bag_reader.cpp

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// Copyright (c) 2015, Southwest Research Institute® (SwRI®)
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#include <QFileDialog>
#include <QDir>
 
#include "include/swri_console/bag_reader.h"
 
#include <rosbag/bag.h>
#include <rosbag/view.h>
 
using namespace swri_console;
 
void BagReader::readBagFile(const QString& filename)
{
  bool log_messages_found = true;
  rosbag::Bag bag;
  bag.open(filename.toStdString(), rosbag::bagmode::Read);
 
  rosbag::View view(bag, rosbag::TopicQuery("/rosout"));
  if (view.size() == 0)
  {
    // This implies we have no messages on /rosout, let's try /rosout_agg
    view.addQuery(bag, rosbag::TopicQuery("/rosout_agg"));
    if (view.size() == 0)
    {
      qWarning("Could not find any messages on either '/rosout' or '/rosout_agg' in bag file '%s'",
               filename.toStdString().c_str());
      log_messages_found = false;
    }
  }
 
  if (log_messages_found)
  {
    rosbag::View::const_iterator iter;
 
    for(iter = view.begin(); iter != view.end(); ++iter)
    {
      rosgraph_msgs::LogConstPtr log = iter->instantiate<rosgraph_msgs::Log>();
      if (log != NULL ) {
        emit logReceived(log);
      }
      else {
        qWarning("Got a message that was not a log message but a: %s", iter->getDataType().c_str());
      }
    }
  }
 
  emit finishedReading();
}
 
void BagReader::promptForBagFile()
{
  QString filename = QFileDialog::getOpenFileName(NULL,
                                                  tr("Open Bag File"),
                                                  QDir::homePath(),
                                                  tr("Bag Files (*.bag)"));
 
  if (filename != NULL)
  {
    readBagFile(filename);
  }
}