Playback.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2017 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef IGNITION_TRANSPORT_LOG_PLAYBACK_HH_
#define IGNITION_TRANSPORT_LOG_PLAYBACK_HH_

#include <chrono>
#include <memory>
#include <regex>
#include <string>

#include <ignition/transport/config.hh>
#include <ignition/transport/log/Export.hh>
#include <ignition/transport/NodeOptions.hh>

namespace ignition
{
  namespace transport
  {
    namespace log
    {
      // Inline bracket to help doxygen filtering.
      inline namespace IGNITION_TRANSPORT_VERSION_NAMESPACE {
      //
      // Forward declarations
      class PlaybackHandle;
      using PlaybackHandlePtr = std::shared_ptr<PlaybackHandle>;

      class IGNITION_TRANSPORT_LOG_VISIBLE Playback
      {
        public: explicit Playback(const std::string &_file,
                               const NodeOptions &_nodeOptions = NodeOptions());

        public: Playback(Playback &&_old);  // NOLINT

        public: ~Playback();

        //
        // TODO(MXG): When we can use C++17, add a [[nodiscard]] attribute here.
        public: PlaybackHandlePtr Start(
          const std::chrono::nanoseconds &_waitAfterAdvertising =
            std::chrono::seconds(1)) const;

        public: bool Valid() const;

        public: bool AddTopic(const std::string &_topic);

        public: int64_t AddTopic(const std::regex &_topic);

        public: bool RemoveTopic(const std::string &_topic);

        public: int64_t RemoveTopic(const std::regex &_topic);

        private: class Implementation;

#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::*
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
        private: std::unique_ptr<Implementation> dataPtr;
#ifdef _WIN32
#pragma warning(pop)
#endif
      };

      class IGNITION_TRANSPORT_LOG_VISIBLE PlaybackHandle
      {
        public: void Stop();

        public: void Seek(const std::chrono::nanoseconds &_newElapsedTime);

        public: void Step(const std::chrono::nanoseconds &_stepDuration);

        public: void Pause();

        public: void Resume();

        public: bool IsPaused() const;

        public: void WaitUntilFinished();

        public: bool Finished() const;

        public: std::chrono::nanoseconds StartTime() const;

        public: std::chrono::nanoseconds CurrentTime() const;

        public: std::chrono::nanoseconds EndTime() const;

        public: ~PlaybackHandle();

        // Friendship
        friend class Playback;

        // Forward declaration of implementation class
        private: class Implementation;

        private: PlaybackHandle(
          std::unique_ptr<Implementation> &&_internal); // NOLINT

#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::*
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
        private: std::unique_ptr<Implementation> dataPtr;
#ifdef _WIN32
#pragma warning(pop)
#endif
      };
      }
    }
  }
}
#endif