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Thirdparty/Pangolin/include/pangolin/log/packetstream_reader.h

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+/* This file is part of the Pangolin Project.
+ * http://github.com/stevenlovegrove/Pangolin
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following
+ * conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <fstream>
+#include <mutex>
+#include <thread>
+
+#include <pangolin/log/packet.h>
+
+#include <pangolin/log/sync_time.h>
+#include <pangolin/utils/file_utils.h>
+#include <pangolin/utils/timer.h>
+
+namespace pangolin
+{
+
+class PANGOLIN_EXPORT PacketStreamReader
+{
+public:
+    PacketStreamReader();
+
+    PacketStreamReader(const std::string& filename);
+
+    ~PacketStreamReader();
+
+    void Open(const std::string& filename);
+
+    void Close();
+
+    const std::vector<PacketStreamSource>&
+    Sources() const
+    {
+        return _sources;
+    }
+
+    // Grab Next available frame packetstream
+    Packet NextFrame();
+
+    // Grab Next available frame in packetstream from src, discarding other frames.
+    Packet NextFrame(PacketStreamSourceId src);
+
+    bool Good() const
+    {
+        return _stream.good();
+    }
+
+    // Jumps to a particular packet.
+    size_t Seek(PacketStreamSourceId src, size_t framenum);
+
+    // Jumps to the first packet with time >= time
+    size_t Seek(PacketStreamSourceId src, SyncTime::TimePoint time);
+
+    void FixFileIndex();
+
+private:
+    bool GoodToRead();
+
+    bool SetupIndex();
+
+    void ParseHeader();
+
+    void ParseNewSource();
+
+    bool ParseIndex();
+
+    void RebuildIndex();
+
+    void AppendIndex();
+
+    std::streampos ParseFooter();
+
+    void SkipSync();
+
+    void ReSync() {
+        _stream.syncToTag();
+    }
+
+    std::string _filename;
+    std::vector<PacketStreamSource> _sources;
+    SyncTime::TimePoint packet_stream_start;
+
+    PacketStream _stream;
+    std::recursive_mutex _mutex;
+
+    bool _is_pipe;
+    int _pipe_fd;
+};
+
+
+
+
+
+
+
+
+}