277 lines
11 KiB
C++
277 lines
11 KiB
C++
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/*
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* Copyright (C) 2012 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_HH_
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#define _GAZEBO_UTIL_LOGPLAY_HH_
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#include <tinyxml2.h>
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#include <string>
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#include "gazebo/common/SingletonT.hh"
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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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// Forward declare private data class
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class LogPlayPrivate;
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/// \addtogroup gazebo_physics
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/// \{
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/// \class Logplay Logplay.hh util/util.hh
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/// \brief Open and playback log files that were recorded using LogRecord.
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///
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/// Use Logplay to open a log file (Logplay::Open), and access the
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/// recorded state information. Iterators are available to step through
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/// the state information. It is also possible to replay the data in a
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/// World using the Play functions. Replay involves reading and applying
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/// state information to a World.
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///
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/// \sa LogRecord, State
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class GZ_UTIL_VISIBLE LogPlay : public SingletonT<LogPlay>
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{
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/// \brief Constructor
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private: LogPlay();
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/// \brief Destructor
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private: virtual ~LogPlay();
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/// \brief Open a log file for reading
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///
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/// Open a log file that was previously recorded.
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/// \param[in] _logFile The file to load
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/// \throws Exception When the log file does not exist, is a directory
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/// instead of a regular file, or Gazebo was unable to parse it.
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public: void Open(const std::string &_logFile);
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/// \brief Return true if a file is open.
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/// \return True if a log file is open.
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public: bool IsOpen() const;
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/// \brief Get the log version number of the open log file.
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/// \return The log version of the open log file. Empty string if
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/// a log file is not open.
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/// \deprecated See LogVersion() const
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public: std::string GetLogVersion() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the log version number of the open log file.
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/// \return The log version of the open log file. Empty string if
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/// a log file is not open.
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public: std::string LogVersion() const;
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/// \brief Get the Gazebo version number of the open log file.
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/// \return The Gazebo version of the open log file. Empty string if
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/// a log file is not open.
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/// \deprecated See GazeboVersion()
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public: std::string GetGazeboVersion() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the Gazebo version number of the open log file.
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/// \return The Gazebo version of the open log file. Empty string if
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/// a log file is not open.
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public: std::string GazeboVersion() const;
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/// \brief Get the random number seed of the open log file.
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/// \return The random number seed the open log file. The current
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/// random number seed, as defined in ignition::math::Rand::Seed.
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/// \deprecated See RandSeed() const
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public: uint32_t GetRandSeed() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the random number seed of the open log file.
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/// \return The random number seed the open log file. The current
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/// random number seed, as defined in ignition::math::Rand::Seed.
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public: uint32_t RandSeed() const;
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/// \brief Get the log start time of the open log file.
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/// \return Start time of the log.
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/// \deprecated See LogStartTime() const
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public: common::Time GetLogStartTime() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the log start time of the open log file.
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/// \return Start time of the log.
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public: common::Time LogStartTime() const;
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/// \brief Get the log end time of the open log file.
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/// \return End time of the log.
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/// \deprecated See LogEndTime() const
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public: common::Time GetLogEndTime() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the log end time of the open log file.
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/// \return End time of the log.
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public: common::Time LogEndTime() const;
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/// \brief Get the name of the log file.
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/// \return The filename.
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/// \deprecated See Filename() const;
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public: std::string GetFilename() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the name of the log file.
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/// \return The filename.
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public: std::string Filename() const;
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/// \brief Get the full path of the log file.
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/// \return The full path of the log file.
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/// \deprecated See FullPathFilename()
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public: std::string GetFullPathFilename() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the full path of the log file.
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/// \return The full path of the log file.
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public: std::string FullPathFilename() const;
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/// \brief Get the size of the log file.
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/// \return The size of the file in bytes.
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/// \deprecated See FileSize() const
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public: uintmax_t GetFileSize() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the size of the log file.
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/// \return The size of the file in bytes.
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public: uintmax_t FileSize() const;
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/// \brief Step through the open log file.
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/// \param[out] _data Data from next entry in the log file.
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public: bool Step(std::string &_data);
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/// \brief Step through the open log file backwards.
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/// \param[out] _data Data from next entry in the log file.
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public: bool StepBack(std::string &_data);
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/// \brief Step through the open log file.
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/// \param[in] _step Number of samples to step (forward or backwards).
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/// \param[out] _data Data from next entry in the log file.
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public: bool Step(const int _step, std::string &_data);
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/// \brief Jump to the closest sample that has its simulation time lower
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/// than the time specified as a parameter.
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/// \param[in] _time Target simulation time.
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/// \return True if operation succeed or false otherwise.
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public: bool Seek(const common::Time &_time);
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/// \brief Jump to the beginning of the log file. The next step() call
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/// will return the first data "chunk".
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/// \return True If the function succeed or false otherwise.
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public: bool Rewind();
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/// \brief Jump to the end of the log file.
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/// \return True If the function succeed or false otherwise.
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public: bool Forward();
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/// \brief Get the number of chunks (steps) in the open log file.
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/// \return The number of recorded states in the log file.
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/// \deprecated See ChunkCount() const
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public: unsigned int GetChunkCount() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the number of chunks (steps) in the open log file.
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/// \return The number of recorded states in the log file.
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public: unsigned int ChunkCount() const;
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/// \brief Get data for a particular chunk index.
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/// \param[in] _index Index of the chunk.
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/// \param[out] _data Storage for the chunk's data.
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/// \return True if the _index was valid.
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/// \deprecated See GetChunk(unsigned int, std::string &) const
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public: bool GetChunk(unsigned int _index, std::string &_data)
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GAZEBO_DEPRECATED(7.0);
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/// \brief Get data for a particular chunk index.
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/// \param[in] _index Index of the chunk.
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/// \param[out] _data Storage for the chunk's data.
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/// \return True if the _index was valid.
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public: bool Chunk(const unsigned int _index, std::string &_data) const;
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/// \brief Get the type of encoding used for current chunck in the
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/// open log file.
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/// \return The type of encoding. An empty string will be returned if
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/// LogPlay::Step has not been called at least once.
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/// \deprecated See Encoding() const
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public: std::string GetEncoding() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the type of encoding used for current chunck in the
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/// open log file.
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/// \return The type of encoding. An empty string will be returned if
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/// LogPlay::Step has not been called at least once.
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public: std::string Encoding() const;
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/// \brief Get the header that was read from a log file. Should call
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/// LogPlay::Open first.
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/// \return Header of the open log file.
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/// \deprecated See Header() const
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public: std::string GetHeader() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the header that was read from a log file. Should call
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/// LogPlay::Open first.
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/// \return Header of the open log file.
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public: std::string Header() const;
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/// \brief Get the initial simulation iterations from a log file.
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/// \return Initial simulation iteration contained in the log file.
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/// \deprecated See InitialIterations() const
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public: uint64_t GetInitialIterations() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the initial simulation iterations from a log file.
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/// \return Initial simulation iteration contained in the log file.
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public: uint64_t InitialIterations() const;
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/// \brief Return if the log file contains the <iterations> tag. Old log
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/// files may not have the <iterations> tag.
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/// \return True if <iterations> was found in the log file or
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/// false otherwise.
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public: bool HasIterations() const;
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/// \brief Helper function to get chunk data from XML.
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/// \param[in] _xml Pointer to an xml block that has state data.
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/// \param[out] _data Storage for the chunk's data.
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/// \return True if the chunk was successfully parsed.
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private: bool ChunkData(tinyxml2::XMLElement *_xml,
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std::string &_data) const;
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/// \brief Read the header from the log file.
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private: void ReadHeader();
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/// \brief Update the internal variables that keep track of the times
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/// where the log started and finished (simulation time).
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private: void ReadLogTimes();
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/// \brief Update the internal variable that keeps track of the initial
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/// "iterations" value.
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/// \return True when the operation succeed or false otherwise
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/// (e.g.: if the <iterations> elements are not found).
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private: bool ReadIterations();
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/// \brief If possible, jump to the next chunk.
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/// \return True if the operation succeed or false if there were no more
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/// chunks after the current one.
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private: bool NextChunk();
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/// \brief If possible, jump to the previous chunk.
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/// \return True if the operation succeed or false if there were no more
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/// chunks before the current one.
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private: bool PrevChunk();
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/// \internal
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/// \brief Private data pointer
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private: std::unique_ptr<LogPlayPrivate> dataPtr;
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/// \brief This is a singleton
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private: friend class SingletonT<LogPlay>;
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};
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/// \}
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}
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}
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#endif
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