LogPlay.hh

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/*
 * Copyright (C) 2012-2016 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 _GAZEBO_UTIL_LOGPLAY_HH_
#define _GAZEBO_UTIL_LOGPLAY_HH_

#include <tinyxml2.h>
#include <string>

#include "gazebo/common/SingletonT.hh"
#include "gazebo/common/Time.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace util
  {
    // Forward declare private data class
    class LogPlayPrivate;


    class GZ_UTIL_VISIBLE LogPlay : public SingletonT<LogPlay>
    {
      private: LogPlay();

      private: virtual ~LogPlay();

      public: void Open(const std::string &_logFile);

      public: bool IsOpen() const;

      public: std::string GetLogVersion() const GAZEBO_DEPRECATED(7.0);

      public: std::string LogVersion() const;

      public: std::string GetGazeboVersion() const GAZEBO_DEPRECATED(7.0);

      public: std::string GazeboVersion() const;

      public: uint32_t GetRandSeed() const GAZEBO_DEPRECATED(7.0);

      public: uint32_t RandSeed() const;

      public: common::Time GetLogStartTime() const GAZEBO_DEPRECATED(7.0);

      public: common::Time LogStartTime() const;

      public: common::Time GetLogEndTime() const GAZEBO_DEPRECATED(7.0);

      public: common::Time LogEndTime() const;

      public: std::string GetFilename() const GAZEBO_DEPRECATED(7.0);

      public: std::string Filename() const;

      public: std::string GetFullPathFilename() const GAZEBO_DEPRECATED(7.0);

      public: std::string FullPathFilename() const;

      public: uintmax_t GetFileSize() const GAZEBO_DEPRECATED(7.0);

      public: uintmax_t FileSize() const;

      public: bool Step(std::string &_data);

      public: bool StepBack(std::string &_data);

      public: bool Step(const int _step, std::string &_data);

      public: bool Seek(const common::Time &_time);

      public: bool Rewind();

      public: bool Forward();

      public: unsigned int GetChunkCount() const GAZEBO_DEPRECATED(7.0);

      public: unsigned int ChunkCount() const;

      public: bool GetChunk(unsigned int _index, std::string &_data)
              GAZEBO_DEPRECATED(7.0);

      public: bool Chunk(const unsigned int _index, std::string &_data) const;

      public: std::string GetEncoding() const GAZEBO_DEPRECATED(7.0);

      public: std::string Encoding() const;

      public: std::string GetHeader() const GAZEBO_DEPRECATED(7.0);

      public: std::string Header() const;

      public: uint64_t GetInitialIterations() const GAZEBO_DEPRECATED(7.0);

      public: uint64_t InitialIterations() const;

      public: bool HasIterations() const;

      private: bool ChunkData(tinyxml2::XMLElement *_xml,
                              std::string &_data) const;

      private: void ReadHeader();

      private: void ReadLogTimes();

      private: bool ReadIterations();

      private: bool NextChunk();

      private: bool PrevChunk();

      private: std::unique_ptr<LogPlayPrivate> dataPtr;

      private: friend class SingletonT<LogPlay>;
    };
  }
}

#endif