view.h

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//=================================================================================================
// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the Flight Systems and Automatic Control group,
//       TU Darmstadt, nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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//=================================================================================================

#ifndef ROSMATLAB_ROSBAG_VIEW_H
#define ROSMATLAB_ROSBAG_VIEW_H

#include <rosbag/view.h>
#include <rosmatlab/object.h>

#include <introspection/forwards.h>

namespace rosmatlab {
namespace rosbag {

using ::rosbag::MessageInstance;
using ::rosbag::ConnectionInfo;

class Bag;
class Query;

class View : public ::rosbag::View, public Object<View> {
public:
  friend class Bag;

  using ::rosbag::View::iterator;
  using ::rosbag::View::const_iterator;

  View(int nrhs, const mxArray *prhs[]);
  View(const Bag& bag, int nrhs, const mxArray *prhs[]);
  virtual ~View();

  using ::rosbag::View::begin;
  using ::rosbag::View::end;
  using ::rosbag::View::size;

  mxArray *getSize();

  void addQuery(int nrhs, const mxArray *prhs[]);
  void addQuery(const Bag& bag, int nrhs, const mxArray *prhs[]);

  void reset();
  bool start();
  bool valid();
  bool eof();
  void increment();

  void get(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]);
  void next(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]);
  void data(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]);

  mxArray *getTime();
  mxArray *getTopic();
  mxArray *getDataType();
  mxArray *getMD5Sum();
  mxArray *getMessageDefinition();
  mxArray *getConnectionHeader();
  mxArray *getCallerId();
  mxArray *isLatching();

  mxArray *getQueries();
  mxArray *getConnections();
  mxArray *getBeginTime();
  mxArray *getEndTime();

private:
  iterator& operator*();
  MessageInstance* operator->();
  mxArray *getInternal(mxArray *target, std::size_t index = 0, std::size_t size = 0);

private:
  std::vector<boost::shared_ptr<Query> > queries_;
  std::vector<uint8_t> read_buffer_;

  cpp_introspection::MessagePtr message_instance_;
  iterator current_;
  bool eof_;
};

} // namespace rosbag
} // namespace rosmatlab

#endif // ROSMATLAB_ROSBAG_VIEW_H