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#ifndef ROSBAG_VIEW_H
#define ROSBAG_VIEW_H

#include <boost/function.hpp>
#include <boost/iterator/iterator_facade.hpp>

#include "rosbag/message_instance.h"
#include "rosbag/query.h"
#include "rosbag/macros.h"

namespace rosbag {

struct MessageRange;
struct IndexEntry;
struct ViewIterHelper;

class ROSBAG_DECL View
{
    friend class Bag;

public:
    //! An iterator that points to a MessageInstance from a bag
    /*!
     * This iterator stores the MessageInstance that it is returning a
     * reference to.  If you increment the iterator that
     * MessageInstance is destroyed.  You should never store the
     * pointer to this reference.
     */
    class iterator : public boost::iterator_facade<iterator,
                                                   MessageInstance,
                                                   boost::forward_traversal_tag>
    {
    public:
        iterator(iterator const& i);
        iterator();
        ~iterator();

    protected:
        iterator(View* view, bool end = false);

    private:
        friend class View;
        friend class boost::iterator_core_access;

		void populate();
		void populateSeek(std::multiset<IndexEntry>::const_iterator iter);

        bool equal(iterator const& other) const;

        void increment();

        MessageInstance& dereference() const;

    private:
        View* view_;
        std::vector<ViewIterHelper> iters_;
        uint32_t view_revision_;
        mutable MessageInstance* message_instance_;
    };

    typedef iterator const_iterator;

    struct TrueQuery {
    	bool operator()(ConnectionInfo const*) const { return true; };
    };

    //! Create a view on a bag
    /*!
     * param reduce_overlap  If multiple views return the same messages, reduce them to a single message
     */
    View(bool const& reduce_overlap = false);

    //! Create a view on a bag
    /*!
     * param bag             The bag file on which to run this query
     * param start_time      The beginning of the time range for the query
     * param end_time        The end of the time range for the query
     * param reduce_overlap  If multiple views return the same messages, reduce them to a single message
     */
    View(Bag const& bag, ros::Time const& start_time = ros::TIME_MIN, ros::Time const& end_time = ros::TIME_MAX, bool const& reduce_overlap = false);

    //! Create a view and add a query
    /*!
     * param bag             The bag file on which to run this query
     * param query           The actual query to evaluate which connections to include
     * param start_time      The beginning of the time range for the query
     * param end_time        The end of the time range for the query
     * param reduce_overlap  If multiple views return the same messages, reduce them to a single message
     */
    View(Bag const& bag, boost::function<bool(ConnectionInfo const*)> query,
         ros::Time const& start_time = ros::TIME_MIN, ros::Time const& end_time = ros::TIME_MAX, bool const& reduce_overlap = false);

    ~View();

    iterator begin();
    iterator end();
    uint32_t size();

    //! Add a query to a view
    /*!
     * param bag        The bag file on which to run this query
     * param start_time The beginning of the time range for the query
     * param end_time   The end of the time range for the query
     */
    void addQuery(Bag const& bag, ros::Time const& start_time = ros::TIME_MIN, ros::Time const& end_time = ros::TIME_MAX);

    //! Add a query to a view
    /*!
     * param bag        The bag file on which to run this query
     * param query      The actual query to evaluate which connections to include
     * param start_time The beginning of the time range for the query
     * param end_time   The end of the time range for the query
     */
    void addQuery(Bag const& bag, boost::function<bool(ConnectionInfo const*)> query,
    		      ros::Time const& start_time = ros::TIME_MIN, ros::Time const& end_time = ros::TIME_MAX);

    std::vector<const ConnectionInfo*> getConnections();

    ros::Time getBeginTime();
    ros::Time getEndTime();
  
protected:
    friend class iterator;

    void updateQueries(BagQuery* q);
    void update();

    MessageInstance* newMessageInstance(ConnectionInfo const* connection_info, IndexEntry const& index, Bag const& bag);

private:
    View(View const& view);
    View& operator=(View const& view);

protected:
    std::vector<MessageRange*> ranges_;
    std::vector<BagQuery*>     queries_;
    uint32_t                   view_revision_;

    uint32_t size_cache_;
    uint32_t size_revision_;

    bool reduce_overlap_;
};

} // namespace rosbag

#endif
