Logging.hh

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/* 
 * Copyright (c) 2008 DFKI
 * Copyright (c) 2005-2006 LAAS/CNRS <openrobots@laas.fr>
 *      Sylvain Joyeux <sylvain.joyeux@m4x.org>
 *
 * All rights reserved.
 *
 * Redistribution and use  in source  and binary  forms,  with or without
 * modification, are permitted provided that the following conditions are
 * met:
 *
 *   1. Redistributions of  source  code must retain the  above copyright
 *      notice, this list of conditions and the following disclaimer.
 *   2. Redistributions in binary form must reproduce the above copyright
 *      notice,  this list of  conditions and the following disclaimer in
 *      the  documentation  and/or  other   materials provided  with  the
 *      distribution.
 *
 * THIS  SOFTWARE IS PROVIDED BY  THE  COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND  ANY  EXPRESS OR IMPLIED  WARRANTIES,  INCLUDING,  BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES  OF MERCHANTABILITY AND FITNESS FOR
 * A PARTICULAR  PURPOSE ARE DISCLAIMED. IN  NO EVENT SHALL THE COPYRIGHT
 * HOLDERS OR      CONTRIBUTORS  BE LIABLE FOR   ANY    DIRECT, INDIRECT,
 * INCIDENTAL,  SPECIAL,  EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF  SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN  CONTRACT, STRICT LIABILITY, OR
 * TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
 * USE   OF THIS SOFTWARE, EVEN   IF ADVISED OF   THE POSSIBILITY OF SUCH
 * DAMAGE.
 */

#ifndef OROCOS_LOGGER_H
#define OROCOS_LOGGER_H

#include <base/Time.hpp>
#include <stdint.h>

namespace Logging
{
    // Version 1 is the same format without a prologue, and without the compression
    // flag in data blocks
    static const int FORMAT_VERSION = 2;
    extern const char FORMAT_MAGIC[];

    struct Prologue
    {
        char magic[7];
        uint8_t  padding;

        uint32_t version;
        uint32_t flags;
        Prologue()
            : padding(0), version(0), flags(0)
        {
            for (int i = 0; i < 7; ++i)
                magic[i] = FORMAT_MAGIC[i];
        }
    };

    struct BlockHeader
    {   
        uint8_t  type;
        uint8_t  padding;
        uint16_t stream_idx;
        uint32_t data_size;
    };
    static const int BLOCK_HEADER_SIZE = 8;

    struct SampleHeader
    {
        base::Time realtime;
        base::Time timestamp;
        uint32_t  data_size;
        uint8_t   compressed;
    };
    static const int SAMPLE_HEADER_SIZE = 21;

    enum BlockType   
    { 
        UnknownBlockType = 0,
        StreamBlockType = 1,  
        DataBlockType = 2,    
        ControlBlockType = 3  
    };
    enum StreamType 
    { 
        UnknownStreamType = 0, 
        DataStreamType = 1, 
        ControlStreamType = 2
    };
    enum CommandType 
    { 
        SetTimeBase = 0,
        SetTimeOffset = 1
    };

};

#endif