.. _program_listing_file_include_rosbag2_cpp_converter.hpp:

Program Listing for File converter.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rosbag2_cpp_converter.hpp>` (``include/rosbag2_cpp/converter.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2018, Bosch Software Innovations GmbH.
   //
   // 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 ROSBAG2_CPP__CONVERTER_HPP_
   #define ROSBAG2_CPP__CONVERTER_HPP_
   
   #include <memory>
   #include <string>
   #include <unordered_map>
   #include <vector>
   
   #include "rosbag2_cpp/converter_options.hpp"
   #include "rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp"
   #include "rosbag2_cpp/serialization_format_converter_factory.hpp"
   #include "rosbag2_cpp/serialization_format_converter_factory_interface.hpp"
   #include "rosbag2_cpp/visibility_control.hpp"
   
   #include "rosbag2_storage/serialized_bag_message.hpp"
   
   #include "rcpputils/shared_library.hpp"
   
   // This is necessary because of using stl types here. It is completely safe, because
   // a) the member is not accessible from the outside
   // b) there are no inline functions.
   #ifdef _WIN32
   # pragma warning(push)
   # pragma warning(disable:4251)
   #endif
   
   namespace rosbag2_cpp
   {
   
   // Convenience struct to keep both type supports (rmw and introspection) together.
   // Only used internally.
   struct ConverterTypeSupport
   {
     std::shared_ptr<rcpputils::SharedLibrary> type_support_library;
     const rosidl_message_type_support_t * rmw_type_support;
   
     std::shared_ptr<rcpputils::SharedLibrary> introspection_type_support_library;
     const rosidl_message_type_support_t * introspection_type_support;
   };
   
   class ROSBAG2_CPP_PUBLIC Converter
   {
   public:
     explicit
     Converter(
       const std::string & input_format,
       const std::string & output_format,
       std::shared_ptr<SerializationFormatConverterFactoryInterface> converter_factory =
       std::make_shared<SerializationFormatConverterFactory>());
   
     Converter(
       const ConverterOptions & converter_options,
       std::shared_ptr<SerializationFormatConverterFactoryInterface> converter_factory =
       std::make_shared<SerializationFormatConverterFactory>());
   
     ~Converter();
   
     std::shared_ptr<rosbag2_storage::SerializedBagMessage>
     convert(std::shared_ptr<const rosbag2_storage::SerializedBagMessage> message);
   
     void add_topic(const std::string & topic, const std::string & type);
   
   private:
     std::shared_ptr<SerializationFormatConverterFactoryInterface> converter_factory_;
     std::unique_ptr<converter_interfaces::SerializationFormatDeserializer> input_converter_;
     std::unique_ptr<converter_interfaces::SerializationFormatSerializer> output_converter_;
     std::unordered_map<std::string, ConverterTypeSupport> topics_and_types_;
   };
   
   }  // namespace rosbag2_cpp
   
   #ifdef _WIN32
   # pragma warning(pop)
   #endif
   
   #endif  // ROSBAG2_CPP__CONVERTER_HPP_