHeader (IndexEntry const &index_entry)

void	readMessageDataHeaderFromBuffer (Buffer &buffer, uint32_t offset, ros::Header &header, uint32_t &data_size, uint32_t &bytes_read) const

template<typename Stream >
void	readMessageDataIntoStream (IndexEntry const &index_entry, Stream &stream) const

void	readMessageDataRecord102 (uint64_t offset, ros::Header &header) const

uint32_t	readMessageDataSize (IndexEntry const &index_entry) const

void	readMessageDefinitionRecord102 ()

void	readTopicIndexRecord102 ()

void	readVersion ()

void	seek (uint64_t pos, int origin=std::ios_base::beg) const

void	startReadingVersion102 ()

void	startReadingVersion200 ()

void	startWriting ()

void	startWritingChunk (ros::Time time)

void	stopWriting ()

void	stopWritingChunk ()

template<typename T >
std::string	toHeaderString (T const *field) const

std::string	toHeaderString (ros::Time const *field) const

void	write (char const *s, std::streamsize n)

void	write (std::string const &s)

void	writeChunkHeader (CompressionType compression, uint32_t compressed_size, uint32_t uncompressed_size)

void	writeChunkInfoRecords ()

void	writeConnectionRecord (ConnectionInfo const *connection_info)

void	writeConnectionRecords ()

void	writeDataLength (uint32_t data_len)

void	writeFileHeaderRecord ()

void	writeHeader (ros::M_string const &fields)

void	writeIndexRecords ()

template<class T >
void	writeMessageDataRecord (uint32_t conn_id, ros::Time const &time, T const &msg)

void	writeVersion ()

Private Attributes
uint32_t	bag_revision_

Buffer	chunk_buffer_
	reusable buffer to read chunk into More...

uint32_t	chunk_count_

bool	chunk_open_

uint32_t	chunk_threshold_

std::vector< ChunkInfo >	chunks_

CompressionType	compression_

uint32_t	connection_count_

std::map< uint32_t, std::multiset< IndexEntry > >	connection_indexes_

std::map< uint32_t, ConnectionInfo * >	connections_

std::map< uint32_t, std::multiset< IndexEntry > >	curr_chunk_connection_indexes_

uint64_t	curr_chunk_data_pos_

ChunkInfo	curr_chunk_info_

Buffer *	current_buffer_

Buffer	decompress_buffer_
	reusable buffer to decompress chunks into More...

uint64_t	decompressed_chunk_
	position of decompressed chunk More...

ChunkedFile	file_

uint64_t	file_header_pos_

uint64_t	file_size_

Buffer	header_buffer_
	reusable buffer in which to assemble the record header before writing to file More...

std::map< ros::M_string, uint32_t >	header_connection_ids_

uint64_t	index_data_pos_

BagMode	mode_

Buffer	outgoing_chunk_buffer_
	reusable buffer to read chunk into More...

Buffer	record_buffer_
	reusable buffer in which to assemble the record data before writing to file More...

std::map< std::string, uint32_t >	topic_connection_ids_

int	version_

Friends
class	MessageInstance

class	View

Detailed Description

Definition at line 96 of file bag.h.

Constructor & Destructor Documentation

rosbag::Bag::Bag ( )

Definition at line 60 of file bag.cpp.

rosbag::Bag::Bag	(	std::string const &	filename,
		uint32_t	mode = `bagmode::Read`
	)

explicit

Open a bag file.

Parameters

filename	The bag file to open
mode	The mode to use (either read, write or append)

Can throw BagException

rosbag::Bag::~Bag ( )

Definition at line 85 of file bag.cpp.

rosbag::Bag::Bag ( Bag && other )

Definition at line 73 of file bag.cpp.

rosbag::Bag::Bag ( const Bag & )

private

Member Function Documentation

void rosbag::Bag::appendConnectionRecordToBuffer	(	Buffer &	buf,
		ConnectionInfo const *	connection_info
	)

private

Definition at line 663 of file bag.cpp.

void rosbag::Bag::appendDataLengthToBuffer	(	Buffer &	buf,
		uint32_t	data_len
	)

private

Definition at line 1000 of file bag.cpp.

void rosbag::Bag::appendHeaderToBuffer	(	Buffer &	buf,
		ros::M_string const &	fields
	)

private

Definition at line 986 of file bag.cpp.

M_string::const_iterator rosbag::Bag::checkField	(	ros::M_string const &	fields,
		std::string const &	field,
		unsigned int	min_len,
		unsigned int	max_len,
		bool	required
	)		const

private

Definition at line 1078 of file bag.cpp.

void rosbag::Bag::close ( )

Close the bag file.

Definition at line 166 of file bag.cpp.

void rosbag::Bag::closeWrite ( )

private

Definition at line 187 of file bag.cpp.

void rosbag::Bag::decompressBz2Chunk ( ChunkHeader const & chunk_header ) const

private

Definition at line 819 of file bag.cpp.

void rosbag::Bag::decompressChunk ( uint64_t chunk_pos ) const

private

Definition at line 753 of file bag.cpp.

void rosbag::Bag::decompressLz4Chunk ( ChunkHeader const & chunk_header ) const

private

Definition at line 835 of file bag.cpp.

void rosbag::Bag::decompressRawChunk ( ChunkHeader const & chunk_header ) const

private

Definition at line 807 of file bag.cpp.

template<class T >

void rosbag::Bag::doWrite	(	std::string const &	topic,
		ros::Time const &	time,
		T const &	msg,
		boost::shared_ptr< ros::M_string > const &	connection_header
	)

private

Definition at line 498 of file bag.h.

uint32_t rosbag::Bag::getChunkOffset ( ) const

private

Definition at line 409 of file bag.cpp.

uint32_t rosbag::Bag::getChunkThreshold ( ) const

Get the threshold for creating new chunks.

Definition at line 195 of file bag.cpp.

CompressionType rosbag::Bag::getCompression ( ) const

Get the compression method to use for writing chunks.

Definition at line 204 of file bag.cpp.

string rosbag::Bag::getFileName ( ) const

Get the filename of the bag.

Definition at line 191 of file bag.cpp.

uint32_t rosbag::Bag::getMajorVersion ( ) const

Get the major-version of the open bag file.

Definition at line 251 of file bag.cpp.

uint32_t rosbag::Bag::getMinorVersion ( ) const

Get the minor-version of the open bag file.

Definition at line 252 of file bag.cpp.

BagMode rosbag::Bag::getMode ( ) const

Get the mode the bag is in.

Definition at line 192 of file bag.cpp.

uint64_t rosbag::Bag::getSize ( ) const

Get the current size of the bag file (a lower bound)

Definition at line 193 of file bag.cpp.

void rosbag::Bag::init ( )

private

Definition at line 89 of file bag.cpp.

template<class T >

boost::shared_ptr< T > rosbag::Bag::instantiateBuffer ( IndexEntry const & index_entry ) const

private

deserializes the message held in record_buffer_

Definition at line 413 of file bag.h.

bool rosbag::Bag::isOp	(	ros::M_string &	fields,
		uint8_t	reqOp
	)		const

private

Definition at line 968 of file bag.cpp.

bool rosbag::Bag::isOpen ( ) const

Definition at line 1160 of file bag.cpp.

void rosbag::Bag::open	(	std::string const &	filename,
		uint32_t	mode = `bagmode::Read`
	)

Open a bag file.

Parameters

filename	The bag file to open
mode	The mode to use (either read, write or append)

Can throw BagException

Definition at line 106 of file bag.cpp.

void rosbag::Bag::openAppend ( std::string const & filename )

private

Definition at line 144 of file bag.cpp.

void rosbag::Bag::openRead ( std::string const & filename )

private

Definition at line 125 of file bag.cpp.

void rosbag::Bag::openWrite ( std::string const & filename )

private

Definition at line 138 of file bag.cpp.

Bag & rosbag::Bag::operator= ( Bag && other )

Definition at line 78 of file bag.cpp.

Bag& rosbag::Bag::operator= ( const Bag & )

private

void rosbag::Bag::read	(	char *	b,
		std::streamsize	n
	)		const

private

Definition at line 1126 of file bag.cpp.

void rosbag::Bag::readChunkHeader ( ChunkHeader & chunk_header ) const

private

Definition at line 484 of file bag.cpp.

void rosbag::Bag::readChunkInfoRecord ( )

private

Definition at line 923 of file bag.cpp.

void rosbag::Bag::readConnectionIndexRecord200 ( )

private

Definition at line 593 of file bag.cpp.

void rosbag::Bag::readConnectionRecord ( )

private

Definition at line 673 of file bag.cpp.

bool rosbag::Bag::readDataLength ( uint32_t & data_size ) const

private

Definition at line 1073 of file bag.cpp.

template<typename T >

bool rosbag::Bag::readField	(	ros::M_string const &	fields,
		std::string const &	field_name,
		bool	required,
		T *	data
	)		const

private

Definition at line 376 of file bag.h.

bool rosbag::Bag::readField	(	ros::M_string const &	fields,
		std::string const &	field_name,
		unsigned int	min_len,
		unsigned int	max_len,
		bool	required,
		std::string &	data
	)		const

private

bool rosbag::Bag::readField	(	ros::M_string const &	fields,
		std::string const &	field_name,
		bool	required,
		std::string &	data
	)		const

private

bool rosbag::Bag::readField	(	ros::M_string const &	fields,
		std::string const &	field_name,
		bool	required,
		ros::Time &	data
	)		const

private

void rosbag::Bag::readFileHeaderRecord ( )

private

Definition at line 379 of file bag.cpp.

bool rosbag::Bag::readHeader ( ros::Header & header ) const

private

Definition at line 1055 of file bag.cpp.

void rosbag::Bag::readHeaderFromBuffer	(	Buffer &	buffer,
		uint32_t	offset,
		ros::Header &	header,
		uint32_t &	data_size,
		uint32_t &	bytes_read
	)		const

private

Todo:: clean this up

Definition at line 1009 of file bag.cpp.

ros::Header rosbag::Bag::readMessageDataHeader ( IndexEntry const & index_entry )

private

Definition at line 852 of file bag.cpp.

void rosbag::Bag::readMessageDataHeaderFromBuffer	(	Buffer &	buffer,
		uint32_t	offset,
		ros::Header &	header,
		uint32_t &	data_size,
		uint32_t &	bytes_read
	)		const

private

Definition at line 1035 of file bag.cpp.

template<typename Stream >

void rosbag::Bag::readMessageDataIntoStream	(	IndexEntry const &	index_entry,
		Stream &	stream
	)		const

private

Definition at line 385 of file bag.h.

void rosbag::Bag::readMessageDataRecord102	(	uint64_t	offset,
		ros::Header &	header
	)		const

private

Definition at line 784 of file bag.cpp.

uint32_t rosbag::Bag::readMessageDataSize ( IndexEntry const & index_entry ) const

private

Definition at line 871 of file bag.cpp.

void rosbag::Bag::readMessageDefinitionRecord102 ( )

private

Definition at line 709 of file bag.cpp.

void rosbag::Bag::readTopicIndexRecord102 ( )

private

Definition at line 531 of file bag.cpp.

void rosbag::Bag::readVersion ( )

private

Definition at line 232 of file bag.cpp.

void rosbag::Bag::seek	(	uint64_t	pos,
		int	origin = `std::ios_base::beg`
	)		const

private

Definition at line 1127 of file bag.cpp.

void rosbag::Bag::setChunkThreshold ( uint32_t chunk_threshold )

Set the threshold for creating new chunks.

Definition at line 197 of file bag.cpp.

void rosbag::Bag::setCompression ( CompressionType compression )

Set the compression method to use for writing chunks.

Definition at line 206 of file bag.cpp.

void rosbag::Bag::startReadingVersion102 ( )

private

Definition at line 311 of file bag.cpp.

void rosbag::Bag::startReadingVersion200 ( )

private

Definition at line 276 of file bag.cpp.

void rosbag::Bag::startWriting ( )

private

Definition at line 256 of file bag.cpp.

void rosbag::Bag::startWritingChunk ( ros::Time time )

private

Definition at line 416 of file bag.cpp.

void rosbag::Bag::stopWriting ( )

private

Definition at line 262 of file bag.cpp.

void rosbag::Bag::stopWritingChunk ( )

private

Definition at line 434 of file bag.cpp.

void rosbag::Bag::swap ( Bag & other )

Definition at line 1129 of file bag.cpp.

template<typename T >

std::string rosbag::Bag::toHeaderString ( T const * field ) const

private

Definition at line 371 of file bag.h.

std::string rosbag::Bag::toHeaderString ( ros::Time const * field ) const

private

Definition at line 1115 of file bag.cpp.

template<class T >

void rosbag::Bag::write	(	std::string const &	topic,
		ros::MessageEvent< T > const &	event
	)

Write a message into the bag file.

Parameters

topic	The topic name
event	The message event to be added

Can throw BagIOException

Definition at line 351 of file bag.h.

template<class T >

void rosbag::Bag::write	(	std::string const &	topic,
		ros::Time const &	time,
		T const &	msg,
		boost::shared_ptr< ros::M_string >	connection_header = `boost::shared_ptr<ros::M_string>()`
	)

Write a message into the bag file.

Parameters

topic	The topic name
time	Timestamp of the message
msg	The message to be added
connection_header	A connection header.

Can throw BagIOException

Definition at line 356 of file bag.h.

template<class T >

void rosbag::Bag::write	(	std::string const &	topic,
		ros::Time const &	time,
		boost::shared_ptr< T const > const &	msg,
		boost::shared_ptr< ros::M_string >	connection_header = `boost::shared_ptr<ros::M_string>()`
	)

Write a message into the bag file.

Parameters

topic	The topic name
time	Timestamp of the message
msg	The message to be added
connection_header	A connection header.

Can throw BagIOException

Definition at line 361 of file bag.h.

template<class T >

void rosbag::Bag::write	(	std::string const &	topic,
		ros::Time const &	time,
		boost::shared_ptr< T > const &	msg,
		boost::shared_ptr< ros::M_string >	connection_header = `boost::shared_ptr<ros::M_string>()`
	)

Write a message into the bag file.

Parameters

topic	The topic name
time	Timestamp of the message
msg	The message to be added
connection_header	A connection header.

Can throw BagIOException

Definition at line 366 of file bag.h.

void rosbag::Bag::write	(	char const *	s,
		std::streamsize	n
	)

private

Definition at line 1124 of file bag.cpp.

void rosbag::Bag::write ( std::string const & s )

private

void rosbag::Bag::writeChunkHeader	(	CompressionType	compression,
		uint32_t	compressed_size,
		uint32_t	uncompressed_size
	)

private

Definition at line 461 of file bag.cpp.

void rosbag::Bag::writeChunkInfoRecords ( )

private

Definition at line 889 of file bag.cpp.

void rosbag::Bag::writeConnectionRecord ( ConnectionInfo const * connection_info )

private

Definition at line 650 of file bag.cpp.

void rosbag::Bag::writeConnectionRecords ( )

private

Definition at line 643 of file bag.cpp.

void rosbag::Bag::writeDataLength ( uint32_t data_len )

private

Definition at line 982 of file bag.cpp.

void rosbag::Bag::writeFileHeaderRecord ( )

private

Definition at line 347 of file bag.cpp.

void rosbag::Bag::writeHeader ( ros::M_string const & fields )

private

Definition at line 974 of file bag.cpp.

void rosbag::Bag::writeIndexRecords ( )

private

Definition at line 502 of file bag.cpp.

template<class T >

void rosbag::Bag::writeMessageDataRecord	(	uint32_t	conn_id,
		ros::Time const &	time,
		T const &	msg
	)

private

Definition at line 609 of file bag.h.

void rosbag::Bag::writeVersion ( )

private

Definition at line 222 of file bag.cpp.

Friends And Related Function Documentation

friend class MessageInstance

friend

Definition at line 98 of file bag.h.

friend class View

friend

Definition at line 99 of file bag.h.

Member Data Documentation

uint32_t rosbag::Bag::bag_revision_

private

Definition at line 307 of file bag.h.

Buffer rosbag::Bag::chunk_buffer_

mutableprivate

reusable buffer to read chunk into

Definition at line 332 of file bag.h.

uint32_t rosbag::Bag::chunk_count_

private

Definition at line 313 of file bag.h.

bool rosbag::Bag::chunk_open_

private

Definition at line 316 of file bag.h.

uint32_t rosbag::Bag::chunk_threshold_

private

Definition at line 306 of file bag.h.

std::vector<ChunkInfo> rosbag::Bag::chunks_

private

Definition at line 324 of file bag.h.

CompressionType rosbag::Bag::compression_

private

Definition at line 305 of file bag.h.

uint32_t rosbag::Bag::connection_count_

private

Definition at line 312 of file bag.h.

std::map<uint32_t, std::multiset<IndexEntry> > rosbag::Bag::connection_indexes_

private

Definition at line 326 of file bag.h.

std::map<uint32_t, ConnectionInfo*> rosbag::Bag::connections_

private

Definition at line 322 of file bag.h.

std::map<uint32_t, std::multiset<IndexEntry> > rosbag::Bag::curr_chunk_connection_indexes_

private

Definition at line 327 of file bag.h.

uint64_t rosbag::Bag::curr_chunk_data_pos_

private

Definition at line 318 of file bag.h.

ChunkInfo rosbag::Bag::curr_chunk_info_

private

Definition at line 317 of file bag.h.

Buffer* rosbag::Bag::current_buffer_

mutableprivate

Definition at line 337 of file bag.h.

Buffer rosbag::Bag::decompress_buffer_

mutableprivate

reusable buffer to decompress chunks into

Definition at line 333 of file bag.h.

uint64_t rosbag::Bag::decompressed_chunk_

mutableprivate

position of decompressed chunk

Definition at line 339 of file bag.h.

ChunkedFile rosbag::Bag::file_

mutableprivate

Definition at line 303 of file bag.h.

uint64_t rosbag::Bag::file_header_pos_

private

Definition at line 310 of file bag.h.

uint64_t rosbag::Bag::file_size_

private

Definition at line 309 of file bag.h.

Buffer rosbag::Bag::header_buffer_

mutableprivate

reusable buffer in which to assemble the record header before writing to file

Definition at line 329 of file bag.h.

std::map<ros::M_string, uint32_t> rosbag::Bag::header_connection_ids_

private

Definition at line 321 of file bag.h.

uint64_t rosbag::Bag::index_data_pos_

private

Definition at line 311 of file bag.h.

BagMode rosbag::Bag::mode_

private

Definition at line 302 of file bag.h.

Buffer rosbag::Bag::outgoing_chunk_buffer_

mutableprivate

reusable buffer to read chunk into

Definition at line 335 of file bag.h.

Buffer rosbag::Bag::record_buffer_

mutableprivate

reusable buffer in which to assemble the record data before writing to file

Definition at line 330 of file bag.h.

std::map<std::string, uint32_t> rosbag::Bag::topic_connection_ids_

private

Definition at line 320 of file bag.h.

int rosbag::Bag::version_

private

Definition at line 304 of file bag.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation