DataSourceRawlog.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "apps-precomp.h"  // Precompiled headers

#include <mrpt/apps/DataSourceRawlog.h>
#include <mrpt/obs/CRawlog.h>

using namespace mrpt::apps;

bool DataSourceRawlog::impl_get_next_observations(
    mrpt::obs::CActionCollection::Ptr& action,
    mrpt::obs::CSensoryFrame::Ptr& observations,
    mrpt::obs::CObservation::Ptr& observation)
{
    MRPT_START

    // 1st time? Open rawlog:
    if (!m_rawlog_arch)
    {
        std::string err_msg;
        if (!m_rawlog_io.open(m_rawlogFileName, err_msg))
        {
            THROW_EXCEPTION_FMT(
                "Error opening rawlog file: `%s`", err_msg.c_str());
        }
        m_rawlog_arch = mrpt::serialization::archiveUniquePtrFrom(m_rawlog_io);

        MRPT_LOG_INFO_FMT("RAWLOG file: `%s`", m_rawlogFileName.c_str());
    }

    // Read:

    for (;;)
    {
        if (!mrpt::obs::CRawlog::getActionObservationPairOrObservation(
                *m_rawlog_arch, action, observations, observation,
                m_rawlogEntry))
            return false;

        // Optional skip of first N entries
        if (m_rawlogEntry < m_rawlog_offset) continue;

        MRPT_LOG_DEBUG_STREAM("Processing rawlog entry #" << m_rawlogEntry);

        // Ok, accept this new observations:
        return true;
    };

    return false;

    MRPT_END
}