record_viewer.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 CYBER_RECORD_RECORD_VIEWER_H_
#define CYBER_RECORD_RECORD_VIEWER_H_
 
#include <cstddef>
#include <limits>
#include <map>
#include <memory>
#include <set>
#include <string>
#include <vector>
 
#include "cyber/record/record_message.h"
#include "cyber/record/record_reader.h"
 
namespace apollo {
namespace cyber {
namespace record {
 
class RecordViewer {
 public:
  using RecordReaderPtr = std::shared_ptr<RecordReader>;
 
  RecordViewer(const RecordReaderPtr& reader, uint64_t begin_time = 0,
               uint64_t end_time = std::numeric_limits<uint64_t>::max(),
               const std::set<std::string>& channels = {});
 
  RecordViewer(const std::vector<RecordReaderPtr>& readers,
               uint64_t begin_time = 0,
               uint64_t end_time = std::numeric_limits<uint64_t>::max(),
               const std::set<std::string>& channels = std::set<std::string>());
 
  bool IsValid() const;
 
  uint64_t begin_time() const { return begin_time_; }
 
  uint64_t end_time() const { return end_time_; }
 
  std::set<std::string> GetChannelList() const { return channel_list_; }
 
  class Iterator : public std::iterator<std::input_iterator_tag, RecordMessage,
                                        int, RecordMessage*, RecordMessage&> {
   public:
    explicit Iterator(RecordViewer* viewer, bool end = false);
 
    Iterator() {}
 
    virtual ~Iterator() {}
 
    bool operator==(Iterator const& other) const;
 
    bool operator!=(const Iterator& rhs) const;
 
    Iterator& operator++();
 
    pointer operator->();
 
    reference operator*();
 
   private:
    bool end_ = false;
    uint64_t index_ = 0;
    RecordViewer* viewer_ = nullptr;
    value_type message_instance_;
  };
 
  Iterator begin();
 
  Iterator end();
 
  Iterator curr_itr();
 
  void set_curr_itr(const Iterator& curr_itr);
 
 private:
  friend class Iterator;
 
  void Init();
  void Reset();
  void UpdateTime();
  bool FillBuffer();
  bool Update(RecordMessage* message);
 
  uint64_t begin_time_ = 0;
  uint64_t end_time_ = std::numeric_limits<uint64_t>::max();
  // User defined channels
  std::set<std::string> channels_;
  // All channel in user defined readers
  std::set<std::string> channel_list_;
  std::vector<RecordReaderPtr> readers_;
  std::vector<bool> readers_finished_;
 
  uint64_t curr_begin_time_ = 0;
  std::multimap<uint64_t, std::shared_ptr<RecordMessage>> msg_buffer_;
 
  const uint64_t kStepTimeNanoSec = 1000000000UL;  // 1 second
  const std::size_t kBufferMinSize = 128;
 
  Iterator itr_;
};
 
}  // namespace record
}  // namespace cyber
}  // namespace apollo
 
#endif  // CYBER_RECORD_RECORD_VIEWER_H_