.. _program_listing_file_include_rosbag2_cpp_reader.hpp:

Program Listing for File reader.hpp
===================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rosbag2_cpp_reader.hpp>` (``include/rosbag2_cpp/reader.hpp``)

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

.. code-block:: cpp

   // Copyright 2018, Bosch Software Innovations GmbH.
   // Copyright 2019 Amazon.com, Inc. or its affiliates. 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 ROSBAG2_CPP__READER_HPP_
   #define ROSBAG2_CPP__READER_HPP_
   
   #include <memory>
   #include <string>
   #include <vector>
   
   #include "rclcpp/serialization.hpp"
   #include "rclcpp/serialized_message.hpp"
   
   #include "rosbag2_cpp/bag_events.hpp"
   #include "rosbag2_cpp/converter_options.hpp"
   #include "rosbag2_cpp/readers/sequential_reader.hpp"
   #include "rosbag2_cpp/visibility_control.hpp"
   
   #include "rosbag2_storage/bag_metadata.hpp"
   #include "rosbag2_storage/serialized_bag_message.hpp"
   #include "rosbag2_storage/storage_filter.hpp"
   #include "rosbag2_storage/storage_options.hpp"
   #include "rosbag2_storage/topic_metadata.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
   {
   namespace reader_interfaces
   {
   class BaseReaderInterface;
   }  // namespace reader_interfaces
   
   class ROSBAG2_CPP_PUBLIC Reader
   {
   public:
     explicit Reader(
       std::unique_ptr<reader_interfaces::BaseReaderInterface> reader_impl =
       std::make_unique<readers::SequentialReader>());
   
     ~Reader();
   
     void open(const std::string & uri);
   
     void open(
       const rosbag2_storage::StorageOptions & storage_options,
       const ConverterOptions & converter_options = ConverterOptions());
   
     void close();
   
     bool set_read_order(const rosbag2_storage::ReadOrder & read_order);
   
     bool has_next();
   
     std::shared_ptr<rosbag2_storage::SerializedBagMessage> read_next();
   
     template<class MessageT>
     MessageT read_next()
     {
       MessageT msg;
       auto bag_message = read_next();
       rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data);
       rclcpp::Serialization<MessageT> serialization;
       serialization.deserialize_message(&extracted_serialized_msg, &msg);
   
       return msg;
     }
   
     const rosbag2_storage::BagMetadata & get_metadata() const;
   
     std::vector<rosbag2_storage::TopicMetadata> get_all_topics_and_types() const;
   
     void get_all_message_definitions(std::vector<rosbag2_storage::MessageDefinition> & definitions);
   
     void set_filter(const rosbag2_storage::StorageFilter & storage_filter);
   
     void reset_filter();
   
     void seek(const rcutils_time_point_value_t & timestamp);
   
     reader_interfaces::BaseReaderInterface & get_implementation_handle() const
     {
       return *reader_impl_;
     }
   
     void add_event_callbacks(bag_events::ReaderEventCallbacks & callbacks);
   
     [[nodiscard]] bool has_callback_for_event(bag_events::BagEvent event) const;
   
   private:
     std::unique_ptr<reader_interfaces::BaseReaderInterface> reader_impl_;
   };
   
   }  // namespace rosbag2_cpp
   
   #ifdef _WIN32
   # pragma warning(pop)
   #endif
   
   #endif  // ROSBAG2_CPP__READER_HPP_