/usr/include/rosbag/player.h is in librosbag-dev 1.11.16-3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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* Software License Agreement (BSD License)
*
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
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* modification, are permitted provided that the following conditions
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*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
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* with the distribution.
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* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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#ifndef ROSBAG_PLAYER_H
#define ROSBAG_PLAYER_H
#include <sys/stat.h>
#if !defined(_MSC_VER)
#include <termios.h>
#include <unistd.h>
#endif
#include <time.h>
#include <queue>
#include <string>
#include <ros/ros.h>
#include <ros/time.h>
#include "rosbag/bag.h"
#include "rosbag/time_translator.h"
#include "rosbag/macros.h"
namespace rosbag {
//! Helper function to create AdvertiseOptions from a MessageInstance
/*!
* param msg The Message instance for which to generate adveritse options
* param queue_size The size of the outgoing queue
*/
ros::AdvertiseOptions createAdvertiseOptions(MessageInstance const& msg, uint32_t queue_size);
ROSBAG_DECL ros::AdvertiseOptions createAdvertiseOptions(const ConnectionInfo* c, uint32_t queue_size);
struct ROSBAG_DECL PlayerOptions
{
PlayerOptions();
void check();
std::string prefix;
bool quiet;
bool start_paused;
bool at_once;
bool bag_time;
double bag_time_frequency;
double time_scale;
int queue_size;
ros::WallDuration advertise_sleep;
bool try_future;
bool has_time;
bool loop;
float time;
bool has_duration;
float duration;
bool keep_alive;
ros::Duration skip_empty;
std::vector<std::string> bags;
std::vector<std::string> topics;
std::vector<std::string> pause_topics;
};
//! PRIVATE. A helper class to track relevant state for publishing time
class ROSBAG_DECL TimePublisher {
public:
/*! Create a time publisher
* A publish_frequency of < 0 indicates that time shouldn't actually be published
*/
TimePublisher();
void setPublishFrequency(double publish_frequency);
void setTimeScale(double time_scale);
/*! Set the horizon that the clock will run to */
void setHorizon(const ros::Time& horizon);
/*! Set the horizon that the clock will run to */
void setWCHorizon(const ros::WallTime& horizon);
/*! Set the current time */
void setTime(const ros::Time& time);
/*! Get the current time */
ros::Time const& getTime() const;
/*! Run the clock for AT MOST duration
*
* If horizon has been reached this function returns immediately
*/
void runClock(const ros::WallDuration& duration);
//! Sleep as necessary, but don't let the click run
void runStalledClock(const ros::WallDuration& duration);
//! Step the clock to the horizon
void stepClock();
bool horizonReached();
private:
bool do_publish_;
double publish_frequency_;
double time_scale_;
ros::NodeHandle node_handle_;
ros::Publisher time_pub_;
ros::WallDuration wall_step_;
ros::WallTime next_pub_;
ros::WallTime wc_horizon_;
ros::Time horizon_;
ros::Time current_;
};
//! PRIVATE. Player class to abstract the interface to the player
/*!
* This API is currently considered private, but will be released in the
* future after view.
*/
class ROSBAG_DECL Player
{
public:
Player(PlayerOptions const& options);
~Player();
void publish();
private:
int readCharFromStdin();
void setupTerminal();
void restoreTerminal();
void doPublish(rosbag::MessageInstance const& m);
void doKeepAlive();
void printTime();
private:
PlayerOptions options_;
ros::NodeHandle node_handle_;
bool paused_;
bool pause_for_topics_;
ros::WallTime paused_time_;
std::vector<boost::shared_ptr<Bag> > bags_;
std::map<std::string, ros::Publisher> publishers_;
// Terminal
bool terminal_modified_;
#if defined(_MSC_VER)
HANDLE input_handle;
DWORD stdin_set;
#else
termios orig_flags_;
fd_set stdin_fdset_;
#endif
int maxfd_;
TimeTranslator time_translator_;
TimePublisher time_publisher_;
ros::Time start_time_;
ros::Duration bag_length_;
};
} // namespace rosbag
#endif
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