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/*
* Copyright (C) 2018 Open Source Robotics Foundation
*
* 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.
*
*/
/// \brief Example of creating custom query options for the log file.
/// Custom query options can filter or re-order the output of a query for
/// messages.
/// This example will query all messages in a log, but output them in reverse.
#include <iostream>
#include <vector>
#include <ignition/transport/log/Log.hh>
#include <ignition/transport/log/QueryOptions.hh>
//////////////////////////////////////////////////
/// \brief Query for all the topics in reverse
class AllTopicsReverse final
: public virtual ignition::transport::log::QueryOptions
{
// See documentation on QueryOptions
public: std::vector<ignition::transport::log::SqlStatement>
GenerateStatements(
const ignition::transport::log::Descriptor &/*_descriptor*/)
const override
{
// The preamble has all the necessary joins and the correct column order
// for a SELECT statement that returns messages.
ignition::transport::log::SqlStatement statement =
this->StandardMessageQueryPreamble();
// Reverse the order of the messages
statement.statement += "ORDER BY messages.time_recv DESC;";
return {statement};
}
};
//////////////////////////////////////////////////
int main(int argc, char *argv[])
{
if (argc != 2)
{
std::cerr << "Usage: " << argv[0] << " INPUT.tlog\n";
return -1;
}
ignition::transport::log::Log log;
if (!log.Open(argv[1]))
{
std::cerr << "Failed to open log\n";
return -1;
}
// Output all the messages using the custom query
auto batch = log.QueryMessages(AllTopicsReverse());
for (const auto &message : batch)
{
std::cout << message.TimeReceived().count()
<< ": '" << message.Data() << "'\n";
}
return 0;
}
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