105 lines
3.4 KiB
C++
105 lines
3.4 KiB
C++
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/*
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* Copyright (C) 2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_UTIL_LOGPLAY_PRIVATE_HH_
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#define _GAZEBO_UTIL_LOGPLAY_PRIVATE_HH_
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#include <tinyxml2.h>
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#include <mutex>
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#include <string>
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#include "gazebo/common/Time.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace util
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{
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/// \internal
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/// \brief Private data for log play
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class LogPlayPrivate
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{
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/// \brief Max number of chunks to inspect when looking for XML elements.
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public: const unsigned int kNumChunksToTry = 2u;
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/// \brief XML tag delimiting the beginning of a frame.
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public: const std::string kStartFrame = "<sdf ";
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/// \brief XML tag delimiting the end of a frame.
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public: const std::string kEndFrame = "</sdf>";
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/// \brief XML tag delimiting the beginning of a simulation time element.
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public: const std::string kStartTime = "<sim_time>";
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/// \brief XML tag delimiting the end of a simulation time element.
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public: const std::string kEndTime = "</sim_time>";
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/// \brief The XML document of the log file.
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public: tinyxml2::XMLDocument xmlDoc;
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/// \brief Start of the log.
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public: tinyxml2::XMLElement *logStartXml = nullptr;
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/// \brief Current position in the log file.
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public: tinyxml2::XMLElement *logCurrXml = nullptr;
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/// \brief Name of the log file.
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public: std::string filename;
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/// \brief The version of the Gazebo logger used to create the open
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/// log file.
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public: std::string logVersion;
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/// \brief The version of Gazebo used to create the open log file.
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public: std::string gazeboVersion;
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/// \brief The random number seed recorded in the open log file.
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public: uint32_t randSeed = 0;
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/// \brief Log start time (simulation time).
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public: common::Time logStartTime;
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/// \brief Log end time (simulation time).
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public: common::Time logEndTime;
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/// \brief The encoding for the current chunk in the log file.
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public: std::string encoding;
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/// \brief This is the chunk where the current frame is contained.
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public: std::string currentChunk;
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/// \brief The current chunk might contain multiple frames.
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/// This variable points to the beginning of the last frame dispatched.
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public: size_t start = 0;
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/// \brief The current chunk might contain multiple frames.
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/// This variable points to the end of the last frame dispatched.
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public: size_t end = 0;
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/// \brief Initial simulation iteration contained in the log file.
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public: uint64_t initialIterations = 0;
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/// \brief True if <iterations> is found in the log file. Old log versions
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/// may not include this tag in the log files.
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public: bool iterationsFound = false;
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/// \brief A mutex to avoid race conditions.
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public: std::mutex mutex;
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};
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}
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}
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#endif
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