movie_reader_ros.h

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// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague
 
#pragma once
 
#include <memory>
#include <string>
#include <unordered_map>
 
#include <cras_cpp_common/expected.hpp>
#include <cras_cpp_common/log_utils.h>
#include <cras_cpp_common/param_utils.hpp>
#include <movie_publisher/movie_reader.h>
#include <ros/time.h>
 
namespace movie_publisher
{
class MovieReaderRos : public MovieReader
{
public:
  MovieReaderRos(const cras::LogHelperPtr& log, const cras::BoundParamHelperPtr& params);
 
  cras::expected<MoviePtr, std::string> open(const std::string& filename, const MovieOpenConfig& config) override;
  cras::expected<MovieOpenConfig, std::string> createDefaultConfig() const override;
 
  void addTimestampOffsetVar(const std::string& var, double val);
 
protected:
  cras::BoundParamHelperPtr params;  
  std::unordered_map<std::string, double> timestampOffsetVars;
};
 
}