Playback.hh

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/*
 * 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 GZ_TRANSPORT_LOG_PLAYBACK_HH_
#define GZ_TRANSPORT_LOG_PLAYBACK_HH_
 
#include <chrono>
#include <memory>
#include <regex>
#include <string>
 
#include <gz/transport/config.hh>
#include <gz/transport/log/Export.hh>
#include <gz/transport/NodeOptions.hh>
 
namespace gz::transport::log
{
  // Inline bracket to help doxygen filtering.
  inline namespace GZ_TRANSPORT_VERSION_NAMESPACE {
  //
  // Forward declarations
  class PlaybackHandle;
  using PlaybackHandlePtr = std::shared_ptr<PlaybackHandle>;
 
  class GZ_TRANSPORT_LOG_VISIBLE Playback
  {
    public: explicit Playback(const std::string &_file,
                              const NodeOptions &_nodeOptions = NodeOptions());
 
    public: Playback(Playback &&_old);  // NOLINT
 
    public: ~Playback();
 
    public: [[nodiscard]] PlaybackHandlePtr Start(
      const std::chrono::nanoseconds &_waitAfterAdvertising =
        std::chrono::seconds(1),
        bool _msgWaiting = true) 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 GZ_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