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#ifndef ROSBAG_QUERY_H
#define ROSBAG_QUERY_H

#include "ros/time.h"

#include <vector>
#include <map>
#include <set>

#include <boost/function.hpp>
#include "macros.h"

namespace rosbag {

class Bag;
struct ConnectionInfo;
struct IndexEntry;

class ROSBAG_DECL Query
{
public:
    //! The base query takes an optional time-range
    /*!
     * param start_time the beginning of the time_range for the query
     * param end_time   the end of the time_range for the query
     */
    Query(boost::function<bool(ConnectionInfo const*)>& query,
    	  ros::Time const& start_time = ros::TIME_MIN,
          ros::Time const& end_time   = ros::TIME_MAX);

    boost::function<bool(ConnectionInfo const*)> const& getQuery() const;  //!< Get the query functor

    ros::Time const& getStartTime() const; //!< Get the start-time
    ros::Time const& getEndTime()   const; //!< Get the end-time

private:
    boost::function<bool(ConnectionInfo const*)> query_;
    ros::Time start_time_;
    ros::Time end_time_;
};

class ROSBAG_DECL TopicQuery
{
public:
    TopicQuery(std::string const& topic);
    TopicQuery(std::vector<std::string> const& topics);

    bool operator()(ConnectionInfo const*) const;

private:
    std::vector<std::string> topics_;
};

class ROSBAG_DECL TypeQuery
{
public:
    TypeQuery(std::string const& type);
    TypeQuery(std::vector<std::string> const& types);

    bool operator()(ConnectionInfo const*) const;

private:
    std::vector<std::string> types_;
};

//! Pairs of queries and the bags they come from (used internally by View)
struct ROSBAG_DECL BagQuery
{
    BagQuery(Bag const* _bag, Query const& _query, uint32_t _bag_revision);

    Bag const* bag;
    Query      query;
    uint32_t   bag_revision;
};

struct ROSBAG_DECL MessageRange
{
    MessageRange(std::multiset<IndexEntry>::const_iterator const& _begin,
                 std::multiset<IndexEntry>::const_iterator const& _end,
                 ConnectionInfo const* _connection_info,
                 BagQuery const* _bag_query);

    std::multiset<IndexEntry>::const_iterator begin;
    std::multiset<IndexEntry>::const_iterator end;
    ConnectionInfo const* connection_info;
    BagQuery const* bag_query;           //!< pointer to vector of queries in View
};

//! The actual iterator data structure
struct ROSBAG_DECL ViewIterHelper
{
    ViewIterHelper(std::multiset<IndexEntry>::const_iterator _iter, MessageRange const* _range);

    std::multiset<IndexEntry>::const_iterator iter;
    MessageRange const* range;  //!< pointer to vector of ranges in View
};

struct ROSBAG_DECL ViewIterHelperCompare
{
    bool operator()(ViewIterHelper const& a, ViewIterHelper const& b);
};

} // namespace rosbag

#endif
