py_record.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * 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 PYTHON_WRAPPER_PY_RECORD_H_
#define PYTHON_WRAPPER_PY_RECORD_H_
 
#include <unistd.h>
 
#include <iostream>
#include <limits>
#include <memory>
#include <mutex>
#include <set>
#include <string>
#include <thread>
 
#include "cyber/message/protobuf_factory.h"
#include "cyber/message/py_message.h"
#include "cyber/message/raw_message.h"
#include "cyber/proto/record.pb.h"
#include "cyber/record/record_message.h"
#include "cyber/record/record_reader.h"
#include "cyber/record/record_writer.h"
 
namespace apollo {
namespace cyber {
namespace record {
 
struct BagMessage {
  uint64_t timestamp = 0;
  std::string channel_name = "";
  std::string data = "";
  std::string data_type = "";
  bool end = true;
};
 
class PyRecordReader {
 public:
  explicit PyRecordReader(const std::string& file) {
    record_reader_.reset(new RecordReader(file));
  }
 
  BagMessage ReadMessage(
      uint64_t begin_time = 0,
      uint64_t end_time = std::numeric_limits<uint64_t>::max()) {
    BagMessage ret_msg;
    RecordMessage record_message;
    if (!record_reader_->ReadMessage(&record_message, begin_time, end_time)) {
      ret_msg.end = true;
      return ret_msg;
    }
 
    ret_msg.end = false;
    ret_msg.channel_name = record_message.channel_name;
    ret_msg.data = record_message.content;
    ret_msg.timestamp = record_message.time;
    ret_msg.data_type =
        record_reader_->GetMessageType(record_message.channel_name);
    return ret_msg;
  }
 
  uint64_t GetMessageNumber(const std::string& channel_name) {
    return record_reader_->GetMessageNumber(channel_name);
  }
 
  std::string GetMessageType(const std::string& channel_name) {
    return record_reader_->GetMessageType(channel_name);
  }
 
  std::string GetProtoDesc(const std::string& channel_name) {
    return record_reader_->GetProtoDesc(channel_name);
  }
 
  std::string GetHeaderString() {
    std::string org_data;
    record_reader_->GetHeader().SerializeToString(&org_data);
    return org_data;
  }
 
  void Reset() { record_reader_->Reset(); }
 
  std::set<std::string> GetChannelList() const {
    return record_reader_->GetChannelList();
  }
 
 private:
  std::unique_ptr<RecordReader> record_reader_;
};
 
class PyRecordWriter {
 public:
  bool Open(const std::string& path) { return record_writer_.Open(path); }
 
  void Close() { record_writer_.Close(); }
 
  bool WriteChannel(const std::string& channel_str, const std::string& type,
                    const std::string& proto_desc) {
    return record_writer_.WriteChannel(channel_str, type, proto_desc);
  }
 
  bool WriteMessage(const std::string& channel_name,
                    const std::string& rawmessage, uint64_t time,
                    const std::string& proto_desc = "") {
    return record_writer_.WriteMessage(
        channel_name, std::make_shared<message::RawMessage>(rawmessage), time,
        proto_desc);
  }
 
  bool SetSizeOfFileSegmentation(uint64_t size_kilobytes) {
    return record_writer_.SetSizeOfFileSegmentation(size_kilobytes);
  }
 
  bool SetIntervalOfFileSegmentation(uint64_t time_sec) {
    return record_writer_.SetIntervalOfFileSegmentation(time_sec);
  }
 
  uint64_t GetMessageNumber(const std::string& channel_name) const {
    return record_writer_.GetMessageNumber(channel_name);
  }
 
  const std::string& GetMessageType(const std::string& channel_name) const {
    return record_writer_.GetMessageType(channel_name);
  }
 
  const std::string& GetProtoDesc(const std::string& channel_name) const {
    return record_writer_.GetProtoDesc(channel_name);
  }
 
 private:
  RecordWriter record_writer_;
};
 
}  // namespace record
}  // namespace cyber
}  // namespace apollo
 
#endif  // PYTHON_WRAPPER_PY_RECORD_H_