TopicReplayer.h

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/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @package    ArmarX
* @author     Mirko Waechter( mirko.waechter at kit dot edu)
* @date       2016
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
#pragma once
 
 
#include <unordered_set>
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/RunningTask.h>
#include <ArmarXCore/core/time/TimeKeeper.h>
#include <ArmarXCore/interface/components/TopicRecorderInterface.h>
#include <ArmarXCore/observers/DebugObserver.h>
 
#include "TopicReaderInterface.h"
 
namespace armarx
{
 
    class TopicReplayerProperties : public ComponentPropertyDefinitions
    {
    public:
        TopicReplayerProperties(std::string prefix) : ComponentPropertyDefinitions(prefix)
        {
            defineOptionalProperty<bool>("Loop", false, "Loop playback");
            defineRequiredProperty<std::string>("RecordFile", "File with recorded data");
            defineOptionalProperty<std::string>(
                "StorageMode",
                "database",
                "Storage variant to use, currently 'database' (default) and 'file' are available");
            defineOptionalProperty<std::string>("DebugObserverName",
                                                "DebugObserver",
                                                "Name of the topic the DebugObserver listens on");
            defineOptionalProperty<std::string>(
                "TopicName",
                "TopicReplayerListener",
                "Name of the topic the recorded data should be written to");
        }
    };
 
    class TopicReplayer : public Component
    {
    public:
        TopicReplayer();
 
        std::string getDefaultName() const override;
        void pauseReplay();
        void resumeReplay();
        void setReplaySpeed(double factor);
 
        std::vector<std::string> getRecordedTopics();
        void setReplayingTopics(std::vector<std::string> topics);
 
        IceUtil::Time getReplayLength() const;
        IceUtil::Time getCurrentTimePosition() const;
        void jumpToPosition(IceUtil::Time timestamp);
        void setAutoplay(bool autoplay);
        void setLoop(bool loop);
 
        // ManagedIceObject interface
        PropertyDefinitionsPtr createPropertyDefinitions() override;
 
    protected:
        void onInitComponent() override;
        void onConnectComponent() override;
        void onDisconnectComponent() override;
 
        void play();
        RunningTask<TopicReplayer>::pointer_type task;
 
    private:
        TopicReaderInterfacePtr replayer;
        TopicReplayerListenerInterfacePrx replayerListener;
        TimeKeeper timeKeeper;
        bool autoplay = true;
        bool loop;
        std::unordered_set<std::string> replayingTopics;
        bool replayingTopicsNotSupportedByFile = false;
        DebugObserverInterfacePrx debugObserver;
    };
 
} // namespace armarx