Add 'rosbags/' from commit 'c80625df279c154c6ec069cbac30faa319755e47'
git-subtree-dir: rosbags git-subtree-mainline: 48df1fbdf4490f3cbfa3267c998d1a0fc98378ca git-subtree-split: c80625df279c154c6ec069cbac30faa319755e47
This commit is contained in:
commit
0c9504b343
21
rosbags/.gitignore
vendored
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21
rosbags/.gitignore
vendored
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@ -0,0 +1,21 @@
|
||||
*.py[co]
|
||||
*.egg-info/
|
||||
.eggs/
|
||||
__pycache__/
|
||||
|
||||
/build/
|
||||
/dist/
|
||||
/public/
|
||||
/venv/
|
||||
|
||||
/.mypy_cache/
|
||||
/.pytest_cache/
|
||||
/htmlcov/
|
||||
/.coverage
|
||||
/coverage.xml
|
||||
/report.xml
|
||||
|
||||
/tools/messages/[^.]*
|
||||
|
||||
*.sw[op]
|
||||
/.vscode
|
||||
51
rosbags/.gitlab-ci.yml
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51
rosbags/.gitlab-ci.yml
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@ -0,0 +1,51 @@
|
||||
stages:
|
||||
- test
|
||||
- build
|
||||
|
||||
|
||||
test:
|
||||
stage: test
|
||||
image: python:3.8
|
||||
script:
|
||||
- python3.8 -m venv venv
|
||||
- venv/bin/python -m pip install -r requirements-dev.txt
|
||||
- venv/bin/python -m pip install -e .[dev]
|
||||
- venv/bin/pytest --cov-report=term --cov-report=xml --junit-xml=report.xml
|
||||
- venv/bin/flake8 src tests
|
||||
- venv/bin/mypy --no-error-summary src tests
|
||||
- venv/bin/pylint --jobs 0 --score n src tests
|
||||
- venv/bin/yapf -dpr src tests
|
||||
- venv/bin/sphinx-build docs public
|
||||
coverage: '/\d+\%\s*$/'
|
||||
artifacts:
|
||||
paths:
|
||||
- public
|
||||
reports:
|
||||
coverage_report:
|
||||
coverage_format: cobertura
|
||||
path: coverage.xml
|
||||
junit: report.xml
|
||||
|
||||
|
||||
build:
|
||||
stage: build
|
||||
image: python:3.8
|
||||
script:
|
||||
- python3.8 -m venv venv
|
||||
- venv/bin/python -m pip install build
|
||||
- venv/bin/python -m build .
|
||||
artifacts:
|
||||
paths:
|
||||
- dist
|
||||
|
||||
|
||||
pages:
|
||||
stage: build
|
||||
image: python:3.8
|
||||
script:
|
||||
- ls public
|
||||
artifacts:
|
||||
paths:
|
||||
- public
|
||||
only:
|
||||
- master
|
||||
28
rosbags/.gitlab/issue_templates/bug.md
Normal file
28
rosbags/.gitlab/issue_templates/bug.md
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@ -0,0 +1,28 @@
|
||||
## Your Environment
|
||||
|
||||
Thank you for taking the time to report an issue.
|
||||
|
||||
To more efficiently resolve this issue, we'd like to know some basic information about your system and setup.
|
||||
|
||||
1) Your operating system:
|
||||
|
||||
2) Version of python you are running (`python --version`):
|
||||
|
||||
3) How did you install rosbags? Did you use pip to install from PyPI or a repository checkout or something else?
|
||||
|
||||
4) Version of rosbags you have installed (`pip show rosbags | grep Version`):
|
||||
|
||||
|
||||
If you're having issues with (de)serialization of custom message types please include a copy of the following:
|
||||
* Message definition files (msg or idl)
|
||||
* The bytes of an example message
|
||||
|
||||
|
||||
## The Issue
|
||||
|
||||
Please describe the issue that you are experiencing.
|
||||
|
||||
|
||||
## Steps to Reproduce
|
||||
|
||||
If the issue is predictable and consistently reproducible, please list the steps here.
|
||||
148
rosbags/CHANGES.rst
Normal file
148
rosbags/CHANGES.rst
Normal file
@ -0,0 +1,148 @@
|
||||
.. _changes:
|
||||
|
||||
Changes
|
||||
=======
|
||||
|
||||
0.9.15 - 2023-03-02
|
||||
-------------------
|
||||
- Refactor rosbag2 Reader for multipe storage backends
|
||||
- Improve parsing of IDL files
|
||||
- Handle bags contaning only connection records
|
||||
- Add AnyReader to documentation
|
||||
- Add initial MCAP reader for rosbag2 `#33`_
|
||||
|
||||
.. _#33: https://gitlab.com/ternaris/rosbags/issues/33
|
||||
|
||||
|
||||
0.9.14 - 2023-01-12
|
||||
-------------------
|
||||
- Fix reader example in README `#40`_
|
||||
- Flush decompressed files rosbag2.Reader
|
||||
- Advertise Python 3.11 compatibility
|
||||
|
||||
.. _#40: https://gitlab.com/ternaris/rosbags/issues/40
|
||||
|
||||
|
||||
0.9.13 - 2022-09-23
|
||||
-------------------
|
||||
- Fix parsing of comments in message definitions `#31`_
|
||||
- Fix parsing of members starting with ``string`` in message definitions `#35`_
|
||||
- Change lz4 compression level to 0 `#36`_
|
||||
- Add include filters to rosbag conversion `#38`_
|
||||
- Implement direct ros1 (de)serialization
|
||||
|
||||
.. _#31: https://gitlab.com/ternaris/rosbags/issues/31
|
||||
.. _#35: https://gitlab.com/ternaris/rosbags/issues/35
|
||||
.. _#36: https://gitlab.com/ternaris/rosbags/issues/36
|
||||
.. _#38: https://gitlab.com/ternaris/rosbags/issues/38
|
||||
|
||||
|
||||
0.9.12 - 2022-07-27
|
||||
-------------------
|
||||
- Add support for rosbag2 version 6 metadata `#30`_
|
||||
- Enable rosbags-convert to exclude topics `#25`_
|
||||
|
||||
.. _#30: https://gitlab.com/ternaris/rosbags/issues/30
|
||||
.. _#25: https://gitlab.com/ternaris/rosbags/issues/25
|
||||
|
||||
|
||||
0.9.11 - 2022-05-17
|
||||
-------------------
|
||||
- Report start_time and end_time on empty bags
|
||||
|
||||
|
||||
0.9.10 - 2022-05-04
|
||||
-------------------
|
||||
- Add support for multiple type stores
|
||||
- Document which types are supported out of the box `#21`_
|
||||
- Unify Connection and TopicInfo objects across rosbag1 and rosbag2
|
||||
- Add experimental all-in-one reader for rosbag1, split rosbag1, and rosbag2
|
||||
- Convert reader and writer .connection attribute from dict to list
|
||||
- Add support for rosbag2 version 5 metadata `#18`_
|
||||
- Speed up opening of rosbag1 files
|
||||
- Fix serialization of empty message sequences `#23`_
|
||||
|
||||
.. _#18: https://gitlab.com/ternaris/rosbags/issues/18
|
||||
.. _#21: https://gitlab.com/ternaris/rosbags/issues/21
|
||||
.. _#23: https://gitlab.com/ternaris/rosbags/issues/23
|
||||
|
||||
|
||||
0.9.9 - 2022-01-10
|
||||
------------------
|
||||
- Fix documentation code samples `#15`_
|
||||
- Fix handling of padding after empty sequences `#14`_
|
||||
- Support conversion from rosbag2 to rosbag1 `#11`_
|
||||
|
||||
.. _#11: https://gitlab.com/ternaris/rosbags/issues/11
|
||||
.. _#14: https://gitlab.com/ternaris/rosbags/issues/14
|
||||
.. _#15: https://gitlab.com/ternaris/rosbags/issues/15
|
||||
|
||||
|
||||
0.9.8 - 2021-11-25
|
||||
------------------
|
||||
- Support bool and float constants in msg files
|
||||
|
||||
|
||||
0.9.7 - 2021-11-09
|
||||
------------------
|
||||
- Fix parsing of const fields with string value `#9`_
|
||||
- Parse empty msg definitions
|
||||
- Make packages PEP561 compliant
|
||||
- Parse msg bounded fields and default values `#12`_
|
||||
|
||||
.. _#9: https://gitlab.com/ternaris/rosbags/issues/9
|
||||
.. _#12: https://gitlab.com/ternaris/rosbags/issues/12
|
||||
|
||||
0.9.6 - 2021-10-04
|
||||
------------------
|
||||
- Do not match msg separator as constant value
|
||||
|
||||
|
||||
0.9.5 - 2021-10-04
|
||||
------------------
|
||||
- Add string constant support to msg parser
|
||||
|
||||
|
||||
0.9.4 - 2021-09-15
|
||||
------------------
|
||||
- Make reader1 API match reader2
|
||||
- Fix connection mapping for reader2 messages `#1`_, `#8`_
|
||||
|
||||
.. _#1: https://gitlab.com/ternaris/rosbags/issues/1
|
||||
.. _#8: https://gitlab.com/ternaris/rosbags/issues/8
|
||||
|
||||
0.9.3 - 2021-08-06
|
||||
------------------
|
||||
|
||||
- Add const fields to type classes
|
||||
- Add CDR to ROS1 bytestream conversion
|
||||
- Add ROS1 message definiton generator
|
||||
- Use connection oriented APIs in readers and writers
|
||||
- Add rosbag1 writer
|
||||
|
||||
|
||||
0.9.2 - 2021-07-08
|
||||
------------------
|
||||
|
||||
- Support relative type references in msg files
|
||||
|
||||
|
||||
0.9.1 - 2021-07-05
|
||||
------------------
|
||||
|
||||
- Use half-open intervals for time ranges
|
||||
- Create appropriate QoS profiles for latched topics in converted bags
|
||||
- Fix return value tuple order of messages() in documentation `#2`_
|
||||
- Add type hints to message classes
|
||||
- Remove non-default ROS2 message types
|
||||
- Support multi-line comments in idl files
|
||||
- Fix parsing of msg files on non-POSIX platforms `#4`_
|
||||
|
||||
.. _#2: https://gitlab.com/ternaris/rosbags/issues/2
|
||||
.. _#4: https://gitlab.com/ternaris/rosbags/issues/4
|
||||
|
||||
|
||||
0.9.0 - 2021-05-16
|
||||
------------------
|
||||
|
||||
- Initial Release
|
||||
78
rosbags/CONTRIBUTING.rst
Normal file
78
rosbags/CONTRIBUTING.rst
Normal file
@ -0,0 +1,78 @@
|
||||
==================
|
||||
Contribution guide
|
||||
==================
|
||||
|
||||
Thank you for considering to contribute to rosbags. Below is information on how to report issues and submit your contributions to rosbags.
|
||||
|
||||
|
||||
Rights to and license of contributions
|
||||
======================================
|
||||
|
||||
Rosbags is licensed under `Apache 2.0`_. Your submission of an issue, merge request, comment, or code to us is:
|
||||
|
||||
1. If your employer has rights in your contributions, your representation that your employer has authorized you to enter into this agreement on its behalf;
|
||||
|
||||
2. Your agreement, or your employer's agreement, with the terms and conditions in this document;
|
||||
|
||||
3. Your signature of the `Developer Certificate of Origin`_; and
|
||||
|
||||
4. Your grant of a license to your contributions under `Apache 2.0`_.
|
||||
|
||||
|
||||
Contributing code / merge requests
|
||||
==================================
|
||||
|
||||
In order to contribute code there are a few noteworthy things:
|
||||
|
||||
1. Especially for non-trivial contributions, please **submit an issue first** to discuss your ideas.
|
||||
|
||||
2. If your merge requests relates to an existing issue, please reference it from your merge request.
|
||||
|
||||
3. When creating a merge request, please `allow collaboration`_. This enables us to make small adjustments and rebase the branch as needed. Please use dedicated branches for your merge request and don't give us access to a branch that is dear to you.
|
||||
|
||||
4. Stick to *The seven rules of a great Git commit message* (see below).
|
||||
|
||||
5. We require you to **sign-off your commits** (see below). Your sign-off indicates that you agreed to the terms and conditions laid out in this document, if applicable on behalf of your employer.
|
||||
|
||||
.. _allow collaboration:
|
||||
https://docs.gitlab.com/ee/user/project/merge_requests/allow_collaboration.html
|
||||
|
||||
|
||||
The seven rules of a great Git commit message
|
||||
---------------------------------------------
|
||||
|
||||
We like `The seven rules of a great Git commit message`_, summarized here for completeness, follow links for further reading.
|
||||
|
||||
1. `Separate subject from body with a blank line <https://chris.beams.io/posts/git-commit/#separate>`_
|
||||
|
||||
2. `Limit the subject line to 50 characters <https://chris.beams.io/posts/git-commit/#limit-50>`_ (soft-limit 50, hard-limit 72)
|
||||
|
||||
3. `Start subject line with uppercase letter <https://chris.beams.io/posts/git-commit/#capitalize>`_
|
||||
|
||||
4. `Do not end the subject line with a period <https://chris.beams.io/posts/git-commit/#end>`_
|
||||
|
||||
5. `Use the imperative mood in the subject line <https://chris.beams.io/posts/git-commit/#imperative>`_
|
||||
|
||||
6. `Wrap the body at 72 characters <https://chris.beams.io/posts/git-commit/#wrap-72>`_
|
||||
|
||||
7. `Use the body to explain what and why vs. how <https://chris.beams.io/posts/git-commit/#why-not-how>`_
|
||||
|
||||
.. _The seven rules of a great Git commit message: https://chris.beams.io/posts/git-commit/#seven-rules
|
||||
|
||||
|
||||
Signing off a commit
|
||||
--------------------
|
||||
|
||||
You sign off a commit by adding a line like the following to the bottom of its commit message, separated by an empty line.
|
||||
|
||||
::
|
||||
|
||||
Signed-off-by: Fullname <email@example.net>
|
||||
|
||||
Make sure it reflects your real name and email address. Git does this automatically when using ``git commit -s``.
|
||||
|
||||
Except for the licenses granted herein, you reserve all right, title, and interest in and to your contributions.
|
||||
|
||||
|
||||
.. _Apache 2.0: ./LICENSE.txt
|
||||
.. _Developer Certificate of Origin: https://developercertificate.org/
|
||||
202
rosbags/LICENSE.txt
Normal file
202
rosbags/LICENSE.txt
Normal file
@ -0,0 +1,202 @@
|
||||
|
||||
Apache License
|
||||
Version 2.0, January 2004
|
||||
http://www.apache.org/licenses/
|
||||
|
||||
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
|
||||
|
||||
1. Definitions.
|
||||
|
||||
"License" shall mean the terms and conditions for use, reproduction,
|
||||
and distribution as defined by Sections 1 through 9 of this document.
|
||||
|
||||
"Licensor" shall mean the copyright owner or entity authorized by
|
||||
the copyright owner that is granting the License.
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||||
|
||||
"Legal Entity" shall mean the union of the acting entity and all
|
||||
other entities that control, are controlled by, or are under common
|
||||
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|
||||
"control" means (i) the power, direct or indirect, to cause the
|
||||
direction or management of such entity, whether by contract or
|
||||
otherwise, or (ii) ownership of fifty percent (50%) or more of the
|
||||
outstanding shares, or (iii) beneficial ownership of such entity.
|
||||
|
||||
"You" (or "Your") shall mean an individual or Legal Entity
|
||||
exercising permissions granted by this License.
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|
||||
"Source" form shall mean the preferred form for making modifications,
|
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including but not limited to software source code, documentation
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|
||||
"Object" form shall mean any form resulting from mechanical
|
||||
transformation or translation of a Source form, including but
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not limited to compiled object code, generated documentation,
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and conversions to other media types.
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||||
"Work" shall mean the work of authorship, whether in Source or
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|
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||||
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|
||||
5. Submission of Contributions. Unless You explicitly state otherwise,
|
||||
any Contribution intentionally submitted for inclusion in the Work
|
||||
by You to the Licensor shall be under the terms and conditions of
|
||||
this License, without any additional terms or conditions.
|
||||
Notwithstanding the above, nothing herein shall supersede or modify
|
||||
the terms of any separate license agreement you may have executed
|
||||
with Licensor regarding such Contributions.
|
||||
|
||||
6. Trademarks. This License does not grant permission to use the trade
|
||||
names, trademarks, service marks, or product names of the Licensor,
|
||||
except as required for reasonable and customary use in describing the
|
||||
origin of the Work and reproducing the content of the NOTICE file.
|
||||
|
||||
7. Disclaimer of Warranty. Unless required by applicable law or
|
||||
agreed to in writing, Licensor provides the Work (and each
|
||||
Contributor provides its Contributions) on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
|
||||
implied, including, without limitation, any warranties or conditions
|
||||
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
|
||||
PARTICULAR PURPOSE. You are solely responsible for determining the
|
||||
appropriateness of using or redistributing the Work and assume any
|
||||
risks associated with Your exercise of permissions under this License.
|
||||
|
||||
8. Limitation of Liability. In no event and under no legal theory,
|
||||
whether in tort (including negligence), contract, or otherwise,
|
||||
unless required by applicable law (such as deliberate and grossly
|
||||
negligent acts) or agreed to in writing, shall any Contributor be
|
||||
liable to You for damages, including any direct, indirect, special,
|
||||
incidental, or consequential damages of any character arising as a
|
||||
result of this License or out of the use or inability to use the
|
||||
Work (including but not limited to damages for loss of goodwill,
|
||||
work stoppage, computer failure or malfunction, or any and all
|
||||
other commercial damages or losses), even if such Contributor
|
||||
has been advised of the possibility of such damages.
|
||||
|
||||
9. Accepting Warranty or Additional Liability. While redistributing
|
||||
the Work or Derivative Works thereof, You may choose to offer,
|
||||
and charge a fee for, acceptance of support, warranty, indemnity,
|
||||
or other liability obligations and/or rights consistent with this
|
||||
License. However, in accepting such obligations, You may act only
|
||||
on Your own behalf and on Your sole responsibility, not on behalf
|
||||
of any other Contributor, and only if You agree to indemnify,
|
||||
defend, and hold each Contributor harmless for any liability
|
||||
incurred by, or claims asserted against, such Contributor by reason
|
||||
of your accepting any such warranty or additional liability.
|
||||
|
||||
END OF TERMS AND CONDITIONS
|
||||
|
||||
APPENDIX: How to apply the Apache License to your work.
|
||||
|
||||
To apply the Apache License to your work, attach the following
|
||||
boilerplate notice, with the fields enclosed by brackets "[]"
|
||||
replaced with your own identifying information. (Don't include
|
||||
the brackets!) The text should be enclosed in the appropriate
|
||||
comment syntax for the file format. We also recommend that a
|
||||
file or class name and description of purpose be included on the
|
||||
same "printed page" as the copyright notice for easier
|
||||
identification within third-party archives.
|
||||
|
||||
Copyright [yyyy] [name of copyright owner]
|
||||
|
||||
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.
|
||||
118
rosbags/README.rst
Normal file
118
rosbags/README.rst
Normal file
@ -0,0 +1,118 @@
|
||||
.. image:: https://gitlab.com/ternaris/rosbags/badges/master/pipeline.svg
|
||||
:target: https://gitlab.com/ternaris/rosbags/-/commits/master
|
||||
:alt: pipeline status
|
||||
|
||||
.. image:: https://gitlab.com/ternaris/rosbags/badges/master/coverage.svg
|
||||
:target: https://gitlab.com/ternaris/rosbags/-/commits/master
|
||||
:alt: coverage report
|
||||
|
||||
.. image:: https://img.shields.io/pypi/pyversions/rosbags
|
||||
:alt: python versions
|
||||
|
||||
=======
|
||||
Rosbags
|
||||
=======
|
||||
|
||||
Rosbags is the **pure python** library for everything rosbag. It contains:
|
||||
|
||||
- **highlevel** easy-to-use interfaces,
|
||||
- **rosbag2** reader and writer,
|
||||
- **rosbag1** reader and writer,
|
||||
- **extensible** type system with serializers and deserializers,
|
||||
- **efficient converter** between rosbag1 and rosbag2,
|
||||
- and more.
|
||||
|
||||
Rosbags does not have any dependencies on the ROS software stacks and can be used on its own or alongside ROS1 or ROS2.
|
||||
|
||||
Rosbags was developed for `MARV <https://gitlab.com/ternaris/marv-robotics>`_, which requires a fast, correct, and flexible library to read, manipulate, and write the various rosbag file formats.
|
||||
|
||||
|
||||
Getting started
|
||||
===============
|
||||
|
||||
Rosbags is published on PyPI and does not have any special dependencies. Simply install with pip::
|
||||
|
||||
pip install rosbags
|
||||
|
||||
|
||||
Read and deserialize messages from rosbag1 or rosbag2 files:
|
||||
|
||||
.. code-block:: python
|
||||
|
||||
from pathlib import Path
|
||||
|
||||
from rosbags.highlevel import AnyReader
|
||||
|
||||
# create reader instance and open for reading
|
||||
with AnyReader([Path('/home/ros/rosbag_2020_03_24')]) as reader:
|
||||
connections = [x for x in reader.connections if x.topic == '/imu_raw/Imu']
|
||||
for connection, timestamp, rawdata in reader.messages(connections=connections):
|
||||
msg = reader.deserialize(rawdata, connection.msgtype)
|
||||
print(msg.header.frame_id)
|
||||
|
||||
|
||||
Convert between rosbag versions::
|
||||
|
||||
# Convert "foo.bag", result will be "foo/"
|
||||
rosbags-convert foo.bag
|
||||
|
||||
# Convert "bar", result will be "bar.bag"
|
||||
rosbags-convert bar
|
||||
|
||||
# Convert "foo.bag", save the result as "bar"
|
||||
rosbags-convert foo.bag --dst /path/to/bar
|
||||
|
||||
# Convert "bar", save the result as "foo.bag"
|
||||
rosbags-convert bar --dst /path/to/foo.bag
|
||||
|
||||
|
||||
Documentation
|
||||
=============
|
||||
|
||||
Read the `documentation <https://ternaris.gitlab.io/rosbags/>`_ for further information.
|
||||
|
||||
.. end documentation
|
||||
|
||||
|
||||
Contributing
|
||||
============
|
||||
|
||||
Thank you for considering to contribute to rosbags.
|
||||
|
||||
To submit issues or create merge requests please follow the instructions provided in the `contribution guide <https://gitlab.com/ternaris/rosbags/-/blob/master/CONTRIBUTING.rst>`_.
|
||||
|
||||
By contributing to rosbags you accept and agree to the terms and conditions laid out in there.
|
||||
|
||||
|
||||
Development
|
||||
===========
|
||||
|
||||
Clone the repository and setup your local checkout::
|
||||
|
||||
git clone https://gitlab.com/ternaris/rosbags.git
|
||||
|
||||
cd rosbags
|
||||
python -m venv venv
|
||||
. venv/bin/activate
|
||||
|
||||
pip install -r requirements-dev.txt
|
||||
pip install -e .
|
||||
|
||||
|
||||
This creates a new virtual environment with the necessary python dependencies and installs rosbags in editable mode. The rosbags code base uses pytest as its test runner, run the test suite by simply invoking::
|
||||
|
||||
pytest
|
||||
|
||||
|
||||
To build the documentation from its source run sphinx-build::
|
||||
|
||||
sphinx-build -a docs public
|
||||
|
||||
|
||||
The entry point to the local documentation build should be available under ``public/index.html``.
|
||||
|
||||
|
||||
Support
|
||||
=======
|
||||
|
||||
Professional support is available from `Ternaris <https://ternaris.com>`_.
|
||||
6
rosbags/docs/api/rosbags.convert.rst
Normal file
6
rosbags/docs/api/rosbags.convert.rst
Normal file
@ -0,0 +1,6 @@
|
||||
rosbags.convert
|
||||
===============
|
||||
|
||||
.. automodule:: rosbags.convert
|
||||
:members:
|
||||
:show-inheritance:
|
||||
6
rosbags/docs/api/rosbags.highlevel.rst
Normal file
6
rosbags/docs/api/rosbags.highlevel.rst
Normal file
@ -0,0 +1,6 @@
|
||||
rosbags.highlevel
|
||||
=================
|
||||
|
||||
.. automodule:: rosbags.highlevel
|
||||
:members:
|
||||
:show-inheritance:
|
||||
6
rosbags/docs/api/rosbags.rosbag1.rst
Normal file
6
rosbags/docs/api/rosbags.rosbag1.rst
Normal file
@ -0,0 +1,6 @@
|
||||
rosbags.rosbag1
|
||||
===============
|
||||
|
||||
.. automodule:: rosbags.rosbag1
|
||||
:members:
|
||||
:show-inheritance:
|
||||
6
rosbags/docs/api/rosbags.rosbag2.rst
Normal file
6
rosbags/docs/api/rosbags.rosbag2.rst
Normal file
@ -0,0 +1,6 @@
|
||||
rosbags.rosbag2
|
||||
===============
|
||||
|
||||
.. automodule:: rosbags.rosbag2
|
||||
:members:
|
||||
:show-inheritance:
|
||||
13
rosbags/docs/api/rosbags.rst
Normal file
13
rosbags/docs/api/rosbags.rst
Normal file
@ -0,0 +1,13 @@
|
||||
Rosbags namespace
|
||||
=================
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 4
|
||||
|
||||
rosbags.convert
|
||||
rosbags.highlevel
|
||||
rosbags.rosbag1
|
||||
rosbags.rosbag2
|
||||
rosbags.serde
|
||||
rosbags.typesys
|
||||
rosbags.typesys.types
|
||||
6
rosbags/docs/api/rosbags.serde.rst
Normal file
6
rosbags/docs/api/rosbags.serde.rst
Normal file
@ -0,0 +1,6 @@
|
||||
rosbags.serde
|
||||
=============
|
||||
|
||||
.. automodule:: rosbags.serde
|
||||
:members:
|
||||
:show-inheritance:
|
||||
6
rosbags/docs/api/rosbags.typesys.rst
Normal file
6
rosbags/docs/api/rosbags.typesys.rst
Normal file
@ -0,0 +1,6 @@
|
||||
rosbags.typesys
|
||||
===============
|
||||
|
||||
.. automodule:: rosbags.typesys
|
||||
:members:
|
||||
:show-inheritance:
|
||||
6
rosbags/docs/api/rosbags.typesys.types.rst
Normal file
6
rosbags/docs/api/rosbags.typesys.types.rst
Normal file
@ -0,0 +1,6 @@
|
||||
rosbags.typesys.types
|
||||
=====================
|
||||
|
||||
.. automodule:: rosbags.typesys.types
|
||||
:members:
|
||||
:show-inheritance:
|
||||
1
rosbags/docs/changes.rst
Normal file
1
rosbags/docs/changes.rst
Normal file
@ -0,0 +1 @@
|
||||
.. include:: ../CHANGES.rst
|
||||
34
rosbags/docs/conf.py
Normal file
34
rosbags/docs/conf.py
Normal file
@ -0,0 +1,34 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Sphinx config."""
|
||||
|
||||
import typing
|
||||
|
||||
# https://github.com/sphinx-doc/sphinx/issues/9243
|
||||
import sphinx.builders.html as _1
|
||||
import sphinx.builders.latex as _2
|
||||
import sphinx.builders.texinfo as _3
|
||||
import sphinx.builders.text as _4
|
||||
import sphinx.ext.autodoc as _5
|
||||
|
||||
__all__ = ['_1', '_2', '_3', '_4', '_5']
|
||||
|
||||
# pylint: disable=invalid-name,redefined-builtin
|
||||
|
||||
typing.TYPE_CHECKING = True
|
||||
|
||||
project = 'Rosbags'
|
||||
copyright = '2020-2023, Ternaris'
|
||||
author = 'Ternaris'
|
||||
|
||||
autoapi_python_use_implicit_namespaces = True
|
||||
autodoc_typehints = 'description'
|
||||
|
||||
extensions = [
|
||||
'sphinx.ext.autodoc',
|
||||
'sphinx.ext.napoleon',
|
||||
'sphinx_autodoc_typehints',
|
||||
'sphinx_rtd_theme',
|
||||
]
|
||||
|
||||
html_theme = 'sphinx_rtd_theme'
|
||||
44
rosbags/docs/examples/edit_rosbags_edit_timestamps.py
Normal file
44
rosbags/docs/examples/edit_rosbags_edit_timestamps.py
Normal file
@ -0,0 +1,44 @@
|
||||
"""Example: Edit timestamps."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from typing import TYPE_CHECKING, cast
|
||||
|
||||
from rosbags.interfaces import ConnectionExtRosbag2
|
||||
from rosbags.rosbag2 import Reader, Writer
|
||||
from rosbags.serde import deserialize_cdr, serialize_cdr
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from pathlib import Path
|
||||
|
||||
|
||||
def offset_timestamps(src: Path, dst: Path, offset: int) -> None:
|
||||
"""Offset timestamps.
|
||||
|
||||
Args:
|
||||
src: Source path.
|
||||
dst: Destination path.
|
||||
offset: Amount of nanoseconds to offset timestamps.
|
||||
|
||||
"""
|
||||
with Reader(src) as reader, Writer(dst) as writer:
|
||||
conn_map = {}
|
||||
for conn in reader.connections:
|
||||
ext = cast(ConnectionExtRosbag2, conn.ext)
|
||||
conn_map[conn.id] = writer.add_connection(
|
||||
conn.topic,
|
||||
conn.msgtype,
|
||||
ext.serialization_format,
|
||||
ext.offered_qos_profiles,
|
||||
)
|
||||
|
||||
for conn, timestamp, data in reader.messages():
|
||||
# Adjust header timestamps, too
|
||||
msg = deserialize_cdr(data, conn.msgtype)
|
||||
if head := getattr(msg, 'header', None):
|
||||
headstamp = head.stamp.sec * 10**9 + head.stamp.nanosec + offset
|
||||
head.stamp.sec = headstamp // 10**9
|
||||
head.stamp.nanosec = headstamp % 10**9
|
||||
data = serialize_cdr(msg, conn.msgtype)
|
||||
|
||||
writer.write(conn_map[conn.id], timestamp + offset, data)
|
||||
38
rosbags/docs/examples/edit_rosbags_remove_topic.py
Normal file
38
rosbags/docs/examples/edit_rosbags_remove_topic.py
Normal file
@ -0,0 +1,38 @@
|
||||
"""Example: Remove topic."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from typing import TYPE_CHECKING, cast
|
||||
|
||||
from rosbags.interfaces import ConnectionExtRosbag2
|
||||
from rosbags.rosbag2 import Reader, Writer
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from pathlib import Path
|
||||
|
||||
|
||||
def remove_topic(src: Path, dst: Path, topic: str) -> None:
|
||||
"""Remove topic from rosbag2.
|
||||
|
||||
Args:
|
||||
src: Source path.
|
||||
dst: Destination path.
|
||||
topic: Name of topic to remove.
|
||||
|
||||
"""
|
||||
with Reader(src) as reader, Writer(dst) as writer:
|
||||
conn_map = {}
|
||||
for conn in reader.connections:
|
||||
if conn.topic == topic:
|
||||
continue
|
||||
ext = cast(ConnectionExtRosbag2, conn.ext)
|
||||
conn_map[conn.id] = writer.add_connection(
|
||||
conn.topic,
|
||||
conn.msgtype,
|
||||
ext.serialization_format,
|
||||
ext.offered_qos_profiles,
|
||||
)
|
||||
|
||||
rconns = [reader.connections[x] for x in conn_map]
|
||||
for conn, timestamp, data in reader.messages(connections=rconns):
|
||||
writer.write(conn_map[conn.id], timestamp, data)
|
||||
16
rosbags/docs/examples/edit_rosbas.rst
Normal file
16
rosbags/docs/examples/edit_rosbas.rst
Normal file
@ -0,0 +1,16 @@
|
||||
Edit rosbags
|
||||
============
|
||||
|
||||
Rosbags does not support opening files in read-write mode, but implicitly enforces copy-on-write semantics. Apart from the mapping of reader to writer connections the process is fairly straightforward.
|
||||
|
||||
|
||||
Remove topic
|
||||
------------
|
||||
|
||||
.. literalinclude:: ./edit_rosbags_remove_topic.py
|
||||
|
||||
|
||||
Edit timestamps
|
||||
---------------
|
||||
|
||||
.. literalinclude:: ./edit_rosbags_edit_timestamps.py
|
||||
22
rosbags/docs/examples/register_types.rst
Normal file
22
rosbags/docs/examples/register_types.rst
Normal file
@ -0,0 +1,22 @@
|
||||
Register custom message types
|
||||
=============================
|
||||
|
||||
Out of the box rosbags only supports the message types that ship with a default ROS2 distribution. If you want to (de)serialize custom messages you need to add them to the type system manually.
|
||||
|
||||
|
||||
From rosbag1
|
||||
------------
|
||||
|
||||
.. literalinclude:: ./register_types_rosbag1.py
|
||||
|
||||
|
||||
From definition string
|
||||
----------------------
|
||||
|
||||
.. literalinclude:: ./register_types_string.py
|
||||
|
||||
|
||||
From multiple files
|
||||
-------------------
|
||||
|
||||
.. literalinclude:: ./register_types_files.py
|
||||
35
rosbags/docs/examples/register_types_files.py
Normal file
35
rosbags/docs/examples/register_types_files.py
Normal file
@ -0,0 +1,35 @@
|
||||
"""Example: Register types from msg files."""
|
||||
|
||||
from pathlib import Path
|
||||
|
||||
from rosbags.typesys import get_types_from_msg, register_types
|
||||
|
||||
|
||||
def guess_msgtype(path: Path) -> str:
|
||||
"""Guess message type name from path."""
|
||||
name = path.relative_to(path.parents[2]).with_suffix('')
|
||||
if 'msg' not in name.parts:
|
||||
name = name.parent / 'msg' / name.name
|
||||
return str(name)
|
||||
|
||||
|
||||
add_types = {}
|
||||
|
||||
for pathstr in [
|
||||
'/path/to/custom_msgs/msg/Speed.msg',
|
||||
'/path/to/custom_msgs/msg/Accel.msg',
|
||||
]:
|
||||
msgpath = Path(pathstr)
|
||||
msgdef = msgpath.read_text(encoding='utf-8')
|
||||
add_types.update(get_types_from_msg(msgdef, guess_msgtype(msgpath)))
|
||||
|
||||
register_types(add_types)
|
||||
|
||||
# Type import works only after the register_types call,
|
||||
# the classname is derived from the msgtype names above.
|
||||
|
||||
# pylint: disable=no-name-in-module,wrong-import-position
|
||||
from rosbags.typesys.types import custom_msgs__msg__Accel as Accel # type: ignore # noqa
|
||||
from rosbags.typesys.types import custom_msgs__msg__Speed as Speed # type: ignore # noqa
|
||||
|
||||
# pylint: enable=no-name-in-module,wrong-import-position
|
||||
29
rosbags/docs/examples/register_types_rosbag1.py
Normal file
29
rosbags/docs/examples/register_types_rosbag1.py
Normal file
@ -0,0 +1,29 @@
|
||||
"""Example: Register rosbag1 types."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from typing import TYPE_CHECKING
|
||||
|
||||
from rosbags.rosbag1 import Reader
|
||||
from rosbags.typesys import get_types_from_msg, register_types
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from pathlib import Path
|
||||
|
||||
|
||||
def process_bag(src: Path) -> None:
|
||||
"""Register contained messages types before processing bag.
|
||||
|
||||
Args:
|
||||
src: Bag to process.
|
||||
|
||||
"""
|
||||
with Reader(src) as reader:
|
||||
typs = {}
|
||||
for conn in reader.connections:
|
||||
typs.update(get_types_from_msg(conn.msgdef, conn.msgtype))
|
||||
register_types(typs)
|
||||
|
||||
# Now all message types used in the bag are registered
|
||||
# for conn, timestamp, data in reader.messages():
|
||||
# ...
|
||||
25
rosbags/docs/examples/register_types_string.py
Normal file
25
rosbags/docs/examples/register_types_string.py
Normal file
@ -0,0 +1,25 @@
|
||||
"""Example: Register type from definition string."""
|
||||
|
||||
from rosbags.serde import serialize_cdr
|
||||
from rosbags.typesys import get_types_from_msg, register_types
|
||||
|
||||
# Your custom message definition
|
||||
STRIDX_MSG = """
|
||||
string string
|
||||
uint32 index
|
||||
"""
|
||||
|
||||
register_types(get_types_from_msg(STRIDX_MSG, 'custom_msgs/msg/StrIdx'))
|
||||
|
||||
# Type import works only after the register_types call,
|
||||
# the classname is derived from the msgtype name above
|
||||
|
||||
# pylint: disable=no-name-in-module,wrong-import-position
|
||||
from rosbags.typesys.types import custom_msgs__msg__StrIdx as StrIdx # type: ignore # noqa
|
||||
|
||||
# pylint: enable=no-name-in-module,wrong-import-position
|
||||
|
||||
message = StrIdx(string='foo', index=42)
|
||||
|
||||
# Rawdata that can be passed to rosbag2.Writer.write
|
||||
rawdata = serialize_cdr(message, message.__msgtype__)
|
||||
16
rosbags/docs/examples/save_images.rst
Normal file
16
rosbags/docs/examples/save_images.rst
Normal file
@ -0,0 +1,16 @@
|
||||
Save images as rosbag
|
||||
=====================
|
||||
|
||||
The following examples show how to create new ROS bags from images.
|
||||
|
||||
|
||||
Save rosbag1
|
||||
------------
|
||||
|
||||
.. literalinclude:: ./save_images_rosbag1.py
|
||||
|
||||
|
||||
Save rosbag2
|
||||
------------
|
||||
|
||||
.. literalinclude:: ./save_images_rosbag2.py
|
||||
43
rosbags/docs/examples/save_images_rosbag1.py
Normal file
43
rosbags/docs/examples/save_images_rosbag1.py
Normal file
@ -0,0 +1,43 @@
|
||||
"""Example: Save images as rosbag1."""
|
||||
|
||||
import numpy
|
||||
|
||||
from rosbags.rosbag1 import Writer
|
||||
from rosbags.serde import serialize_ros1
|
||||
from rosbags.typesys.types import builtin_interfaces__msg__Time as Time
|
||||
from rosbags.typesys.types import sensor_msgs__msg__CompressedImage as CompressedImage
|
||||
from rosbags.typesys.types import std_msgs__msg__Header as Header
|
||||
|
||||
TOPIC = '/camera'
|
||||
FRAMEID = 'map'
|
||||
|
||||
# Contains filenames and their timestamps
|
||||
IMAGES = [
|
||||
('homer.jpg', 42),
|
||||
('marge.jpg', 43),
|
||||
]
|
||||
|
||||
|
||||
def save_images() -> None:
|
||||
"""Iterate over IMAGES and save to output bag."""
|
||||
with Writer('output.bag') as writer:
|
||||
conn = writer.add_connection(TOPIC, CompressedImage.__msgtype__)
|
||||
|
||||
for path, timestamp in IMAGES:
|
||||
message = CompressedImage(
|
||||
Header(
|
||||
stamp=Time(
|
||||
sec=int(timestamp // 10**9),
|
||||
nanosec=int(timestamp % 10**9),
|
||||
),
|
||||
frame_id=FRAMEID,
|
||||
),
|
||||
format='jpeg', # could also be 'png'
|
||||
data=numpy.fromfile(path, dtype=numpy.uint8),
|
||||
)
|
||||
|
||||
writer.write(
|
||||
conn,
|
||||
timestamp,
|
||||
serialize_ros1(message, CompressedImage.__msgtype__),
|
||||
)
|
||||
43
rosbags/docs/examples/save_images_rosbag2.py
Normal file
43
rosbags/docs/examples/save_images_rosbag2.py
Normal file
@ -0,0 +1,43 @@
|
||||
"""Save multiple images in rosbag2."""
|
||||
|
||||
import numpy
|
||||
|
||||
from rosbags.rosbag2 import Writer
|
||||
from rosbags.serde import serialize_cdr
|
||||
from rosbags.typesys.types import builtin_interfaces__msg__Time as Time
|
||||
from rosbags.typesys.types import sensor_msgs__msg__CompressedImage as CompressedImage
|
||||
from rosbags.typesys.types import std_msgs__msg__Header as Header
|
||||
|
||||
TOPIC = '/camera'
|
||||
FRAMEID = 'map'
|
||||
|
||||
# Contains filenames and their timestamps
|
||||
IMAGES = [
|
||||
('homer.jpg', 42),
|
||||
('marge.jpg', 43),
|
||||
]
|
||||
|
||||
|
||||
def save_images() -> None:
|
||||
"""Iterate over IMAGES and save to output bag."""
|
||||
with Writer('output') as writer:
|
||||
conn = writer.add_connection(TOPIC, CompressedImage.__msgtype__, 'cdr', '')
|
||||
|
||||
for path, timestamp in IMAGES:
|
||||
message = CompressedImage(
|
||||
Header(
|
||||
stamp=Time(
|
||||
sec=int(timestamp // 10**9),
|
||||
nanosec=int(timestamp % 10**9),
|
||||
),
|
||||
frame_id=FRAMEID,
|
||||
),
|
||||
format='jpeg', # could also be 'png'
|
||||
data=numpy.fromfile(path, dtype=numpy.uint8),
|
||||
)
|
||||
|
||||
writer.write(
|
||||
conn,
|
||||
timestamp,
|
||||
serialize_cdr(message, message.__msgtype__),
|
||||
)
|
||||
66
rosbags/docs/examples/use_with_native.py
Normal file
66
rosbags/docs/examples/use_with_native.py
Normal file
@ -0,0 +1,66 @@
|
||||
"""Example: Message instance conversion."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import importlib
|
||||
from typing import TYPE_CHECKING
|
||||
|
||||
import numpy
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from typing import Any
|
||||
|
||||
NATIVE_CLASSES: dict[str, Any] = {}
|
||||
|
||||
|
||||
def to_native(msg: Any) -> Any: # noqa: ANN401
|
||||
"""Convert rosbags message to native message.
|
||||
|
||||
Args:
|
||||
msg: Rosbags message.
|
||||
|
||||
Returns:
|
||||
Native message.
|
||||
|
||||
"""
|
||||
msgtype: str = msg.__msgtype__
|
||||
if msgtype not in NATIVE_CLASSES:
|
||||
pkg, name = msgtype.rsplit('/', 1)
|
||||
NATIVE_CLASSES[msgtype] = getattr(importlib.import_module(pkg.replace('/', '.')), name)
|
||||
|
||||
fields = {}
|
||||
for name, field in msg.__dataclass_fields__.items():
|
||||
if 'ClassVar' in field.type:
|
||||
continue
|
||||
value = getattr(msg, name)
|
||||
if '__msg__' in field.type:
|
||||
value = to_native(value)
|
||||
elif isinstance(value, numpy.ndarray):
|
||||
value = value.tolist()
|
||||
fields[name] = value
|
||||
|
||||
return NATIVE_CLASSES[msgtype](**fields)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
from rosbags.typesys.types import (
|
||||
builtin_interfaces__msg__Time,
|
||||
sensor_msgs__msg__Image,
|
||||
std_msgs__msg__Header,
|
||||
)
|
||||
|
||||
image = sensor_msgs__msg__Image(
|
||||
std_msgs__msg__Header(
|
||||
builtin_interfaces__msg__Time(42, 666),
|
||||
'/frame',
|
||||
),
|
||||
4,
|
||||
4,
|
||||
'rgb8',
|
||||
False,
|
||||
4 * 3,
|
||||
numpy.zeros(4 * 4 * 3, dtype=numpy.uint8),
|
||||
)
|
||||
|
||||
native_image = to_native(image)
|
||||
# native_image can now be passed to the ROS stack
|
||||
10
rosbags/docs/examples/use_with_native.rst
Normal file
10
rosbags/docs/examples/use_with_native.rst
Normal file
@ -0,0 +1,10 @@
|
||||
Use with native stack
|
||||
=====================
|
||||
|
||||
Messages read with rosbags are simple dataclasses that mimic the native ROS2 interface. If you want to pass those messages to the native ROS2 stack, you need to convert them into native objects first.
|
||||
|
||||
|
||||
Message instance conversion
|
||||
---------------------------
|
||||
|
||||
.. literalinclude:: ./use_with_native.py
|
||||
48
rosbags/docs/index.rst
Normal file
48
rosbags/docs/index.rst
Normal file
@ -0,0 +1,48 @@
|
||||
.. include:: ../README.rst
|
||||
:end-before: Documentation
|
||||
|
||||
.. include:: ../README.rst
|
||||
:start-after: .. end documentation
|
||||
|
||||
|
||||
.. toctree::
|
||||
:caption: Documentation
|
||||
:maxdepth: 1
|
||||
:hidden:
|
||||
|
||||
topics/highlevel
|
||||
topics/typesys
|
||||
topics/serde
|
||||
topics/rosbag2
|
||||
topics/rosbag1
|
||||
topics/convert
|
||||
|
||||
.. toctree::
|
||||
:caption: Usage examples
|
||||
:maxdepth: 0
|
||||
:hidden:
|
||||
:glob:
|
||||
|
||||
examples/*
|
||||
|
||||
.. toctree::
|
||||
:caption: API
|
||||
:glob:
|
||||
:hidden:
|
||||
|
||||
api/rosbags
|
||||
|
||||
|
||||
.. toctree::
|
||||
:caption: Changes
|
||||
:hidden:
|
||||
|
||||
changes
|
||||
|
||||
|
||||
.. toctree::
|
||||
:caption: Links
|
||||
:hidden:
|
||||
|
||||
Source Code <https://gitlab.com/ternaris/rosbags>
|
||||
Issues <https://gitlab.com/ternaris/rosbags/issues>
|
||||
36
rosbags/docs/topics/convert.rst
Normal file
36
rosbags/docs/topics/convert.rst
Normal file
@ -0,0 +1,36 @@
|
||||
Convert rosbag versions
|
||||
=======================
|
||||
|
||||
The :py:mod:`rosbags.convert` package includes a CLI tool to convert legacy rosbag1 files to rosbag2 and vice versa.
|
||||
|
||||
Features
|
||||
--------
|
||||
|
||||
- Reasonably fast, as it converts raw ROS1 messages to raw CDR messages without going though deserialization and serialization
|
||||
- Tries to match ROS1 message type names to registered ROS2 types
|
||||
- Automatically registers unknown message types present in the legacy rosbag file for the conversion
|
||||
- Handles differences of ``std_msgs/msg/Header`` between both ROS versions
|
||||
|
||||
Limitations
|
||||
-----------
|
||||
|
||||
- Refuses to convert unindexed rosbag1 files, please reindex files before conversion
|
||||
- Currently does not handle split bags
|
||||
- Only ROS2 default message types are supported when converting rosbag2 to rosbag1
|
||||
|
||||
Usage
|
||||
-----
|
||||
|
||||
.. code-block:: console
|
||||
|
||||
# Convert "foo.bag", result will be "foo/"
|
||||
$ rosbags-convert foo.bag
|
||||
|
||||
# Convert "bar", result will be "bar.bag"
|
||||
$ rosbags-convert bar
|
||||
|
||||
# Convert "foo.bag", save the result as "bar"
|
||||
$ rosbags-convert foo.bag --dst /path/to/bar
|
||||
|
||||
# Convert "bar", save the result as "foo.bag"
|
||||
$ rosbags-convert bar --dst /path/to/foo.bag
|
||||
22
rosbags/docs/topics/highlevel.rst
Normal file
22
rosbags/docs/topics/highlevel.rst
Normal file
@ -0,0 +1,22 @@
|
||||
Highlevel APIs
|
||||
==============
|
||||
The :py:mod:`rosbags.highlevel` package provides classes that abstract the complexity of ROS types, serialization and message access into single easy-to-use interfaces.
|
||||
|
||||
All in one reader
|
||||
-----------------
|
||||
Instances of the :py:class:`AnyReader <rosbags.highlevel.AnyReader>` class give unified access to ROS1 and ROS2 bag files. If a bag file includes message definitions the reader auto-registers all messages into a blank type store, otherwise it falls back to the default type store. It also exposes appropriate deserialization methods on the reader instance itself.
|
||||
|
||||
.. code-block:: python
|
||||
|
||||
from pathlib import Path
|
||||
|
||||
from rosbags.highlevel import AnyReader
|
||||
|
||||
# create reader instance and open for reading
|
||||
with AnyReader([Path('/home/ros/rosbag_2020_03_24')]) as reader:
|
||||
connections = [x for x in reader.connections if x.topic == '/imu_raw/Imu']
|
||||
for connection, timestamp, rawdata in reader.messages(connections=connections):
|
||||
msg = reader.deserialize(rawdata, connection.msgtype)
|
||||
print(msg.header.frame_id)
|
||||
|
||||
AnyReader takes a list of ``pathlib.Path`` instances as arguments. It can take either one ROS2 bag file or one or more ROS1 bag files belonging to a split bag. The reader will replay ROS1 split bags in correct timestamp order.
|
||||
54
rosbags/docs/topics/rosbag1.rst
Normal file
54
rosbags/docs/topics/rosbag1.rst
Normal file
@ -0,0 +1,54 @@
|
||||
Rosbag1
|
||||
=======
|
||||
|
||||
The :py:mod:`rosbags.rosbag1` package provides fast read-only access to raw messages stored in the legacy bag format. The rosbag1 support is built for a ROS2 world and some APIs and values perform normalizations to mimic ROS2 behavior and make messages originating from rosbag1 and rosbag2 behave identically. Most notably message types are internally renamed to match their ROS2 counterparts.
|
||||
|
||||
Writing rosbag1
|
||||
---------------
|
||||
Instances of the :py:class:`Writer <rosbags.rosbag1.Writer>` class can create and write to new rosbag1 files. It is usually used as a context manager. Before the first message of a topic can be written, its topic must first be added to the bag. The following example shows the typical usage pattern:
|
||||
|
||||
.. code-block:: python
|
||||
|
||||
from rosbags.rosbag1 import Writer
|
||||
from rosbags.serde import cdr_to_ros1, serialize_cdr
|
||||
from rosbags.typesys.types import std_msgs__msg__String as String
|
||||
|
||||
# create writer instance and open for writing
|
||||
with Writer('/home/ros/rosbag_2020_03_24.bag') as writer:
|
||||
# add new connection
|
||||
topic = '/chatter'
|
||||
msgtype = String.__msgtype__
|
||||
connection = writer.add_connection(topic, msgtype, latching=True)
|
||||
|
||||
# serialize and write message
|
||||
message = String('hello world')
|
||||
timestamp = 42
|
||||
writer.write(connection, timestamp, cdr_to_ros1(serialize_cdr(message, msgtype), msgtype))
|
||||
|
||||
Reading rosbag1
|
||||
---------------
|
||||
Instances of the :py:class:`Reader <rosbags.rosbag2.Reader>` class are typically used as context managers and provide access to bag metadata and contents after the bag has been opened. The following example shows the typical usage pattern:
|
||||
|
||||
.. code-block:: python
|
||||
|
||||
from rosbags.rosbag1 import Reader
|
||||
from rosbags.serde import deserialize_cdr, ros1_to_cdr
|
||||
|
||||
|
||||
# create reader instance
|
||||
with Reader('/home/ros/rosbag_2020_03_24.bag') as reader:
|
||||
# topic and msgtype information is available on .connections list
|
||||
for connection in reader.connections:
|
||||
print(connection.topic, connection.msgtype)
|
||||
|
||||
# iterate over messages
|
||||
for connection, timestamp, rawdata in reader.messages():
|
||||
if connection.topic == '/imu_raw/Imu':
|
||||
msg = deserialize_cdr(ros1_to_cdr(rawdata, connection.msgtype), connection.msgtype)
|
||||
print(msg.header.frame_id)
|
||||
|
||||
# messages() accepts connection filters
|
||||
connections = [x for x in reader.connections if x.topic == '/imu_raw/Imu']
|
||||
for connection, timestamp, rawdata in reader.messages(connections=connections):
|
||||
msg = deserialize_cdr(ros1_to_cdr(rawdata, connection.msgtype), connection.msgtype)
|
||||
print(msg.header.frame_id)
|
||||
70
rosbags/docs/topics/rosbag2.rst
Normal file
70
rosbags/docs/topics/rosbag2.rst
Normal file
@ -0,0 +1,70 @@
|
||||
Rosbag2
|
||||
=======
|
||||
The :py:mod:`rosbags.rosbag2` package provides a conformant implementation of rosbag2. It provides read-write access to raw message data saved inside rosbag2 containers, and supports all features present in the C++ reference implementation.
|
||||
|
||||
Supported Versions
|
||||
------------------
|
||||
All versions up to the current (ROS2 Humble) version 6 are supported.
|
||||
|
||||
Supported Features
|
||||
------------------
|
||||
Rosbag2 is a flexible format that supports plugging different serialization methods, compression formats, and storage containers together. The rosbag2 C++ reference implementation is build around plugins that provide serialization, compression, and storage. This project implements all rosbag2 core plugins that are distributed with the C++ reference implementation.
|
||||
|
||||
:Serializers:
|
||||
- cdr (without wstring)
|
||||
|
||||
:Compressors:
|
||||
- zstd
|
||||
|
||||
:Storages:
|
||||
- sqlite3
|
||||
- mcap
|
||||
|
||||
Writing rosbag2
|
||||
---------------
|
||||
Instances of the :py:class:`Writer <rosbags.rosbag2.Writer>` class can create and write to new rosbag2 files. It is usually used as a context manager. Before the first message of a topic can be written, its topic must first be added to the bag. The following example shows the typical usage pattern:
|
||||
|
||||
.. code-block:: python
|
||||
|
||||
from rosbags.rosbag2 import Writer
|
||||
from rosbags.serde import serialize_cdr
|
||||
from rosbags.typesys.types import std_msgs__msg__String as String
|
||||
|
||||
# create writer instance and open for writing
|
||||
with Writer('/home/ros/rosbag_2020_03_24') as writer:
|
||||
# add new connection
|
||||
topic = '/chatter'
|
||||
msgtype = String.__msgtype__
|
||||
connection = writer.add_connection(topic, msgtype, 'cdr', '')
|
||||
|
||||
# serialize and write message
|
||||
timestamp = 42
|
||||
message = String('hello world')
|
||||
writer.write(connection, timestamp, serialize_cdr(message, msgtype))
|
||||
|
||||
Reading rosbag2
|
||||
---------------
|
||||
Instances of the :py:class:`Reader <rosbags.rosbag2.Reader>` class are used to read rosbag2 metadata and its contents. Most of the metadata is available on Reader instances right away, messages can only be accessed after the bag has been opened. To this end it is recommended to use the Reader as a context manager. The following example shows the typical usage pattern:
|
||||
|
||||
.. code-block:: python
|
||||
|
||||
from rosbags.rosbag2 import Reader
|
||||
from rosbags.serde import deserialize_cdr
|
||||
|
||||
# create reader instance and open for reading
|
||||
with Reader('/home/ros/rosbag_2020_03_24') as reader:
|
||||
# topic and msgtype information is available on .connections list
|
||||
for connection in reader.connections:
|
||||
print(connection.topic, connection.msgtype)
|
||||
|
||||
# iterate over messages
|
||||
for connection, timestamp, rawdata in reader.messages():
|
||||
if connection.topic == '/imu_raw/Imu':
|
||||
msg = deserialize_cdr(rawdata, connection.msgtype)
|
||||
print(msg.header.frame_id)
|
||||
|
||||
# messages() accepts connection filters
|
||||
connections = [x for x in reader.connections if x.topic == '/imu_raw/Imu']
|
||||
for connection, timestamp, rawdata in reader.messages(connections=connections):
|
||||
msg = deserialize_cdr(rawdata, connection.msgtype)
|
||||
print(msg.header.frame_id)
|
||||
49
rosbags/docs/topics/serde.rst
Normal file
49
rosbags/docs/topics/serde.rst
Normal file
@ -0,0 +1,49 @@
|
||||
Serialization and deserialization
|
||||
=================================
|
||||
|
||||
The serialization and deserialization system :py:mod:`rosbags.serde` supports multiple raw message formats. For each format it provides a pair of functions, one for serialization and one for deserialization. In addition to the data to process each function usually only requires the message type name.
|
||||
|
||||
Deserialization
|
||||
---------------
|
||||
|
||||
Deserialize a CDR bytes object using :py:func:`deserialize_cdr() <rosbags.serde.deserialize_cdr>`:
|
||||
|
||||
.. code-block:: python
|
||||
|
||||
from rosbags.serde import deserialize_cdr
|
||||
|
||||
# rawdata is of type bytes and contains serialized message
|
||||
msg = deserialize_cdr(rawdata, 'geometry_msgs/msg/Quaternion')
|
||||
|
||||
Deserialize a ROS1 bytes object using :py:func:`deserialize_ros1() <rosbags.serde.deserialize_ros1>`:
|
||||
|
||||
.. code-block:: python
|
||||
|
||||
from rosbags.serde import deserialize_ros1
|
||||
|
||||
# rawdata is of type bytes and contains serialized message
|
||||
msg = deserialize_ros1(rawdata, 'geometry_msgs/msg/Quaternion')
|
||||
|
||||
|
||||
Serialization
|
||||
---------------
|
||||
|
||||
Serialize a message with CDR using :py:func:`serialize_cdr() <rosbags.serde.serialize_cdr>`:
|
||||
|
||||
.. code-block:: python
|
||||
|
||||
from rosbags.serde import serialize_cdr
|
||||
|
||||
# serialize message with system endianess
|
||||
serialized = serialize_cdr(msg, 'geometry_msgs/msg/Quaternion')
|
||||
|
||||
# serialize message with explicit endianess
|
||||
serialized = serialize_cdr(msg, 'geometry_msgs/msg/Quaternion', little_endian=False)
|
||||
|
||||
Serialize a message with ROS1 using :py:func:`serialize_ros1() <rosbags.serde.serialize_ros1>`:
|
||||
|
||||
.. code-block:: python
|
||||
|
||||
from rosbags.serde import serialize_ros1
|
||||
|
||||
serialized = serialize_ros1(msg, 'geometry_msgs/msg/Quaternion')
|
||||
194
rosbags/docs/topics/typesys-types.rst
Normal file
194
rosbags/docs/topics/typesys-types.rst
Normal file
@ -0,0 +1,194 @@
|
||||
builtin_interfaces
|
||||
******************
|
||||
- :py:class:`Duration <rosbags.typesys.types.builtin_interfaces__msg__Duration>`
|
||||
- :py:class:`Time <rosbags.typesys.types.builtin_interfaces__msg__Time>`
|
||||
|
||||
diagnostic_msgs
|
||||
***************
|
||||
- :py:class:`DiagnosticArray <rosbags.typesys.types.diagnostic_msgs__msg__DiagnosticArray>`
|
||||
- :py:class:`DiagnosticStatus <rosbags.typesys.types.diagnostic_msgs__msg__DiagnosticStatus>`
|
||||
- :py:class:`KeyValue <rosbags.typesys.types.diagnostic_msgs__msg__KeyValue>`
|
||||
|
||||
geometry_msgs
|
||||
*************
|
||||
- :py:class:`Accel <rosbags.typesys.types.geometry_msgs__msg__Accel>`
|
||||
- :py:class:`AccelStamped <rosbags.typesys.types.geometry_msgs__msg__AccelStamped>`
|
||||
- :py:class:`AccelWithCovariance <rosbags.typesys.types.geometry_msgs__msg__AccelWithCovariance>`
|
||||
- :py:class:`AccelWithCovarianceStamped <rosbags.typesys.types.geometry_msgs__msg__AccelWithCovarianceStamped>`
|
||||
- :py:class:`Inertia <rosbags.typesys.types.geometry_msgs__msg__Inertia>`
|
||||
- :py:class:`InertiaStamped <rosbags.typesys.types.geometry_msgs__msg__InertiaStamped>`
|
||||
- :py:class:`Point <rosbags.typesys.types.geometry_msgs__msg__Point>`
|
||||
- :py:class:`Point32 <rosbags.typesys.types.geometry_msgs__msg__Point32>`
|
||||
- :py:class:`PointStamped <rosbags.typesys.types.geometry_msgs__msg__PointStamped>`
|
||||
- :py:class:`Polygon <rosbags.typesys.types.geometry_msgs__msg__Polygon>`
|
||||
- :py:class:`PolygonStamped <rosbags.typesys.types.geometry_msgs__msg__PolygonStamped>`
|
||||
- :py:class:`Pose <rosbags.typesys.types.geometry_msgs__msg__Pose>`
|
||||
- :py:class:`Pose2D <rosbags.typesys.types.geometry_msgs__msg__Pose2D>`
|
||||
- :py:class:`PoseArray <rosbags.typesys.types.geometry_msgs__msg__PoseArray>`
|
||||
- :py:class:`PoseStamped <rosbags.typesys.types.geometry_msgs__msg__PoseStamped>`
|
||||
- :py:class:`PoseWithCovariance <rosbags.typesys.types.geometry_msgs__msg__PoseWithCovariance>`
|
||||
- :py:class:`PoseWithCovarianceStamped <rosbags.typesys.types.geometry_msgs__msg__PoseWithCovarianceStamped>`
|
||||
- :py:class:`Quaternion <rosbags.typesys.types.geometry_msgs__msg__Quaternion>`
|
||||
- :py:class:`QuaternionStamped <rosbags.typesys.types.geometry_msgs__msg__QuaternionStamped>`
|
||||
- :py:class:`Transform <rosbags.typesys.types.geometry_msgs__msg__Transform>`
|
||||
- :py:class:`TransformStamped <rosbags.typesys.types.geometry_msgs__msg__TransformStamped>`
|
||||
- :py:class:`Twist <rosbags.typesys.types.geometry_msgs__msg__Twist>`
|
||||
- :py:class:`TwistStamped <rosbags.typesys.types.geometry_msgs__msg__TwistStamped>`
|
||||
- :py:class:`TwistWithCovariance <rosbags.typesys.types.geometry_msgs__msg__TwistWithCovariance>`
|
||||
- :py:class:`TwistWithCovarianceStamped <rosbags.typesys.types.geometry_msgs__msg__TwistWithCovarianceStamped>`
|
||||
- :py:class:`Vector3 <rosbags.typesys.types.geometry_msgs__msg__Vector3>`
|
||||
- :py:class:`Vector3Stamped <rosbags.typesys.types.geometry_msgs__msg__Vector3Stamped>`
|
||||
- :py:class:`Wrench <rosbags.typesys.types.geometry_msgs__msg__Wrench>`
|
||||
- :py:class:`WrenchStamped <rosbags.typesys.types.geometry_msgs__msg__WrenchStamped>`
|
||||
|
||||
libstatistics_collector
|
||||
***********************
|
||||
- :py:class:`DummyMessage <rosbags.typesys.types.libstatistics_collector__msg__DummyMessage>`
|
||||
|
||||
lifecycle_msgs
|
||||
**************
|
||||
- :py:class:`State <rosbags.typesys.types.lifecycle_msgs__msg__State>`
|
||||
- :py:class:`Transition <rosbags.typesys.types.lifecycle_msgs__msg__Transition>`
|
||||
- :py:class:`TransitionDescription <rosbags.typesys.types.lifecycle_msgs__msg__TransitionDescription>`
|
||||
- :py:class:`TransitionEvent <rosbags.typesys.types.lifecycle_msgs__msg__TransitionEvent>`
|
||||
|
||||
nav_msgs
|
||||
********
|
||||
- :py:class:`GridCells <rosbags.typesys.types.nav_msgs__msg__GridCells>`
|
||||
- :py:class:`MapMetaData <rosbags.typesys.types.nav_msgs__msg__MapMetaData>`
|
||||
- :py:class:`OccupancyGrid <rosbags.typesys.types.nav_msgs__msg__OccupancyGrid>`
|
||||
- :py:class:`Odometry <rosbags.typesys.types.nav_msgs__msg__Odometry>`
|
||||
- :py:class:`Path <rosbags.typesys.types.nav_msgs__msg__Path>`
|
||||
|
||||
rcl_interfaces
|
||||
**************
|
||||
- :py:class:`FloatingPointRange <rosbags.typesys.types.rcl_interfaces__msg__FloatingPointRange>`
|
||||
- :py:class:`IntegerRange <rosbags.typesys.types.rcl_interfaces__msg__IntegerRange>`
|
||||
- :py:class:`ListParametersResult <rosbags.typesys.types.rcl_interfaces__msg__ListParametersResult>`
|
||||
- :py:class:`Log <rosbags.typesys.types.rcl_interfaces__msg__Log>`
|
||||
- :py:class:`Parameter <rosbags.typesys.types.rcl_interfaces__msg__Parameter>`
|
||||
- :py:class:`ParameterDescriptor <rosbags.typesys.types.rcl_interfaces__msg__ParameterDescriptor>`
|
||||
- :py:class:`ParameterEvent <rosbags.typesys.types.rcl_interfaces__msg__ParameterEvent>`
|
||||
- :py:class:`ParameterEventDescriptors <rosbags.typesys.types.rcl_interfaces__msg__ParameterEventDescriptors>`
|
||||
- :py:class:`ParameterType <rosbags.typesys.types.rcl_interfaces__msg__ParameterType>`
|
||||
- :py:class:`ParameterValue <rosbags.typesys.types.rcl_interfaces__msg__ParameterValue>`
|
||||
- :py:class:`SetParametersResult <rosbags.typesys.types.rcl_interfaces__msg__SetParametersResult>`
|
||||
|
||||
rmw_dds_common
|
||||
**************
|
||||
- :py:class:`Gid <rosbags.typesys.types.rmw_dds_common__msg__Gid>`
|
||||
- :py:class:`NodeEntitiesInfo <rosbags.typesys.types.rmw_dds_common__msg__NodeEntitiesInfo>`
|
||||
- :py:class:`ParticipantEntitiesInfo <rosbags.typesys.types.rmw_dds_common__msg__ParticipantEntitiesInfo>`
|
||||
|
||||
rosgraph_msgs
|
||||
*************
|
||||
- :py:class:`Clock <rosbags.typesys.types.rosgraph_msgs__msg__Clock>`
|
||||
|
||||
sensor_msgs
|
||||
***********
|
||||
- :py:class:`BatteryState <rosbags.typesys.types.sensor_msgs__msg__BatteryState>`
|
||||
- :py:class:`CameraInfo <rosbags.typesys.types.sensor_msgs__msg__CameraInfo>`
|
||||
- :py:class:`ChannelFloat32 <rosbags.typesys.types.sensor_msgs__msg__ChannelFloat32>`
|
||||
- :py:class:`CompressedImage <rosbags.typesys.types.sensor_msgs__msg__CompressedImage>`
|
||||
- :py:class:`FluidPressure <rosbags.typesys.types.sensor_msgs__msg__FluidPressure>`
|
||||
- :py:class:`Illuminance <rosbags.typesys.types.sensor_msgs__msg__Illuminance>`
|
||||
- :py:class:`Image <rosbags.typesys.types.sensor_msgs__msg__Image>`
|
||||
- :py:class:`Imu <rosbags.typesys.types.sensor_msgs__msg__Imu>`
|
||||
- :py:class:`JointState <rosbags.typesys.types.sensor_msgs__msg__JointState>`
|
||||
- :py:class:`Joy <rosbags.typesys.types.sensor_msgs__msg__Joy>`
|
||||
- :py:class:`JoyFeedback <rosbags.typesys.types.sensor_msgs__msg__JoyFeedback>`
|
||||
- :py:class:`JoyFeedbackArray <rosbags.typesys.types.sensor_msgs__msg__JoyFeedbackArray>`
|
||||
- :py:class:`LaserEcho <rosbags.typesys.types.sensor_msgs__msg__LaserEcho>`
|
||||
- :py:class:`LaserScan <rosbags.typesys.types.sensor_msgs__msg__LaserScan>`
|
||||
- :py:class:`MagneticField <rosbags.typesys.types.sensor_msgs__msg__MagneticField>`
|
||||
- :py:class:`MultiDOFJointState <rosbags.typesys.types.sensor_msgs__msg__MultiDOFJointState>`
|
||||
- :py:class:`MultiEchoLaserScan <rosbags.typesys.types.sensor_msgs__msg__MultiEchoLaserScan>`
|
||||
- :py:class:`NavSatFix <rosbags.typesys.types.sensor_msgs__msg__NavSatFix>`
|
||||
- :py:class:`NavSatStatus <rosbags.typesys.types.sensor_msgs__msg__NavSatStatus>`
|
||||
- :py:class:`PointCloud <rosbags.typesys.types.sensor_msgs__msg__PointCloud>`
|
||||
- :py:class:`PointCloud2 <rosbags.typesys.types.sensor_msgs__msg__PointCloud2>`
|
||||
- :py:class:`PointField <rosbags.typesys.types.sensor_msgs__msg__PointField>`
|
||||
- :py:class:`Range <rosbags.typesys.types.sensor_msgs__msg__Range>`
|
||||
- :py:class:`RegionOfInterest <rosbags.typesys.types.sensor_msgs__msg__RegionOfInterest>`
|
||||
- :py:class:`RelativeHumidity <rosbags.typesys.types.sensor_msgs__msg__RelativeHumidity>`
|
||||
- :py:class:`Temperature <rosbags.typesys.types.sensor_msgs__msg__Temperature>`
|
||||
- :py:class:`TimeReference <rosbags.typesys.types.sensor_msgs__msg__TimeReference>`
|
||||
|
||||
shape_msgs
|
||||
**********
|
||||
- :py:class:`Mesh <rosbags.typesys.types.shape_msgs__msg__Mesh>`
|
||||
- :py:class:`MeshTriangle <rosbags.typesys.types.shape_msgs__msg__MeshTriangle>`
|
||||
- :py:class:`Plane <rosbags.typesys.types.shape_msgs__msg__Plane>`
|
||||
- :py:class:`SolidPrimitive <rosbags.typesys.types.shape_msgs__msg__SolidPrimitive>`
|
||||
|
||||
statistics_msgs
|
||||
***************
|
||||
- :py:class:`MetricsMessage <rosbags.typesys.types.statistics_msgs__msg__MetricsMessage>`
|
||||
- :py:class:`StatisticDataPoint <rosbags.typesys.types.statistics_msgs__msg__StatisticDataPoint>`
|
||||
- :py:class:`StatisticDataType <rosbags.typesys.types.statistics_msgs__msg__StatisticDataType>`
|
||||
|
||||
std_msgs
|
||||
********
|
||||
- :py:class:`Bool <rosbags.typesys.types.std_msgs__msg__Bool>`
|
||||
- :py:class:`Byte <rosbags.typesys.types.std_msgs__msg__Byte>`
|
||||
- :py:class:`ByteMultiArray <rosbags.typesys.types.std_msgs__msg__ByteMultiArray>`
|
||||
- :py:class:`Char <rosbags.typesys.types.std_msgs__msg__Char>`
|
||||
- :py:class:`ColorRGBA <rosbags.typesys.types.std_msgs__msg__ColorRGBA>`
|
||||
- :py:class:`Empty <rosbags.typesys.types.std_msgs__msg__Empty>`
|
||||
- :py:class:`Float32 <rosbags.typesys.types.std_msgs__msg__Float32>`
|
||||
- :py:class:`Float32MultiArray <rosbags.typesys.types.std_msgs__msg__Float32MultiArray>`
|
||||
- :py:class:`Float64 <rosbags.typesys.types.std_msgs__msg__Float64>`
|
||||
- :py:class:`Float64MultiArray <rosbags.typesys.types.std_msgs__msg__Float64MultiArray>`
|
||||
- :py:class:`Header <rosbags.typesys.types.std_msgs__msg__Header>`
|
||||
- :py:class:`Int16 <rosbags.typesys.types.std_msgs__msg__Int16>`
|
||||
- :py:class:`Int16MultiArray <rosbags.typesys.types.std_msgs__msg__Int16MultiArray>`
|
||||
- :py:class:`Int32 <rosbags.typesys.types.std_msgs__msg__Int32>`
|
||||
- :py:class:`Int32MultiArray <rosbags.typesys.types.std_msgs__msg__Int32MultiArray>`
|
||||
- :py:class:`Int64 <rosbags.typesys.types.std_msgs__msg__Int64>`
|
||||
- :py:class:`Int64MultiArray <rosbags.typesys.types.std_msgs__msg__Int64MultiArray>`
|
||||
- :py:class:`Int8 <rosbags.typesys.types.std_msgs__msg__Int8>`
|
||||
- :py:class:`Int8MultiArray <rosbags.typesys.types.std_msgs__msg__Int8MultiArray>`
|
||||
- :py:class:`MultiArrayDimension <rosbags.typesys.types.std_msgs__msg__MultiArrayDimension>`
|
||||
- :py:class:`MultiArrayLayout <rosbags.typesys.types.std_msgs__msg__MultiArrayLayout>`
|
||||
- :py:class:`String <rosbags.typesys.types.std_msgs__msg__String>`
|
||||
- :py:class:`UInt16 <rosbags.typesys.types.std_msgs__msg__UInt16>`
|
||||
- :py:class:`UInt16MultiArray <rosbags.typesys.types.std_msgs__msg__UInt16MultiArray>`
|
||||
- :py:class:`UInt32 <rosbags.typesys.types.std_msgs__msg__UInt32>`
|
||||
- :py:class:`UInt32MultiArray <rosbags.typesys.types.std_msgs__msg__UInt32MultiArray>`
|
||||
- :py:class:`UInt64 <rosbags.typesys.types.std_msgs__msg__UInt64>`
|
||||
- :py:class:`UInt64MultiArray <rosbags.typesys.types.std_msgs__msg__UInt64MultiArray>`
|
||||
- :py:class:`UInt8 <rosbags.typesys.types.std_msgs__msg__UInt8>`
|
||||
- :py:class:`UInt8MultiArray <rosbags.typesys.types.std_msgs__msg__UInt8MultiArray>`
|
||||
|
||||
stereo_msgs
|
||||
***********
|
||||
- :py:class:`DisparityImage <rosbags.typesys.types.stereo_msgs__msg__DisparityImage>`
|
||||
|
||||
tf2_msgs
|
||||
********
|
||||
- :py:class:`TF2Error <rosbags.typesys.types.tf2_msgs__msg__TF2Error>`
|
||||
- :py:class:`TFMessage <rosbags.typesys.types.tf2_msgs__msg__TFMessage>`
|
||||
|
||||
trajectory_msgs
|
||||
***************
|
||||
- :py:class:`JointTrajectory <rosbags.typesys.types.trajectory_msgs__msg__JointTrajectory>`
|
||||
- :py:class:`JointTrajectoryPoint <rosbags.typesys.types.trajectory_msgs__msg__JointTrajectoryPoint>`
|
||||
- :py:class:`MultiDOFJointTrajectory <rosbags.typesys.types.trajectory_msgs__msg__MultiDOFJointTrajectory>`
|
||||
- :py:class:`MultiDOFJointTrajectoryPoint <rosbags.typesys.types.trajectory_msgs__msg__MultiDOFJointTrajectoryPoint>`
|
||||
|
||||
unique_identifier_msgs
|
||||
**********************
|
||||
- :py:class:`UUID <rosbags.typesys.types.unique_identifier_msgs__msg__UUID>`
|
||||
|
||||
visualization_msgs
|
||||
******************
|
||||
- :py:class:`ImageMarker <rosbags.typesys.types.visualization_msgs__msg__ImageMarker>`
|
||||
- :py:class:`InteractiveMarker <rosbags.typesys.types.visualization_msgs__msg__InteractiveMarker>`
|
||||
- :py:class:`InteractiveMarkerControl <rosbags.typesys.types.visualization_msgs__msg__InteractiveMarkerControl>`
|
||||
- :py:class:`InteractiveMarkerFeedback <rosbags.typesys.types.visualization_msgs__msg__InteractiveMarkerFeedback>`
|
||||
- :py:class:`InteractiveMarkerInit <rosbags.typesys.types.visualization_msgs__msg__InteractiveMarkerInit>`
|
||||
- :py:class:`InteractiveMarkerPose <rosbags.typesys.types.visualization_msgs__msg__InteractiveMarkerPose>`
|
||||
- :py:class:`InteractiveMarkerUpdate <rosbags.typesys.types.visualization_msgs__msg__InteractiveMarkerUpdate>`
|
||||
- :py:class:`Marker <rosbags.typesys.types.visualization_msgs__msg__Marker>`
|
||||
- :py:class:`MarkerArray <rosbags.typesys.types.visualization_msgs__msg__MarkerArray>`
|
||||
- :py:class:`MenuEntry <rosbags.typesys.types.visualization_msgs__msg__MenuEntry>`
|
||||
44
rosbags/docs/topics/typesys.rst
Normal file
44
rosbags/docs/topics/typesys.rst
Normal file
@ -0,0 +1,44 @@
|
||||
Type system
|
||||
===========
|
||||
|
||||
Rosbags ships its own pure python typesystem :py:mod:`rosbags.typesys`. It uses parse trees to represent message definitions internally. It ships its own ``.idl`` and ``.msg`` definition parser to convert message definition files into the internal format.
|
||||
|
||||
Out of the box it supports the message types defined by the standard ROS2 distribution. Message types can be parsed and added on the fly during runtime without an additional build step.
|
||||
|
||||
Message instances
|
||||
-----------------
|
||||
The type system generates a dataclass for each message type. These dataclasses give direct read write access to all mutable fields of a message. Fields should be mutated with care as no type checking is applied during runtime.
|
||||
|
||||
.. note::
|
||||
|
||||
Limitation: While the type system parses message definitions with array bounds and/or default values, neither bounds nor default values are enforced or assigned to message instances.
|
||||
|
||||
Included message types
|
||||
----------------------
|
||||
|
||||
.. include:: ./typesys-types.rst
|
||||
|
||||
Extending the type system
|
||||
-------------------------
|
||||
Adding custom message types consists of two steps. First, message definitions are converted into parse trees using :py:func:`get_types_from_idl() <rosbags.typesys.get_types_from_idl>` or :py:func:`get_types_from_msg() <rosbags.typesys.get_types_from_msg>`, and second the types are registered in the type system via :py:func:`register_types() <rosbags.typesys.register_types>`. The following example shows how to add messages type definitions from ``.msg`` and ``.idl`` files:
|
||||
|
||||
.. code-block:: python
|
||||
|
||||
from pathlib import Path
|
||||
|
||||
from rosbags.typesys import get_types_from_idl, get_types_from_msg, register_types
|
||||
|
||||
idl_text = Path('foo_msgs/msg/Foo.idl').read_text()
|
||||
msg_text = Path('bar_msgs/msg/Bar.msg').read_text()
|
||||
|
||||
# plain dictionary to hold message definitions
|
||||
add_types = {}
|
||||
|
||||
# add all definitions from one idl file
|
||||
add_types.update(get_types_from_idl(idl_text))
|
||||
|
||||
# add definition from one msg file
|
||||
add_types.update(get_types_from_msg(msg_text, 'bar_msgs/msg/Bar'))
|
||||
|
||||
# make types available to rosbags serializers/deserializers
|
||||
register_types(add_types)
|
||||
114
rosbags/pyproject.toml
Normal file
114
rosbags/pyproject.toml
Normal file
@ -0,0 +1,114 @@
|
||||
[build-system]
|
||||
requires = ["setuptools>=65.4.0", "wheel"]
|
||||
build-backend = "setuptools.build_meta"
|
||||
|
||||
|
||||
[tool.coverage]
|
||||
report.exclude_lines = [
|
||||
"pragma: no cover",
|
||||
"if TYPE_CHECKING:",
|
||||
"if __name__ == '__main__':",
|
||||
]
|
||||
report.show_missing = true
|
||||
report.skip_covered = true
|
||||
run.branch = true
|
||||
run.source = ["src"]
|
||||
|
||||
|
||||
[tool.flake8]
|
||||
avoid_escape = false
|
||||
docstring_convention = "all"
|
||||
docstring_style = "google"
|
||||
extend_exclude = ["venv"]
|
||||
ignore = [
|
||||
# do not require annotation of `self`
|
||||
"ANN101",
|
||||
# do not apply to google convention
|
||||
"D203",
|
||||
"D213",
|
||||
"D215",
|
||||
"D406",
|
||||
"D407",
|
||||
"D408",
|
||||
"D409",
|
||||
# handled by B001
|
||||
"E722",
|
||||
# allow line break after binary operator
|
||||
"W504",
|
||||
]
|
||||
max_line_length = 100
|
||||
strictness = "long"
|
||||
suppress_none_returning = true
|
||||
|
||||
|
||||
[tool.isort]
|
||||
include_trailing_comma = true
|
||||
line_length = 100
|
||||
multi_line_output = 3
|
||||
|
||||
|
||||
[tool.mypy]
|
||||
explicit_package_bases = true
|
||||
fast_module_lookup = true
|
||||
mypy_path = "src"
|
||||
namespace_packages = true
|
||||
strict = true
|
||||
|
||||
|
||||
[[tool.mypy.overrides]]
|
||||
module = "lz4.frame"
|
||||
ignore_missing_imports = true
|
||||
|
||||
|
||||
[tool.pydocstyle]
|
||||
convention = "google"
|
||||
add_select = ["D204", "D400", "D401", "D404", "D413"]
|
||||
|
||||
|
||||
[tool.pylint.'MESSAGES CONTROL']
|
||||
enable = "all"
|
||||
disable = [
|
||||
"duplicate-code",
|
||||
"locally-disabled",
|
||||
"suppressed-message",
|
||||
"ungrouped-imports",
|
||||
# isort (pylint FAQ)
|
||||
"wrong-import-order",
|
||||
# mccabe (pylint FAQ)
|
||||
"too-many-branches",
|
||||
# fixme
|
||||
"fixme",
|
||||
# pep8-naming (pylint FAQ, keep: invalid-name)
|
||||
"bad-classmethod-argument",
|
||||
"bad-mcs-classmethod-argument",
|
||||
"no-self-argument",
|
||||
# pycodestyle (pylint FAQ)
|
||||
"bad-indentation",
|
||||
"bare-except",
|
||||
"line-too-long",
|
||||
"missing-final-newline",
|
||||
"multiple-statements",
|
||||
"trailing-whitespace",
|
||||
"unnecessary-semicolon",
|
||||
"unneeded-not",
|
||||
# pydocstyle (pylint FAQ)
|
||||
"missing-class-docstring",
|
||||
"missing-function-docstring",
|
||||
"missing-module-docstring",
|
||||
# pyflakes (pylint FAQ)
|
||||
"undefined-variable",
|
||||
"unused-import",
|
||||
"unused-variable",
|
||||
]
|
||||
|
||||
|
||||
[tool.pytest.ini_options]
|
||||
addopts = ["--cov=src", "--verbose"]
|
||||
|
||||
|
||||
[tool.yapf]
|
||||
based_on_style = "google"
|
||||
column_limit = 100
|
||||
allow_split_before_dict_value = false
|
||||
dedent_closing_brackets = true
|
||||
indent_dictionary_value = false
|
||||
827
rosbags/requirements-dev.txt
Normal file
827
rosbags/requirements-dev.txt
Normal file
@ -0,0 +1,827 @@
|
||||
#
|
||||
# This file is autogenerated by pip-compile with Python 3.10
|
||||
# by the following command:
|
||||
#
|
||||
# pip-compile --extra=dev --generate-hashes --output-file=requirements-dev.txt setup.cfg
|
||||
#
|
||||
alabaster==0.7.13 \
|
||||
--hash=sha256:1ee19aca801bbabb5ba3f5f258e4422dfa86f82f3e9cefb0859b283cdd7f62a3 \
|
||||
--hash=sha256:a27a4a084d5e690e16e01e03ad2b2e552c61a65469419b907243193de1a84ae2
|
||||
# via sphinx
|
||||
astor==0.8.1 \
|
||||
--hash=sha256:070a54e890cefb5b3739d19f30f5a5ec840ffc9c50ffa7d23cc9fc1a38ebbfc5 \
|
||||
--hash=sha256:6a6effda93f4e1ce9f618779b2dd1d9d84f1e32812c23a29b3fff6fd7f63fa5e
|
||||
# via
|
||||
# flake8-simplify
|
||||
# flake8-type-checking
|
||||
astroid==2.14.2 \
|
||||
--hash=sha256:0e0e3709d64fbffd3037e4ff403580550f14471fd3eaae9fa11cc9a5c7901153 \
|
||||
--hash=sha256:a3cf9f02c53dd259144a7e8f3ccd75d67c9a8c716ef183e0c1f291bc5d7bb3cf
|
||||
# via pylint
|
||||
attrs==22.2.0 \
|
||||
--hash=sha256:29e95c7f6778868dbd49170f98f8818f78f3dc5e0e37c0b1f474e3561b240836 \
|
||||
--hash=sha256:c9227bfc2f01993c03f68db37d1d15c9690188323c067c641f1a35ca58185f99
|
||||
# via
|
||||
# flake8-annotations
|
||||
# flake8-bugbear
|
||||
# pytest
|
||||
babel==2.12.1 \
|
||||
--hash=sha256:b4246fb7677d3b98f501a39d43396d3cafdc8eadb045f4a31be01863f655c610 \
|
||||
--hash=sha256:cc2d99999cd01d44420ae725a21c9e3711b3aadc7976d6147f622d8581963455
|
||||
# via sphinx
|
||||
certifi==2022.12.7 \
|
||||
--hash=sha256:35824b4c3a97115964b408844d64aa14db1cc518f6562e8d7261699d1350a9e3 \
|
||||
--hash=sha256:4ad3232f5e926d6718ec31cfc1fcadfde020920e278684144551c91769c7bc18
|
||||
# via requests
|
||||
charset-normalizer==3.0.1 \
|
||||
--hash=sha256:00d3ffdaafe92a5dc603cb9bd5111aaa36dfa187c8285c543be562e61b755f6b \
|
||||
--hash=sha256:024e606be3ed92216e2b6952ed859d86b4cfa52cd5bc5f050e7dc28f9b43ec42 \
|
||||
--hash=sha256:0298eafff88c99982a4cf66ba2efa1128e4ddaca0b05eec4c456bbc7db691d8d \
|
||||
--hash=sha256:02a51034802cbf38db3f89c66fb5d2ec57e6fe7ef2f4a44d070a593c3688667b \
|
||||
--hash=sha256:083c8d17153ecb403e5e1eb76a7ef4babfc2c48d58899c98fcaa04833e7a2f9a \
|
||||
--hash=sha256:0a11e971ed097d24c534c037d298ad32c6ce81a45736d31e0ff0ad37ab437d59 \
|
||||
--hash=sha256:0bf2dae5291758b6f84cf923bfaa285632816007db0330002fa1de38bfcb7154 \
|
||||
--hash=sha256:0c0a590235ccd933d9892c627dec5bc7511ce6ad6c1011fdf5b11363022746c1 \
|
||||
--hash=sha256:0f438ae3532723fb6ead77e7c604be7c8374094ef4ee2c5e03a3a17f1fca256c \
|
||||
--hash=sha256:109487860ef6a328f3eec66f2bf78b0b72400280d8f8ea05f69c51644ba6521a \
|
||||
--hash=sha256:11b53acf2411c3b09e6af37e4b9005cba376c872503c8f28218c7243582df45d \
|
||||
--hash=sha256:12db3b2c533c23ab812c2b25934f60383361f8a376ae272665f8e48b88e8e1c6 \
|
||||
--hash=sha256:14e76c0f23218b8f46c4d87018ca2e441535aed3632ca134b10239dfb6dadd6b \
|
||||
--hash=sha256:16a8663d6e281208d78806dbe14ee9903715361cf81f6d4309944e4d1e59ac5b \
|
||||
--hash=sha256:292d5e8ba896bbfd6334b096e34bffb56161c81408d6d036a7dfa6929cff8783 \
|
||||
--hash=sha256:2c03cc56021a4bd59be889c2b9257dae13bf55041a3372d3295416f86b295fb5 \
|
||||
--hash=sha256:2e396d70bc4ef5325b72b593a72c8979999aa52fb8bcf03f701c1b03e1166918 \
|
||||
--hash=sha256:2edb64ee7bf1ed524a1da60cdcd2e1f6e2b4f66ef7c077680739f1641f62f555 \
|
||||
--hash=sha256:31a9ddf4718d10ae04d9b18801bd776693487cbb57d74cc3458a7673f6f34639 \
|
||||
--hash=sha256:356541bf4381fa35856dafa6a965916e54bed415ad8a24ee6de6e37deccf2786 \
|
||||
--hash=sha256:358a7c4cb8ba9b46c453b1dd8d9e431452d5249072e4f56cfda3149f6ab1405e \
|
||||
--hash=sha256:37f8febc8ec50c14f3ec9637505f28e58d4f66752207ea177c1d67df25da5aed \
|
||||
--hash=sha256:39049da0ffb96c8cbb65cbf5c5f3ca3168990adf3551bd1dee10c48fce8ae820 \
|
||||
--hash=sha256:39cf9ed17fe3b1bc81f33c9ceb6ce67683ee7526e65fde1447c772afc54a1bb8 \
|
||||
--hash=sha256:3ae1de54a77dc0d6d5fcf623290af4266412a7c4be0b1ff7444394f03f5c54e3 \
|
||||
--hash=sha256:3b590df687e3c5ee0deef9fc8c547d81986d9a1b56073d82de008744452d6541 \
|
||||
--hash=sha256:3e45867f1f2ab0711d60c6c71746ac53537f1684baa699f4f668d4c6f6ce8e14 \
|
||||
--hash=sha256:3fc1c4a2ffd64890aebdb3f97e1278b0cc72579a08ca4de8cd2c04799a3a22be \
|
||||
--hash=sha256:4457ea6774b5611f4bed5eaa5df55f70abde42364d498c5134b7ef4c6958e20e \
|
||||
--hash=sha256:44ba614de5361b3e5278e1241fda3dc1838deed864b50a10d7ce92983797fa76 \
|
||||
--hash=sha256:4a8fcf28c05c1f6d7e177a9a46a1c52798bfe2ad80681d275b10dcf317deaf0b \
|
||||
--hash=sha256:4b0d02d7102dd0f997580b51edc4cebcf2ab6397a7edf89f1c73b586c614272c \
|
||||
--hash=sha256:502218f52498a36d6bf5ea77081844017bf7982cdbe521ad85e64cabee1b608b \
|
||||
--hash=sha256:503e65837c71b875ecdd733877d852adbc465bd82c768a067badd953bf1bc5a3 \
|
||||
--hash=sha256:5995f0164fa7df59db4746112fec3f49c461dd6b31b841873443bdb077c13cfc \
|
||||
--hash=sha256:59e5686dd847347e55dffcc191a96622f016bc0ad89105e24c14e0d6305acbc6 \
|
||||
--hash=sha256:601f36512f9e28f029d9481bdaf8e89e5148ac5d89cffd3b05cd533eeb423b59 \
|
||||
--hash=sha256:608862a7bf6957f2333fc54ab4399e405baad0163dc9f8d99cb236816db169d4 \
|
||||
--hash=sha256:62595ab75873d50d57323a91dd03e6966eb79c41fa834b7a1661ed043b2d404d \
|
||||
--hash=sha256:70990b9c51340e4044cfc394a81f614f3f90d41397104d226f21e66de668730d \
|
||||
--hash=sha256:71140351489970dfe5e60fc621ada3e0f41104a5eddaca47a7acb3c1b851d6d3 \
|
||||
--hash=sha256:72966d1b297c741541ca8cf1223ff262a6febe52481af742036a0b296e35fa5a \
|
||||
--hash=sha256:74292fc76c905c0ef095fe11e188a32ebd03bc38f3f3e9bcb85e4e6db177b7ea \
|
||||
--hash=sha256:761e8904c07ad053d285670f36dd94e1b6ab7f16ce62b9805c475b7aa1cffde6 \
|
||||
--hash=sha256:772b87914ff1152b92a197ef4ea40efe27a378606c39446ded52c8f80f79702e \
|
||||
--hash=sha256:79909e27e8e4fcc9db4addea88aa63f6423ebb171db091fb4373e3312cb6d603 \
|
||||
--hash=sha256:7e189e2e1d3ed2f4aebabd2d5b0f931e883676e51c7624826e0a4e5fe8a0bf24 \
|
||||
--hash=sha256:7eb33a30d75562222b64f569c642ff3dc6689e09adda43a082208397f016c39a \
|
||||
--hash=sha256:81d6741ab457d14fdedc215516665050f3822d3e56508921cc7239f8c8e66a58 \
|
||||
--hash=sha256:8499ca8f4502af841f68135133d8258f7b32a53a1d594aa98cc52013fff55678 \
|
||||
--hash=sha256:84c3990934bae40ea69a82034912ffe5a62c60bbf6ec5bc9691419641d7d5c9a \
|
||||
--hash=sha256:87701167f2a5c930b403e9756fab1d31d4d4da52856143b609e30a1ce7160f3c \
|
||||
--hash=sha256:88600c72ef7587fe1708fd242b385b6ed4b8904976d5da0893e31df8b3480cb6 \
|
||||
--hash=sha256:8ac7b6a045b814cf0c47f3623d21ebd88b3e8cf216a14790b455ea7ff0135d18 \
|
||||
--hash=sha256:8b8af03d2e37866d023ad0ddea594edefc31e827fee64f8de5611a1dbc373174 \
|
||||
--hash=sha256:8c7fe7afa480e3e82eed58e0ca89f751cd14d767638e2550c77a92a9e749c317 \
|
||||
--hash=sha256:8eade758719add78ec36dc13201483f8e9b5d940329285edcd5f70c0a9edbd7f \
|
||||
--hash=sha256:911d8a40b2bef5b8bbae2e36a0b103f142ac53557ab421dc16ac4aafee6f53dc \
|
||||
--hash=sha256:93ad6d87ac18e2a90b0fe89df7c65263b9a99a0eb98f0a3d2e079f12a0735837 \
|
||||
--hash=sha256:95dea361dd73757c6f1c0a1480ac499952c16ac83f7f5f4f84f0658a01b8ef41 \
|
||||
--hash=sha256:9ab77acb98eba3fd2a85cd160851816bfce6871d944d885febf012713f06659c \
|
||||
--hash=sha256:9cb3032517f1627cc012dbc80a8ec976ae76d93ea2b5feaa9d2a5b8882597579 \
|
||||
--hash=sha256:9cf4e8ad252f7c38dd1f676b46514f92dc0ebeb0db5552f5f403509705e24753 \
|
||||
--hash=sha256:9d9153257a3f70d5f69edf2325357251ed20f772b12e593f3b3377b5f78e7ef8 \
|
||||
--hash=sha256:a152f5f33d64a6be73f1d30c9cc82dfc73cec6477ec268e7c6e4c7d23c2d2291 \
|
||||
--hash=sha256:a16418ecf1329f71df119e8a65f3aa68004a3f9383821edcb20f0702934d8087 \
|
||||
--hash=sha256:a60332922359f920193b1d4826953c507a877b523b2395ad7bc716ddd386d866 \
|
||||
--hash=sha256:a8d0fc946c784ff7f7c3742310cc8a57c5c6dc31631269876a88b809dbeff3d3 \
|
||||
--hash=sha256:ab5de034a886f616a5668aa5d098af2b5385ed70142090e2a31bcbd0af0fdb3d \
|
||||
--hash=sha256:c22d3fe05ce11d3671297dc8973267daa0f938b93ec716e12e0f6dee81591dc1 \
|
||||
--hash=sha256:c2ac1b08635a8cd4e0cbeaf6f5e922085908d48eb05d44c5ae9eabab148512ca \
|
||||
--hash=sha256:c512accbd6ff0270939b9ac214b84fb5ada5f0409c44298361b2f5e13f9aed9e \
|
||||
--hash=sha256:c75ffc45f25324e68ab238cb4b5c0a38cd1c3d7f1fb1f72b5541de469e2247db \
|
||||
--hash=sha256:c95a03c79bbe30eec3ec2b7f076074f4281526724c8685a42872974ef4d36b72 \
|
||||
--hash=sha256:cadaeaba78750d58d3cc6ac4d1fd867da6fc73c88156b7a3212a3cd4819d679d \
|
||||
--hash=sha256:cd6056167405314a4dc3c173943f11249fa0f1b204f8b51ed4bde1a9cd1834dc \
|
||||
--hash=sha256:db72b07027db150f468fbada4d85b3b2729a3db39178abf5c543b784c1254539 \
|
||||
--hash=sha256:df2c707231459e8a4028eabcd3cfc827befd635b3ef72eada84ab13b52e1574d \
|
||||
--hash=sha256:e62164b50f84e20601c1ff8eb55620d2ad25fb81b59e3cd776a1902527a788af \
|
||||
--hash=sha256:e696f0dd336161fca9adbb846875d40752e6eba585843c768935ba5c9960722b \
|
||||
--hash=sha256:eaa379fcd227ca235d04152ca6704c7cb55564116f8bc52545ff357628e10602 \
|
||||
--hash=sha256:ebea339af930f8ca5d7a699b921106c6e29c617fe9606fa7baa043c1cdae326f \
|
||||
--hash=sha256:f4c39b0e3eac288fedc2b43055cfc2ca7a60362d0e5e87a637beac5d801ef478 \
|
||||
--hash=sha256:f5057856d21e7586765171eac8b9fc3f7d44ef39425f85dbcccb13b3ebea806c \
|
||||
--hash=sha256:f6f45710b4459401609ebebdbcfb34515da4fc2aa886f95107f556ac69a9147e \
|
||||
--hash=sha256:f97e83fa6c25693c7a35de154681fcc257c1c41b38beb0304b9c4d2d9e164479 \
|
||||
--hash=sha256:f9d0c5c045a3ca9bedfc35dca8526798eb91a07aa7a2c0fee134c6c6f321cbd7 \
|
||||
--hash=sha256:ff6f3db31555657f3163b15a6b7c6938d08df7adbfc9dd13d9d19edad678f1e8
|
||||
# via requests
|
||||
classify-imports==4.2.0 \
|
||||
--hash=sha256:7abfb7ea92149b29d046bd34573d247ba6e68cc28100c801eba4af17964fc40e \
|
||||
--hash=sha256:dbbc264b70a470ed8c6c95976a11dfb8b7f63df44ed1af87328bbed2663f5161
|
||||
# via flake8-type-checking
|
||||
coverage[toml]==7.2.1 \
|
||||
--hash=sha256:0339dc3237c0d31c3b574f19c57985fcbe494280153bbcad33f2cdf469f4ac3e \
|
||||
--hash=sha256:09643fb0df8e29f7417adc3f40aaf379d071ee8f0350ab290517c7004f05360b \
|
||||
--hash=sha256:0bd7e628f6c3ec4e7d2d24ec0e50aae4e5ae95ea644e849d92ae4805650b4c4e \
|
||||
--hash=sha256:0cf557827be7eca1c38a2480484d706693e7bb1929e129785fe59ec155a59de6 \
|
||||
--hash=sha256:0f8318ed0f3c376cfad8d3520f496946977abde080439d6689d7799791457454 \
|
||||
--hash=sha256:1b7fb13850ecb29b62a447ac3516c777b0e7a09ecb0f4bb6718a8654c87dfc80 \
|
||||
--hash=sha256:22c308bc508372576ffa3d2dbc4824bb70d28eeb4fcd79d4d1aed663a06630d0 \
|
||||
--hash=sha256:3004765bca3acd9e015794e5c2f0c9a05587f5e698127ff95e9cfba0d3f29339 \
|
||||
--hash=sha256:3a209d512d157379cc9ab697cbdbb4cfd18daa3e7eebaa84c3d20b6af0037384 \
|
||||
--hash=sha256:436313d129db7cf5b4ac355dd2bd3f7c7e5294af077b090b85de75f8458b8616 \
|
||||
--hash=sha256:49567ec91fc5e0b15356da07a2feabb421d62f52a9fff4b1ec40e9e19772f5f8 \
|
||||
--hash=sha256:4dd34a935de268a133e4741827ae951283a28c0125ddcdbcbba41c4b98f2dfef \
|
||||
--hash=sha256:570c21a29493b350f591a4b04c158ce1601e8d18bdcd21db136fbb135d75efa6 \
|
||||
--hash=sha256:5928b85416a388dd557ddc006425b0c37e8468bd1c3dc118c1a3de42f59e2a54 \
|
||||
--hash=sha256:5d2b9b5e70a21474c105a133ba227c61bc95f2ac3b66861143ce39a5ea4b3f84 \
|
||||
--hash=sha256:617a94ada56bbfe547aa8d1b1a2b8299e2ec1ba14aac1d4b26a9f7d6158e1273 \
|
||||
--hash=sha256:6a034480e9ebd4e83d1aa0453fd78986414b5d237aea89a8fdc35d330aa13bae \
|
||||
--hash=sha256:6fce673f79a0e017a4dc35e18dc7bb90bf6d307c67a11ad5e61ca8d42b87cbff \
|
||||
--hash=sha256:78d2c3dde4c0b9be4b02067185136b7ee4681978228ad5ec1278fa74f5ca3e99 \
|
||||
--hash=sha256:7f099da6958ddfa2ed84bddea7515cb248583292e16bb9231d151cd528eab657 \
|
||||
--hash=sha256:80559eaf6c15ce3da10edb7977a1548b393db36cbc6cf417633eca05d84dd1ed \
|
||||
--hash=sha256:834c2172edff5a08d78e2f53cf5e7164aacabeb66b369f76e7bb367ca4e2d993 \
|
||||
--hash=sha256:861cc85dfbf55a7a768443d90a07e0ac5207704a9f97a8eb753292a7fcbdfcfc \
|
||||
--hash=sha256:8649371570551d2fd7dee22cfbf0b61f1747cdfb2b7587bb551e4beaaa44cb97 \
|
||||
--hash=sha256:87dc37f16fb5e3a28429e094145bf7c1753e32bb50f662722e378c5851f7fdc6 \
|
||||
--hash=sha256:8a6450da4c7afc4534305b2b7d8650131e130610cea448ff240b6ab73d7eab63 \
|
||||
--hash=sha256:8d3843ca645f62c426c3d272902b9de90558e9886f15ddf5efe757b12dd376f5 \
|
||||
--hash=sha256:8dca3c1706670297851bca1acff9618455122246bdae623be31eca744ade05ec \
|
||||
--hash=sha256:97a3189e019d27e914ecf5c5247ea9f13261d22c3bb0cfcfd2a9b179bb36f8b1 \
|
||||
--hash=sha256:99f4dd81b2bb8fc67c3da68b1f5ee1650aca06faa585cbc6818dbf67893c6d58 \
|
||||
--hash=sha256:9e872b082b32065ac2834149dc0adc2a2e6d8203080501e1e3c3c77851b466f9 \
|
||||
--hash=sha256:a81dbcf6c6c877986083d00b834ac1e84b375220207a059ad45d12f6e518a4e3 \
|
||||
--hash=sha256:abacd0a738e71b20e224861bc87e819ef46fedba2fb01bc1af83dfd122e9c319 \
|
||||
--hash=sha256:ae82c988954722fa07ec5045c57b6d55bc1a0890defb57cf4a712ced65b26ddd \
|
||||
--hash=sha256:b0c0d46de5dd97f6c2d1b560bf0fcf0215658097b604f1840365296302a9d1fb \
|
||||
--hash=sha256:b1991a6d64231a3e5bbe3099fb0dd7c9aeaa4275ad0e0aeff4cb9ef885c62ba2 \
|
||||
--hash=sha256:b2167d116309f564af56f9aa5e75ef710ef871c5f9b313a83050035097b56820 \
|
||||
--hash=sha256:bd5a12239c0006252244f94863f1c518ac256160cd316ea5c47fb1a11b25889a \
|
||||
--hash=sha256:bdd3f2f285ddcf2e75174248b2406189261a79e7fedee2ceeadc76219b6faa0e \
|
||||
--hash=sha256:c77f2a9093ccf329dd523a9b2b3c854c20d2a3d968b6def3b820272ca6732242 \
|
||||
--hash=sha256:cb5f152fb14857cbe7f3e8c9a5d98979c4c66319a33cad6e617f0067c9accdc4 \
|
||||
--hash=sha256:cca7c0b7f5881dfe0291ef09ba7bb1582cb92ab0aeffd8afb00c700bf692415a \
|
||||
--hash=sha256:d2ef6cae70168815ed91388948b5f4fcc69681480a0061114db737f957719f03 \
|
||||
--hash=sha256:d9256d4c60c4bbfec92721b51579c50f9e5062c21c12bec56b55292464873508 \
|
||||
--hash=sha256:e191a63a05851f8bce77bc875e75457f9b01d42843f8bd7feed2fc26bbe60833 \
|
||||
--hash=sha256:e2b50ebc2b6121edf352336d503357321b9d8738bb7a72d06fc56153fd3f4cd8 \
|
||||
--hash=sha256:e3ea04b23b114572b98a88c85379e9e9ae031272ba1fb9b532aa934c621626d4 \
|
||||
--hash=sha256:e4d70c853f0546855f027890b77854508bdb4d6a81242a9d804482e667fff6e6 \
|
||||
--hash=sha256:f29351393eb05e6326f044a7b45ed8e38cb4dcc38570d12791f271399dc41431 \
|
||||
--hash=sha256:f3d07edb912a978915576a776756069dede66d012baa503022d3a0adba1b6afa \
|
||||
--hash=sha256:fac6343bae03b176e9b58104a9810df3cdccd5cfed19f99adfa807ffbf43cf9b
|
||||
# via pytest-cov
|
||||
darglint==1.8.1 \
|
||||
--hash=sha256:080d5106df149b199822e7ee7deb9c012b49891538f14a11be681044f0bb20da \
|
||||
--hash=sha256:5ae11c259c17b0701618a20c3da343a3eb98b3bc4b5a83d31cdd94f5ebdced8d
|
||||
# via rosbags (setup.cfg)
|
||||
dill==0.3.6 \
|
||||
--hash=sha256:a07ffd2351b8c678dfc4a856a3005f8067aea51d6ba6c700796a4d9e280f39f0 \
|
||||
--hash=sha256:e5db55f3687856d8fbdab002ed78544e1c4559a130302693d839dfe8f93f2373
|
||||
# via pylint
|
||||
docutils==0.18.1 \
|
||||
--hash=sha256:23010f129180089fbcd3bc08cfefccb3b890b0050e1ca00c867036e9d161b98c \
|
||||
--hash=sha256:679987caf361a7539d76e584cbeddc311e3aee937877c87346f31debc63e9d06
|
||||
# via
|
||||
# sphinx
|
||||
# sphinx-rtd-theme
|
||||
exceptiongroup==1.1.0 \
|
||||
--hash=sha256:327cbda3da756e2de031a3107b81ab7b3770a602c4d16ca618298c526f4bec1e \
|
||||
--hash=sha256:bcb67d800a4497e1b404c2dd44fca47d3b7a5e5433dbab67f96c1a685cdfdf23
|
||||
# via pytest
|
||||
flake8==6.0.0 \
|
||||
--hash=sha256:3833794e27ff64ea4e9cf5d410082a8b97ff1a06c16aa3d2027339cd0f1195c7 \
|
||||
--hash=sha256:c61007e76655af75e6785a931f452915b371dc48f56efd765247c8fe68f2b181
|
||||
# via
|
||||
# flake8-annotations
|
||||
# flake8-bugbear
|
||||
# flake8-commas
|
||||
# flake8-comprehensions
|
||||
# flake8-docstrings
|
||||
# flake8-isort
|
||||
# flake8-mutable
|
||||
# flake8-print
|
||||
# flake8-pyprojecttoml
|
||||
# flake8-quotes
|
||||
# flake8-simplify
|
||||
# flake8-type-checking
|
||||
# flake8-use-fstring
|
||||
# pep8-naming
|
||||
# rosbags (setup.cfg)
|
||||
flake8-annotations==3.0.0 \
|
||||
--hash=sha256:88c8b35a0db10b9a92be69ed3f81494509a18db1c3162551e57bc0fc35fab065 \
|
||||
--hash=sha256:ea927d31016515e9aa6e256651d74baeeee6fa4ad3f8383715ec5c0460a4c225
|
||||
# via rosbags (setup.cfg)
|
||||
flake8-bugbear==23.2.13 \
|
||||
--hash=sha256:39259814a83f33c8409417ee12dd4050c9c0bb4c8707c12fc18ae62b2f3ddee1 \
|
||||
--hash=sha256:f136bd0ca2684f101168bba2310dec541e11aa6b252260c17dcf58d18069a740
|
||||
# via rosbags (setup.cfg)
|
||||
flake8-commas==2.1.0 \
|
||||
--hash=sha256:940441ab8ee544df564ae3b3f49f20462d75d5c7cac2463e0b27436e2050f263 \
|
||||
--hash=sha256:ebb96c31e01d0ef1d0685a21f3f0e2f8153a0381430e748bf0bbbb5d5b453d54
|
||||
# via rosbags (setup.cfg)
|
||||
flake8-comprehensions==3.10.1 \
|
||||
--hash=sha256:412052ac4a947f36b891143430fef4859705af11b2572fbb689f90d372cf26ab \
|
||||
--hash=sha256:d763de3c74bc18a79c039a7ec732e0a1985b0c79309ceb51e56401ad0a2cd44e
|
||||
# via rosbags (setup.cfg)
|
||||
flake8-docstrings==1.7.0 \
|
||||
--hash=sha256:4c8cc748dc16e6869728699e5d0d685da9a10b0ea718e090b1ba088e67a941af \
|
||||
--hash=sha256:51f2344026da083fc084166a9353f5082b01f72901df422f74b4d953ae88ac75
|
||||
# via rosbags (setup.cfg)
|
||||
flake8-fixme==1.1.1 \
|
||||
--hash=sha256:226a6f2ef916730899f29ac140bed5d4a17e5aba79f00a0e3ae1eff1997cb1ac \
|
||||
--hash=sha256:50cade07d27a4c30d4f12351478df87339e67640c83041b664724bda6d16f33a
|
||||
# via rosbags (setup.cfg)
|
||||
flake8-isort==6.0.0 \
|
||||
--hash=sha256:537f453a660d7e903f602ecfa36136b140de279df58d02eb1b6a0c84e83c528c \
|
||||
--hash=sha256:aa0cac02a62c7739e370ce6b9c31743edac904bae4b157274511fc8a19c75bbc
|
||||
# via rosbags (setup.cfg)
|
||||
flake8-mutable==1.2.0 \
|
||||
--hash=sha256:38fd9dadcbcda6550a916197bc40ed76908119dabb37fbcca30873666c31d2d5 \
|
||||
--hash=sha256:ee9b77111b867d845177bbc289d87d541445ffcc6029a0c5c65865b42b18c6a6
|
||||
# via rosbags (setup.cfg)
|
||||
flake8-plugin-utils==1.3.2 \
|
||||
--hash=sha256:1fe43e3e9acf3a7c0f6b88f5338cad37044d2f156c43cb6b080b5f9da8a76f06 \
|
||||
--hash=sha256:20fa2a8ca2decac50116edb42e6af0a1253ef639ad79941249b840531889c65a
|
||||
# via
|
||||
# flake8-pytest-style
|
||||
# flake8-return
|
||||
flake8-print==5.0.0 \
|
||||
--hash=sha256:76915a2a389cc1c0879636c219eb909c38501d3a43cc8dae542081c9ba48bdf9 \
|
||||
--hash=sha256:84a1a6ea10d7056b804221ac5e62b1cee1aefc897ce16f2e5c42d3046068f5d8
|
||||
# via rosbags (setup.cfg)
|
||||
flake8-pyprojecttoml==0.0.2 \
|
||||
--hash=sha256:37b9a8e5274d04591fbecc0782f626fb31b8d266e26192ce18ada25dabfc9f1d \
|
||||
--hash=sha256:b78dd64254e2d6aa596b5be4e2a41b81147cafec57760de1c7322d025159983c
|
||||
# via rosbags (setup.cfg)
|
||||
flake8-pytest-style==1.7.2 \
|
||||
--hash=sha256:b924197c99b951315949920b0e5547f34900b1844348432e67a44ab191582109 \
|
||||
--hash=sha256:f5d2aa3219163a052dd92226589d45fab8ea027a3269922f0c4029f548ea5cd1
|
||||
# via rosbags (setup.cfg)
|
||||
flake8-quotes==3.3.2 \
|
||||
--hash=sha256:6e26892b632dacba517bf27219c459a8396dcfac0f5e8204904c5a4ba9b480e1
|
||||
# via rosbags (setup.cfg)
|
||||
flake8-return==1.2.0 \
|
||||
--hash=sha256:1f07af12954ed03ebe2c2aac2418f78b55374e9929d4956109664588f31582a1 \
|
||||
--hash=sha256:68dfa56582cd704febd02ad86dcf5df67e38e0836d62f1ceae7930d76d3dd955
|
||||
# via rosbags (setup.cfg)
|
||||
flake8-simplify==0.19.3 \
|
||||
--hash=sha256:1057320e9312d75849541fee822900d27bcad05b2405edc84713affee635629e \
|
||||
--hash=sha256:2fb083bf5142a98d9c9554755cf2f56f8926eb4a33eae30c0809041b1546879e
|
||||
# via rosbags (setup.cfg)
|
||||
flake8-type-checking==2.3.0 \
|
||||
--hash=sha256:7117b8a22d64db02f9d8c724df5d2517e59c6290b034cfa54496c7ae73c07f51 \
|
||||
--hash=sha256:f802c9933b2a98b96fc4a0b3b90ef0f8379625f867cb73633c09fc2bf746333b
|
||||
# via rosbags (setup.cfg)
|
||||
flake8-use-fstring==1.4 \
|
||||
--hash=sha256:6550bf722585eb97dffa8343b0f1c372101f5c4ab5b07ebf0edd1c79880cdd39
|
||||
# via rosbags (setup.cfg)
|
||||
idna==3.4 \
|
||||
--hash=sha256:814f528e8dead7d329833b91c5faa87d60bf71824cd12a7530b5526063d02cb4 \
|
||||
--hash=sha256:90b77e79eaa3eba6de819a0c442c0b4ceefc341a7a2ab77d7562bf49f425c5c2
|
||||
# via requests
|
||||
imagesize==1.4.1 \
|
||||
--hash=sha256:0d8d18d08f840c19d0ee7ca1fd82490fdc3729b7ac93f49870406ddde8ef8d8b \
|
||||
--hash=sha256:69150444affb9cb0d5cc5a92b3676f0b2fb7cd9ae39e947a5e11a36b4497cd4a
|
||||
# via sphinx
|
||||
importlib-metadata==6.0.0 \
|
||||
--hash=sha256:7efb448ec9a5e313a57655d35aa54cd3e01b7e1fbcf72dce1bf06119420f5bad \
|
||||
--hash=sha256:e354bedeb60efa6affdcc8ae121b73544a7aa74156d047311948f6d711cd378d
|
||||
# via sphinx
|
||||
iniconfig==2.0.0 \
|
||||
--hash=sha256:2d91e135bf72d31a410b17c16da610a82cb55f6b0477d1a902134b24a455b8b3 \
|
||||
--hash=sha256:b6a85871a79d2e3b22d2d1b94ac2824226a63c6b741c88f7ae975f18b6778374
|
||||
# via pytest
|
||||
isort==5.12.0 \
|
||||
--hash=sha256:8bef7dde241278824a6d83f44a544709b065191b95b6e50894bdc722fcba0504 \
|
||||
--hash=sha256:f84c2818376e66cf843d497486ea8fed8700b340f308f076c6fb1229dff318b6
|
||||
# via
|
||||
# flake8-isort
|
||||
# pylint
|
||||
jinja2==3.1.2 \
|
||||
--hash=sha256:31351a702a408a9e7595a8fc6150fc3f43bb6bf7e319770cbc0db9df9437e852 \
|
||||
--hash=sha256:6088930bfe239f0e6710546ab9c19c9ef35e29792895fed6e6e31a023a182a61
|
||||
# via sphinx
|
||||
lazy-object-proxy==1.9.0 \
|
||||
--hash=sha256:09763491ce220c0299688940f8dc2c5d05fd1f45af1e42e636b2e8b2303e4382 \
|
||||
--hash=sha256:0a891e4e41b54fd5b8313b96399f8b0e173bbbfc03c7631f01efbe29bb0bcf82 \
|
||||
--hash=sha256:189bbd5d41ae7a498397287c408617fe5c48633e7755287b21d741f7db2706a9 \
|
||||
--hash=sha256:18b78ec83edbbeb69efdc0e9c1cb41a3b1b1ed11ddd8ded602464c3fc6020494 \
|
||||
--hash=sha256:1aa3de4088c89a1b69f8ec0dcc169aa725b0ff017899ac568fe44ddc1396df46 \
|
||||
--hash=sha256:212774e4dfa851e74d393a2370871e174d7ff0ebc980907723bb67d25c8a7c30 \
|
||||
--hash=sha256:2d0daa332786cf3bb49e10dc6a17a52f6a8f9601b4cf5c295a4f85854d61de63 \
|
||||
--hash=sha256:5f83ac4d83ef0ab017683d715ed356e30dd48a93746309c8f3517e1287523ef4 \
|
||||
--hash=sha256:659fb5809fa4629b8a1ac5106f669cfc7bef26fbb389dda53b3e010d1ac4ebae \
|
||||
--hash=sha256:660c94ea760b3ce47d1855a30984c78327500493d396eac4dfd8bd82041b22be \
|
||||
--hash=sha256:66a3de4a3ec06cd8af3f61b8e1ec67614fbb7c995d02fa224813cb7afefee701 \
|
||||
--hash=sha256:721532711daa7db0d8b779b0bb0318fa87af1c10d7fe5e52ef30f8eff254d0cd \
|
||||
--hash=sha256:7322c3d6f1766d4ef1e51a465f47955f1e8123caee67dd641e67d539a534d006 \
|
||||
--hash=sha256:79a31b086e7e68b24b99b23d57723ef7e2c6d81ed21007b6281ebcd1688acb0a \
|
||||
--hash=sha256:81fc4d08b062b535d95c9ea70dbe8a335c45c04029878e62d744bdced5141586 \
|
||||
--hash=sha256:8fa02eaab317b1e9e03f69aab1f91e120e7899b392c4fc19807a8278a07a97e8 \
|
||||
--hash=sha256:9090d8e53235aa280fc9239a86ae3ea8ac58eff66a705fa6aa2ec4968b95c821 \
|
||||
--hash=sha256:946d27deaff6cf8452ed0dba83ba38839a87f4f7a9732e8f9fd4107b21e6ff07 \
|
||||
--hash=sha256:9990d8e71b9f6488e91ad25f322898c136b008d87bf852ff65391b004da5e17b \
|
||||
--hash=sha256:9cd077f3d04a58e83d04b20e334f678c2b0ff9879b9375ed107d5d07ff160171 \
|
||||
--hash=sha256:9e7551208b2aded9c1447453ee366f1c4070602b3d932ace044715d89666899b \
|
||||
--hash=sha256:9f5fa4a61ce2438267163891961cfd5e32ec97a2c444e5b842d574251ade27d2 \
|
||||
--hash=sha256:b40387277b0ed2d0602b8293b94d7257e17d1479e257b4de114ea11a8cb7f2d7 \
|
||||
--hash=sha256:bfb38f9ffb53b942f2b5954e0f610f1e721ccebe9cce9025a38c8ccf4a5183a4 \
|
||||
--hash=sha256:cbf9b082426036e19c6924a9ce90c740a9861e2bdc27a4834fd0a910742ac1e8 \
|
||||
--hash=sha256:d9e25ef10a39e8afe59a5c348a4dbf29b4868ab76269f81ce1674494e2565a6e \
|
||||
--hash=sha256:db1c1722726f47e10e0b5fdbf15ac3b8adb58c091d12b3ab713965795036985f \
|
||||
--hash=sha256:e7c21c95cae3c05c14aafffe2865bbd5e377cfc1348c4f7751d9dc9a48ca4bda \
|
||||
--hash=sha256:e8c6cfb338b133fbdbc5cfaa10fe3c6aeea827db80c978dbd13bc9dd8526b7d4 \
|
||||
--hash=sha256:ea806fd4c37bf7e7ad82537b0757999264d5f70c45468447bb2b91afdbe73a6e \
|
||||
--hash=sha256:edd20c5a55acb67c7ed471fa2b5fb66cb17f61430b7a6b9c3b4a1e40293b1671 \
|
||||
--hash=sha256:f0117049dd1d5635bbff65444496c90e0baa48ea405125c088e93d9cf4525b11 \
|
||||
--hash=sha256:f0705c376533ed2a9e5e97aacdbfe04cecd71e0aa84c7c0595d02ef93b6e4455 \
|
||||
--hash=sha256:f12ad7126ae0c98d601a7ee504c1122bcef553d1d5e0c3bfa77b16b3968d2734 \
|
||||
--hash=sha256:f2457189d8257dd41ae9b434ba33298aec198e30adf2dcdaaa3a28b9994f6adb \
|
||||
--hash=sha256:f699ac1c768270c9e384e4cbd268d6e67aebcfae6cd623b4d7c3bfde5a35db59
|
||||
# via astroid
|
||||
lz4==4.3.2 \
|
||||
--hash=sha256:0ca83a623c449295bafad745dcd399cea4c55b16b13ed8cfea30963b004016c9 \
|
||||
--hash=sha256:0f5614d8229b33d4a97cb527db2a1ac81308c6e796e7bdb5d1309127289f69d5 \
|
||||
--hash=sha256:1c4c100d99eed7c08d4e8852dd11e7d1ec47a3340f49e3a96f8dfbba17ffb300 \
|
||||
--hash=sha256:1f25eb322eeb24068bb7647cae2b0732b71e5c639e4e4026db57618dcd8279f0 \
|
||||
--hash=sha256:200d05777d61ba1ff8d29cb51c534a162ea0b4fe6d3c28be3571a0a48ff36080 \
|
||||
--hash=sha256:31d72731c4ac6ebdce57cd9a5cabe0aecba229c4f31ba3e2c64ae52eee3fdb1c \
|
||||
--hash=sha256:3a85b430138882f82f354135b98c320dafb96fc8fe4656573d95ab05de9eb092 \
|
||||
--hash=sha256:4931ab28a0d1c133104613e74eec1b8bb1f52403faabe4f47f93008785c0b929 \
|
||||
--hash=sha256:4caedeb19e3ede6c7a178968b800f910db6503cb4cb1e9cc9221157572139b49 \
|
||||
--hash=sha256:65d5c93f8badacfa0456b660285e394e65023ef8071142e0dcbd4762166e1be0 \
|
||||
--hash=sha256:6b50f096a6a25f3b2edca05aa626ce39979d63c3b160687c8c6d50ac3943d0ba \
|
||||
--hash=sha256:7211dc8f636ca625abc3d4fb9ab74e5444b92df4f8d58ec83c8868a2b0ff643d \
|
||||
--hash=sha256:7a9eec24ec7d8c99aab54de91b4a5a149559ed5b3097cf30249b665689b3d402 \
|
||||
--hash=sha256:7c2df117def1589fba1327dceee51c5c2176a2b5a7040b45e84185ce0c08b6a3 \
|
||||
--hash=sha256:7e2dc1bd88b60fa09b9b37f08553f45dc2b770c52a5996ea52b2b40f25445676 \
|
||||
--hash=sha256:83903fe6db92db0be101acedc677aa41a490b561567fe1b3fe68695b2110326c \
|
||||
--hash=sha256:83acfacab3a1a7ab9694333bcb7950fbeb0be21660d236fd09c8337a50817897 \
|
||||
--hash=sha256:86480f14a188c37cb1416cdabacfb4e42f7a5eab20a737dac9c4b1c227f3b822 \
|
||||
--hash=sha256:867664d9ca9bdfce840ac96d46cd8838c9ae891e859eb98ce82fcdf0e103a947 \
|
||||
--hash=sha256:8df16c9a2377bdc01e01e6de5a6e4bbc66ddf007a6b045688e285d7d9d61d1c9 \
|
||||
--hash=sha256:8f00a9ba98f6364cadda366ae6469b7b3568c0cced27e16a47ddf6b774169270 \
|
||||
--hash=sha256:926b26db87ec8822cf1870efc3d04d06062730ec3279bbbd33ba47a6c0a5c673 \
|
||||
--hash=sha256:a6a46889325fd60b8a6b62ffc61588ec500a1883db32cddee9903edfba0b7584 \
|
||||
--hash=sha256:a98b61e504fb69f99117b188e60b71e3c94469295571492a6468c1acd63c37ba \
|
||||
--hash=sha256:ad38dc6a7eea6f6b8b642aaa0683253288b0460b70cab3216838747163fb774d \
|
||||
--hash=sha256:b10b77dc2e6b1daa2f11e241141ab8285c42b4ed13a8642495620416279cc5b2 \
|
||||
--hash=sha256:d5ea0e788dc7e2311989b78cae7accf75a580827b4d96bbaf06c7e5a03989bd5 \
|
||||
--hash=sha256:e05afefc4529e97c08e65ef92432e5f5225c0bb21ad89dee1e06a882f91d7f5e \
|
||||
--hash=sha256:e1431d84a9cfb23e6773e72078ce8e65cad6745816d4cbf9ae67da5ea419acda \
|
||||
--hash=sha256:ec6755cacf83f0c5588d28abb40a1ac1643f2ff2115481089264c7630236618a \
|
||||
--hash=sha256:edc2fb3463d5d9338ccf13eb512aab61937be50aa70734bcf873f2f493801d3b \
|
||||
--hash=sha256:edd8987d8415b5dad25e797043936d91535017237f72fa456601be1479386c92 \
|
||||
--hash=sha256:edda4fb109439b7f3f58ed6bede59694bc631c4b69c041112b1b7dc727fffb23 \
|
||||
--hash=sha256:f571eab7fec554d3b1db0d666bdc2ad85c81f4b8cb08906c4c59a8cad75e6e22 \
|
||||
--hash=sha256:f7c50542b4ddceb74ab4f8b3435327a0861f06257ca501d59067a6a482535a77
|
||||
# via rosbags (setup.cfg)
|
||||
markupsafe==2.1.2 \
|
||||
--hash=sha256:0576fe974b40a400449768941d5d0858cc624e3249dfd1e0c33674e5c7ca7aed \
|
||||
--hash=sha256:085fd3201e7b12809f9e6e9bc1e5c96a368c8523fad5afb02afe3c051ae4afcc \
|
||||
--hash=sha256:090376d812fb6ac5f171e5938e82e7f2d7adc2b629101cec0db8b267815c85e2 \
|
||||
--hash=sha256:0b462104ba25f1ac006fdab8b6a01ebbfbce9ed37fd37fd4acd70c67c973e460 \
|
||||
--hash=sha256:137678c63c977754abe9086a3ec011e8fd985ab90631145dfb9294ad09c102a7 \
|
||||
--hash=sha256:1bea30e9bf331f3fef67e0a3877b2288593c98a21ccb2cf29b74c581a4eb3af0 \
|
||||
--hash=sha256:22152d00bf4a9c7c83960521fc558f55a1adbc0631fbb00a9471e097b19d72e1 \
|
||||
--hash=sha256:22731d79ed2eb25059ae3df1dfc9cb1546691cc41f4e3130fe6bfbc3ecbbecfa \
|
||||
--hash=sha256:2298c859cfc5463f1b64bd55cb3e602528db6fa0f3cfd568d3605c50678f8f03 \
|
||||
--hash=sha256:28057e985dace2f478e042eaa15606c7efccb700797660629da387eb289b9323 \
|
||||
--hash=sha256:2e7821bffe00aa6bd07a23913b7f4e01328c3d5cc0b40b36c0bd81d362faeb65 \
|
||||
--hash=sha256:2ec4f2d48ae59bbb9d1f9d7efb9236ab81429a764dedca114f5fdabbc3788013 \
|
||||
--hash=sha256:340bea174e9761308703ae988e982005aedf427de816d1afe98147668cc03036 \
|
||||
--hash=sha256:40627dcf047dadb22cd25ea7ecfe9cbf3bbbad0482ee5920b582f3809c97654f \
|
||||
--hash=sha256:40dfd3fefbef579ee058f139733ac336312663c6706d1163b82b3003fb1925c4 \
|
||||
--hash=sha256:4cf06cdc1dda95223e9d2d3c58d3b178aa5dacb35ee7e3bbac10e4e1faacb419 \
|
||||
--hash=sha256:50c42830a633fa0cf9e7d27664637532791bfc31c731a87b202d2d8ac40c3ea2 \
|
||||
--hash=sha256:55f44b440d491028addb3b88f72207d71eeebfb7b5dbf0643f7c023ae1fba619 \
|
||||
--hash=sha256:608e7073dfa9e38a85d38474c082d4281f4ce276ac0010224eaba11e929dd53a \
|
||||
--hash=sha256:63ba06c9941e46fa389d389644e2d8225e0e3e5ebcc4ff1ea8506dce646f8c8a \
|
||||
--hash=sha256:65608c35bfb8a76763f37036547f7adfd09270fbdbf96608be2bead319728fcd \
|
||||
--hash=sha256:665a36ae6f8f20a4676b53224e33d456a6f5a72657d9c83c2aa00765072f31f7 \
|
||||
--hash=sha256:6d6607f98fcf17e534162f0709aaad3ab7a96032723d8ac8750ffe17ae5a0666 \
|
||||
--hash=sha256:7313ce6a199651c4ed9d7e4cfb4aa56fe923b1adf9af3b420ee14e6d9a73df65 \
|
||||
--hash=sha256:7668b52e102d0ed87cb082380a7e2e1e78737ddecdde129acadb0eccc5423859 \
|
||||
--hash=sha256:7df70907e00c970c60b9ef2938d894a9381f38e6b9db73c5be35e59d92e06625 \
|
||||
--hash=sha256:7e007132af78ea9df29495dbf7b5824cb71648d7133cf7848a2a5dd00d36f9ff \
|
||||
--hash=sha256:835fb5e38fd89328e9c81067fd642b3593c33e1e17e2fdbf77f5676abb14a156 \
|
||||
--hash=sha256:8bca7e26c1dd751236cfb0c6c72d4ad61d986e9a41bbf76cb445f69488b2a2bd \
|
||||
--hash=sha256:8db032bf0ce9022a8e41a22598eefc802314e81b879ae093f36ce9ddf39ab1ba \
|
||||
--hash=sha256:99625a92da8229df6d44335e6fcc558a5037dd0a760e11d84be2260e6f37002f \
|
||||
--hash=sha256:9cad97ab29dfc3f0249b483412c85c8ef4766d96cdf9dcf5a1e3caa3f3661cf1 \
|
||||
--hash=sha256:a4abaec6ca3ad8660690236d11bfe28dfd707778e2442b45addd2f086d6ef094 \
|
||||
--hash=sha256:a6e40afa7f45939ca356f348c8e23048e02cb109ced1eb8420961b2f40fb373a \
|
||||
--hash=sha256:a6f2fcca746e8d5910e18782f976489939d54a91f9411c32051b4aab2bd7c513 \
|
||||
--hash=sha256:a806db027852538d2ad7555b203300173dd1b77ba116de92da9afbc3a3be3eed \
|
||||
--hash=sha256:abcabc8c2b26036d62d4c746381a6f7cf60aafcc653198ad678306986b09450d \
|
||||
--hash=sha256:b8526c6d437855442cdd3d87eede9c425c4445ea011ca38d937db299382e6fa3 \
|
||||
--hash=sha256:bb06feb762bade6bf3c8b844462274db0c76acc95c52abe8dbed28ae3d44a147 \
|
||||
--hash=sha256:c0a33bc9f02c2b17c3ea382f91b4db0e6cde90b63b296422a939886a7a80de1c \
|
||||
--hash=sha256:c4a549890a45f57f1ebf99c067a4ad0cb423a05544accaf2b065246827ed9603 \
|
||||
--hash=sha256:ca244fa73f50a800cf8c3ebf7fd93149ec37f5cb9596aa8873ae2c1d23498601 \
|
||||
--hash=sha256:cf877ab4ed6e302ec1d04952ca358b381a882fbd9d1b07cccbfd61783561f98a \
|
||||
--hash=sha256:d9d971ec1e79906046aa3ca266de79eac42f1dbf3612a05dc9368125952bd1a1 \
|
||||
--hash=sha256:da25303d91526aac3672ee6d49a2f3db2d9502a4a60b55519feb1a4c7714e07d \
|
||||
--hash=sha256:e55e40ff0cc8cc5c07996915ad367fa47da6b3fc091fdadca7f5403239c5fec3 \
|
||||
--hash=sha256:f03a532d7dee1bed20bc4884194a16160a2de9ffc6354b3878ec9682bb623c54 \
|
||||
--hash=sha256:f1cd098434e83e656abf198f103a8207a8187c0fc110306691a2e94a78d0abb2 \
|
||||
--hash=sha256:f2bfb563d0211ce16b63c7cb9395d2c682a23187f54c3d79bfec33e6705473c6 \
|
||||
--hash=sha256:f8ffb705ffcf5ddd0e80b65ddf7bed7ee4f5a441ea7d3419e861a12eaf41af58
|
||||
# via jinja2
|
||||
mccabe==0.7.0 \
|
||||
--hash=sha256:348e0240c33b60bbdf4e523192ef919f28cb2c3d7d5c7794f74009290f236325 \
|
||||
--hash=sha256:6c2d30ab6be0e4a46919781807b4f0d834ebdd6c6e3dca0bda5a15f863427b6e
|
||||
# via
|
||||
# flake8
|
||||
# pylint
|
||||
mypy==1.0.1 \
|
||||
--hash=sha256:0af4f0e20706aadf4e6f8f8dc5ab739089146b83fd53cb4a7e0e850ef3de0bb6 \
|
||||
--hash=sha256:15b5a824b58c7c822c51bc66308e759243c32631896743f030daf449fe3677f3 \
|
||||
--hash=sha256:17455cda53eeee0a4adb6371a21dd3dbf465897de82843751cf822605d152c8c \
|
||||
--hash=sha256:2013226d17f20468f34feddd6aae4635a55f79626549099354ce641bc7d40262 \
|
||||
--hash=sha256:24189f23dc66f83b839bd1cce2dfc356020dfc9a8bae03978477b15be61b062e \
|
||||
--hash=sha256:27a0f74a298769d9fdc8498fcb4f2beb86f0564bcdb1a37b58cbbe78e55cf8c0 \
|
||||
--hash=sha256:28cea5a6392bb43d266782983b5a4216c25544cd7d80be681a155ddcdafd152d \
|
||||
--hash=sha256:448de661536d270ce04f2d7dddaa49b2fdba6e3bd8a83212164d4174ff43aa65 \
|
||||
--hash=sha256:48525aec92b47baed9b3380371ab8ab6e63a5aab317347dfe9e55e02aaad22e8 \
|
||||
--hash=sha256:5bc8d6bd3b274dd3846597855d96d38d947aedba18776aa998a8d46fabdaed76 \
|
||||
--hash=sha256:5deb252fd42a77add936b463033a59b8e48eb2eaec2976d76b6878d031933fe4 \
|
||||
--hash=sha256:5f546ac34093c6ce33f6278f7c88f0f147a4849386d3bf3ae193702f4fe31407 \
|
||||
--hash=sha256:5fdd63e4f50e3538617887e9aee91855368d9fc1dea30da743837b0df7373bc4 \
|
||||
--hash=sha256:65b122a993d9c81ea0bfde7689b3365318a88bde952e4dfa1b3a8b4ac05d168b \
|
||||
--hash=sha256:71a808334d3f41ef011faa5a5cd8153606df5fc0b56de5b2e89566c8093a0c9a \
|
||||
--hash=sha256:920169f0184215eef19294fa86ea49ffd4635dedfdea2b57e45cb4ee85d5ccaf \
|
||||
--hash=sha256:93a85495fb13dc484251b4c1fd7a5ac370cd0d812bbfc3b39c1bafefe95275d5 \
|
||||
--hash=sha256:a2948c40a7dd46c1c33765718936669dc1f628f134013b02ff5ac6c7ef6942bf \
|
||||
--hash=sha256:c6c2ccb7af7154673c591189c3687b013122c5a891bb5651eca3db8e6c6c55bd \
|
||||
--hash=sha256:c96b8a0c019fe29040d520d9257d8c8f122a7343a8307bf8d6d4a43f5c5bfcc8 \
|
||||
--hash=sha256:d42a98e76070a365a1d1c220fcac8aa4ada12ae0db679cb4d910fabefc88b994 \
|
||||
--hash=sha256:dbeb24514c4acbc78d205f85dd0e800f34062efcc1f4a4857c57e4b4b8712bff \
|
||||
--hash=sha256:e60d0b09f62ae97a94605c3f73fd952395286cf3e3b9e7b97f60b01ddfbbda88 \
|
||||
--hash=sha256:e64f48c6176e243ad015e995de05af7f22bbe370dbb5b32bd6988438ec873919 \
|
||||
--hash=sha256:e831662208055b006eef68392a768ff83596035ffd6d846786578ba1714ba8f6 \
|
||||
--hash=sha256:eda5c8b9949ed411ff752b9a01adda31afe7eae1e53e946dbdf9db23865e66c4
|
||||
# via rosbags (setup.cfg)
|
||||
mypy-extensions==1.0.0 \
|
||||
--hash=sha256:4392f6c0eb8a5668a69e23d168ffa70f0be9ccfd32b5cc2d26a34ae5b844552d \
|
||||
--hash=sha256:75dbf8955dc00442a438fc4d0666508a9a97b6bd41aa2f0ffe9d2f2725af0782
|
||||
# via mypy
|
||||
numpy==1.24.2 \
|
||||
--hash=sha256:003a9f530e880cb2cd177cba1af7220b9aa42def9c4afc2a2fc3ee6be7eb2b22 \
|
||||
--hash=sha256:150947adbdfeceec4e5926d956a06865c1c690f2fd902efede4ca6fe2e657c3f \
|
||||
--hash=sha256:2620e8592136e073bd12ee4536149380695fbe9ebeae845b81237f986479ffc9 \
|
||||
--hash=sha256:2eabd64ddb96a1239791da78fa5f4e1693ae2dadc82a76bc76a14cbb2b966e96 \
|
||||
--hash=sha256:4173bde9fa2a005c2c6e2ea8ac1618e2ed2c1c6ec8a7657237854d42094123a0 \
|
||||
--hash=sha256:4199e7cfc307a778f72d293372736223e39ec9ac096ff0a2e64853b866a8e18a \
|
||||
--hash=sha256:4cecaed30dc14123020f77b03601559fff3e6cd0c048f8b5289f4eeabb0eb281 \
|
||||
--hash=sha256:557d42778a6869c2162deb40ad82612645e21d79e11c1dc62c6e82a2220ffb04 \
|
||||
--hash=sha256:63e45511ee4d9d976637d11e6c9864eae50e12dc9598f531c035265991910468 \
|
||||
--hash=sha256:6524630f71631be2dabe0c541e7675db82651eb998496bbe16bc4f77f0772253 \
|
||||
--hash=sha256:76807b4063f0002c8532cfeac47a3068a69561e9c8715efdad3c642eb27c0756 \
|
||||
--hash=sha256:7de8fdde0003f4294655aa5d5f0a89c26b9f22c0a58790c38fae1ed392d44a5a \
|
||||
--hash=sha256:889b2cc88b837d86eda1b17008ebeb679d82875022200c6e8e4ce6cf549b7acb \
|
||||
--hash=sha256:92011118955724465fb6853def593cf397b4a1367495e0b59a7e69d40c4eb71d \
|
||||
--hash=sha256:97cf27e51fa078078c649a51d7ade3c92d9e709ba2bfb97493007103c741f1d0 \
|
||||
--hash=sha256:9a23f8440561a633204a67fb44617ce2a299beecf3295f0d13c495518908e910 \
|
||||
--hash=sha256:a51725a815a6188c662fb66fb32077709a9ca38053f0274640293a14fdd22978 \
|
||||
--hash=sha256:a77d3e1163a7770164404607b7ba3967fb49b24782a6ef85d9b5f54126cc39e5 \
|
||||
--hash=sha256:adbdce121896fd3a17a77ab0b0b5eedf05a9834a18699db6829a64e1dfccca7f \
|
||||
--hash=sha256:c29e6bd0ec49a44d7690ecb623a8eac5ab8a923bce0bea6293953992edf3a76a \
|
||||
--hash=sha256:c72a6b2f4af1adfe193f7beb91ddf708ff867a3f977ef2ec53c0ffb8283ab9f5 \
|
||||
--hash=sha256:d0a2db9d20117bf523dde15858398e7c0858aadca7c0f088ac0d6edd360e9ad2 \
|
||||
--hash=sha256:e3ab5d32784e843fc0dd3ab6dcafc67ef806e6b6828dc6af2f689be0eb4d781d \
|
||||
--hash=sha256:e428c4fbfa085f947b536706a2fc349245d7baa8334f0c5723c56a10595f9b95 \
|
||||
--hash=sha256:e8d2859428712785e8a8b7d2b3ef0a1d1565892367b32f915c4a4df44d0e64f5 \
|
||||
--hash=sha256:eef70b4fc1e872ebddc38cddacc87c19a3709c0e3e5d20bf3954c147b1dd941d \
|
||||
--hash=sha256:f64bb98ac59b3ea3bf74b02f13836eb2e24e48e0ab0145bbda646295769bd780 \
|
||||
--hash=sha256:f9006288bcf4895917d02583cf3411f98631275bc67cce355a7f39f8c14338fa
|
||||
# via rosbags (setup.cfg)
|
||||
packaging==23.0 \
|
||||
--hash=sha256:714ac14496c3e68c99c29b00845f7a2b85f3bb6f1078fd9f72fd20f0570002b2 \
|
||||
--hash=sha256:b6ad297f8907de0fa2fe1ccbd26fdaf387f5f47c7275fedf8cce89f99446cf97
|
||||
# via
|
||||
# pytest
|
||||
# sphinx
|
||||
pep8-naming==0.13.3 \
|
||||
--hash=sha256:1705f046dfcd851378aac3be1cd1551c7c1e5ff363bacad707d43007877fa971 \
|
||||
--hash=sha256:1a86b8c71a03337c97181917e2b472f0f5e4ccb06844a0d6f0a33522549e7a80
|
||||
# via rosbags (setup.cfg)
|
||||
platformdirs==3.0.0 \
|
||||
--hash=sha256:8a1228abb1ef82d788f74139988b137e78692984ec7b08eaa6c65f1723af28f9 \
|
||||
--hash=sha256:b1d5eb14f221506f50d6604a561f4c5786d9e80355219694a1b244bcd96f4567
|
||||
# via pylint
|
||||
pluggy==1.0.0 \
|
||||
--hash=sha256:4224373bacce55f955a878bf9cfa763c1e360858e330072059e10bad68531159 \
|
||||
--hash=sha256:74134bbf457f031a36d68416e1509f34bd5ccc019f0bcc952c7b909d06b37bd3
|
||||
# via pytest
|
||||
pycodestyle==2.10.0 \
|
||||
--hash=sha256:347187bdb476329d98f695c213d7295a846d1152ff4fe9bacb8a9590b8ee7053 \
|
||||
--hash=sha256:8a4eaf0d0495c7395bdab3589ac2db602797d76207242c17d470186815706610
|
||||
# via
|
||||
# flake8
|
||||
# flake8-print
|
||||
pydocstyle==6.3.0 \
|
||||
--hash=sha256:118762d452a49d6b05e194ef344a55822987a462831ade91ec5c06fd2169d019 \
|
||||
--hash=sha256:7ce43f0c0ac87b07494eb9c0b462c0b73e6ff276807f204d6b53edc72b7e44e1
|
||||
# via flake8-docstrings
|
||||
pyflakes==3.0.1 \
|
||||
--hash=sha256:ec55bf7fe21fff7f1ad2f7da62363d749e2a470500eab1b555334b67aa1ef8cf \
|
||||
--hash=sha256:ec8b276a6b60bd80defed25add7e439881c19e64850afd9b346283d4165fd0fd
|
||||
# via flake8
|
||||
pygments==2.14.0 \
|
||||
--hash=sha256:b3ed06a9e8ac9a9aae5a6f5dbe78a8a58655d17b43b93c078f094ddc476ae297 \
|
||||
--hash=sha256:fa7bd7bd2771287c0de303af8bfdfc731f51bd2c6a47ab69d117138893b82717
|
||||
# via sphinx
|
||||
pylint==2.16.2 \
|
||||
--hash=sha256:13b2c805a404a9bf57d002cd5f054ca4d40b0b87542bdaba5e05321ae8262c84 \
|
||||
--hash=sha256:ff22dde9c2128cd257c145cfd51adeff0be7df4d80d669055f24a962b351bbe4
|
||||
# via rosbags (setup.cfg)
|
||||
pytest==7.2.1 \
|
||||
--hash=sha256:c7c6ca206e93355074ae32f7403e8ea12163b1163c976fee7d4d84027c162be5 \
|
||||
--hash=sha256:d45e0952f3727241918b8fd0f376f5ff6b301cc0777c6f9a556935c92d8a7d42
|
||||
# via
|
||||
# pytest-cov
|
||||
# rosbags (setup.cfg)
|
||||
pytest-cov==4.0.0 \
|
||||
--hash=sha256:2feb1b751d66a8bd934e5edfa2e961d11309dc37b73b0eabe73b5945fee20f6b \
|
||||
--hash=sha256:996b79efde6433cdbd0088872dbc5fb3ed7fe1578b68cdbba634f14bb8dd0470
|
||||
# via rosbags (setup.cfg)
|
||||
pytz==2022.7.1 \
|
||||
--hash=sha256:01a0681c4b9684a28304615eba55d1ab31ae00bf68ec157ec3708a8182dbbcd0 \
|
||||
--hash=sha256:78f4f37d8198e0627c5f1143240bb0206b8691d8d7ac6d78fee88b78733f8c4a
|
||||
# via babel
|
||||
requests==2.28.2 \
|
||||
--hash=sha256:64299f4909223da747622c030b781c0d7811e359c37124b4bd368fb8c6518baa \
|
||||
--hash=sha256:98b1b2782e3c6c4904938b84c0eb932721069dfdb9134313beff7c83c2df24bf
|
||||
# via sphinx
|
||||
ruamel-yaml==0.17.21 \
|
||||
--hash=sha256:742b35d3d665023981bd6d16b3d24248ce5df75fdb4e2924e93a05c1f8b61ca7 \
|
||||
--hash=sha256:8b7ce697a2f212752a35c1ac414471dc16c424c9573be4926b56ff3f5d23b7af
|
||||
# via rosbags (setup.cfg)
|
||||
ruamel-yaml-clib==0.2.7 \
|
||||
--hash=sha256:045e0626baf1c52e5527bd5db361bc83180faaba2ff586e763d3d5982a876a9e \
|
||||
--hash=sha256:15910ef4f3e537eea7fe45f8a5d19997479940d9196f357152a09031c5be59f3 \
|
||||
--hash=sha256:184faeaec61dbaa3cace407cffc5819f7b977e75360e8d5ca19461cd851a5fc5 \
|
||||
--hash=sha256:1f08fd5a2bea9c4180db71678e850b995d2a5f4537be0e94557668cf0f5f9497 \
|
||||
--hash=sha256:2aa261c29a5545adfef9296b7e33941f46aa5bbd21164228e833412af4c9c75f \
|
||||
--hash=sha256:3110a99e0f94a4a3470ff67fc20d3f96c25b13d24c6980ff841e82bafe827cac \
|
||||
--hash=sha256:3243f48ecd450eddadc2d11b5feb08aca941b5cd98c9b1db14b2fd128be8c697 \
|
||||
--hash=sha256:370445fd795706fd291ab00c9df38a0caed0f17a6fb46b0f607668ecb16ce763 \
|
||||
--hash=sha256:40d030e2329ce5286d6b231b8726959ebbe0404c92f0a578c0e2482182e38282 \
|
||||
--hash=sha256:41d0f1fa4c6830176eef5b276af04c89320ea616655d01327d5ce65e50575c94 \
|
||||
--hash=sha256:4a4d8d417868d68b979076a9be6a38c676eca060785abaa6709c7b31593c35d1 \
|
||||
--hash=sha256:4b3a93bb9bc662fc1f99c5c3ea8e623d8b23ad22f861eb6fce9377ac07ad6072 \
|
||||
--hash=sha256:5bc0667c1eb8f83a3752b71b9c4ba55ef7c7058ae57022dd9b29065186a113d9 \
|
||||
--hash=sha256:721bc4ba4525f53f6a611ec0967bdcee61b31df5a56801281027a3a6d1c2daf5 \
|
||||
--hash=sha256:763d65baa3b952479c4e972669f679fe490eee058d5aa85da483ebae2009d231 \
|
||||
--hash=sha256:7bdb4c06b063f6fd55e472e201317a3bb6cdeeee5d5a38512ea5c01e1acbdd93 \
|
||||
--hash=sha256:8831a2cedcd0f0927f788c5bdf6567d9dc9cc235646a434986a852af1cb54b4b \
|
||||
--hash=sha256:91a789b4aa0097b78c93e3dc4b40040ba55bef518f84a40d4442f713b4094acb \
|
||||
--hash=sha256:92460ce908546ab69770b2e576e4f99fbb4ce6ab4b245345a3869a0a0410488f \
|
||||
--hash=sha256:99e77daab5d13a48a4054803d052ff40780278240a902b880dd37a51ba01a307 \
|
||||
--hash=sha256:a234a20ae07e8469da311e182e70ef6b199d0fbeb6c6cc2901204dd87fb867e8 \
|
||||
--hash=sha256:a7b301ff08055d73223058b5c46c55638917f04d21577c95e00e0c4d79201a6b \
|
||||
--hash=sha256:be2a7ad8fd8f7442b24323d24ba0b56c51219513cfa45b9ada3b87b76c374d4b \
|
||||
--hash=sha256:bf9a6bc4a0221538b1a7de3ed7bca4c93c02346853f44e1cd764be0023cd3640 \
|
||||
--hash=sha256:c3ca1fbba4ae962521e5eb66d72998b51f0f4d0f608d3c0347a48e1af262efa7 \
|
||||
--hash=sha256:d000f258cf42fec2b1bbf2863c61d7b8918d31ffee905da62dede869254d3b8a \
|
||||
--hash=sha256:d5859983f26d8cd7bb5c287ef452e8aacc86501487634573d260968f753e1d71 \
|
||||
--hash=sha256:d5e51e2901ec2366b79f16c2299a03e74ba4531ddcfacc1416639c557aef0ad8 \
|
||||
--hash=sha256:da538167284de58a52109a9b89b8f6a53ff8437dd6dc26d33b57bf6699153122 \
|
||||
--hash=sha256:debc87a9516b237d0466a711b18b6ebeb17ba9f391eb7f91c649c5c4ec5006c7 \
|
||||
--hash=sha256:df5828871e6648db72d1c19b4bd24819b80a755c4541d3409f0f7acd0f335c80 \
|
||||
--hash=sha256:ecdf1a604009bd35c674b9225a8fa609e0282d9b896c03dd441a91e5f53b534e \
|
||||
--hash=sha256:efa08d63ef03d079dcae1dfe334f6c8847ba8b645d08df286358b1f5293d24ab \
|
||||
--hash=sha256:f01da5790e95815eb5a8a138508c01c758e5f5bc0ce4286c4f7028b8dd7ac3d0 \
|
||||
--hash=sha256:f34019dced51047d6f70cb9383b2ae2853b7fc4dce65129a5acd49f4f9256646 \
|
||||
--hash=sha256:f6d3d39611ac2e4f62c3128a9eed45f19a6608670c5a2f4f07f24e8de3441d38
|
||||
# via ruamel-yaml
|
||||
snowballstemmer==2.2.0 \
|
||||
--hash=sha256:09b16deb8547d3412ad7b590689584cd0fe25ec8db3be37788be3810cbf19cb1 \
|
||||
--hash=sha256:c8e1716e83cc398ae16824e5572ae04e0d9fc2c6b985fb0f900f5f0c96ecba1a
|
||||
# via
|
||||
# pydocstyle
|
||||
# sphinx
|
||||
sphinx==6.1.3 \
|
||||
--hash=sha256:0dac3b698538ffef41716cf97ba26c1c7788dba73ce6f150c1ff5b4720786dd2 \
|
||||
--hash=sha256:807d1cb3d6be87eb78a381c3e70ebd8d346b9a25f3753e9947e866b2786865fc
|
||||
# via
|
||||
# rosbags (setup.cfg)
|
||||
# sphinx-autodoc-typehints
|
||||
# sphinx-rtd-theme
|
||||
sphinx-autodoc-typehints==1.22 \
|
||||
--hash=sha256:71fca2d5eee9b034204e4c686ab20b4d8f5eb9409396216bcae6c87c38e18ea6 \
|
||||
--hash=sha256:ef4a8b9d52de66065aa7d3adfabf5a436feb8a2eff07c2ddc31625d8807f2b69
|
||||
# via rosbags (setup.cfg)
|
||||
sphinx-rtd-theme==1.2.0 \
|
||||
--hash=sha256:a0d8bd1a2ed52e0b338cbe19c4b2eef3c5e7a048769753dac6a9f059c7b641b8 \
|
||||
--hash=sha256:f823f7e71890abe0ac6aaa6013361ea2696fc8d3e1fa798f463e82bdb77eeff2
|
||||
# via rosbags (setup.cfg)
|
||||
sphinxcontrib-applehelp==1.0.4 \
|
||||
--hash=sha256:29d341f67fb0f6f586b23ad80e072c8e6ad0b48417db2bde114a4c9746feb228 \
|
||||
--hash=sha256:828f867945bbe39817c210a1abfd1bc4895c8b73fcaade56d45357a348a07d7e
|
||||
# via sphinx
|
||||
sphinxcontrib-devhelp==1.0.2 \
|
||||
--hash=sha256:8165223f9a335cc1af7ffe1ed31d2871f325254c0423bc0c4c7cd1c1e4734a2e \
|
||||
--hash=sha256:ff7f1afa7b9642e7060379360a67e9c41e8f3121f2ce9164266f61b9f4b338e4
|
||||
# via sphinx
|
||||
sphinxcontrib-htmlhelp==2.0.1 \
|
||||
--hash=sha256:0cbdd302815330058422b98a113195c9249825d681e18f11e8b1f78a2f11efff \
|
||||
--hash=sha256:c38cb46dccf316c79de6e5515e1770414b797162b23cd3d06e67020e1d2a6903
|
||||
# via sphinx
|
||||
sphinxcontrib-jquery==2.0.0 \
|
||||
--hash=sha256:8fb65f6dba84bf7bcd1aea1f02ab3955ac34611d838bcc95d4983b805b234daa \
|
||||
--hash=sha256:ed47fa425c338ffebe3c37e1cdb56e30eb806116b85f01055b158c7057fdb995
|
||||
# via sphinx-rtd-theme
|
||||
sphinxcontrib-jsmath==1.0.1 \
|
||||
--hash=sha256:2ec2eaebfb78f3f2078e73666b1415417a116cc848b72e5172e596c871103178 \
|
||||
--hash=sha256:a9925e4a4587247ed2191a22df5f6970656cb8ca2bd6284309578f2153e0c4b8
|
||||
# via sphinx
|
||||
sphinxcontrib-qthelp==1.0.3 \
|
||||
--hash=sha256:4c33767ee058b70dba89a6fc5c1892c0d57a54be67ddd3e7875a18d14cba5a72 \
|
||||
--hash=sha256:bd9fc24bcb748a8d51fd4ecaade681350aa63009a347a8c14e637895444dfab6
|
||||
# via sphinx
|
||||
sphinxcontrib-serializinghtml==1.1.5 \
|
||||
--hash=sha256:352a9a00ae864471d3a7ead8d7d79f5fc0b57e8b3f95e9867eb9eb28999b92fd \
|
||||
--hash=sha256:aa5f6de5dfdf809ef505c4895e51ef5c9eac17d0f287933eb49ec495280b6952
|
||||
# via sphinx
|
||||
toml==0.10.2 \
|
||||
--hash=sha256:806143ae5bfb6a3c6e736a764057db0e6a0e05e338b5630894a5f779cabb4f9b \
|
||||
--hash=sha256:b3bda1d108d5dd99f4a20d24d9c348e91c4db7ab1b749200bded2f839ccbe68f
|
||||
# via rosbags (setup.cfg)
|
||||
tomli==2.0.1 \
|
||||
--hash=sha256:939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc \
|
||||
--hash=sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f
|
||||
# via
|
||||
# coverage
|
||||
# flake8-pyprojecttoml
|
||||
# mypy
|
||||
# pylint
|
||||
# pytest
|
||||
tomlkit==0.11.6 \
|
||||
--hash=sha256:07de26b0d8cfc18f871aec595fda24d95b08fef89d147caa861939f37230bf4b \
|
||||
--hash=sha256:71b952e5721688937fb02cf9d354dbcf0785066149d2855e44531ebdd2b65d73
|
||||
# via pylint
|
||||
typing-extensions==4.5.0 \
|
||||
--hash=sha256:5cb5f4a79139d699607b3ef622a1dedafa84e115ab0024e0d9c044a9479ca7cb \
|
||||
--hash=sha256:fb33085c39dd998ac16d1431ebc293a8b3eedd00fd4a32de0ff79002c19511b4
|
||||
# via
|
||||
# astroid
|
||||
# mypy
|
||||
# pylint
|
||||
urllib3==1.26.14 \
|
||||
--hash=sha256:076907bf8fd355cde77728471316625a4d2f7e713c125f51953bb5b3eecf4f72 \
|
||||
--hash=sha256:75edcdc2f7d85b137124a6c3c9fc3933cdeaa12ecb9a6a959f22797a0feca7e1
|
||||
# via requests
|
||||
wrapt==1.15.0 \
|
||||
--hash=sha256:02fce1852f755f44f95af51f69d22e45080102e9d00258053b79367d07af39c0 \
|
||||
--hash=sha256:077ff0d1f9d9e4ce6476c1a924a3332452c1406e59d90a2cf24aeb29eeac9420 \
|
||||
--hash=sha256:078e2a1a86544e644a68422f881c48b84fef6d18f8c7a957ffd3f2e0a74a0d4a \
|
||||
--hash=sha256:0970ddb69bba00670e58955f8019bec4a42d1785db3faa043c33d81de2bf843c \
|
||||
--hash=sha256:1286eb30261894e4c70d124d44b7fd07825340869945c79d05bda53a40caa079 \
|
||||
--hash=sha256:21f6d9a0d5b3a207cdf7acf8e58d7d13d463e639f0c7e01d82cdb671e6cb7923 \
|
||||
--hash=sha256:230ae493696a371f1dbffaad3dafbb742a4d27a0afd2b1aecebe52b740167e7f \
|
||||
--hash=sha256:26458da5653aa5b3d8dc8b24192f574a58984c749401f98fff994d41d3f08da1 \
|
||||
--hash=sha256:2cf56d0e237280baed46f0b5316661da892565ff58309d4d2ed7dba763d984b8 \
|
||||
--hash=sha256:2e51de54d4fb8fb50d6ee8327f9828306a959ae394d3e01a1ba8b2f937747d86 \
|
||||
--hash=sha256:2fbfbca668dd15b744418265a9607baa970c347eefd0db6a518aaf0cfbd153c0 \
|
||||
--hash=sha256:38adf7198f8f154502883242f9fe7333ab05a5b02de7d83aa2d88ea621f13364 \
|
||||
--hash=sha256:3a8564f283394634a7a7054b7983e47dbf39c07712d7b177b37e03f2467a024e \
|
||||
--hash=sha256:3abbe948c3cbde2689370a262a8d04e32ec2dd4f27103669a45c6929bcdbfe7c \
|
||||
--hash=sha256:3bbe623731d03b186b3d6b0d6f51865bf598587c38d6f7b0be2e27414f7f214e \
|
||||
--hash=sha256:40737a081d7497efea35ab9304b829b857f21558acfc7b3272f908d33b0d9d4c \
|
||||
--hash=sha256:41d07d029dd4157ae27beab04d22b8e261eddfc6ecd64ff7000b10dc8b3a5727 \
|
||||
--hash=sha256:46ed616d5fb42f98630ed70c3529541408166c22cdfd4540b88d5f21006b0eff \
|
||||
--hash=sha256:493d389a2b63c88ad56cdc35d0fa5752daac56ca755805b1b0c530f785767d5e \
|
||||
--hash=sha256:4ff0d20f2e670800d3ed2b220d40984162089a6e2c9646fdb09b85e6f9a8fc29 \
|
||||
--hash=sha256:54accd4b8bc202966bafafd16e69da9d5640ff92389d33d28555c5fd4f25ccb7 \
|
||||
--hash=sha256:56374914b132c702aa9aa9959c550004b8847148f95e1b824772d453ac204a72 \
|
||||
--hash=sha256:578383d740457fa790fdf85e6d346fda1416a40549fe8db08e5e9bd281c6a475 \
|
||||
--hash=sha256:58d7a75d731e8c63614222bcb21dd992b4ab01a399f1f09dd82af17bbfc2368a \
|
||||
--hash=sha256:5c5aa28df055697d7c37d2099a7bc09f559d5053c3349b1ad0c39000e611d317 \
|
||||
--hash=sha256:5fc8e02f5984a55d2c653f5fea93531e9836abbd84342c1d1e17abc4a15084c2 \
|
||||
--hash=sha256:63424c681923b9f3bfbc5e3205aafe790904053d42ddcc08542181a30a7a51bd \
|
||||
--hash=sha256:64b1df0f83706b4ef4cfb4fb0e4c2669100fd7ecacfb59e091fad300d4e04640 \
|
||||
--hash=sha256:74934ebd71950e3db69960a7da29204f89624dde411afbfb3b4858c1409b1e98 \
|
||||
--hash=sha256:75669d77bb2c071333417617a235324a1618dba66f82a750362eccbe5b61d248 \
|
||||
--hash=sha256:75760a47c06b5974aa5e01949bf7e66d2af4d08cb8c1d6516af5e39595397f5e \
|
||||
--hash=sha256:76407ab327158c510f44ded207e2f76b657303e17cb7a572ffe2f5a8a48aa04d \
|
||||
--hash=sha256:76e9c727a874b4856d11a32fb0b389afc61ce8aaf281ada613713ddeadd1cfec \
|
||||
--hash=sha256:77d4c1b881076c3ba173484dfa53d3582c1c8ff1f914c6461ab70c8428b796c1 \
|
||||
--hash=sha256:780c82a41dc493b62fc5884fb1d3a3b81106642c5c5c78d6a0d4cbe96d62ba7e \
|
||||
--hash=sha256:7dc0713bf81287a00516ef43137273b23ee414fe41a3c14be10dd95ed98a2df9 \
|
||||
--hash=sha256:7eebcdbe3677e58dd4c0e03b4f2cfa346ed4049687d839adad68cc38bb559c92 \
|
||||
--hash=sha256:896689fddba4f23ef7c718279e42f8834041a21342d95e56922e1c10c0cc7afb \
|
||||
--hash=sha256:96177eb5645b1c6985f5c11d03fc2dbda9ad24ec0f3a46dcce91445747e15094 \
|
||||
--hash=sha256:96e25c8603a155559231c19c0349245eeb4ac0096fe3c1d0be5c47e075bd4f46 \
|
||||
--hash=sha256:9d37ac69edc5614b90516807de32d08cb8e7b12260a285ee330955604ed9dd29 \
|
||||
--hash=sha256:9ed6aa0726b9b60911f4aed8ec5b8dd7bf3491476015819f56473ffaef8959bd \
|
||||
--hash=sha256:a487f72a25904e2b4bbc0817ce7a8de94363bd7e79890510174da9d901c38705 \
|
||||
--hash=sha256:a4cbb9ff5795cd66f0066bdf5947f170f5d63a9274f99bdbca02fd973adcf2a8 \
|
||||
--hash=sha256:a74d56552ddbde46c246b5b89199cb3fd182f9c346c784e1a93e4dc3f5ec9975 \
|
||||
--hash=sha256:a89ce3fd220ff144bd9d54da333ec0de0399b52c9ac3d2ce34b569cf1a5748fb \
|
||||
--hash=sha256:abd52a09d03adf9c763d706df707c343293d5d106aea53483e0ec8d9e310ad5e \
|
||||
--hash=sha256:abd8f36c99512755b8456047b7be10372fca271bf1467a1caa88db991e7c421b \
|
||||
--hash=sha256:af5bd9ccb188f6a5fdda9f1f09d9f4c86cc8a539bd48a0bfdc97723970348418 \
|
||||
--hash=sha256:b02f21c1e2074943312d03d243ac4388319f2456576b2c6023041c4d57cd7019 \
|
||||
--hash=sha256:b06fa97478a5f478fb05e1980980a7cdf2712015493b44d0c87606c1513ed5b1 \
|
||||
--hash=sha256:b0724f05c396b0a4c36a3226c31648385deb6a65d8992644c12a4963c70326ba \
|
||||
--hash=sha256:b130fe77361d6771ecf5a219d8e0817d61b236b7d8b37cc045172e574ed219e6 \
|
||||
--hash=sha256:b56d5519e470d3f2fe4aa7585f0632b060d532d0696c5bdfb5e8319e1d0f69a2 \
|
||||
--hash=sha256:b67b819628e3b748fd3c2192c15fb951f549d0f47c0449af0764d7647302fda3 \
|
||||
--hash=sha256:ba1711cda2d30634a7e452fc79eabcadaffedf241ff206db2ee93dd2c89a60e7 \
|
||||
--hash=sha256:bbeccb1aa40ab88cd29e6c7d8585582c99548f55f9b2581dfc5ba68c59a85752 \
|
||||
--hash=sha256:bd84395aab8e4d36263cd1b9308cd504f6cf713b7d6d3ce25ea55670baec5416 \
|
||||
--hash=sha256:c99f4309f5145b93eca6e35ac1a988f0dc0a7ccf9ccdcd78d3c0adf57224e62f \
|
||||
--hash=sha256:ca1cccf838cd28d5a0883b342474c630ac48cac5df0ee6eacc9c7290f76b11c1 \
|
||||
--hash=sha256:cd525e0e52a5ff16653a3fc9e3dd827981917d34996600bbc34c05d048ca35cc \
|
||||
--hash=sha256:cdb4f085756c96a3af04e6eca7f08b1345e94b53af8921b25c72f096e704e145 \
|
||||
--hash=sha256:ce42618f67741d4697684e501ef02f29e758a123aa2d669e2d964ff734ee00ee \
|
||||
--hash=sha256:d06730c6aed78cee4126234cf2d071e01b44b915e725a6cb439a879ec9754a3a \
|
||||
--hash=sha256:d5fe3e099cf07d0fb5a1e23d399e5d4d1ca3e6dfcbe5c8570ccff3e9208274f7 \
|
||||
--hash=sha256:d6bcbfc99f55655c3d93feb7ef3800bd5bbe963a755687cbf1f490a71fb7794b \
|
||||
--hash=sha256:d787272ed958a05b2c86311d3a4135d3c2aeea4fc655705f074130aa57d71653 \
|
||||
--hash=sha256:e169e957c33576f47e21864cf3fc9ff47c223a4ebca8960079b8bd36cb014fd0 \
|
||||
--hash=sha256:e20076a211cd6f9b44a6be58f7eeafa7ab5720eb796975d0c03f05b47d89eb90 \
|
||||
--hash=sha256:e826aadda3cae59295b95343db8f3d965fb31059da7de01ee8d1c40a60398b29 \
|
||||
--hash=sha256:eef4d64c650f33347c1f9266fa5ae001440b232ad9b98f1f43dfe7a79435c0a6 \
|
||||
--hash=sha256:f2e69b3ed24544b0d3dbe2c5c0ba5153ce50dcebb576fdc4696d52aa22db6034 \
|
||||
--hash=sha256:f87ec75864c37c4c6cb908d282e1969e79763e0d9becdfe9fe5473b7bb1e5f09 \
|
||||
--hash=sha256:fbec11614dba0424ca72f4e8ba3c420dba07b4a7c206c8c8e4e73f2e98f4c559 \
|
||||
--hash=sha256:fd69666217b62fa5d7c6aa88e507493a34dec4fa20c5bd925e4bc12fce586639
|
||||
# via astroid
|
||||
yapf==0.32.0 \
|
||||
--hash=sha256:8fea849025584e486fd06d6ba2bed717f396080fd3cc236ba10cb97c4c51cf32 \
|
||||
--hash=sha256:a3f5085d37ef7e3e004c4ba9f9b3e40c54ff1901cd111f05145ae313a7c67d1b
|
||||
# via rosbags (setup.cfg)
|
||||
zipp==3.15.0 \
|
||||
--hash=sha256:112929ad649da941c23de50f356a2b5570c954b65150642bccdd66bf194d224b \
|
||||
--hash=sha256:48904fc76a60e542af151aded95726c1a5c34ed43ab4134b597665c86d7ad556
|
||||
# via importlib-metadata
|
||||
zstandard==0.20.0 \
|
||||
--hash=sha256:0488f2a238b4560828b3a595f3337daac4d3725c2a1637ffe2a0d187c091da59 \
|
||||
--hash=sha256:059316f07e39b7214cd9eed565d26ab239035d2c76835deeff381995f7a27ba8 \
|
||||
--hash=sha256:0aa4d178560d7ee32092ddfd415c2cdc6ab5ddce9554985c75f1a019a0ff4c55 \
|
||||
--hash=sha256:0b815dec62e2d5a1bf7a373388f2616f21a27047b9b999de328bca7462033708 \
|
||||
--hash=sha256:0d213353d58ad37fb5070314b156fb983b4d680ed5f3fce76ab013484cf3cf12 \
|
||||
--hash=sha256:0f32a8f3a697ef87e67c0d0c0673b245babee6682b2c95e46eb30208ffb720bd \
|
||||
--hash=sha256:29699746fae2760d3963a4ffb603968e77da55150ee0a3326c0569f4e35f319f \
|
||||
--hash=sha256:2adf65cfce73ce94ef4c482f6cc01f08ddf5e1ca0c1ec95f2b63840f9e4c226c \
|
||||
--hash=sha256:2eeb9e1ecd48ac1d352608bfe0dc1ed78a397698035a1796cf72f0c9d905d219 \
|
||||
--hash=sha256:302a31400de0280f17c4ce67a73444a7a069f228db64048e4ce555cd0c02fbc4 \
|
||||
--hash=sha256:39ae788dcdc404c07ef7aac9b11925185ea0831b985db0bbc43f95acdbd1c2ce \
|
||||
--hash=sha256:39cbaf8fe3fa3515d35fb790465db4dc1ff45e58e1e00cbaf8b714e85437f039 \
|
||||
--hash=sha256:40466adfa071f58bfa448d90f9623d6aff67c6d86de6fc60be47a26388f6c74d \
|
||||
--hash=sha256:489959e2d52f7f1fe8ea275fecde6911d454df465265bf3ec51b3e755e769a5e \
|
||||
--hash=sha256:4a3c36284c219a4d2694e52b2582fe5d5f0ecaf94a22cf0ea959b527dbd8a2a6 \
|
||||
--hash=sha256:4abf9a9e0841b844736d1ae8ead2b583d2cd212815eab15391b702bde17477a7 \
|
||||
--hash=sha256:4af5d1891eebef430038ea4981957d31b1eb70aca14b906660c3ac1c3e7a8612 \
|
||||
--hash=sha256:5499d65d4a1978dccf0a9c2c0d12415e16d4995ffad7a0bc4f72cc66691cf9f2 \
|
||||
--hash=sha256:5a3578b182c21b8af3c49619eb4cd0b9127fa60791e621b34217d65209722002 \
|
||||
--hash=sha256:613daadd72c71b1488742cafb2c3b381c39d0c9bb8c6cc157aa2d5ea45cc2efc \
|
||||
--hash=sha256:6179808ebd1ebc42b1e2f221a23c28a22d3bc8f79209ae4a3cc114693c380bff \
|
||||
--hash=sha256:7041efe3a93d0975d2ad16451720932e8a3d164be8521bfd0873b27ac917b77a \
|
||||
--hash=sha256:78fb35d07423f25efd0fc90d0d4710ae83cfc86443a32192b0c6cb8475ec79a5 \
|
||||
--hash=sha256:79c3058ccbe1fa37356a73c9d3c0475ec935ab528f5b76d56fc002a5a23407c7 \
|
||||
--hash=sha256:84c1dae0c0a21eea245b5691286fe6470dc797d5e86e0c26b57a3afd1e750b48 \
|
||||
--hash=sha256:862ad0a5c94670f2bd6f64fff671bd2045af5f4ed428a3f2f69fa5e52483f86a \
|
||||
--hash=sha256:9aca916724d0802d3e70dc68adeff893efece01dffe7252ee3ae0053f1f1990f \
|
||||
--hash=sha256:9aea3c7bab4276212e5ac63d28e6bd72a79ff058d57e06926dfe30a52451d943 \
|
||||
--hash=sha256:a56036c08645aa6041d435a50103428f0682effdc67f5038de47cea5e4221d6f \
|
||||
--hash=sha256:a5efe366bf0545a1a5a917787659b445ba16442ae4093f102204f42a9da1ecbc \
|
||||
--hash=sha256:afbcd2ed0c1145e24dd3df8440a429688a1614b83424bc871371b176bed429f9 \
|
||||
--hash=sha256:b07f391fd85e3d07514c05fb40c5573b398d0063ab2bada6eb09949ec6004772 \
|
||||
--hash=sha256:b0f556c74c6f0f481b61d917e48c341cdfbb80cc3391511345aed4ce6fb52fdc \
|
||||
--hash=sha256:b671b75ae88139b1dd022fa4aa66ba419abd66f98869af55a342cb9257a1831e \
|
||||
--hash=sha256:b6d718f1b7cd30adb02c2a46dde0f25a84a9de8865126e0fff7d0162332d6b92 \
|
||||
--hash=sha256:ba4bb4c5a0cac802ff485fa1e57f7763df5efa0ad4ee10c2693ecc5a018d2c1a \
|
||||
--hash=sha256:ba86f931bf925e9561ccd6cb978acb163e38c425990927feb38be10c894fa937 \
|
||||
--hash=sha256:c1929afea64da48ec59eca9055d7ec7e5955801489ac40ac2a19dde19e7edad9 \
|
||||
--hash=sha256:c28c7441638c472bfb794f424bd560a22c7afce764cd99196e8d70fbc4d14e85 \
|
||||
--hash=sha256:c4efa051799703dc37c072e22af1f0e4c77069a78fb37caf70e26414c738ca1d \
|
||||
--hash=sha256:cc98c8bcaa07150d3f5d7c4bd264eaa4fdd4a4dfb8fd3f9d62565ae5c4aba227 \
|
||||
--hash=sha256:cd0aa9a043c38901925ae1bba49e1e638f2d9c3cdf1b8000868993c642deb7f2 \
|
||||
--hash=sha256:cdd769da7add8498658d881ce0eeb4c35ea1baac62e24c5a030c50f859f29724 \
|
||||
--hash=sha256:d08459f7f7748398a6cc65eb7f88aa7ef5731097be2ddfba544be4b558acd900 \
|
||||
--hash=sha256:dc47cec184e66953f635254e5381df8a22012a2308168c069230b1a95079ccd0 \
|
||||
--hash=sha256:e3f6887d2bdfb5752d5544860bd6b778e53ebfaf4ab6c3f9d7fd388445429d41 \
|
||||
--hash=sha256:e6b4de1ba2f3028fafa0d82222d1e91b729334c8d65fbf04290c65c09d7457e1 \
|
||||
--hash=sha256:ee2a1510e06dfc7706ea9afad363efe222818a1eafa59abc32d9bbcd8465fba7 \
|
||||
--hash=sha256:f199d58f3fd7dfa0d447bc255ff22571f2e4e5e5748bfd1c41370454723cb053 \
|
||||
--hash=sha256:f1ba6bbd28ad926d130f0af8016f3a2930baa013c2128cfff46ca76432f50669 \
|
||||
--hash=sha256:f847701d77371d90783c0ce6cfdb7ebde4053882c2aaba7255c70ae3c3eb7af0
|
||||
# via rosbags (setup.cfg)
|
||||
|
||||
# WARNING: The following packages were not pinned, but pip requires them to be
|
||||
# pinned when the requirements file includes hashes. Consider using the --allow-unsafe flag.
|
||||
# setuptools
|
||||
168
rosbags/requirements.txt
Normal file
168
rosbags/requirements.txt
Normal file
@ -0,0 +1,168 @@
|
||||
#
|
||||
# This file is autogenerated by pip-compile with Python 3.10
|
||||
# by the following command:
|
||||
#
|
||||
# pip-compile --generate-hashes setup.cfg
|
||||
#
|
||||
lz4==4.3.2 \
|
||||
--hash=sha256:0ca83a623c449295bafad745dcd399cea4c55b16b13ed8cfea30963b004016c9 \
|
||||
--hash=sha256:0f5614d8229b33d4a97cb527db2a1ac81308c6e796e7bdb5d1309127289f69d5 \
|
||||
--hash=sha256:1c4c100d99eed7c08d4e8852dd11e7d1ec47a3340f49e3a96f8dfbba17ffb300 \
|
||||
--hash=sha256:1f25eb322eeb24068bb7647cae2b0732b71e5c639e4e4026db57618dcd8279f0 \
|
||||
--hash=sha256:200d05777d61ba1ff8d29cb51c534a162ea0b4fe6d3c28be3571a0a48ff36080 \
|
||||
--hash=sha256:31d72731c4ac6ebdce57cd9a5cabe0aecba229c4f31ba3e2c64ae52eee3fdb1c \
|
||||
--hash=sha256:3a85b430138882f82f354135b98c320dafb96fc8fe4656573d95ab05de9eb092 \
|
||||
--hash=sha256:4931ab28a0d1c133104613e74eec1b8bb1f52403faabe4f47f93008785c0b929 \
|
||||
--hash=sha256:4caedeb19e3ede6c7a178968b800f910db6503cb4cb1e9cc9221157572139b49 \
|
||||
--hash=sha256:65d5c93f8badacfa0456b660285e394e65023ef8071142e0dcbd4762166e1be0 \
|
||||
--hash=sha256:6b50f096a6a25f3b2edca05aa626ce39979d63c3b160687c8c6d50ac3943d0ba \
|
||||
--hash=sha256:7211dc8f636ca625abc3d4fb9ab74e5444b92df4f8d58ec83c8868a2b0ff643d \
|
||||
--hash=sha256:7a9eec24ec7d8c99aab54de91b4a5a149559ed5b3097cf30249b665689b3d402 \
|
||||
--hash=sha256:7c2df117def1589fba1327dceee51c5c2176a2b5a7040b45e84185ce0c08b6a3 \
|
||||
--hash=sha256:7e2dc1bd88b60fa09b9b37f08553f45dc2b770c52a5996ea52b2b40f25445676 \
|
||||
--hash=sha256:83903fe6db92db0be101acedc677aa41a490b561567fe1b3fe68695b2110326c \
|
||||
--hash=sha256:83acfacab3a1a7ab9694333bcb7950fbeb0be21660d236fd09c8337a50817897 \
|
||||
--hash=sha256:86480f14a188c37cb1416cdabacfb4e42f7a5eab20a737dac9c4b1c227f3b822 \
|
||||
--hash=sha256:867664d9ca9bdfce840ac96d46cd8838c9ae891e859eb98ce82fcdf0e103a947 \
|
||||
--hash=sha256:8df16c9a2377bdc01e01e6de5a6e4bbc66ddf007a6b045688e285d7d9d61d1c9 \
|
||||
--hash=sha256:8f00a9ba98f6364cadda366ae6469b7b3568c0cced27e16a47ddf6b774169270 \
|
||||
--hash=sha256:926b26db87ec8822cf1870efc3d04d06062730ec3279bbbd33ba47a6c0a5c673 \
|
||||
--hash=sha256:a6a46889325fd60b8a6b62ffc61588ec500a1883db32cddee9903edfba0b7584 \
|
||||
--hash=sha256:a98b61e504fb69f99117b188e60b71e3c94469295571492a6468c1acd63c37ba \
|
||||
--hash=sha256:ad38dc6a7eea6f6b8b642aaa0683253288b0460b70cab3216838747163fb774d \
|
||||
--hash=sha256:b10b77dc2e6b1daa2f11e241141ab8285c42b4ed13a8642495620416279cc5b2 \
|
||||
--hash=sha256:d5ea0e788dc7e2311989b78cae7accf75a580827b4d96bbaf06c7e5a03989bd5 \
|
||||
--hash=sha256:e05afefc4529e97c08e65ef92432e5f5225c0bb21ad89dee1e06a882f91d7f5e \
|
||||
--hash=sha256:e1431d84a9cfb23e6773e72078ce8e65cad6745816d4cbf9ae67da5ea419acda \
|
||||
--hash=sha256:ec6755cacf83f0c5588d28abb40a1ac1643f2ff2115481089264c7630236618a \
|
||||
--hash=sha256:edc2fb3463d5d9338ccf13eb512aab61937be50aa70734bcf873f2f493801d3b \
|
||||
--hash=sha256:edd8987d8415b5dad25e797043936d91535017237f72fa456601be1479386c92 \
|
||||
--hash=sha256:edda4fb109439b7f3f58ed6bede59694bc631c4b69c041112b1b7dc727fffb23 \
|
||||
--hash=sha256:f571eab7fec554d3b1db0d666bdc2ad85c81f4b8cb08906c4c59a8cad75e6e22 \
|
||||
--hash=sha256:f7c50542b4ddceb74ab4f8b3435327a0861f06257ca501d59067a6a482535a77
|
||||
# via rosbags (setup.cfg)
|
||||
numpy==1.24.2 \
|
||||
--hash=sha256:003a9f530e880cb2cd177cba1af7220b9aa42def9c4afc2a2fc3ee6be7eb2b22 \
|
||||
--hash=sha256:150947adbdfeceec4e5926d956a06865c1c690f2fd902efede4ca6fe2e657c3f \
|
||||
--hash=sha256:2620e8592136e073bd12ee4536149380695fbe9ebeae845b81237f986479ffc9 \
|
||||
--hash=sha256:2eabd64ddb96a1239791da78fa5f4e1693ae2dadc82a76bc76a14cbb2b966e96 \
|
||||
--hash=sha256:4173bde9fa2a005c2c6e2ea8ac1618e2ed2c1c6ec8a7657237854d42094123a0 \
|
||||
--hash=sha256:4199e7cfc307a778f72d293372736223e39ec9ac096ff0a2e64853b866a8e18a \
|
||||
--hash=sha256:4cecaed30dc14123020f77b03601559fff3e6cd0c048f8b5289f4eeabb0eb281 \
|
||||
--hash=sha256:557d42778a6869c2162deb40ad82612645e21d79e11c1dc62c6e82a2220ffb04 \
|
||||
--hash=sha256:63e45511ee4d9d976637d11e6c9864eae50e12dc9598f531c035265991910468 \
|
||||
--hash=sha256:6524630f71631be2dabe0c541e7675db82651eb998496bbe16bc4f77f0772253 \
|
||||
--hash=sha256:76807b4063f0002c8532cfeac47a3068a69561e9c8715efdad3c642eb27c0756 \
|
||||
--hash=sha256:7de8fdde0003f4294655aa5d5f0a89c26b9f22c0a58790c38fae1ed392d44a5a \
|
||||
--hash=sha256:889b2cc88b837d86eda1b17008ebeb679d82875022200c6e8e4ce6cf549b7acb \
|
||||
--hash=sha256:92011118955724465fb6853def593cf397b4a1367495e0b59a7e69d40c4eb71d \
|
||||
--hash=sha256:97cf27e51fa078078c649a51d7ade3c92d9e709ba2bfb97493007103c741f1d0 \
|
||||
--hash=sha256:9a23f8440561a633204a67fb44617ce2a299beecf3295f0d13c495518908e910 \
|
||||
--hash=sha256:a51725a815a6188c662fb66fb32077709a9ca38053f0274640293a14fdd22978 \
|
||||
--hash=sha256:a77d3e1163a7770164404607b7ba3967fb49b24782a6ef85d9b5f54126cc39e5 \
|
||||
--hash=sha256:adbdce121896fd3a17a77ab0b0b5eedf05a9834a18699db6829a64e1dfccca7f \
|
||||
--hash=sha256:c29e6bd0ec49a44d7690ecb623a8eac5ab8a923bce0bea6293953992edf3a76a \
|
||||
--hash=sha256:c72a6b2f4af1adfe193f7beb91ddf708ff867a3f977ef2ec53c0ffb8283ab9f5 \
|
||||
--hash=sha256:d0a2db9d20117bf523dde15858398e7c0858aadca7c0f088ac0d6edd360e9ad2 \
|
||||
--hash=sha256:e3ab5d32784e843fc0dd3ab6dcafc67ef806e6b6828dc6af2f689be0eb4d781d \
|
||||
--hash=sha256:e428c4fbfa085f947b536706a2fc349245d7baa8334f0c5723c56a10595f9b95 \
|
||||
--hash=sha256:e8d2859428712785e8a8b7d2b3ef0a1d1565892367b32f915c4a4df44d0e64f5 \
|
||||
--hash=sha256:eef70b4fc1e872ebddc38cddacc87c19a3709c0e3e5d20bf3954c147b1dd941d \
|
||||
--hash=sha256:f64bb98ac59b3ea3bf74b02f13836eb2e24e48e0ab0145bbda646295769bd780 \
|
||||
--hash=sha256:f9006288bcf4895917d02583cf3411f98631275bc67cce355a7f39f8c14338fa
|
||||
# via rosbags (setup.cfg)
|
||||
ruamel-yaml==0.17.21 \
|
||||
--hash=sha256:742b35d3d665023981bd6d16b3d24248ce5df75fdb4e2924e93a05c1f8b61ca7 \
|
||||
--hash=sha256:8b7ce697a2f212752a35c1ac414471dc16c424c9573be4926b56ff3f5d23b7af
|
||||
# via rosbags (setup.cfg)
|
||||
ruamel-yaml-clib==0.2.7 \
|
||||
--hash=sha256:045e0626baf1c52e5527bd5db361bc83180faaba2ff586e763d3d5982a876a9e \
|
||||
--hash=sha256:15910ef4f3e537eea7fe45f8a5d19997479940d9196f357152a09031c5be59f3 \
|
||||
--hash=sha256:184faeaec61dbaa3cace407cffc5819f7b977e75360e8d5ca19461cd851a5fc5 \
|
||||
--hash=sha256:1f08fd5a2bea9c4180db71678e850b995d2a5f4537be0e94557668cf0f5f9497 \
|
||||
--hash=sha256:2aa261c29a5545adfef9296b7e33941f46aa5bbd21164228e833412af4c9c75f \
|
||||
--hash=sha256:3110a99e0f94a4a3470ff67fc20d3f96c25b13d24c6980ff841e82bafe827cac \
|
||||
--hash=sha256:3243f48ecd450eddadc2d11b5feb08aca941b5cd98c9b1db14b2fd128be8c697 \
|
||||
--hash=sha256:370445fd795706fd291ab00c9df38a0caed0f17a6fb46b0f607668ecb16ce763 \
|
||||
--hash=sha256:40d030e2329ce5286d6b231b8726959ebbe0404c92f0a578c0e2482182e38282 \
|
||||
--hash=sha256:41d0f1fa4c6830176eef5b276af04c89320ea616655d01327d5ce65e50575c94 \
|
||||
--hash=sha256:4a4d8d417868d68b979076a9be6a38c676eca060785abaa6709c7b31593c35d1 \
|
||||
--hash=sha256:4b3a93bb9bc662fc1f99c5c3ea8e623d8b23ad22f861eb6fce9377ac07ad6072 \
|
||||
--hash=sha256:5bc0667c1eb8f83a3752b71b9c4ba55ef7c7058ae57022dd9b29065186a113d9 \
|
||||
--hash=sha256:721bc4ba4525f53f6a611ec0967bdcee61b31df5a56801281027a3a6d1c2daf5 \
|
||||
--hash=sha256:763d65baa3b952479c4e972669f679fe490eee058d5aa85da483ebae2009d231 \
|
||||
--hash=sha256:7bdb4c06b063f6fd55e472e201317a3bb6cdeeee5d5a38512ea5c01e1acbdd93 \
|
||||
--hash=sha256:8831a2cedcd0f0927f788c5bdf6567d9dc9cc235646a434986a852af1cb54b4b \
|
||||
--hash=sha256:91a789b4aa0097b78c93e3dc4b40040ba55bef518f84a40d4442f713b4094acb \
|
||||
--hash=sha256:92460ce908546ab69770b2e576e4f99fbb4ce6ab4b245345a3869a0a0410488f \
|
||||
--hash=sha256:99e77daab5d13a48a4054803d052ff40780278240a902b880dd37a51ba01a307 \
|
||||
--hash=sha256:a234a20ae07e8469da311e182e70ef6b199d0fbeb6c6cc2901204dd87fb867e8 \
|
||||
--hash=sha256:a7b301ff08055d73223058b5c46c55638917f04d21577c95e00e0c4d79201a6b \
|
||||
--hash=sha256:be2a7ad8fd8f7442b24323d24ba0b56c51219513cfa45b9ada3b87b76c374d4b \
|
||||
--hash=sha256:bf9a6bc4a0221538b1a7de3ed7bca4c93c02346853f44e1cd764be0023cd3640 \
|
||||
--hash=sha256:c3ca1fbba4ae962521e5eb66d72998b51f0f4d0f608d3c0347a48e1af262efa7 \
|
||||
--hash=sha256:d000f258cf42fec2b1bbf2863c61d7b8918d31ffee905da62dede869254d3b8a \
|
||||
--hash=sha256:d5859983f26d8cd7bb5c287ef452e8aacc86501487634573d260968f753e1d71 \
|
||||
--hash=sha256:d5e51e2901ec2366b79f16c2299a03e74ba4531ddcfacc1416639c557aef0ad8 \
|
||||
--hash=sha256:da538167284de58a52109a9b89b8f6a53ff8437dd6dc26d33b57bf6699153122 \
|
||||
--hash=sha256:debc87a9516b237d0466a711b18b6ebeb17ba9f391eb7f91c649c5c4ec5006c7 \
|
||||
--hash=sha256:df5828871e6648db72d1c19b4bd24819b80a755c4541d3409f0f7acd0f335c80 \
|
||||
--hash=sha256:ecdf1a604009bd35c674b9225a8fa609e0282d9b896c03dd441a91e5f53b534e \
|
||||
--hash=sha256:efa08d63ef03d079dcae1dfe334f6c8847ba8b645d08df286358b1f5293d24ab \
|
||||
--hash=sha256:f01da5790e95815eb5a8a138508c01c758e5f5bc0ce4286c4f7028b8dd7ac3d0 \
|
||||
--hash=sha256:f34019dced51047d6f70cb9383b2ae2853b7fc4dce65129a5acd49f4f9256646 \
|
||||
--hash=sha256:f6d3d39611ac2e4f62c3128a9eed45f19a6608670c5a2f4f07f24e8de3441d38
|
||||
# via ruamel-yaml
|
||||
zstandard==0.20.0 \
|
||||
--hash=sha256:0488f2a238b4560828b3a595f3337daac4d3725c2a1637ffe2a0d187c091da59 \
|
||||
--hash=sha256:059316f07e39b7214cd9eed565d26ab239035d2c76835deeff381995f7a27ba8 \
|
||||
--hash=sha256:0aa4d178560d7ee32092ddfd415c2cdc6ab5ddce9554985c75f1a019a0ff4c55 \
|
||||
--hash=sha256:0b815dec62e2d5a1bf7a373388f2616f21a27047b9b999de328bca7462033708 \
|
||||
--hash=sha256:0d213353d58ad37fb5070314b156fb983b4d680ed5f3fce76ab013484cf3cf12 \
|
||||
--hash=sha256:0f32a8f3a697ef87e67c0d0c0673b245babee6682b2c95e46eb30208ffb720bd \
|
||||
--hash=sha256:29699746fae2760d3963a4ffb603968e77da55150ee0a3326c0569f4e35f319f \
|
||||
--hash=sha256:2adf65cfce73ce94ef4c482f6cc01f08ddf5e1ca0c1ec95f2b63840f9e4c226c \
|
||||
--hash=sha256:2eeb9e1ecd48ac1d352608bfe0dc1ed78a397698035a1796cf72f0c9d905d219 \
|
||||
--hash=sha256:302a31400de0280f17c4ce67a73444a7a069f228db64048e4ce555cd0c02fbc4 \
|
||||
--hash=sha256:39ae788dcdc404c07ef7aac9b11925185ea0831b985db0bbc43f95acdbd1c2ce \
|
||||
--hash=sha256:39cbaf8fe3fa3515d35fb790465db4dc1ff45e58e1e00cbaf8b714e85437f039 \
|
||||
--hash=sha256:40466adfa071f58bfa448d90f9623d6aff67c6d86de6fc60be47a26388f6c74d \
|
||||
--hash=sha256:489959e2d52f7f1fe8ea275fecde6911d454df465265bf3ec51b3e755e769a5e \
|
||||
--hash=sha256:4a3c36284c219a4d2694e52b2582fe5d5f0ecaf94a22cf0ea959b527dbd8a2a6 \
|
||||
--hash=sha256:4abf9a9e0841b844736d1ae8ead2b583d2cd212815eab15391b702bde17477a7 \
|
||||
--hash=sha256:4af5d1891eebef430038ea4981957d31b1eb70aca14b906660c3ac1c3e7a8612 \
|
||||
--hash=sha256:5499d65d4a1978dccf0a9c2c0d12415e16d4995ffad7a0bc4f72cc66691cf9f2 \
|
||||
--hash=sha256:5a3578b182c21b8af3c49619eb4cd0b9127fa60791e621b34217d65209722002 \
|
||||
--hash=sha256:613daadd72c71b1488742cafb2c3b381c39d0c9bb8c6cc157aa2d5ea45cc2efc \
|
||||
--hash=sha256:6179808ebd1ebc42b1e2f221a23c28a22d3bc8f79209ae4a3cc114693c380bff \
|
||||
--hash=sha256:7041efe3a93d0975d2ad16451720932e8a3d164be8521bfd0873b27ac917b77a \
|
||||
--hash=sha256:78fb35d07423f25efd0fc90d0d4710ae83cfc86443a32192b0c6cb8475ec79a5 \
|
||||
--hash=sha256:79c3058ccbe1fa37356a73c9d3c0475ec935ab528f5b76d56fc002a5a23407c7 \
|
||||
--hash=sha256:84c1dae0c0a21eea245b5691286fe6470dc797d5e86e0c26b57a3afd1e750b48 \
|
||||
--hash=sha256:862ad0a5c94670f2bd6f64fff671bd2045af5f4ed428a3f2f69fa5e52483f86a \
|
||||
--hash=sha256:9aca916724d0802d3e70dc68adeff893efece01dffe7252ee3ae0053f1f1990f \
|
||||
--hash=sha256:9aea3c7bab4276212e5ac63d28e6bd72a79ff058d57e06926dfe30a52451d943 \
|
||||
--hash=sha256:a56036c08645aa6041d435a50103428f0682effdc67f5038de47cea5e4221d6f \
|
||||
--hash=sha256:a5efe366bf0545a1a5a917787659b445ba16442ae4093f102204f42a9da1ecbc \
|
||||
--hash=sha256:afbcd2ed0c1145e24dd3df8440a429688a1614b83424bc871371b176bed429f9 \
|
||||
--hash=sha256:b07f391fd85e3d07514c05fb40c5573b398d0063ab2bada6eb09949ec6004772 \
|
||||
--hash=sha256:b0f556c74c6f0f481b61d917e48c341cdfbb80cc3391511345aed4ce6fb52fdc \
|
||||
--hash=sha256:b671b75ae88139b1dd022fa4aa66ba419abd66f98869af55a342cb9257a1831e \
|
||||
--hash=sha256:b6d718f1b7cd30adb02c2a46dde0f25a84a9de8865126e0fff7d0162332d6b92 \
|
||||
--hash=sha256:ba4bb4c5a0cac802ff485fa1e57f7763df5efa0ad4ee10c2693ecc5a018d2c1a \
|
||||
--hash=sha256:ba86f931bf925e9561ccd6cb978acb163e38c425990927feb38be10c894fa937 \
|
||||
--hash=sha256:c1929afea64da48ec59eca9055d7ec7e5955801489ac40ac2a19dde19e7edad9 \
|
||||
--hash=sha256:c28c7441638c472bfb794f424bd560a22c7afce764cd99196e8d70fbc4d14e85 \
|
||||
--hash=sha256:c4efa051799703dc37c072e22af1f0e4c77069a78fb37caf70e26414c738ca1d \
|
||||
--hash=sha256:cc98c8bcaa07150d3f5d7c4bd264eaa4fdd4a4dfb8fd3f9d62565ae5c4aba227 \
|
||||
--hash=sha256:cd0aa9a043c38901925ae1bba49e1e638f2d9c3cdf1b8000868993c642deb7f2 \
|
||||
--hash=sha256:cdd769da7add8498658d881ce0eeb4c35ea1baac62e24c5a030c50f859f29724 \
|
||||
--hash=sha256:d08459f7f7748398a6cc65eb7f88aa7ef5731097be2ddfba544be4b558acd900 \
|
||||
--hash=sha256:dc47cec184e66953f635254e5381df8a22012a2308168c069230b1a95079ccd0 \
|
||||
--hash=sha256:e3f6887d2bdfb5752d5544860bd6b778e53ebfaf4ab6c3f9d7fd388445429d41 \
|
||||
--hash=sha256:e6b4de1ba2f3028fafa0d82222d1e91b729334c8d65fbf04290c65c09d7457e1 \
|
||||
--hash=sha256:ee2a1510e06dfc7706ea9afad363efe222818a1eafa59abc32d9bbcd8465fba7 \
|
||||
--hash=sha256:f199d58f3fd7dfa0d447bc255ff22571f2e4e5e5748bfd1c41370454723cb053 \
|
||||
--hash=sha256:f1ba6bbd28ad926d130f0af8016f3a2930baa013c2128cfff46ca76432f50669 \
|
||||
--hash=sha256:f847701d77371d90783c0ce6cfdb7ebde4053882c2aaba7255c70ae3c3eb7af0
|
||||
# via rosbags (setup.cfg)
|
||||
98
rosbags/setup.cfg
Normal file
98
rosbags/setup.cfg
Normal file
@ -0,0 +1,98 @@
|
||||
[metadata]
|
||||
name = rosbags
|
||||
version = 0.9.15
|
||||
author = Ternaris
|
||||
author_email = team@ternaris.com
|
||||
home_page = https://gitlab.com/ternaris/rosbags
|
||||
description = Pure Python library to read, modify, convert, and write rosbag files.
|
||||
long_description = file: README.rst
|
||||
long_description_content_type = text/x-rst
|
||||
keywords =
|
||||
cdr
|
||||
conversion
|
||||
deserialization
|
||||
idl
|
||||
mcap
|
||||
message
|
||||
msg
|
||||
reader
|
||||
ros
|
||||
rosbag
|
||||
rosbag2
|
||||
serialization
|
||||
writer
|
||||
license = Apache 2.0
|
||||
license_files = LICENSE.txt
|
||||
platform = any
|
||||
classifiers =
|
||||
Development Status :: 4 - Beta
|
||||
License :: OSI Approved :: Apache Software License
|
||||
Programming Language :: Python
|
||||
Programming Language :: Python :: 3 :: Only
|
||||
Programming Language :: Python :: 3.8
|
||||
Programming Language :: Python :: 3.9
|
||||
Programming Language :: Python :: 3.10
|
||||
Programming Language :: Python :: 3.11
|
||||
Topic :: Scientific/Engineering
|
||||
Typing :: Typed
|
||||
project_urls =
|
||||
Code = https://gitlab.com/ternaris/rosbags
|
||||
Documentation = https://ternaris.gitlab.io/rosbags
|
||||
Issue tracker = https://gitlab.com/ternaris/rosbags/issues
|
||||
|
||||
[options]
|
||||
include_package_data = true
|
||||
package_dir =
|
||||
= src
|
||||
packages = find_namespace:
|
||||
python_requires =
|
||||
>=3.8.2
|
||||
install_requires =
|
||||
lz4
|
||||
numpy
|
||||
ruamel.yaml
|
||||
zstandard
|
||||
|
||||
[options.entry_points]
|
||||
console_scripts =
|
||||
rosbags-convert = rosbags.convert.__main__:main
|
||||
|
||||
[options.extras_require]
|
||||
dev =
|
||||
darglint
|
||||
flake8
|
||||
flake8-annotations
|
||||
flake8-bugbear
|
||||
flake8-commas
|
||||
flake8-comprehensions
|
||||
flake8-docstrings
|
||||
flake8-fixme
|
||||
flake8-isort
|
||||
flake8-mutable
|
||||
flake8-print
|
||||
flake8-pyprojecttoml
|
||||
flake8-pytest-style
|
||||
flake8-quotes
|
||||
flake8-return
|
||||
flake8-simplify
|
||||
flake8-type-checking
|
||||
flake8-use-fstring
|
||||
mypy
|
||||
pep8-naming
|
||||
pylint
|
||||
pytest
|
||||
pytest-cov
|
||||
sphinx
|
||||
sphinx-autodoc-typehints
|
||||
sphinx-rtd-theme
|
||||
toml # required by yapf
|
||||
yapf
|
||||
|
||||
[options.package_data]
|
||||
* = py.typed
|
||||
|
||||
[options.packages.find]
|
||||
where = src
|
||||
|
||||
[sdist]
|
||||
formats = gztar, zip
|
||||
16
rosbags/src/rosbags/convert/__init__.py
Normal file
16
rosbags/src/rosbags/convert/__init__.py
Normal file
@ -0,0 +1,16 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Rosbags file format conversion.
|
||||
|
||||
Conversion function transforms files from rosbag1 format to the latest rosbag2
|
||||
format. It automatically matches ROS1 message types to their ROS2 counterparts
|
||||
and adds custom types not present in the type system.
|
||||
|
||||
"""
|
||||
|
||||
from .converter import ConverterError, convert
|
||||
|
||||
__all__ = [
|
||||
'ConverterError',
|
||||
'convert',
|
||||
]
|
||||
82
rosbags/src/rosbags/convert/__main__.py
Normal file
82
rosbags/src/rosbags/convert/__main__.py
Normal file
@ -0,0 +1,82 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""CLI tool for rosbag conversion."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import argparse
|
||||
import sys
|
||||
from pathlib import Path
|
||||
from typing import TYPE_CHECKING
|
||||
|
||||
from .converter import ConverterError, convert
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from typing import Callable
|
||||
|
||||
|
||||
def pathtype(exists: bool = True) -> Callable[[str], Path]:
|
||||
"""Path argument for argparse.
|
||||
|
||||
Args:
|
||||
exists: Path should exists in filesystem.
|
||||
|
||||
Returns:
|
||||
Argparse type function.
|
||||
|
||||
"""
|
||||
|
||||
def topath(pathname: str) -> Path:
|
||||
path = Path(pathname)
|
||||
if exists != path.exists():
|
||||
raise argparse.ArgumentTypeError(
|
||||
f'{path} should {"exist" if exists else "not exist"}.',
|
||||
)
|
||||
return path
|
||||
|
||||
return topath
|
||||
|
||||
|
||||
def main() -> None:
|
||||
"""Parse cli arguments and run conversion."""
|
||||
parser = argparse.ArgumentParser(description='Convert between rosbag1 and rosbag2.')
|
||||
parser.add_argument(
|
||||
'src',
|
||||
type=pathtype(),
|
||||
help='source path to read rosbag1 or rosbag2 from',
|
||||
)
|
||||
parser.add_argument(
|
||||
'--dst',
|
||||
type=pathtype(exists=False),
|
||||
help='destination path for converted rosbag',
|
||||
)
|
||||
topic_group = parser.add_argument_group('filtering').add_mutually_exclusive_group()
|
||||
topic_group.add_argument(
|
||||
'--exclude-topic',
|
||||
action='append',
|
||||
default=[],
|
||||
dest='exclude_topics',
|
||||
help='topic to exclude from conversion, even if included explicitly',
|
||||
)
|
||||
topic_group.add_argument(
|
||||
'--include-topic',
|
||||
action='append',
|
||||
default=[],
|
||||
dest='include_topics',
|
||||
help='topic to include in conversion, instead of all',
|
||||
)
|
||||
|
||||
args = parser.parse_args()
|
||||
if args.dst is not None and (args.src.suffix == '.bag') == (args.dst.suffix == '.bag'):
|
||||
print('Source and destination rosbag versions must differ.') # noqa: T201
|
||||
sys.exit(1)
|
||||
|
||||
try:
|
||||
convert(**args.__dict__)
|
||||
except ConverterError as err:
|
||||
print(f'ERROR: {err}') # noqa: T201
|
||||
sys.exit(1)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
239
rosbags/src/rosbags/convert/converter.py
Normal file
239
rosbags/src/rosbags/convert/converter.py
Normal file
@ -0,0 +1,239 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Rosbag1 to Rosbag2 Converter."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from typing import TYPE_CHECKING
|
||||
|
||||
from rosbags.interfaces import Connection, ConnectionExtRosbag1, ConnectionExtRosbag2
|
||||
from rosbags.rosbag1 import Reader as Reader1
|
||||
from rosbags.rosbag1 import ReaderError as ReaderError1
|
||||
from rosbags.rosbag1 import Writer as Writer1
|
||||
from rosbags.rosbag1 import WriterError as WriterError1
|
||||
from rosbags.rosbag2 import Reader as Reader2
|
||||
from rosbags.rosbag2 import ReaderError as ReaderError2
|
||||
from rosbags.rosbag2 import Writer as Writer2
|
||||
from rosbags.rosbag2 import WriterError as WriterError2
|
||||
from rosbags.serde import cdr_to_ros1, ros1_to_cdr
|
||||
from rosbags.typesys import get_types_from_msg, register_types
|
||||
from rosbags.typesys.msg import generate_msgdef
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from pathlib import Path
|
||||
from typing import Any, Optional, Sequence
|
||||
|
||||
LATCH = """
|
||||
- history: 3
|
||||
depth: 0
|
||||
reliability: 1
|
||||
durability: 1
|
||||
deadline:
|
||||
sec: 2147483647
|
||||
nsec: 4294967295
|
||||
lifespan:
|
||||
sec: 2147483647
|
||||
nsec: 4294967295
|
||||
liveliness: 1
|
||||
liveliness_lease_duration:
|
||||
sec: 2147483647
|
||||
nsec: 4294967295
|
||||
avoid_ros_namespace_conventions: false
|
||||
""".strip()
|
||||
|
||||
|
||||
class ConverterError(Exception):
|
||||
"""Converter Error."""
|
||||
|
||||
|
||||
def upgrade_connection(rconn: Connection) -> Connection:
|
||||
"""Convert rosbag1 connection to rosbag2 connection.
|
||||
|
||||
Args:
|
||||
rconn: Rosbag1 connection.
|
||||
|
||||
Returns:
|
||||
Rosbag2 connection.
|
||||
|
||||
"""
|
||||
assert isinstance(rconn.ext, ConnectionExtRosbag1)
|
||||
return Connection(
|
||||
rconn.id,
|
||||
rconn.topic,
|
||||
rconn.msgtype,
|
||||
'',
|
||||
'',
|
||||
0,
|
||||
ConnectionExtRosbag2(
|
||||
'cdr',
|
||||
LATCH if rconn.ext.latching else '',
|
||||
),
|
||||
None,
|
||||
)
|
||||
|
||||
|
||||
def downgrade_connection(rconn: Connection) -> Connection:
|
||||
"""Convert rosbag2 connection to rosbag1 connection.
|
||||
|
||||
Args:
|
||||
rconn: Rosbag2 connection.
|
||||
|
||||
Returns:
|
||||
Rosbag1 connection.
|
||||
|
||||
"""
|
||||
assert isinstance(rconn.ext, ConnectionExtRosbag2)
|
||||
msgdef, md5sum = generate_msgdef(rconn.msgtype)
|
||||
return Connection(
|
||||
rconn.id,
|
||||
rconn.topic,
|
||||
rconn.msgtype,
|
||||
msgdef,
|
||||
md5sum,
|
||||
-1,
|
||||
ConnectionExtRosbag1(
|
||||
None,
|
||||
int('durability: 1' in rconn.ext.offered_qos_profiles),
|
||||
),
|
||||
None,
|
||||
)
|
||||
|
||||
|
||||
def convert_1to2(
|
||||
src: Path,
|
||||
dst: Path,
|
||||
exclude_topics: Sequence[str],
|
||||
include_topics: Sequence[str],
|
||||
) -> None:
|
||||
"""Convert Rosbag1 to Rosbag2.
|
||||
|
||||
Args:
|
||||
src: Rosbag1 path.
|
||||
dst: Rosbag2 path.
|
||||
exclude_topics: Topics to exclude from conversion, even if included explicitly.
|
||||
include_topics: Topics to include in conversion, instead of all.
|
||||
|
||||
Raises:
|
||||
ConverterError: If all connections are excluded.
|
||||
|
||||
"""
|
||||
with Reader1(src) as reader, Writer2(dst) as writer:
|
||||
typs: dict[str, Any] = {}
|
||||
connmap: dict[int, Connection] = {}
|
||||
connections = [
|
||||
x for x in reader.connections
|
||||
if x.topic not in exclude_topics and (not include_topics or x.topic in include_topics)
|
||||
]
|
||||
if not connections:
|
||||
raise ConverterError('No connections left for conversion.')
|
||||
for rconn in connections:
|
||||
candidate = upgrade_connection(rconn)
|
||||
assert isinstance(candidate.ext, ConnectionExtRosbag2)
|
||||
for conn in writer.connections:
|
||||
assert isinstance(conn.ext, ConnectionExtRosbag2)
|
||||
if (
|
||||
conn.topic == candidate.topic and conn.msgtype == candidate.msgtype and
|
||||
conn.ext == candidate.ext
|
||||
):
|
||||
break
|
||||
else:
|
||||
conn = writer.add_connection(
|
||||
candidate.topic,
|
||||
candidate.msgtype,
|
||||
candidate.ext.serialization_format,
|
||||
candidate.ext.offered_qos_profiles,
|
||||
)
|
||||
connmap[rconn.id] = conn
|
||||
typs.update(get_types_from_msg(rconn.msgdef, rconn.msgtype))
|
||||
register_types(typs)
|
||||
|
||||
for rconn, timestamp, data in reader.messages(connections=connections):
|
||||
data = ros1_to_cdr(data, rconn.msgtype)
|
||||
writer.write(connmap[rconn.id], timestamp, data)
|
||||
|
||||
|
||||
def convert_2to1(
|
||||
src: Path,
|
||||
dst: Path,
|
||||
exclude_topics: Sequence[str],
|
||||
include_topics: Sequence[str],
|
||||
) -> None:
|
||||
"""Convert Rosbag2 to Rosbag1.
|
||||
|
||||
Args:
|
||||
src: Rosbag2 path.
|
||||
dst: Rosbag1 path.
|
||||
exclude_topics: Topics to exclude from conversion, even if included explicitly.
|
||||
include_topics: Topics to include in conversion, instead of all.
|
||||
|
||||
Raises:
|
||||
ConverterError: If all connections are excluded.
|
||||
|
||||
"""
|
||||
with Reader2(src) as reader, Writer1(dst) as writer:
|
||||
connmap: dict[int, Connection] = {}
|
||||
connections = [
|
||||
x for x in reader.connections
|
||||
if x.topic not in exclude_topics and (not include_topics or x.topic in include_topics)
|
||||
]
|
||||
if not connections:
|
||||
raise ConverterError('No connections left for conversion.')
|
||||
for rconn in connections:
|
||||
candidate = downgrade_connection(rconn)
|
||||
assert isinstance(candidate.ext, ConnectionExtRosbag1)
|
||||
for conn in writer.connections:
|
||||
assert isinstance(conn.ext, ConnectionExtRosbag1)
|
||||
if (
|
||||
conn.topic == candidate.topic and conn.md5sum == candidate.md5sum and
|
||||
conn.ext.latching == candidate.ext.latching
|
||||
):
|
||||
break
|
||||
else:
|
||||
conn = writer.add_connection(
|
||||
candidate.topic,
|
||||
candidate.msgtype,
|
||||
candidate.msgdef,
|
||||
candidate.md5sum,
|
||||
candidate.ext.callerid,
|
||||
candidate.ext.latching,
|
||||
)
|
||||
connmap[rconn.id] = conn
|
||||
|
||||
for rconn, timestamp, data in reader.messages(connections=connections):
|
||||
data = cdr_to_ros1(data, rconn.msgtype)
|
||||
writer.write(connmap[rconn.id], timestamp, data)
|
||||
|
||||
|
||||
def convert(
|
||||
src: Path,
|
||||
dst: Optional[Path],
|
||||
exclude_topics: Sequence[str] = (),
|
||||
include_topics: Sequence[str] = (),
|
||||
) -> None:
|
||||
"""Convert between Rosbag1 and Rosbag2.
|
||||
|
||||
Args:
|
||||
src: Source rosbag.
|
||||
dst: Destination rosbag.
|
||||
exclude_topics: Topics to exclude from conversion, even if included explicitly.
|
||||
include_topics: Topics to include in conversion, instead of all.
|
||||
|
||||
Raises:
|
||||
ConverterError: An error occured during reading, writing, or
|
||||
converting.
|
||||
|
||||
"""
|
||||
upgrade = src.suffix == '.bag'
|
||||
dst = dst if dst else src.with_suffix('' if upgrade else '.bag')
|
||||
if dst.exists():
|
||||
raise ConverterError(f'Output path {str(dst)!r} exists already.')
|
||||
func = convert_1to2 if upgrade else convert_2to1
|
||||
|
||||
try:
|
||||
func(src, dst, exclude_topics, include_topics)
|
||||
except (ReaderError1, ReaderError2) as err:
|
||||
raise ConverterError(f'Reading source bag: {err}') from err
|
||||
except (WriterError1, WriterError2) as err:
|
||||
raise ConverterError(f'Writing destination bag: {err}') from err
|
||||
except Exception as err:
|
||||
raise ConverterError(f'Converting rosbag: {err!r}') from err
|
||||
0
rosbags/src/rosbags/convert/py.typed
Normal file
0
rosbags/src/rosbags/convert/py.typed
Normal file
10
rosbags/src/rosbags/highlevel/__init__.py
Normal file
10
rosbags/src/rosbags/highlevel/__init__.py
Normal file
@ -0,0 +1,10 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Highlevel interfaces for rosbags."""
|
||||
|
||||
from .anyreader import AnyReader, AnyReaderError
|
||||
|
||||
__all__ = [
|
||||
'AnyReader',
|
||||
'AnyReaderError',
|
||||
]
|
||||
269
rosbags/src/rosbags/highlevel/anyreader.py
Normal file
269
rosbags/src/rosbags/highlevel/anyreader.py
Normal file
@ -0,0 +1,269 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Tools for reading all rosbag versions with unified api."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from contextlib import suppress
|
||||
from dataclasses import dataclass
|
||||
from heapq import merge
|
||||
from itertools import groupby
|
||||
from typing import TYPE_CHECKING
|
||||
|
||||
from rosbags.interfaces import TopicInfo
|
||||
from rosbags.rosbag1 import Reader as Reader1
|
||||
from rosbags.rosbag1 import ReaderError as ReaderError1
|
||||
from rosbags.rosbag2 import Reader as Reader2
|
||||
from rosbags.rosbag2 import ReaderError as ReaderError2
|
||||
from rosbags.serde import deserialize_cdr, deserialize_ros1
|
||||
from rosbags.typesys import get_types_from_msg, register_types, types
|
||||
from rosbags.typesys.idl import get_types_from_idl
|
||||
|
||||
if TYPE_CHECKING:
|
||||
import sys
|
||||
from pathlib import Path
|
||||
from types import TracebackType
|
||||
from typing import Any, Generator, Iterable, Literal, Optional, Sequence, Type, Union
|
||||
|
||||
from rosbags.interfaces import Connection
|
||||
from rosbags.typesys.base import Typesdict
|
||||
from rosbags.typesys.register import Typestore
|
||||
|
||||
if sys.version_info < (3, 10):
|
||||
from typing_extensions import TypeGuard
|
||||
else:
|
||||
from typing import TypeGuard
|
||||
|
||||
|
||||
class AnyReaderError(Exception):
|
||||
"""Reader error."""
|
||||
|
||||
|
||||
ReaderErrors = (ReaderError1, ReaderError2)
|
||||
|
||||
|
||||
def is_reader1(val: Union[Sequence[Reader1], Sequence[Reader2]]) -> TypeGuard[Sequence[Reader1]]:
|
||||
"""Determine wether all items are Reader1 instances."""
|
||||
return all(isinstance(x, Reader1) for x in val)
|
||||
|
||||
|
||||
@dataclass
|
||||
class SimpleTypeStore:
|
||||
"""Simple type store implementation."""
|
||||
|
||||
FIELDDEFS: Typesdict # pylint: disable=invalid-name
|
||||
|
||||
def __hash__(self) -> int:
|
||||
"""Create hash."""
|
||||
return id(self)
|
||||
|
||||
|
||||
class AnyReader:
|
||||
"""Unified rosbag1 and rosbag2 reader."""
|
||||
|
||||
readers: Union[Sequence[Reader1], Sequence[Reader2]]
|
||||
typestore: Typestore
|
||||
|
||||
def __init__(self, paths: Sequence[Path]):
|
||||
"""Initialize RosbagReader.
|
||||
|
||||
Opens one or multiple rosbag1 recordings or a single rosbag2 recording.
|
||||
|
||||
Args:
|
||||
paths: Paths to multiple rosbag1 files or single rosbag2 directory.
|
||||
|
||||
Raises:
|
||||
AnyReaderError: If paths do not exist or multiple rosbag2 files are given.
|
||||
|
||||
"""
|
||||
if not paths:
|
||||
raise AnyReaderError('Must call with at least one path.')
|
||||
|
||||
if len(paths) > 1 and any((x / 'metadata.yaml').exists() for x in paths):
|
||||
raise AnyReaderError('Opening of multiple rosbag2 recordings is not supported.')
|
||||
|
||||
if missing := [x for x in paths if not x.exists()]:
|
||||
raise AnyReaderError(f'The following paths are missing: {missing!r}')
|
||||
|
||||
self.paths = paths
|
||||
self.is2 = (paths[0] / 'metadata.yaml').exists()
|
||||
self.isopen = False
|
||||
self.connections: list[Connection] = []
|
||||
|
||||
try:
|
||||
if self.is2:
|
||||
self.readers = [Reader2(x) for x in paths]
|
||||
else:
|
||||
self.readers = [Reader1(x) for x in paths]
|
||||
except ReaderErrors as err:
|
||||
raise AnyReaderError(*err.args) from err
|
||||
|
||||
self.typestore = SimpleTypeStore({})
|
||||
|
||||
def _deser_ros1(self, rawdata: bytes, typ: str) -> object:
|
||||
"""Deserialize ROS1 message."""
|
||||
return deserialize_ros1(rawdata, typ, self.typestore)
|
||||
|
||||
def _deser_ros2(self, rawdata: bytes, typ: str) -> object:
|
||||
"""Deserialize CDR message."""
|
||||
return deserialize_cdr(rawdata, typ, self.typestore)
|
||||
|
||||
def deserialize(self, rawdata: bytes, typ: str) -> object:
|
||||
"""Deserialize message with appropriate helper."""
|
||||
return self._deser_ros2(rawdata, typ) if self.is2 else self._deser_ros1(rawdata, typ)
|
||||
|
||||
def open(self) -> None:
|
||||
"""Open rosbags."""
|
||||
assert not self.isopen
|
||||
rollback = []
|
||||
try:
|
||||
for reader in self.readers:
|
||||
reader.open()
|
||||
rollback.append(reader)
|
||||
except ReaderErrors as err:
|
||||
for reader in rollback:
|
||||
with suppress(*ReaderErrors):
|
||||
reader.close()
|
||||
raise AnyReaderError(*err.args) from err
|
||||
|
||||
for key in [
|
||||
'builtin_interfaces/msg/Time',
|
||||
'builtin_interfaces/msg/Duration',
|
||||
'std_msgs/msg/Header',
|
||||
]:
|
||||
self.typestore.FIELDDEFS[key] = types.FIELDDEFS[key]
|
||||
attr = key.replace('/', '__')
|
||||
setattr(self.typestore, attr, getattr(types, attr))
|
||||
typs: dict[str, Any] = {}
|
||||
if self.is2:
|
||||
reader = self.readers[0]
|
||||
assert isinstance(reader, Reader2)
|
||||
if reader.metadata['storage_identifier'] == 'mcap':
|
||||
for connection in reader.connections:
|
||||
if connection.md5sum:
|
||||
if connection.md5sum == 'idl':
|
||||
typ = get_types_from_idl(connection.msgdef)
|
||||
else:
|
||||
typ = get_types_from_msg(connection.msgdef, connection.msgtype)
|
||||
typs.update(typ)
|
||||
register_types(typs, self.typestore)
|
||||
else:
|
||||
for key, value in types.FIELDDEFS.items():
|
||||
self.typestore.FIELDDEFS[key] = value
|
||||
attr = key.replace('/', '__')
|
||||
setattr(self.typestore, attr, getattr(types, attr))
|
||||
else:
|
||||
for reader in self.readers:
|
||||
for connection in reader.connections:
|
||||
typs.update(get_types_from_msg(connection.msgdef, connection.msgtype))
|
||||
register_types(typs, self.typestore)
|
||||
|
||||
self.connections = [y for x in self.readers for y in x.connections]
|
||||
self.isopen = True
|
||||
|
||||
def close(self) -> None:
|
||||
"""Close rosbag."""
|
||||
assert self.isopen
|
||||
for reader in self.readers:
|
||||
with suppress(*ReaderErrors):
|
||||
reader.close()
|
||||
self.isopen = False
|
||||
|
||||
def __enter__(self) -> AnyReader:
|
||||
"""Open rosbags when entering contextmanager."""
|
||||
self.open()
|
||||
return self
|
||||
|
||||
def __exit__(
|
||||
self,
|
||||
exc_type: Optional[Type[BaseException]],
|
||||
exc_val: Optional[BaseException],
|
||||
exc_tb: Optional[TracebackType],
|
||||
) -> Literal[False]:
|
||||
"""Close rosbags when exiting contextmanager."""
|
||||
self.close()
|
||||
return False
|
||||
|
||||
@property
|
||||
def duration(self) -> int:
|
||||
"""Duration in nanoseconds between earliest and latest messages."""
|
||||
return self.end_time - self.start_time
|
||||
|
||||
@property
|
||||
def start_time(self) -> int:
|
||||
"""Timestamp in nanoseconds of the earliest message."""
|
||||
return min(x.start_time for x in self.readers)
|
||||
|
||||
@property
|
||||
def end_time(self) -> int:
|
||||
"""Timestamp in nanoseconds after the latest message."""
|
||||
return max(x.end_time for x in self.readers)
|
||||
|
||||
@property
|
||||
def message_count(self) -> int:
|
||||
"""Total message count."""
|
||||
return sum(x.message_count for x in self.readers)
|
||||
|
||||
@property
|
||||
def topics(self) -> dict[str, TopicInfo]:
|
||||
"""Topics stored in the rosbags."""
|
||||
assert self.isopen
|
||||
|
||||
if self.is2:
|
||||
assert isinstance(self.readers[0], Reader2)
|
||||
return self.readers[0].topics
|
||||
|
||||
assert is_reader1(self.readers)
|
||||
|
||||
def summarize(names_infos: Iterable[tuple[str, TopicInfo]]) -> TopicInfo:
|
||||
"""Summarize topic infos."""
|
||||
infos = [x[1] for x in names_infos]
|
||||
return TopicInfo(
|
||||
msgtypes.pop() if len(msgtypes := {x.msgtype for x in infos}) == 1 else None,
|
||||
msgdefs.pop() if len(msgdefs := {x.msgdef for x in infos}) == 1 else None,
|
||||
sum(x.msgcount for x in infos),
|
||||
sum((x.connections for x in infos), []),
|
||||
)
|
||||
|
||||
return {
|
||||
name: summarize(infos) for name, infos in groupby(
|
||||
sorted(
|
||||
(x for reader in self.readers for x in reader.topics.items()),
|
||||
key=lambda x: x[0],
|
||||
),
|
||||
key=lambda x: x[0],
|
||||
)
|
||||
}
|
||||
|
||||
def messages(
|
||||
self,
|
||||
connections: Iterable[Any] = (),
|
||||
start: Optional[int] = None,
|
||||
stop: Optional[int] = None,
|
||||
) -> Generator[tuple[Any, int, bytes], None, None]:
|
||||
"""Read messages from bags.
|
||||
|
||||
Args:
|
||||
connections: Iterable with connections to filter for. An empty
|
||||
iterable disables filtering on connections.
|
||||
start: Yield only messages at or after this timestamp (ns).
|
||||
stop: Yield only messages before this timestamp (ns).
|
||||
|
||||
Yields:
|
||||
Tuples of connection, timestamp (ns), and rawdata.
|
||||
|
||||
"""
|
||||
assert self.isopen
|
||||
|
||||
def get_owner(connection: Connection) -> Union[Reader1, Reader2]:
|
||||
assert isinstance(connection.owner, (Reader1, Reader2))
|
||||
return connection.owner
|
||||
|
||||
if connections:
|
||||
generators = [
|
||||
reader.messages(connections=list(conns), start=start, stop=stop) for reader, conns
|
||||
in groupby(sorted(connections, key=lambda x: id(get_owner(x))), key=get_owner)
|
||||
]
|
||||
else:
|
||||
generators = [reader.messages(start=start, stop=stop) for reader in self.readers]
|
||||
yield from merge(*generators, key=lambda x: x[1])
|
||||
0
rosbags/src/rosbags/highlevel/py.typed
Normal file
0
rosbags/src/rosbags/highlevel/py.typed
Normal file
46
rosbags/src/rosbags/interfaces/__init__.py
Normal file
46
rosbags/src/rosbags/interfaces/__init__.py
Normal file
@ -0,0 +1,46 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Shared interfaces."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from typing import TYPE_CHECKING, NamedTuple
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from typing import Optional, Union
|
||||
|
||||
|
||||
class ConnectionExtRosbag1(NamedTuple):
|
||||
"""Rosbag1 specific connection extensions."""
|
||||
|
||||
callerid: Optional[str]
|
||||
latching: Optional[int]
|
||||
|
||||
|
||||
class ConnectionExtRosbag2(NamedTuple):
|
||||
"""Rosbag2 specific connection extensions."""
|
||||
|
||||
serialization_format: str
|
||||
offered_qos_profiles: str
|
||||
|
||||
|
||||
class Connection(NamedTuple):
|
||||
"""Connection information."""
|
||||
|
||||
id: int
|
||||
topic: str
|
||||
msgtype: str
|
||||
msgdef: str
|
||||
md5sum: str
|
||||
msgcount: int
|
||||
ext: Union[ConnectionExtRosbag1, ConnectionExtRosbag2]
|
||||
owner: object
|
||||
|
||||
|
||||
class TopicInfo(NamedTuple):
|
||||
"""Topic information."""
|
||||
|
||||
msgtype: Optional[str]
|
||||
msgdef: Optional[str]
|
||||
msgcount: int
|
||||
connections: list[Connection]
|
||||
0
rosbags/src/rosbags/interfaces/py.typed
Normal file
0
rosbags/src/rosbags/interfaces/py.typed
Normal file
21
rosbags/src/rosbags/rosbag1/__init__.py
Normal file
21
rosbags/src/rosbags/rosbag1/__init__.py
Normal file
@ -0,0 +1,21 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Rosbags support for rosbag1 files.
|
||||
|
||||
Readers and writers provide access to metadata and raw message content saved
|
||||
in the rosbag1 format.
|
||||
|
||||
Supported versions:
|
||||
- Rosbag1 v2.0
|
||||
|
||||
"""
|
||||
|
||||
from .reader import Reader, ReaderError
|
||||
from .writer import Writer, WriterError
|
||||
|
||||
__all__ = [
|
||||
'Reader',
|
||||
'ReaderError',
|
||||
'Writer',
|
||||
'WriterError',
|
||||
]
|
||||
0
rosbags/src/rosbags/rosbag1/py.typed
Normal file
0
rosbags/src/rosbags/rosbag1/py.typed
Normal file
687
rosbags/src/rosbags/rosbag1/reader.py
Normal file
687
rosbags/src/rosbags/rosbag1/reader.py
Normal file
@ -0,0 +1,687 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Rosbag1 v2.0 reader."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import heapq
|
||||
import os
|
||||
import re
|
||||
import struct
|
||||
from bz2 import decompress as bz2_decompress
|
||||
from collections import defaultdict
|
||||
from enum import Enum, IntEnum
|
||||
from functools import reduce
|
||||
from io import BytesIO
|
||||
from itertools import groupby
|
||||
from pathlib import Path
|
||||
from typing import TYPE_CHECKING, Any, Dict, NamedTuple
|
||||
|
||||
from lz4.frame import decompress as lz4_decompress
|
||||
|
||||
from rosbags.interfaces import Connection, ConnectionExtRosbag1, TopicInfo
|
||||
from rosbags.typesys.msg import normalize_msgtype
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from types import TracebackType
|
||||
from typing import (
|
||||
BinaryIO,
|
||||
Callable,
|
||||
Generator,
|
||||
Iterable,
|
||||
Literal,
|
||||
Optional,
|
||||
Tuple,
|
||||
Type,
|
||||
Union,
|
||||
)
|
||||
|
||||
Unpack = Callable[[bytes], Tuple[int]]
|
||||
UnpackFrom = Callable[[bytes, int], Tuple[int]]
|
||||
|
||||
|
||||
class ReaderError(Exception):
|
||||
"""Reader Error."""
|
||||
|
||||
|
||||
class Compression(Enum):
|
||||
"""Compression mode."""
|
||||
|
||||
NONE = 'none'
|
||||
BZ2 = 'bz2'
|
||||
LZ4 = 'lz4'
|
||||
|
||||
|
||||
class RecordType(IntEnum):
|
||||
"""Record type."""
|
||||
|
||||
MSGDATA = 2
|
||||
BAGHEADER = 3
|
||||
IDXDATA = 4
|
||||
CHUNK = 5
|
||||
CHUNK_INFO = 6
|
||||
CONNECTION = 7
|
||||
|
||||
|
||||
class ChunkInfo(NamedTuple):
|
||||
"""Chunk information."""
|
||||
|
||||
pos: int
|
||||
start_time: int
|
||||
end_time: int
|
||||
connection_counts: dict[int, int]
|
||||
|
||||
|
||||
class Chunk(NamedTuple):
|
||||
"""Chunk metadata."""
|
||||
|
||||
datasize: int
|
||||
datapos: int
|
||||
decompressor: Callable[[bytes], bytes]
|
||||
|
||||
|
||||
class IndexData(NamedTuple):
|
||||
"""Index data."""
|
||||
|
||||
time: int
|
||||
chunk_pos: int
|
||||
offset: int
|
||||
|
||||
def __lt__(self, other: tuple[int, ...]) -> bool:
|
||||
"""Compare by time only."""
|
||||
return self.time < other[0]
|
||||
|
||||
def __le__(self, other: tuple[int, ...]) -> bool:
|
||||
"""Compare by time only."""
|
||||
return self.time <= other[0]
|
||||
|
||||
def __eq__(self, other: object) -> bool:
|
||||
"""Compare by time only."""
|
||||
if isinstance(other, IndexData):
|
||||
return self.time == other[0]
|
||||
return NotImplemented # pragma: no cover
|
||||
|
||||
def __ge__(self, other: tuple[int, ...]) -> bool:
|
||||
"""Compare by time only."""
|
||||
return self.time >= other[0]
|
||||
|
||||
def __gt__(self, other: tuple[int, ...]) -> bool:
|
||||
"""Compare by time only."""
|
||||
return self.time > other[0]
|
||||
|
||||
def __ne__(self, other: object) -> bool:
|
||||
"""Compare by time only."""
|
||||
if isinstance(other, IndexData):
|
||||
return self.time != other[0]
|
||||
return NotImplemented # pragma: no cover
|
||||
|
||||
|
||||
deserialize_uint8: Unpack = struct.Struct('<B').unpack # type: ignore
|
||||
deserialize_uint32: UnpackFrom = struct.Struct('<L').unpack_from # type: ignore
|
||||
deserialize_uint64: Unpack = struct.Struct('<Q').unpack # type: ignore
|
||||
|
||||
|
||||
def deserialize_time(val: bytes) -> int:
|
||||
"""Deserialize time value.
|
||||
|
||||
Args:
|
||||
val: Serialized bytes.
|
||||
|
||||
Returns:
|
||||
Deserialized value.
|
||||
|
||||
"""
|
||||
unpacked: tuple[int, int] = struct.unpack('<LL', val) # type: ignore
|
||||
sec, nsec = unpacked
|
||||
return sec * 10**9 + nsec
|
||||
|
||||
|
||||
class Header(Dict[str, Any]):
|
||||
"""Record header."""
|
||||
|
||||
def get_uint8(self, name: str) -> int:
|
||||
"""Get uint8 value from field.
|
||||
|
||||
Args:
|
||||
name: Name of field.
|
||||
|
||||
Returns:
|
||||
Deserialized value.
|
||||
|
||||
Raises:
|
||||
ReaderError: Field not present or not deserializable.
|
||||
|
||||
"""
|
||||
try:
|
||||
return deserialize_uint8(self[name])[0]
|
||||
except (KeyError, struct.error) as err:
|
||||
raise ReaderError(f'Could not read uint8 field {name!r}.') from err
|
||||
|
||||
def get_uint32(self, name: str) -> int:
|
||||
"""Get uint32 value from field.
|
||||
|
||||
Args:
|
||||
name: Name of field.
|
||||
|
||||
Returns:
|
||||
Deserialized value.
|
||||
|
||||
Raises:
|
||||
ReaderError: Field not present or not deserializable.
|
||||
|
||||
"""
|
||||
try:
|
||||
return deserialize_uint32(self[name], 0)[0]
|
||||
except (KeyError, struct.error) as err:
|
||||
raise ReaderError(f'Could not read uint32 field {name!r}.') from err
|
||||
|
||||
def get_uint64(self, name: str) -> int:
|
||||
"""Get uint64 value from field.
|
||||
|
||||
Args:
|
||||
name: Name of field.
|
||||
|
||||
Returns:
|
||||
Deserialized value.
|
||||
|
||||
Raises:
|
||||
ReaderError: Field not present or not deserializable.
|
||||
|
||||
"""
|
||||
try:
|
||||
return deserialize_uint64(self[name])[0]
|
||||
except (KeyError, struct.error) as err:
|
||||
raise ReaderError(f'Could not read uint64 field {name!r}.') from err
|
||||
|
||||
def get_string(self, name: str) -> str:
|
||||
"""Get string value from field.
|
||||
|
||||
Args:
|
||||
name: Name of field.
|
||||
|
||||
Returns:
|
||||
Deserialized value.
|
||||
|
||||
Raises:
|
||||
ReaderError: Field not present or not deserializable.
|
||||
|
||||
"""
|
||||
try:
|
||||
value = self[name]
|
||||
assert isinstance(value, bytes)
|
||||
return value.decode()
|
||||
except (KeyError, ValueError) as err:
|
||||
raise ReaderError(f'Could not read string field {name!r}.') from err
|
||||
|
||||
def get_time(self, name: str) -> int:
|
||||
"""Get time value from field.
|
||||
|
||||
Args:
|
||||
name: Name of field.
|
||||
|
||||
Returns:
|
||||
Deserialized value.
|
||||
|
||||
Raises:
|
||||
ReaderError: Field not present or not deserializable.
|
||||
|
||||
"""
|
||||
try:
|
||||
return deserialize_time(self[name])
|
||||
except (KeyError, struct.error) as err:
|
||||
raise ReaderError(f'Could not read time field {name!r}.') from err
|
||||
|
||||
@classmethod
|
||||
def read(cls: Type[Header], src: BinaryIO, expect: Optional[RecordType] = None) -> Header:
|
||||
"""Read header from file handle.
|
||||
|
||||
Args:
|
||||
src: File handle.
|
||||
expect: Expected record op.
|
||||
|
||||
Returns:
|
||||
Header object.
|
||||
|
||||
Raises:
|
||||
ReaderError: Header could not parsed.
|
||||
|
||||
"""
|
||||
try:
|
||||
binary = read_bytes(src, read_uint32(src))
|
||||
except ReaderError as err:
|
||||
raise ReaderError('Header could not be read from file.') from err
|
||||
|
||||
header = cls()
|
||||
pos = 0
|
||||
length = len(binary)
|
||||
while pos < length:
|
||||
try:
|
||||
size = deserialize_uint32(binary, pos)[0]
|
||||
except struct.error as err:
|
||||
raise ReaderError('Header field size could not be read.') from err
|
||||
pos += 4
|
||||
|
||||
if pos + size > length:
|
||||
raise ReaderError('Declared field size is too large for header.')
|
||||
|
||||
name, sep, value = binary[pos:pos + size].partition(b'=')
|
||||
if not sep:
|
||||
raise ReaderError('Header field could not be parsed.')
|
||||
pos += size
|
||||
|
||||
header[name.decode()] = value
|
||||
|
||||
if expect:
|
||||
have = header.get_uint8('op')
|
||||
if expect != have:
|
||||
raise ReaderError(f'Record of type {RecordType(have).name!r} is unexpected.')
|
||||
|
||||
return header
|
||||
|
||||
|
||||
def read_uint32(src: BinaryIO) -> int:
|
||||
"""Read uint32 from source.
|
||||
|
||||
Args:
|
||||
src: File handle.
|
||||
|
||||
Returns:
|
||||
Uint32 value.
|
||||
|
||||
Raises:
|
||||
ReaderError: Value unreadable or not deserializable.
|
||||
|
||||
"""
|
||||
try:
|
||||
return deserialize_uint32(src.read(4), 0)[0]
|
||||
except struct.error as err:
|
||||
raise ReaderError('Could not read uint32.') from err
|
||||
|
||||
|
||||
def read_bytes(src: BinaryIO, size: int) -> bytes:
|
||||
"""Read bytes from source.
|
||||
|
||||
Args:
|
||||
src: File handle.
|
||||
size: Number of bytes to read.
|
||||
|
||||
Returns:
|
||||
Read bytes.
|
||||
|
||||
Raises:
|
||||
ReaderError: Not enough bytes available.
|
||||
|
||||
"""
|
||||
data = src.read(size)
|
||||
if len(data) != size:
|
||||
raise ReaderError(f'Got only {len(data)} of requested {size} bytes.')
|
||||
return data
|
||||
|
||||
|
||||
def normalize(name: str) -> str:
|
||||
"""Normalize topic name.
|
||||
|
||||
Args:
|
||||
name: Topic name.
|
||||
|
||||
Returns:
|
||||
Normalized name.
|
||||
|
||||
"""
|
||||
return f'{"/" * (name[0] == "/")}{"/".join(x for x in name.split("/") if x)}'
|
||||
|
||||
|
||||
class Reader:
|
||||
"""Rosbag 1 version 2.0 reader.
|
||||
|
||||
This class is designed for a ROS2 world, it will automatically normalize
|
||||
message type names to be in line with their ROS2 counterparts.
|
||||
|
||||
"""
|
||||
|
||||
# pylint: disable=too-many-instance-attributes
|
||||
|
||||
def __init__(self, path: Union[str, Path]):
|
||||
"""Initialize.
|
||||
|
||||
Args:
|
||||
path: Filesystem path to bag.
|
||||
|
||||
Raises:
|
||||
ReaderError: Path does not exist.
|
||||
|
||||
"""
|
||||
self.path = Path(path)
|
||||
if not self.path.exists():
|
||||
raise ReaderError(f'File {str(self.path)!r} does not exist.')
|
||||
|
||||
self.bio: Optional[BinaryIO] = None
|
||||
self.connections: list[Connection] = []
|
||||
self.indexes: dict[int, list[IndexData]] = {}
|
||||
self.index_data_header_offsets: Optional[tuple[int, int]] = None
|
||||
self.chunk_infos: list[ChunkInfo] = []
|
||||
self.chunks: dict[int, Chunk] = {}
|
||||
self.current_chunk: tuple[int, BinaryIO] = (-1, BytesIO())
|
||||
|
||||
def open(self) -> None:
|
||||
"""Open rosbag and read metadata."""
|
||||
try:
|
||||
self.bio = self.path.open('rb') # pylint: disable=consider-using-with
|
||||
except OSError as err:
|
||||
raise ReaderError(f'Could not open file {str(self.path)!r}: {err.strerror}.') from err
|
||||
|
||||
try:
|
||||
magic = self.bio.readline().decode()
|
||||
if not magic:
|
||||
raise ReaderError(f'File {str(self.path)!r} seems to be empty.')
|
||||
|
||||
matches = re.match(r'#ROSBAG V(\d+).(\d+)\n', magic)
|
||||
if not matches:
|
||||
raise ReaderError('File magic is invalid.')
|
||||
major, minor = matches.groups()
|
||||
version = int(major) * 100 + int(minor)
|
||||
if version != 200:
|
||||
raise ReaderError(f'Bag version {version!r} is not supported.')
|
||||
|
||||
header = Header.read(self.bio, RecordType.BAGHEADER)
|
||||
index_pos = header.get_uint64('index_pos')
|
||||
conn_count = header.get_uint32('conn_count')
|
||||
chunk_count = header.get_uint32('chunk_count')
|
||||
try:
|
||||
encryptor: Optional[str] = header.get_string('encryptor')
|
||||
except ReaderError:
|
||||
encryptor = None
|
||||
if encryptor:
|
||||
raise ReaderError(f'Bag encryption {encryptor!r} is not supported.') from None
|
||||
|
||||
if index_pos == 0:
|
||||
raise ReaderError('Bag is not indexed, reindex before reading.')
|
||||
|
||||
if chunk_count == 0:
|
||||
return
|
||||
|
||||
self.bio.seek(index_pos)
|
||||
try:
|
||||
self.connections = [self.read_connection() for _ in range(conn_count)]
|
||||
self.chunk_infos = [self.read_chunk_info() for _ in range(chunk_count)]
|
||||
except ReaderError as err:
|
||||
raise ReaderError(f'Bag index looks damaged: {err.args}') from None
|
||||
|
||||
self.chunks = {}
|
||||
indexes: dict[int, list[IndexData]] = defaultdict(list)
|
||||
for chunk_info in self.chunk_infos:
|
||||
self.bio.seek(chunk_info.pos)
|
||||
self.chunks[chunk_info.pos] = self.read_chunk()
|
||||
|
||||
for _ in range(len(chunk_info.connection_counts)):
|
||||
self.read_index_data(chunk_info.pos, indexes)
|
||||
|
||||
self.indexes = {cid: sorted(x) for cid, x in indexes.items()}
|
||||
assert all(self.indexes[x.id] for x in self.connections)
|
||||
|
||||
self.connections = [
|
||||
Connection(
|
||||
*x[0:5],
|
||||
len(self.indexes[x.id]),
|
||||
*x[6:],
|
||||
) for x in self.connections
|
||||
]
|
||||
except ReaderError:
|
||||
self.close()
|
||||
raise
|
||||
|
||||
def close(self) -> None:
|
||||
"""Close rosbag."""
|
||||
assert self.bio
|
||||
self.bio.close()
|
||||
self.bio = None
|
||||
|
||||
@property
|
||||
def duration(self) -> int:
|
||||
"""Duration in nanoseconds between earliest and latest messages."""
|
||||
return self.end_time - self.start_time if self.chunk_infos else 0
|
||||
|
||||
@property
|
||||
def start_time(self) -> int:
|
||||
"""Timestamp in nanoseconds of the earliest message."""
|
||||
return min(x.start_time for x in self.chunk_infos) if self.chunk_infos else 2**63 - 1
|
||||
|
||||
@property
|
||||
def end_time(self) -> int:
|
||||
"""Timestamp in nanoseconds after the latest message."""
|
||||
return max(x.end_time for x in self.chunk_infos) if self.chunk_infos else 0
|
||||
|
||||
@property
|
||||
def message_count(self) -> int:
|
||||
"""Total message count."""
|
||||
return reduce(lambda x, y: x + y, (x.msgcount for x in self.topics.values()), 0)
|
||||
|
||||
@property
|
||||
def topics(self) -> dict[str, TopicInfo]:
|
||||
"""Topic information."""
|
||||
topics = {}
|
||||
for topic, group in groupby(
|
||||
sorted(self.connections, key=lambda x: x.topic),
|
||||
key=lambda x: x.topic,
|
||||
):
|
||||
connections = list(group)
|
||||
msgcount = reduce(
|
||||
lambda x, y: x + y,
|
||||
(y.connection_counts.get(x.id, 0) for x in connections for y in self.chunk_infos),
|
||||
)
|
||||
|
||||
topics[topic] = TopicInfo(
|
||||
msgtypes.pop() if len(msgtypes := {x.msgtype for x in connections}) == 1 else None,
|
||||
msgdefs.pop() if len(msgdefs := {x.msgdef for x in connections}) == 1 else None,
|
||||
msgcount,
|
||||
connections,
|
||||
)
|
||||
return topics
|
||||
|
||||
def read_connection(self) -> Connection:
|
||||
"""Read connection record from current position."""
|
||||
assert self.bio
|
||||
header = Header.read(self.bio, RecordType.CONNECTION)
|
||||
conn = header.get_uint32('conn')
|
||||
topic = normalize(header.get_string('topic'))
|
||||
|
||||
header = Header.read(self.bio)
|
||||
typ = header.get_string('type')
|
||||
md5sum = header.get_string('md5sum')
|
||||
msgdef = header.get_string('message_definition')
|
||||
|
||||
callerid = header.get_string('callerid') if 'callerid' in header else None
|
||||
latching = int(header.get_string('latching')) if 'latching' in header else None
|
||||
|
||||
return Connection(
|
||||
conn,
|
||||
topic,
|
||||
normalize_msgtype(typ),
|
||||
msgdef,
|
||||
md5sum,
|
||||
0,
|
||||
ConnectionExtRosbag1(
|
||||
callerid,
|
||||
latching,
|
||||
),
|
||||
self,
|
||||
)
|
||||
|
||||
def read_chunk_info(self) -> ChunkInfo:
|
||||
"""Read chunk info record from current position."""
|
||||
assert self.bio
|
||||
header = Header.read(self.bio, RecordType.CHUNK_INFO)
|
||||
|
||||
ver = header.get_uint32('ver')
|
||||
if ver != 1:
|
||||
raise ReaderError(f'CHUNK_INFO version {ver} is not supported.')
|
||||
|
||||
chunk_pos = header.get_uint64('chunk_pos')
|
||||
start_time = header.get_time('start_time')
|
||||
end_time = header.get_time('end_time') + 1
|
||||
count = header.get_uint32('count')
|
||||
|
||||
self.bio.seek(4, os.SEEK_CUR)
|
||||
|
||||
return ChunkInfo(
|
||||
chunk_pos,
|
||||
start_time,
|
||||
end_time,
|
||||
{read_uint32(self.bio): read_uint32(self.bio) for _ in range(count)},
|
||||
)
|
||||
|
||||
def read_chunk(self) -> Chunk:
|
||||
"""Read chunk record header from current position."""
|
||||
assert self.bio
|
||||
header = Header.read(self.bio, RecordType.CHUNK)
|
||||
compression = header.get_string('compression')
|
||||
datasize = read_uint32(self.bio)
|
||||
datapos = self.bio.tell()
|
||||
self.bio.seek(datasize, os.SEEK_CUR)
|
||||
try:
|
||||
decompressor = {
|
||||
Compression.NONE.value: lambda x: x,
|
||||
Compression.BZ2.value: bz2_decompress,
|
||||
Compression.LZ4.value: lz4_decompress,
|
||||
}[compression]
|
||||
except KeyError:
|
||||
raise ReaderError(f'Compression {compression!r} is not supported.') from None
|
||||
|
||||
return Chunk(
|
||||
datasize,
|
||||
datapos,
|
||||
decompressor,
|
||||
)
|
||||
|
||||
def read_index_data(self, pos: int, indexes: dict[int, list[IndexData]]) -> None:
|
||||
"""Read index data from position.
|
||||
|
||||
The implementation purposely avoids the generic Header class and
|
||||
its costly string processing.
|
||||
|
||||
Args:
|
||||
pos: Seek position.
|
||||
indexes: Accumulated index data.
|
||||
|
||||
Raises:
|
||||
ReaderError: Record unreadable.
|
||||
|
||||
"""
|
||||
assert self.bio
|
||||
|
||||
buf = self.bio.read(55)
|
||||
if not self.index_data_header_offsets:
|
||||
size, = deserialize_uint32(buf, 0)
|
||||
assert size == 47
|
||||
idx = 4
|
||||
connpos = -1
|
||||
countpos = -1
|
||||
while idx < size:
|
||||
char = buf[idx + 6]
|
||||
if char == 61: # ord(b'=')
|
||||
assert buf[idx + 7] == 4
|
||||
idx += 8
|
||||
elif char == 114: # ord(b'r')
|
||||
if (ver := buf[idx + 8]) != 1:
|
||||
raise ReaderError(f'IDXDATA version {ver} is not supported.')
|
||||
idx += 12
|
||||
elif char == 110: # ord(b'n')
|
||||
connpos = idx + 9
|
||||
idx += 13
|
||||
else:
|
||||
assert char == 117 # ord(b'u')
|
||||
countpos = idx + 10
|
||||
idx += 14
|
||||
self.index_data_header_offsets = (connpos, countpos)
|
||||
connpos, countpos = self.index_data_header_offsets
|
||||
|
||||
conn, = deserialize_uint32(buf, connpos)
|
||||
count, = deserialize_uint32(buf, countpos)
|
||||
size, = deserialize_uint32(buf, 51)
|
||||
assert size == count * 12
|
||||
|
||||
index = indexes[conn]
|
||||
buf = self.bio.read(size)
|
||||
idx = 0
|
||||
while idx < size:
|
||||
time = deserialize_uint32(buf, idx)[0] * 10**9 + deserialize_uint32(buf, idx + 4)[0]
|
||||
offset, = deserialize_uint32(buf, idx + 8)
|
||||
idx += 12
|
||||
index.append(IndexData(time, pos, offset))
|
||||
|
||||
def messages(
|
||||
self,
|
||||
connections: Iterable[Connection] = (),
|
||||
start: Optional[int] = None,
|
||||
stop: Optional[int] = None,
|
||||
) -> Generator[tuple[Connection, int, bytes], None, None]:
|
||||
"""Read messages from bag.
|
||||
|
||||
Args:
|
||||
connections: Iterable with connections to filter for. An empty
|
||||
iterable disables filtering on connections.
|
||||
start: Yield only messages at or after this timestamp (ns).
|
||||
stop: Yield only messages before this timestamp (ns).
|
||||
|
||||
Yields:
|
||||
Tuples of connection, timestamp (ns), and rawdata.
|
||||
|
||||
Raises:
|
||||
ReaderError: Bag not open or data corrupt.
|
||||
|
||||
"""
|
||||
if not self.bio:
|
||||
raise ReaderError('Rosbag is not open.')
|
||||
|
||||
if not connections:
|
||||
connections = self.connections
|
||||
|
||||
connmap = {x.id: x for x in self.connections}
|
||||
|
||||
indexes = [self.indexes[x.id] for x in connections]
|
||||
for entry in heapq.merge(*indexes):
|
||||
if start and entry.time < start:
|
||||
continue
|
||||
if stop and entry.time >= stop:
|
||||
return
|
||||
|
||||
if self.current_chunk[0] != entry.chunk_pos:
|
||||
self.current_chunk[1].close()
|
||||
|
||||
chunk_header = self.chunks[entry.chunk_pos]
|
||||
self.bio.seek(chunk_header.datapos)
|
||||
rawbytes = chunk_header.decompressor(read_bytes(self.bio, chunk_header.datasize))
|
||||
self.current_chunk = (entry.chunk_pos, BytesIO(rawbytes))
|
||||
|
||||
chunk = self.current_chunk[1]
|
||||
chunk.seek(entry.offset)
|
||||
|
||||
while True:
|
||||
header = Header.read(chunk)
|
||||
have = header.get_uint8('op')
|
||||
if have != RecordType.CONNECTION:
|
||||
break
|
||||
chunk.seek(read_uint32(chunk), os.SEEK_CUR)
|
||||
|
||||
if have != RecordType.MSGDATA:
|
||||
raise ReaderError('Expected to find message data.')
|
||||
|
||||
data = read_bytes(chunk, read_uint32(chunk))
|
||||
connection = connmap[header.get_uint32('conn')]
|
||||
assert entry.time == header.get_time('time')
|
||||
yield connection, entry.time, data
|
||||
|
||||
def __enter__(self) -> Reader:
|
||||
"""Open rosbag1 when entering contextmanager."""
|
||||
self.open()
|
||||
return self
|
||||
|
||||
def __exit__(
|
||||
self,
|
||||
exc_type: Optional[Type[BaseException]],
|
||||
exc_val: Optional[BaseException],
|
||||
exc_tb: Optional[TracebackType],
|
||||
) -> Literal[False]:
|
||||
"""Close rosbag1 when exiting contextmanager."""
|
||||
self.close()
|
||||
return False
|
||||
411
rosbags/src/rosbags/rosbag1/writer.py
Normal file
411
rosbags/src/rosbags/rosbag1/writer.py
Normal file
@ -0,0 +1,411 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Rosbag1 writer."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import struct
|
||||
from bz2 import compress as bz2_compress
|
||||
from collections import defaultdict
|
||||
from dataclasses import dataclass
|
||||
from enum import IntEnum, auto
|
||||
from io import BytesIO
|
||||
from pathlib import Path
|
||||
from typing import TYPE_CHECKING, Any, Dict
|
||||
|
||||
from lz4.frame import compress as lz4_compress
|
||||
|
||||
from rosbags.interfaces import Connection, ConnectionExtRosbag1
|
||||
from rosbags.typesys.msg import denormalize_msgtype, generate_msgdef
|
||||
|
||||
from .reader import RecordType
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from types import TracebackType
|
||||
from typing import BinaryIO, Callable, Literal, Optional, Type, Union
|
||||
|
||||
|
||||
class WriterError(Exception):
|
||||
"""Writer Error."""
|
||||
|
||||
|
||||
@dataclass
|
||||
class WriteChunk:
|
||||
"""In progress chunk."""
|
||||
|
||||
data: BytesIO
|
||||
pos: int
|
||||
start: int
|
||||
end: int
|
||||
connections: dict[int, list[tuple[int, int]]]
|
||||
|
||||
|
||||
serialize_uint8 = struct.Struct('<B').pack
|
||||
serialize_uint32 = struct.Struct('<L').pack
|
||||
serialize_uint64 = struct.Struct('<Q').pack
|
||||
|
||||
|
||||
def serialize_time(val: int) -> bytes:
|
||||
"""Serialize time value.
|
||||
|
||||
Args:
|
||||
val: Time value.
|
||||
|
||||
Returns:
|
||||
Serialized bytes.
|
||||
|
||||
"""
|
||||
sec, nsec = val // 10**9, val % 10**9
|
||||
return struct.pack('<LL', sec, nsec)
|
||||
|
||||
|
||||
class Header(Dict[str, Any]):
|
||||
"""Record header."""
|
||||
|
||||
def set_uint32(self, name: str, value: int) -> None:
|
||||
"""Set field to uint32 value.
|
||||
|
||||
Args:
|
||||
name: Field name.
|
||||
value: Field value.
|
||||
|
||||
"""
|
||||
self[name] = serialize_uint32(value)
|
||||
|
||||
def set_uint64(self, name: str, value: int) -> None:
|
||||
"""Set field to uint64 value.
|
||||
|
||||
Args:
|
||||
name: Field name.
|
||||
value: Field value.
|
||||
|
||||
"""
|
||||
self[name] = serialize_uint64(value)
|
||||
|
||||
def set_string(self, name: str, value: str) -> None:
|
||||
"""Set field to string value.
|
||||
|
||||
Args:
|
||||
name: Field name.
|
||||
value: Field value.
|
||||
|
||||
"""
|
||||
self[name] = value.encode()
|
||||
|
||||
def set_time(self, name: str, value: int) -> None:
|
||||
"""Set field to time value.
|
||||
|
||||
Args:
|
||||
name: Field name.
|
||||
value: Field value.
|
||||
|
||||
"""
|
||||
self[name] = serialize_time(value)
|
||||
|
||||
def write(self, dst: BinaryIO, opcode: Optional[RecordType] = None) -> int:
|
||||
"""Write to file handle.
|
||||
|
||||
Args:
|
||||
dst: File handle.
|
||||
opcode: Record type code.
|
||||
|
||||
Returns:
|
||||
Bytes written.
|
||||
|
||||
"""
|
||||
data = b''
|
||||
|
||||
if opcode:
|
||||
keqv = 'op='.encode() + serialize_uint8(opcode)
|
||||
data += serialize_uint32(len(keqv)) + keqv
|
||||
|
||||
for key, value in self.items():
|
||||
keqv = f'{key}='.encode() + value
|
||||
data += serialize_uint32(len(keqv)) + keqv
|
||||
|
||||
size = len(data)
|
||||
dst.write(serialize_uint32(size) + data)
|
||||
return size + 4
|
||||
|
||||
|
||||
class Writer:
|
||||
"""Rosbag1 writer.
|
||||
|
||||
This class implements writing of rosbag1 files in version 2.0. It should be
|
||||
used as a contextmanager.
|
||||
|
||||
"""
|
||||
|
||||
class CompressionFormat(IntEnum):
|
||||
"""Compession formats."""
|
||||
|
||||
BZ2 = auto()
|
||||
LZ4 = auto()
|
||||
|
||||
def __init__(self, path: Union[Path, str]):
|
||||
"""Initialize writer.
|
||||
|
||||
Args:
|
||||
path: Filesystem path to bag.
|
||||
|
||||
Raises:
|
||||
WriterError: Target path exisits already, Writer can only create new rosbags.
|
||||
|
||||
"""
|
||||
path = Path(path)
|
||||
self.path = path
|
||||
if path.exists():
|
||||
raise WriterError(f'{path} exists already, not overwriting.')
|
||||
self.bio: Optional[BinaryIO] = None
|
||||
self.compressor: Callable[[bytes], bytes] = lambda x: x
|
||||
self.compression_format = 'none'
|
||||
self.connections: list[Connection] = []
|
||||
self.chunks: list[WriteChunk] = [
|
||||
WriteChunk(BytesIO(), -1, 2**64, 0, defaultdict(list)),
|
||||
]
|
||||
self.chunk_threshold = 1 * (1 << 20)
|
||||
|
||||
def set_compression(self, fmt: CompressionFormat) -> None:
|
||||
"""Enable compression on rosbag1.
|
||||
|
||||
This function has to be called before opening.
|
||||
|
||||
Args:
|
||||
fmt: Compressor to use, bz2 or lz4
|
||||
|
||||
Raises:
|
||||
WriterError: Bag already open.
|
||||
|
||||
"""
|
||||
if self.bio:
|
||||
raise WriterError(f'Cannot set compression, bag {self.path} already open.')
|
||||
|
||||
self.compression_format = fmt.name.lower()
|
||||
|
||||
bz2: Callable[[bytes], bytes] = lambda x: bz2_compress(x, 9)
|
||||
lz4: Callable[[bytes], bytes] = lambda x: lz4_compress(x, 0) # type: ignore
|
||||
self.compressor = {
|
||||
'bz2': bz2,
|
||||
'lz4': lz4,
|
||||
}[self.compression_format]
|
||||
|
||||
def open(self) -> None:
|
||||
"""Open rosbag1 for writing."""
|
||||
try:
|
||||
self.bio = self.path.open('xb') # pylint: disable=consider-using-with
|
||||
except FileExistsError:
|
||||
raise WriterError(f'{self.path} exists already, not overwriting.') from None
|
||||
|
||||
assert self.bio
|
||||
self.bio.write(b'#ROSBAG V2.0\n')
|
||||
header = Header()
|
||||
header.set_uint64('index_pos', 0)
|
||||
header.set_uint32('conn_count', 0)
|
||||
header.set_uint32('chunk_count', 0)
|
||||
size = header.write(self.bio, RecordType.BAGHEADER)
|
||||
padsize = 4096 - 4 - size
|
||||
self.bio.write(serialize_uint32(padsize) + b' ' * padsize)
|
||||
|
||||
def add_connection( # pylint: disable=too-many-arguments
|
||||
self,
|
||||
topic: str,
|
||||
msgtype: str,
|
||||
msgdef: Optional[str] = None,
|
||||
md5sum: Optional[str] = None,
|
||||
callerid: Optional[str] = None,
|
||||
latching: Optional[int] = None,
|
||||
**_kw: Any, # noqa: ANN401
|
||||
) -> Connection:
|
||||
"""Add a connection.
|
||||
|
||||
This function can only be called after opening a bag.
|
||||
|
||||
Args:
|
||||
topic: Topic name.
|
||||
msgtype: Message type.
|
||||
msgdef: Message definiton.
|
||||
md5sum: Message hash.
|
||||
callerid: Caller id.
|
||||
latching: Latching information.
|
||||
_kw: Ignored to allow consuming dicts from connection objects.
|
||||
|
||||
Returns:
|
||||
Connection id.
|
||||
|
||||
Raises:
|
||||
WriterError: Bag not open or identical topic previously registered.
|
||||
|
||||
"""
|
||||
if not self.bio:
|
||||
raise WriterError('Bag was not opened.')
|
||||
|
||||
if msgdef is None or md5sum is None:
|
||||
msgdef, md5sum = generate_msgdef(msgtype)
|
||||
assert msgdef
|
||||
assert md5sum
|
||||
|
||||
connection = Connection(
|
||||
len(self.connections),
|
||||
topic,
|
||||
denormalize_msgtype(msgtype),
|
||||
msgdef,
|
||||
md5sum,
|
||||
-1,
|
||||
ConnectionExtRosbag1(
|
||||
callerid,
|
||||
latching,
|
||||
),
|
||||
self,
|
||||
)
|
||||
|
||||
if any(x[1:] == connection[1:] for x in self.connections):
|
||||
raise WriterError(
|
||||
f'Connections can only be added once with same arguments: {connection!r}.',
|
||||
)
|
||||
|
||||
bio = self.chunks[-1].data
|
||||
self.write_connection(connection, bio)
|
||||
|
||||
self.connections.append(connection)
|
||||
return connection
|
||||
|
||||
def write(self, connection: Connection, timestamp: int, data: bytes) -> None:
|
||||
"""Write message to rosbag1.
|
||||
|
||||
Args:
|
||||
connection: Connection to write message to.
|
||||
timestamp: Message timestamp (ns).
|
||||
data: Serialized message data.
|
||||
|
||||
Raises:
|
||||
WriterError: Bag not open or connection not registered.
|
||||
|
||||
"""
|
||||
if not self.bio:
|
||||
raise WriterError('Bag was not opened.')
|
||||
|
||||
if connection not in self.connections:
|
||||
raise WriterError(f'There is no connection {connection!r}.') from None
|
||||
|
||||
chunk = self.chunks[-1]
|
||||
chunk.connections[connection.id].append((timestamp, chunk.data.tell()))
|
||||
|
||||
if timestamp < chunk.start:
|
||||
chunk.start = timestamp
|
||||
|
||||
if timestamp > chunk.end:
|
||||
chunk.end = timestamp
|
||||
|
||||
header = Header()
|
||||
header.set_uint32('conn', connection.id)
|
||||
header.set_time('time', timestamp)
|
||||
|
||||
header.write(chunk.data, RecordType.MSGDATA)
|
||||
chunk.data.write(serialize_uint32(len(data)))
|
||||
chunk.data.write(data)
|
||||
if chunk.data.tell() > self.chunk_threshold:
|
||||
self.write_chunk(chunk)
|
||||
|
||||
@staticmethod
|
||||
def write_connection(connection: Connection, bio: BinaryIO) -> None:
|
||||
"""Write connection record."""
|
||||
header = Header()
|
||||
header.set_uint32('conn', connection.id)
|
||||
header.set_string('topic', connection.topic)
|
||||
header.write(bio, RecordType.CONNECTION)
|
||||
|
||||
header = Header()
|
||||
header.set_string('topic', connection.topic)
|
||||
header.set_string('type', connection.msgtype)
|
||||
header.set_string('md5sum', connection.md5sum)
|
||||
header.set_string('message_definition', connection.msgdef)
|
||||
assert isinstance(connection.ext, ConnectionExtRosbag1)
|
||||
if connection.ext.callerid is not None:
|
||||
header.set_string('callerid', connection.ext.callerid)
|
||||
if connection.ext.latching is not None:
|
||||
header.set_string('latching', str(connection.ext.latching))
|
||||
header.write(bio)
|
||||
|
||||
def write_chunk(self, chunk: WriteChunk) -> None:
|
||||
"""Write open chunk to file."""
|
||||
assert self.bio
|
||||
|
||||
if size := chunk.data.tell() > 0:
|
||||
chunk.pos = self.bio.tell()
|
||||
|
||||
header = Header()
|
||||
header.set_string('compression', self.compression_format)
|
||||
header.set_uint32('size', size)
|
||||
header.write(self.bio, RecordType.CHUNK)
|
||||
data = self.compressor(chunk.data.getvalue())
|
||||
self.bio.write(serialize_uint32(len(data)))
|
||||
self.bio.write(data)
|
||||
|
||||
for cid, items in chunk.connections.items():
|
||||
header = Header()
|
||||
header.set_uint32('ver', 1)
|
||||
header.set_uint32('conn', cid)
|
||||
header.set_uint32('count', len(items))
|
||||
header.write(self.bio, RecordType.IDXDATA)
|
||||
self.bio.write(serialize_uint32(len(items) * 12))
|
||||
for time, offset in items:
|
||||
self.bio.write(serialize_time(time) + serialize_uint32(offset))
|
||||
|
||||
chunk.data.close()
|
||||
self.chunks.append(WriteChunk(BytesIO(), -1, 2**64, 0, defaultdict(list)))
|
||||
|
||||
def close(self) -> None:
|
||||
"""Close rosbag1 after writing.
|
||||
|
||||
Closes open chunks and writes index.
|
||||
|
||||
"""
|
||||
assert self.bio
|
||||
for chunk in self.chunks:
|
||||
if chunk.pos == -1:
|
||||
self.write_chunk(chunk)
|
||||
|
||||
index_pos = self.bio.tell()
|
||||
|
||||
for connection in self.connections:
|
||||
self.write_connection(connection, self.bio)
|
||||
|
||||
for chunk in self.chunks:
|
||||
if chunk.pos == -1:
|
||||
continue
|
||||
header = Header()
|
||||
header.set_uint32('ver', 1)
|
||||
header.set_uint64('chunk_pos', chunk.pos)
|
||||
header.set_time('start_time', 0 if chunk.start == 2**64 else chunk.start)
|
||||
header.set_time('end_time', chunk.end)
|
||||
header.set_uint32('count', len(chunk.connections))
|
||||
header.write(self.bio, RecordType.CHUNK_INFO)
|
||||
self.bio.write(serialize_uint32(len(chunk.connections) * 8))
|
||||
for cid, items in chunk.connections.items():
|
||||
self.bio.write(serialize_uint32(cid) + serialize_uint32(len(items)))
|
||||
|
||||
self.bio.seek(13)
|
||||
header = Header()
|
||||
header.set_uint64('index_pos', index_pos)
|
||||
header.set_uint32('conn_count', len(self.connections))
|
||||
header.set_uint32('chunk_count', len([x for x in self.chunks if x.pos != -1]))
|
||||
size = header.write(self.bio, RecordType.BAGHEADER)
|
||||
padsize = 4096 - 4 - size
|
||||
self.bio.write(serialize_uint32(padsize) + b' ' * padsize)
|
||||
|
||||
self.bio.close()
|
||||
|
||||
def __enter__(self) -> Writer:
|
||||
"""Open rosbag1 when entering contextmanager."""
|
||||
self.open()
|
||||
return self
|
||||
|
||||
def __exit__(
|
||||
self,
|
||||
exc_type: Optional[Type[BaseException]],
|
||||
exc_val: Optional[BaseException],
|
||||
exc_tb: Optional[TracebackType],
|
||||
) -> Literal[False]:
|
||||
"""Close rosbag1 when exiting contextmanager."""
|
||||
self.close()
|
||||
return False
|
||||
19
rosbags/src/rosbags/rosbag2/__init__.py
Normal file
19
rosbags/src/rosbags/rosbag2/__init__.py
Normal file
@ -0,0 +1,19 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Rosbags support for rosbag2 files.
|
||||
|
||||
Readers and writers provide access to metadata and raw message content saved
|
||||
in the rosbag2 format.
|
||||
|
||||
"""
|
||||
|
||||
from .errors import ReaderError
|
||||
from .reader import Reader
|
||||
from .writer import Writer, WriterError
|
||||
|
||||
__all__ = [
|
||||
'Reader',
|
||||
'ReaderError',
|
||||
'Writer',
|
||||
'WriterError',
|
||||
]
|
||||
9
rosbags/src/rosbags/rosbag2/errors.py
Normal file
9
rosbags/src/rosbags/rosbag2/errors.py
Normal file
@ -0,0 +1,9 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Rosbag2 errors."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
|
||||
class ReaderError(Exception):
|
||||
"""Reader Error."""
|
||||
60
rosbags/src/rosbags/rosbag2/metadata.py
Normal file
60
rosbags/src/rosbags/rosbag2/metadata.py
Normal file
@ -0,0 +1,60 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Rosbag2 metadata."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from typing import TypedDict
|
||||
|
||||
|
||||
class StartingTime(TypedDict):
|
||||
"""Bag starting time."""
|
||||
|
||||
nanoseconds_since_epoch: int
|
||||
|
||||
|
||||
class Duration(TypedDict):
|
||||
"""Bag starting time."""
|
||||
|
||||
nanoseconds: int
|
||||
|
||||
|
||||
class TopicMetadata(TypedDict):
|
||||
"""Topic metadata."""
|
||||
|
||||
name: str
|
||||
type: str
|
||||
serialization_format: str
|
||||
offered_qos_profiles: str
|
||||
|
||||
|
||||
class TopicWithMessageCount(TypedDict):
|
||||
"""Topic with message count."""
|
||||
|
||||
message_count: int
|
||||
topic_metadata: TopicMetadata
|
||||
|
||||
|
||||
class FileInformation(TypedDict):
|
||||
"""Per file metadata."""
|
||||
|
||||
path: str
|
||||
starting_time: StartingTime
|
||||
duration: Duration
|
||||
message_count: int
|
||||
|
||||
|
||||
class Metadata(TypedDict):
|
||||
"""Rosbag2 metadata file."""
|
||||
|
||||
version: int
|
||||
storage_identifier: str
|
||||
relative_file_paths: list[str]
|
||||
starting_time: StartingTime
|
||||
duration: Duration
|
||||
message_count: int
|
||||
compression_format: str
|
||||
compression_mode: str
|
||||
topics_with_message_count: list[TopicWithMessageCount]
|
||||
files: list[FileInformation]
|
||||
custom_data: dict[str, str]
|
||||
0
rosbags/src/rosbags/rosbag2/py.typed
Normal file
0
rosbags/src/rosbags/rosbag2/py.typed
Normal file
273
rosbags/src/rosbags/rosbag2/reader.py
Normal file
273
rosbags/src/rosbags/rosbag2/reader.py
Normal file
@ -0,0 +1,273 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Rosbag2 reader."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from pathlib import Path
|
||||
from tempfile import TemporaryDirectory
|
||||
from typing import TYPE_CHECKING, Protocol
|
||||
|
||||
import zstandard
|
||||
from ruamel.yaml import YAML
|
||||
from ruamel.yaml.error import YAMLError
|
||||
|
||||
from rosbags.interfaces import Connection, ConnectionExtRosbag2, TopicInfo
|
||||
|
||||
from .errors import ReaderError
|
||||
from .storage_mcap import ReaderMcap
|
||||
from .storage_sqlite3 import ReaderSqlite3
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from types import TracebackType
|
||||
from typing import Generator, Iterable, Literal, Optional, Type, Union
|
||||
|
||||
from .metadata import FileInformation, Metadata
|
||||
|
||||
|
||||
class StorageProtocol(Protocol):
|
||||
"""Storage Protocol."""
|
||||
|
||||
def __init__(self, paths: Iterable[Path], connections: Iterable[Connection]):
|
||||
"""Initialize."""
|
||||
raise NotImplementedError # pragma: no cover
|
||||
|
||||
def open(self) -> None:
|
||||
"""Open file."""
|
||||
raise NotImplementedError # pragma: no cover
|
||||
|
||||
def close(self) -> None:
|
||||
"""Close file."""
|
||||
raise NotImplementedError # pragma: no cover
|
||||
|
||||
def get_definitions(self) -> dict[str, tuple[str, str]]:
|
||||
"""Get message definitions."""
|
||||
raise NotImplementedError # pragma: no cover
|
||||
|
||||
def messages(
|
||||
self,
|
||||
connections: Iterable[Connection] = (),
|
||||
start: Optional[int] = None,
|
||||
stop: Optional[int] = None,
|
||||
) -> Generator[tuple[Connection, int, bytes], None, None]:
|
||||
"""Get messages from file."""
|
||||
raise NotImplementedError # pragma: no cover
|
||||
|
||||
|
||||
class Reader:
|
||||
"""Reader for rosbag2 files.
|
||||
|
||||
It implements all necessary features to access metadata and message
|
||||
streams.
|
||||
|
||||
Version history:
|
||||
|
||||
- Version 1: Initial format.
|
||||
- Version 2: Changed field sizes in C++ implementation.
|
||||
- Version 3: Added compression.
|
||||
- Version 4: Added QoS metadata to topics, changed relative file paths
|
||||
- Version 5: Added per file metadata
|
||||
- Version 6: Added custom_data dict to metadata
|
||||
|
||||
"""
|
||||
|
||||
# pylint: disable=too-many-instance-attributes
|
||||
|
||||
STORAGE_PLUGINS: dict[str, Type[StorageProtocol]] = {
|
||||
'mcap': ReaderMcap,
|
||||
'sqlite3': ReaderSqlite3,
|
||||
}
|
||||
|
||||
def __init__(self, path: Union[Path, str]):
|
||||
"""Open rosbag and check metadata.
|
||||
|
||||
Args:
|
||||
path: Filesystem path to bag.
|
||||
|
||||
Raises:
|
||||
ReaderError: Bag not readable or bag metadata.
|
||||
|
||||
"""
|
||||
path = Path(path)
|
||||
yamlpath = path / 'metadata.yaml'
|
||||
self.path = path
|
||||
try:
|
||||
yaml = YAML(typ='safe')
|
||||
dct = yaml.load(yamlpath.read_text())
|
||||
except OSError as err:
|
||||
raise ReaderError(f'Could not read metadata at {yamlpath}: {err}.') from None
|
||||
except YAMLError as exc:
|
||||
raise ReaderError(f'Could not load YAML from {yamlpath}: {exc}') from None
|
||||
|
||||
try:
|
||||
self.metadata: Metadata = dct['rosbag2_bagfile_information']
|
||||
if (ver := self.metadata['version']) > 6:
|
||||
raise ReaderError(f'Rosbag2 version {ver} not supported; please report issue.')
|
||||
if (storageid := self.metadata['storage_identifier']) not in self.STORAGE_PLUGINS:
|
||||
raise ReaderError(
|
||||
f'Storage plugin {storageid!r} not supported; please report issue.',
|
||||
)
|
||||
|
||||
self.paths = [path / Path(x).name for x in self.metadata['relative_file_paths']]
|
||||
if missing := [x for x in self.paths if not x.exists()]:
|
||||
raise ReaderError(f'Some database files are missing: {[str(x) for x in missing]!r}')
|
||||
|
||||
self.connections = [
|
||||
Connection(
|
||||
id=idx + 1,
|
||||
topic=x['topic_metadata']['name'],
|
||||
msgtype=x['topic_metadata']['type'],
|
||||
msgdef='',
|
||||
md5sum='',
|
||||
msgcount=x['message_count'],
|
||||
ext=ConnectionExtRosbag2(
|
||||
serialization_format=x['topic_metadata']['serialization_format'],
|
||||
offered_qos_profiles=x['topic_metadata'].get('offered_qos_profiles', ''),
|
||||
),
|
||||
owner=self,
|
||||
) for idx, x in enumerate(self.metadata['topics_with_message_count'])
|
||||
]
|
||||
noncdr = {
|
||||
fmt for x in self.connections if isinstance(x.ext, ConnectionExtRosbag2)
|
||||
if (fmt := x.ext.serialization_format) != 'cdr'
|
||||
}
|
||||
if noncdr:
|
||||
raise ReaderError(f'Serialization format {noncdr!r} is not supported.')
|
||||
|
||||
if self.compression_mode and (cfmt := self.compression_format) != 'zstd':
|
||||
raise ReaderError(f'Compression format {cfmt!r} is not supported.')
|
||||
|
||||
self.files: list[FileInformation] = self.metadata.get('files', [])[:]
|
||||
self.custom_data: dict[str, str] = self.metadata.get('custom_data', {})
|
||||
|
||||
self.tmpdir: Optional[TemporaryDirectory[str]] = None
|
||||
self.storage: Optional[StorageProtocol] = None
|
||||
except KeyError as exc:
|
||||
raise ReaderError(f'A metadata key is missing {exc!r}.') from None
|
||||
|
||||
@property
|
||||
def duration(self) -> int:
|
||||
"""Duration in nanoseconds between earliest and latest messages."""
|
||||
nsecs: int = self.metadata['duration']['nanoseconds']
|
||||
return nsecs + 1 if self.message_count else 0
|
||||
|
||||
@property
|
||||
def start_time(self) -> int:
|
||||
"""Timestamp in nanoseconds of the earliest message."""
|
||||
nsecs: int = self.metadata['starting_time']['nanoseconds_since_epoch']
|
||||
return nsecs if self.message_count else 2**63 - 1
|
||||
|
||||
@property
|
||||
def end_time(self) -> int:
|
||||
"""Timestamp in nanoseconds after the latest message."""
|
||||
return self.start_time + self.duration if self.message_count else 0
|
||||
|
||||
@property
|
||||
def message_count(self) -> int:
|
||||
"""Total message count."""
|
||||
return self.metadata['message_count']
|
||||
|
||||
@property
|
||||
def compression_format(self) -> Optional[str]:
|
||||
"""Compression format."""
|
||||
return self.metadata.get('compression_format', None) or None
|
||||
|
||||
@property
|
||||
def compression_mode(self) -> Optional[str]:
|
||||
"""Compression mode."""
|
||||
mode = self.metadata.get('compression_mode', '').lower()
|
||||
return mode if mode != 'none' else None
|
||||
|
||||
@property
|
||||
def topics(self) -> dict[str, TopicInfo]:
|
||||
"""Topic information."""
|
||||
return {x.topic: TopicInfo(x.msgtype, x.msgdef, x.msgcount, [x]) for x in self.connections}
|
||||
|
||||
def open(self) -> None:
|
||||
"""Open rosbag2."""
|
||||
storage_paths = []
|
||||
if self.compression_mode == 'file':
|
||||
self.tmpdir = TemporaryDirectory() # pylint: disable=consider-using-with
|
||||
tmpdir = self.tmpdir.name
|
||||
decomp = zstandard.ZstdDecompressor()
|
||||
for path in self.paths:
|
||||
storage_file = Path(tmpdir, path.stem)
|
||||
with path.open('rb') as infile, storage_file.open('wb') as outfile:
|
||||
decomp.copy_stream(infile, outfile)
|
||||
storage_paths.append(storage_file)
|
||||
else:
|
||||
storage_paths = self.paths[:]
|
||||
|
||||
self.storage = self.STORAGE_PLUGINS[self.metadata['storage_identifier']](
|
||||
storage_paths,
|
||||
self.connections,
|
||||
)
|
||||
self.storage.open()
|
||||
definitions = self.storage.get_definitions()
|
||||
for idx, conn in enumerate(self.connections):
|
||||
if desc := definitions.get(conn.msgtype):
|
||||
self.connections[idx] = Connection(
|
||||
id=conn.id,
|
||||
topic=conn.topic,
|
||||
msgtype=conn.msgtype,
|
||||
msgdef=desc[1],
|
||||
md5sum=desc[0],
|
||||
msgcount=conn.msgcount,
|
||||
ext=conn.ext,
|
||||
owner=conn.owner,
|
||||
)
|
||||
|
||||
def close(self) -> None:
|
||||
"""Close rosbag2."""
|
||||
assert self.storage
|
||||
self.storage.close()
|
||||
self.storage = None
|
||||
if self.tmpdir:
|
||||
self.tmpdir.cleanup()
|
||||
self.tmpdir = None
|
||||
|
||||
def messages(
|
||||
self,
|
||||
connections: Iterable[Connection] = (),
|
||||
start: Optional[int] = None,
|
||||
stop: Optional[int] = None,
|
||||
) -> Generator[tuple[Connection, int, bytes], None, None]:
|
||||
"""Read messages from bag.
|
||||
|
||||
Args:
|
||||
connections: Iterable with connections to filter for. An empty
|
||||
iterable disables filtering on connections.
|
||||
start: Yield only messages at or after this timestamp (ns).
|
||||
stop: Yield only messages before this timestamp (ns).
|
||||
|
||||
Yields:
|
||||
tuples of connection, timestamp (ns), and rawdata.
|
||||
|
||||
Raises:
|
||||
ReaderError: If reader was not opened.
|
||||
|
||||
"""
|
||||
if not self.storage:
|
||||
raise ReaderError('Rosbag is not open.')
|
||||
|
||||
if self.compression_mode == 'message':
|
||||
decomp = zstandard.ZstdDecompressor().decompress
|
||||
for connection, timestamp, data in self.storage.messages(connections, start, stop):
|
||||
yield connection, timestamp, decomp(data)
|
||||
else:
|
||||
yield from self.storage.messages(connections, start, stop)
|
||||
|
||||
def __enter__(self) -> Reader:
|
||||
"""Open rosbag2 when entering contextmanager."""
|
||||
self.open()
|
||||
return self
|
||||
|
||||
def __exit__(
|
||||
self,
|
||||
exc_type: Optional[Type[BaseException]],
|
||||
exc_val: Optional[BaseException],
|
||||
exc_tb: Optional[TracebackType],
|
||||
) -> Literal[False]:
|
||||
"""Close rosbag2 when exiting contextmanager."""
|
||||
self.close()
|
||||
return False
|
||||
571
rosbags/src/rosbags/rosbag2/storage_mcap.py
Normal file
571
rosbags/src/rosbags/rosbag2/storage_mcap.py
Normal file
@ -0,0 +1,571 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Mcap storage."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import heapq
|
||||
from io import BytesIO
|
||||
from struct import iter_unpack, unpack_from
|
||||
from typing import TYPE_CHECKING, NamedTuple
|
||||
|
||||
import zstandard
|
||||
from lz4.frame import decompress as lz4_decompress
|
||||
|
||||
from .errors import ReaderError
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from pathlib import Path
|
||||
from typing import BinaryIO, Callable, Generator, Iterable, Optional
|
||||
|
||||
from rosbags.interfaces import Connection
|
||||
|
||||
|
||||
class Schema(NamedTuple):
|
||||
"""Schema."""
|
||||
|
||||
id: int
|
||||
name: str
|
||||
encoding: str
|
||||
data: str
|
||||
|
||||
|
||||
class Channel(NamedTuple):
|
||||
"""Channel."""
|
||||
|
||||
id: int
|
||||
schema: str
|
||||
topic: str
|
||||
message_encoding: str
|
||||
metadata: bytes # dict[str, str]
|
||||
|
||||
|
||||
class Chunk(NamedTuple):
|
||||
"""Chunk."""
|
||||
|
||||
start_time: int
|
||||
end_time: int
|
||||
size: int
|
||||
crc: int
|
||||
compression: str
|
||||
records: bytes
|
||||
|
||||
|
||||
class ChunkInfo(NamedTuple):
|
||||
"""Chunk."""
|
||||
|
||||
message_start_time: int
|
||||
message_end_time: int
|
||||
chunk_start_offset: int
|
||||
chunk_length: int
|
||||
message_index_offsets: dict[int, int]
|
||||
message_index_length: int
|
||||
compression: str
|
||||
compressed_size: int
|
||||
uncompressed_size: int
|
||||
channel_count: dict[int, int]
|
||||
|
||||
|
||||
class Statistics(NamedTuple):
|
||||
"""Statistics."""
|
||||
|
||||
message_count: int
|
||||
schema_count: int
|
||||
channel_count: int
|
||||
attachement_count: int
|
||||
metadata_count: int
|
||||
chunk_count: int
|
||||
start_time: int
|
||||
end_time: int
|
||||
channel_message_counts: bytes
|
||||
|
||||
|
||||
class Msg(NamedTuple):
|
||||
"""Message wrapper."""
|
||||
|
||||
timestamp: int
|
||||
offset: int
|
||||
connection: Optional[Connection]
|
||||
data: Optional[bytes]
|
||||
|
||||
|
||||
def read_sized(bio: BinaryIO) -> bytes:
|
||||
"""Read one record."""
|
||||
return bio.read(unpack_from('<Q', bio.read(8))[0])
|
||||
|
||||
|
||||
def skip_sized(bio: BinaryIO) -> None:
|
||||
"""Read one record."""
|
||||
bio.seek(unpack_from('<Q', bio.read(8))[0], 1)
|
||||
|
||||
|
||||
def read_bytes(bio: BinaryIO) -> bytes:
|
||||
"""Read string."""
|
||||
return bio.read(unpack_from('<I', bio.read(4))[0])
|
||||
|
||||
|
||||
def read_string(bio: BinaryIO) -> str:
|
||||
"""Read string."""
|
||||
return bio.read(unpack_from('<I', bio.read(4))[0]).decode()
|
||||
|
||||
|
||||
DECOMPRESSORS: dict[str, Callable[[bytes, int], bytes]] = {
|
||||
'': lambda x, _: x,
|
||||
'lz4': lambda x, _: lz4_decompress(x), # type: ignore
|
||||
'zstd': zstandard.ZstdDecompressor().decompress,
|
||||
}
|
||||
|
||||
|
||||
def msgsrc(
|
||||
chunk: ChunkInfo,
|
||||
channel_map: dict[int, Connection],
|
||||
start: int,
|
||||
stop: int,
|
||||
bio: BinaryIO,
|
||||
) -> Generator[Msg, None, None]:
|
||||
"""Yield messages from chunk in time order."""
|
||||
yield Msg(chunk.message_start_time, 0, None, None)
|
||||
|
||||
bio.seek(chunk.chunk_start_offset + 9 + 40 + len(chunk.compression))
|
||||
compressed_data = bio.read(chunk.compressed_size)
|
||||
subio = BytesIO(DECOMPRESSORS[chunk.compression](compressed_data, chunk.uncompressed_size))
|
||||
|
||||
messages = []
|
||||
while (offset := subio.tell()) < chunk.uncompressed_size:
|
||||
op_ = ord(subio.read(1))
|
||||
if op_ == 0x05:
|
||||
recio = BytesIO(read_sized(subio))
|
||||
channel_id, _, log_time, _ = unpack_from(
|
||||
'<HIQQ',
|
||||
recio.read(22),
|
||||
)
|
||||
if start <= log_time < stop and channel_id in channel_map:
|
||||
messages.append(
|
||||
Msg(
|
||||
log_time,
|
||||
chunk.chunk_start_offset + offset,
|
||||
channel_map[channel_id],
|
||||
recio.read(),
|
||||
),
|
||||
)
|
||||
else:
|
||||
skip_sized(subio)
|
||||
|
||||
yield from sorted(messages, key=lambda x: x.timestamp)
|
||||
|
||||
|
||||
class MCAPFile:
|
||||
"""Mcap format reader."""
|
||||
|
||||
# pylint: disable=too-many-instance-attributes
|
||||
|
||||
def __init__(self, path: Path):
|
||||
"""Initialize."""
|
||||
self.path = path
|
||||
self.bio: Optional[BinaryIO] = None
|
||||
self.data_start = 0
|
||||
self.data_end = 0
|
||||
self.schemas: dict[int, Schema] = {}
|
||||
self.channels: dict[int, Channel] = {}
|
||||
self.chunks: list[ChunkInfo] = []
|
||||
self.statistics: Optional[Statistics] = None
|
||||
|
||||
def open(self) -> None:
|
||||
"""Open MCAP."""
|
||||
try:
|
||||
self.bio = self.path.open('rb')
|
||||
except OSError as err:
|
||||
raise ReaderError(f'Could not open file {str(self.path)!r}: {err.strerror}.') from err
|
||||
|
||||
magic = self.bio.read(8)
|
||||
if not magic:
|
||||
raise ReaderError(f'File {str(self.path)!r} seems to be empty.')
|
||||
|
||||
if magic != b'\x89MCAP0\r\n':
|
||||
raise ReaderError('File magic is invalid.')
|
||||
|
||||
op_ = ord(self.bio.read(1))
|
||||
if op_ != 0x01:
|
||||
raise ReaderError('Unexpected record.')
|
||||
|
||||
recio = BytesIO(read_sized(self.bio))
|
||||
profile = read_string(recio)
|
||||
if profile != 'ros2':
|
||||
raise ReaderError('Profile is not ros2.')
|
||||
self.data_start = self.bio.tell()
|
||||
|
||||
self.bio.seek(-37, 2)
|
||||
footer_start = self.bio.tell()
|
||||
data = self.bio.read()
|
||||
magic = data[-8:]
|
||||
if magic != b'\x89MCAP0\r\n':
|
||||
raise ReaderError('File end magic is invalid.')
|
||||
|
||||
assert len(data) == 37
|
||||
assert data[0:9] == b'\x02\x14\x00\x00\x00\x00\x00\x00\x00', data[0:9]
|
||||
|
||||
summary_start, = unpack_from('<Q', data, 9)
|
||||
if summary_start:
|
||||
self.data_end = summary_start
|
||||
self.read_index()
|
||||
else:
|
||||
self.data_end = footer_start
|
||||
|
||||
def read_index(self) -> None:
|
||||
"""Read index from file."""
|
||||
bio = self.bio
|
||||
assert bio
|
||||
|
||||
schemas = self.schemas
|
||||
channels = self.channels
|
||||
chunks = self.chunks
|
||||
|
||||
bio.seek(self.data_end)
|
||||
while True:
|
||||
op_ = ord(bio.read(1))
|
||||
|
||||
if op_ in (0x02, 0x0e):
|
||||
break
|
||||
|
||||
if op_ == 0x03:
|
||||
bio.seek(8, 1)
|
||||
key, = unpack_from('<H', bio.read(2))
|
||||
schemas[key] = Schema(
|
||||
key,
|
||||
read_string(bio),
|
||||
read_string(bio),
|
||||
read_string(bio),
|
||||
)
|
||||
|
||||
elif op_ == 0x04:
|
||||
bio.seek(8, 1)
|
||||
key, = unpack_from('<H', bio.read(2))
|
||||
schema_name = schemas[unpack_from('<H', bio.read(2))[0]].name
|
||||
channels[key] = Channel(
|
||||
key,
|
||||
schema_name,
|
||||
read_string(bio),
|
||||
read_string(bio),
|
||||
read_bytes(bio),
|
||||
)
|
||||
|
||||
elif op_ == 0x08:
|
||||
bio.seek(8, 1)
|
||||
chunk = ChunkInfo( # type: ignore
|
||||
*unpack_from('<QQQQ', bio.read(32), 0),
|
||||
{
|
||||
x[0]: x[1] for x in
|
||||
iter_unpack('<HQ', bio.read(unpack_from('<I', bio.read(4))[0]))
|
||||
},
|
||||
*unpack_from('<Q', bio.read(8), 0),
|
||||
read_string(bio),
|
||||
*unpack_from('<QQ', bio.read(16), 0),
|
||||
{},
|
||||
)
|
||||
offset_channel = sorted((v, k) for k, v in chunk.message_index_offsets.items())
|
||||
offsets = [
|
||||
*[x[0] for x in offset_channel],
|
||||
chunk.chunk_start_offset + chunk.chunk_length + chunk.message_index_length,
|
||||
]
|
||||
chunk.channel_count.update(
|
||||
{
|
||||
x[1]: count // 16
|
||||
for x, y, z in zip(offset_channel, offsets[1:], offsets)
|
||||
if (count := y - z - 15)
|
||||
},
|
||||
)
|
||||
chunks.append(chunk)
|
||||
|
||||
elif op_ == 0x0a:
|
||||
skip_sized(bio)
|
||||
|
||||
elif op_ == 0x0b:
|
||||
bio.seek(8, 1)
|
||||
self.statistics = Statistics(
|
||||
*unpack_from(
|
||||
'<QHIIIIQQ',
|
||||
bio.read(42),
|
||||
0,
|
||||
),
|
||||
read_bytes(bio), # type: ignore
|
||||
)
|
||||
|
||||
elif op_ == 0x0d:
|
||||
skip_sized(bio)
|
||||
|
||||
else:
|
||||
skip_sized(bio)
|
||||
|
||||
def close(self) -> None:
|
||||
"""Close MCAP."""
|
||||
assert self.bio
|
||||
self.bio.close()
|
||||
self.bio = None
|
||||
|
||||
def meta_scan(self) -> None:
|
||||
"""Generate metadata by scanning through file."""
|
||||
assert self.bio
|
||||
bio = self.bio
|
||||
bio_size = self.data_end
|
||||
bio.seek(self.data_start)
|
||||
|
||||
schemas = self.schemas
|
||||
channels = self.channels
|
||||
|
||||
while bio.tell() < bio_size:
|
||||
op_ = ord(bio.read(1))
|
||||
|
||||
if op_ == 0x03:
|
||||
bio.seek(8, 1)
|
||||
key, = unpack_from('<H', bio.read(2))
|
||||
schemas[key] = Schema(
|
||||
key,
|
||||
read_string(bio),
|
||||
read_string(bio),
|
||||
read_string(bio),
|
||||
)
|
||||
elif op_ == 0x04:
|
||||
bio.seek(8, 1)
|
||||
key, = unpack_from('<H', bio.read(2))
|
||||
schema_name = schemas[unpack_from('<H', bio.read(2))[0]].name
|
||||
channels[key] = Channel(
|
||||
key,
|
||||
schema_name,
|
||||
read_string(bio),
|
||||
read_string(bio),
|
||||
read_bytes(bio),
|
||||
)
|
||||
elif op_ == 0x06:
|
||||
bio.seek(8, 1)
|
||||
_, _, uncompressed_size, _ = unpack_from('<QQQI', bio.read(28))
|
||||
compression = read_string(bio)
|
||||
compressed_size, = unpack_from('<Q', bio.read(8))
|
||||
bio = BytesIO(
|
||||
DECOMPRESSORS[compression](bio.read(compressed_size), uncompressed_size),
|
||||
)
|
||||
bio_size = uncompressed_size
|
||||
else:
|
||||
skip_sized(bio)
|
||||
|
||||
if bio.tell() == bio_size and bio != self.bio:
|
||||
bio = self.bio
|
||||
bio_size = self.data_end
|
||||
|
||||
def get_schema_definitions(self) -> dict[str, tuple[str, str]]:
|
||||
"""Get schema definition."""
|
||||
if not self.schemas:
|
||||
self.meta_scan()
|
||||
return {schema.name: (schema.encoding[4:], schema.data) for schema in self.schemas.values()}
|
||||
|
||||
def messages_scan(
|
||||
self,
|
||||
connections: Iterable[Connection],
|
||||
start: Optional[int] = None,
|
||||
stop: Optional[int] = None,
|
||||
) -> Generator[tuple[Connection, int, bytes], None, None]:
|
||||
"""Read messages by scanning whole bag."""
|
||||
# pylint: disable=too-many-locals
|
||||
assert self.bio
|
||||
bio = self.bio
|
||||
bio_size = self.data_end
|
||||
bio.seek(self.data_start)
|
||||
|
||||
schemas = self.schemas.copy()
|
||||
channels = self.channels.copy()
|
||||
|
||||
if channels:
|
||||
read_meta = False
|
||||
channel_map = {
|
||||
cid: conn for conn in connections if (
|
||||
cid := next(
|
||||
(
|
||||
cid for cid, x in self.channels.items()
|
||||
if x.schema == conn.msgtype and x.topic == conn.topic
|
||||
),
|
||||
None,
|
||||
)
|
||||
)
|
||||
}
|
||||
else:
|
||||
read_meta = True
|
||||
channel_map = {}
|
||||
|
||||
if start is None:
|
||||
start = 0
|
||||
if stop is None:
|
||||
stop = 2**63 - 1
|
||||
|
||||
while bio.tell() < bio_size:
|
||||
op_ = ord(bio.read(1))
|
||||
|
||||
if op_ == 0x03 and read_meta:
|
||||
bio.seek(8, 1)
|
||||
key, = unpack_from('<H', bio.read(2))
|
||||
schemas[key] = Schema(
|
||||
key,
|
||||
read_string(bio),
|
||||
read_string(bio),
|
||||
read_string(bio),
|
||||
)
|
||||
elif op_ == 0x04 and read_meta:
|
||||
bio.seek(8, 1)
|
||||
key, = unpack_from('<H', bio.read(2))
|
||||
schema_name = schemas[unpack_from('<H', bio.read(2))[0]].name
|
||||
channels[key] = Channel(
|
||||
key,
|
||||
schema_name,
|
||||
read_string(bio),
|
||||
read_string(bio),
|
||||
read_bytes(bio),
|
||||
)
|
||||
conn = next(
|
||||
(
|
||||
x for x in connections
|
||||
if x.topic == channels[key].topic and x.msgtype == schema_name
|
||||
),
|
||||
None,
|
||||
)
|
||||
if conn:
|
||||
channel_map[key] = conn
|
||||
elif op_ == 0x05:
|
||||
size, channel_id, _, timestamp, _ = unpack_from('<QHIQQ', bio.read(30))
|
||||
data = bio.read(size - 22)
|
||||
if start <= timestamp < stop and channel_id in channel_map:
|
||||
yield channel_map[channel_id], timestamp, data
|
||||
elif op_ == 0x06:
|
||||
size, = unpack_from('<Q', bio.read(8))
|
||||
start_time, end_time, uncompressed_size, _ = unpack_from('<QQQI', bio.read(28))
|
||||
if read_meta or (start < end_time and start_time < stop):
|
||||
compression = read_string(bio)
|
||||
compressed_size, = unpack_from('<Q', bio.read(8))
|
||||
bio = BytesIO(
|
||||
DECOMPRESSORS[compression](bio.read(compressed_size), uncompressed_size),
|
||||
)
|
||||
bio_size = uncompressed_size
|
||||
else:
|
||||
bio.seek(size - 28, 1)
|
||||
else:
|
||||
skip_sized(bio)
|
||||
|
||||
if bio.tell() == bio_size and bio != self.bio:
|
||||
bio = self.bio
|
||||
bio_size = self.data_end
|
||||
|
||||
def messages(
|
||||
self,
|
||||
connections: Iterable[Connection],
|
||||
start: Optional[int] = None,
|
||||
stop: Optional[int] = None,
|
||||
) -> Generator[tuple[Connection, int, bytes], None, None]:
|
||||
"""Read messages from bag.
|
||||
|
||||
Args:
|
||||
connections: Iterable with connections to filter for.
|
||||
start: Yield only messages at or after this timestamp (ns).
|
||||
stop: Yield only messages before this timestamp (ns).
|
||||
|
||||
Yields:
|
||||
tuples of connection, timestamp (ns), and rawdata.
|
||||
|
||||
"""
|
||||
assert self.bio
|
||||
|
||||
if not self.chunks:
|
||||
yield from self.messages_scan(connections, start, stop)
|
||||
return
|
||||
|
||||
channel_map = {
|
||||
cid: conn for conn in connections if (
|
||||
cid := next(
|
||||
(
|
||||
cid for cid, x in self.channels.items()
|
||||
if x.schema == conn.msgtype and x.topic == conn.topic
|
||||
),
|
||||
None,
|
||||
)
|
||||
)
|
||||
}
|
||||
|
||||
chunks = [
|
||||
msgsrc(
|
||||
x,
|
||||
channel_map,
|
||||
start or x.message_start_time,
|
||||
stop or x.message_end_time + 1,
|
||||
self.bio,
|
||||
)
|
||||
for x in self.chunks
|
||||
if x.message_start_time != 0 and (start is None or start < x.message_end_time) and
|
||||
(stop is None or x.message_start_time < stop) and
|
||||
(any(x.channel_count.get(cid, 0) for cid in channel_map))
|
||||
]
|
||||
|
||||
for timestamp, offset, connection, data in heapq.merge(*chunks):
|
||||
if not offset:
|
||||
continue
|
||||
assert connection
|
||||
assert data
|
||||
yield connection, timestamp, data
|
||||
|
||||
|
||||
class ReaderMcap:
|
||||
"""Mcap storage reader."""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
paths: Iterable[Path],
|
||||
connections: Iterable[Connection],
|
||||
):
|
||||
"""Set up storage reader.
|
||||
|
||||
Args:
|
||||
paths: Paths of storage files.
|
||||
connections: List of connections.
|
||||
|
||||
"""
|
||||
self.paths = paths
|
||||
self.readers: list[MCAPFile] = []
|
||||
self.connections = connections
|
||||
|
||||
def open(self) -> None:
|
||||
"""Open rosbag2."""
|
||||
self.readers = [MCAPFile(x) for x in self.paths]
|
||||
for reader in self.readers:
|
||||
reader.open()
|
||||
|
||||
def close(self) -> None:
|
||||
"""Close rosbag2."""
|
||||
assert self.readers
|
||||
for reader in self.readers:
|
||||
reader.close()
|
||||
self.readers = []
|
||||
|
||||
def get_definitions(self) -> dict[str, tuple[str, str]]:
|
||||
"""Get message definitions."""
|
||||
res = {}
|
||||
for reader in self.readers:
|
||||
res.update(reader.get_schema_definitions())
|
||||
return res
|
||||
|
||||
def messages(
|
||||
self,
|
||||
connections: Iterable[Connection] = (),
|
||||
start: Optional[int] = None,
|
||||
stop: Optional[int] = None,
|
||||
) -> Generator[tuple[Connection, int, bytes], None, None]:
|
||||
"""Read messages from bag.
|
||||
|
||||
Args:
|
||||
connections: Iterable with connections to filter for. An empty
|
||||
iterable disables filtering on connections.
|
||||
start: Yield only messages at or after this timestamp (ns).
|
||||
stop: Yield only messages before this timestamp (ns).
|
||||
|
||||
Yields:
|
||||
tuples of connection, timestamp (ns), and rawdata.
|
||||
|
||||
"""
|
||||
connections = list(connections) or list(self.connections)
|
||||
|
||||
for reader in self.readers:
|
||||
yield from reader.messages(connections, start, stop)
|
||||
119
rosbags/src/rosbags/rosbag2/storage_sqlite3.py
Normal file
119
rosbags/src/rosbags/rosbag2/storage_sqlite3.py
Normal file
@ -0,0 +1,119 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Sqlite3 storage."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import sqlite3
|
||||
from typing import TYPE_CHECKING
|
||||
|
||||
from .errors import ReaderError
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from pathlib import Path
|
||||
from typing import Any, Generator, Iterable, Optional
|
||||
|
||||
from rosbags.interfaces import Connection
|
||||
|
||||
|
||||
class ReaderSqlite3:
|
||||
"""Sqlite3 storage reader."""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
paths: Iterable[Path],
|
||||
connections: Iterable[Connection],
|
||||
):
|
||||
"""Set up storage reader.
|
||||
|
||||
Args:
|
||||
paths: Paths of storage files.
|
||||
connections: List of connections.
|
||||
|
||||
"""
|
||||
self.opened = False
|
||||
self.paths = paths
|
||||
self.connections = connections
|
||||
|
||||
def open(self) -> None:
|
||||
"""Open rosbag2."""
|
||||
self.opened = True
|
||||
|
||||
def close(self) -> None:
|
||||
"""Close rosbag2."""
|
||||
assert self.opened
|
||||
self.opened = False
|
||||
|
||||
def get_definitions(self) -> dict[str, tuple[str, str]]:
|
||||
"""Get message definitions."""
|
||||
return {}
|
||||
|
||||
def messages( # pylint: disable=too-many-locals
|
||||
self,
|
||||
connections: Iterable[Connection] = (),
|
||||
start: Optional[int] = None,
|
||||
stop: Optional[int] = None,
|
||||
) -> Generator[tuple[Connection, int, bytes], None, None]:
|
||||
"""Read messages from bag.
|
||||
|
||||
Args:
|
||||
connections: Iterable with connections to filter for. An empty
|
||||
iterable disables filtering on connections.
|
||||
start: Yield only messages at or after this timestamp (ns).
|
||||
stop: Yield only messages before this timestamp (ns).
|
||||
|
||||
Yields:
|
||||
tuples of connection, timestamp (ns), and rawdata.
|
||||
|
||||
Raises:
|
||||
ReaderError: Bag not open.
|
||||
|
||||
"""
|
||||
query = [
|
||||
'SELECT topics.id,messages.timestamp,messages.data',
|
||||
'FROM messages JOIN topics ON messages.topic_id=topics.id',
|
||||
]
|
||||
args: list[Any] = []
|
||||
clause = 'WHERE'
|
||||
|
||||
if connections:
|
||||
topics = {x.topic for x in connections}
|
||||
query.append(f'{clause} topics.name IN ({",".join("?" for _ in topics)})')
|
||||
args += topics
|
||||
clause = 'AND'
|
||||
|
||||
if start is not None:
|
||||
query.append(f'{clause} messages.timestamp >= ?')
|
||||
args.append(start)
|
||||
clause = 'AND'
|
||||
|
||||
if stop is not None:
|
||||
query.append(f'{clause} messages.timestamp < ?')
|
||||
args.append(stop)
|
||||
clause = 'AND'
|
||||
|
||||
query.append('ORDER BY timestamp')
|
||||
querystr = ' '.join(query)
|
||||
|
||||
for path in self.paths:
|
||||
conn = sqlite3.connect(f'file:{path}?immutable=1', uri=True)
|
||||
conn.row_factory = lambda _, x: x
|
||||
cur = conn.cursor()
|
||||
cur.execute(
|
||||
'SELECT count(*) FROM sqlite_master '
|
||||
'WHERE type="table" AND name IN ("messages", "topics")',
|
||||
)
|
||||
if cur.fetchone()[0] != 2:
|
||||
raise ReaderError(f'Cannot open database {path} or database missing tables.')
|
||||
|
||||
cur.execute('SELECT name,id FROM topics')
|
||||
connmap: dict[int, Connection] = {
|
||||
row[1]: next((x for x in self.connections if x.topic == row[0]),
|
||||
None) # type: ignore
|
||||
for row in cur
|
||||
}
|
||||
|
||||
cur.execute(querystr, args)
|
||||
|
||||
for cid, timestamp, data in cur:
|
||||
yield connmap[cid], timestamp, data
|
||||
308
rosbags/src/rosbags/rosbag2/writer.py
Normal file
308
rosbags/src/rosbags/rosbag2/writer.py
Normal file
@ -0,0 +1,308 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Rosbag2 writer."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import sqlite3
|
||||
from enum import IntEnum, auto
|
||||
from pathlib import Path
|
||||
from typing import TYPE_CHECKING
|
||||
|
||||
import zstandard
|
||||
from ruamel.yaml import YAML
|
||||
|
||||
from rosbags.interfaces import Connection, ConnectionExtRosbag2
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from types import TracebackType
|
||||
from typing import Any, Literal, Optional, Type, Union
|
||||
|
||||
from .metadata import Metadata
|
||||
|
||||
|
||||
class WriterError(Exception):
|
||||
"""Writer Error."""
|
||||
|
||||
|
||||
class Writer: # pylint: disable=too-many-instance-attributes
|
||||
"""Rosbag2 writer.
|
||||
|
||||
This class implements writing of rosbag2 files in version 4. It should be
|
||||
used as a contextmanager.
|
||||
|
||||
"""
|
||||
|
||||
SQLITE_SCHEMA = """
|
||||
CREATE TABLE topics(
|
||||
id INTEGER PRIMARY KEY,
|
||||
name TEXT NOT NULL,
|
||||
type TEXT NOT NULL,
|
||||
serialization_format TEXT NOT NULL,
|
||||
offered_qos_profiles TEXT NOT NULL
|
||||
);
|
||||
CREATE TABLE messages(
|
||||
id INTEGER PRIMARY KEY,
|
||||
topic_id INTEGER NOT NULL,
|
||||
timestamp INTEGER NOT NULL,
|
||||
data BLOB NOT NULL
|
||||
);
|
||||
CREATE INDEX timestamp_idx ON messages (timestamp ASC);
|
||||
"""
|
||||
|
||||
class CompressionMode(IntEnum):
|
||||
"""Compession modes."""
|
||||
|
||||
NONE = auto()
|
||||
FILE = auto()
|
||||
MESSAGE = auto()
|
||||
|
||||
class CompressionFormat(IntEnum):
|
||||
"""Compession formats."""
|
||||
|
||||
ZSTD = auto()
|
||||
|
||||
def __init__(self, path: Union[Path, str]):
|
||||
"""Initialize writer.
|
||||
|
||||
Args:
|
||||
path: Filesystem path to bag.
|
||||
|
||||
Raises:
|
||||
WriterError: Target path exisits already, Writer can only create new rosbags.
|
||||
|
||||
"""
|
||||
path = Path(path)
|
||||
self.path = path
|
||||
if path.exists():
|
||||
raise WriterError(f'{path} exists already, not overwriting.')
|
||||
self.metapath = path / 'metadata.yaml'
|
||||
self.dbpath = path / f'{path.name}.db3'
|
||||
self.compression_mode = ''
|
||||
self.compression_format = ''
|
||||
self.compressor: Optional[zstandard.ZstdCompressor] = None
|
||||
self.connections: list[Connection] = []
|
||||
self.counts: dict[int, int] = {}
|
||||
self.conn: Optional[sqlite3.Connection] = None
|
||||
self.cursor: Optional[sqlite3.Cursor] = None
|
||||
self.custom_data: dict[str, str] = {}
|
||||
|
||||
def set_compression(self, mode: CompressionMode, fmt: CompressionFormat) -> None:
|
||||
"""Enable compression on bag.
|
||||
|
||||
This function has to be called before opening.
|
||||
|
||||
Args:
|
||||
mode: Compression mode to use, either 'file' or 'message'.
|
||||
fmt: Compressor to use, currently only 'zstd'.
|
||||
|
||||
Raises:
|
||||
WriterError: Bag already open.
|
||||
|
||||
"""
|
||||
if self.conn:
|
||||
raise WriterError(f'Cannot set compression, bag {self.path} already open.')
|
||||
if mode == self.CompressionMode.NONE:
|
||||
return
|
||||
self.compression_mode = mode.name.lower()
|
||||
self.compression_format = fmt.name.lower()
|
||||
self.compressor = zstandard.ZstdCompressor()
|
||||
|
||||
def set_custom_data(self, key: str, value: str) -> None:
|
||||
"""Set key value pair in custom_data.
|
||||
|
||||
Args:
|
||||
key: Key to set.
|
||||
value: Value to set.
|
||||
|
||||
Raises:
|
||||
WriterError: If value has incorrect type.
|
||||
|
||||
"""
|
||||
if not isinstance(value, str):
|
||||
raise WriterError(f'Cannot set non-string value {value!r} in custom_data.')
|
||||
self.custom_data[key] = value
|
||||
|
||||
def open(self) -> None:
|
||||
"""Open rosbag2 for writing.
|
||||
|
||||
Create base directory and open database connection.
|
||||
|
||||
"""
|
||||
try:
|
||||
self.path.mkdir(mode=0o755, parents=True)
|
||||
except FileExistsError:
|
||||
raise WriterError(f'{self.path} exists already, not overwriting.') from None
|
||||
|
||||
self.conn = sqlite3.connect(f'file:{self.dbpath}', uri=True)
|
||||
self.conn.executescript(self.SQLITE_SCHEMA)
|
||||
self.cursor = self.conn.cursor()
|
||||
|
||||
def add_connection(
|
||||
self,
|
||||
topic: str,
|
||||
msgtype: str,
|
||||
serialization_format: str = 'cdr',
|
||||
offered_qos_profiles: str = '',
|
||||
**_kw: Any, # noqa: ANN401
|
||||
) -> Connection:
|
||||
"""Add a connection.
|
||||
|
||||
This function can only be called after opening a bag.
|
||||
|
||||
Args:
|
||||
topic: Topic name.
|
||||
msgtype: Message type.
|
||||
serialization_format: Serialization format.
|
||||
offered_qos_profiles: QOS Profile.
|
||||
_kw: Ignored to allow consuming dicts from connection objects.
|
||||
|
||||
Returns:
|
||||
Connection object.
|
||||
|
||||
Raises:
|
||||
WriterError: Bag not open or topic previously registered.
|
||||
|
||||
"""
|
||||
if not self.cursor:
|
||||
raise WriterError('Bag was not opened.')
|
||||
|
||||
connection = Connection(
|
||||
id=len(self.connections) + 1,
|
||||
topic=topic,
|
||||
msgtype=msgtype,
|
||||
msgdef='',
|
||||
md5sum='',
|
||||
msgcount=0,
|
||||
ext=ConnectionExtRosbag2(
|
||||
serialization_format=serialization_format,
|
||||
offered_qos_profiles=offered_qos_profiles,
|
||||
),
|
||||
owner=self,
|
||||
)
|
||||
for conn in self.connections:
|
||||
if (
|
||||
conn.topic == connection.topic and conn.msgtype == connection.msgtype and
|
||||
conn.ext == connection.ext
|
||||
):
|
||||
raise WriterError(f'Connection can only be added once: {connection!r}.')
|
||||
|
||||
self.connections.append(connection)
|
||||
self.counts[connection.id] = 0
|
||||
meta = (connection.id, topic, msgtype, serialization_format, offered_qos_profiles)
|
||||
self.cursor.execute('INSERT INTO topics VALUES(?, ?, ?, ?, ?)', meta)
|
||||
return connection
|
||||
|
||||
def write(self, connection: Connection, timestamp: int, data: bytes) -> None:
|
||||
"""Write message to rosbag2.
|
||||
|
||||
Args:
|
||||
connection: Connection to write message to.
|
||||
timestamp: Message timestamp (ns).
|
||||
data: Serialized message data.
|
||||
|
||||
Raises:
|
||||
WriterError: Bag not open or topic not registered.
|
||||
|
||||
"""
|
||||
if not self.cursor:
|
||||
raise WriterError('Bag was not opened.')
|
||||
if connection not in self.connections:
|
||||
raise WriterError(f'Tried to write to unknown connection {connection!r}.')
|
||||
|
||||
if self.compression_mode == 'message':
|
||||
assert self.compressor
|
||||
data = self.compressor.compress(data)
|
||||
|
||||
self.cursor.execute(
|
||||
'INSERT INTO messages (topic_id, timestamp, data) VALUES(?, ?, ?)',
|
||||
(connection.id, timestamp, data),
|
||||
)
|
||||
self.counts[connection.id] += 1
|
||||
|
||||
def close(self) -> None:
|
||||
"""Close rosbag2 after writing.
|
||||
|
||||
Closes open database transactions and writes metadata.yaml.
|
||||
|
||||
"""
|
||||
assert self.cursor
|
||||
assert self.conn
|
||||
self.cursor.close()
|
||||
self.cursor = None
|
||||
|
||||
duration, start, count = self.conn.execute(
|
||||
'SELECT max(timestamp) - min(timestamp), min(timestamp), count(*) FROM messages',
|
||||
).fetchone()
|
||||
|
||||
self.conn.commit()
|
||||
self.conn.execute('PRAGMA optimize')
|
||||
self.conn.close()
|
||||
|
||||
if self.compression_mode == 'file':
|
||||
assert self.compressor
|
||||
src = self.dbpath
|
||||
self.dbpath = src.with_suffix(f'.db3.{self.compression_format}')
|
||||
with src.open('rb') as infile, self.dbpath.open('wb') as outfile:
|
||||
self.compressor.copy_stream(infile, outfile)
|
||||
src.unlink()
|
||||
|
||||
metadata: dict[str, Metadata] = {
|
||||
'rosbag2_bagfile_information': {
|
||||
'version': 6,
|
||||
'storage_identifier': 'sqlite3',
|
||||
'relative_file_paths': [self.dbpath.name],
|
||||
'duration': {
|
||||
'nanoseconds': duration,
|
||||
},
|
||||
'starting_time': {
|
||||
'nanoseconds_since_epoch': start,
|
||||
},
|
||||
'message_count': count,
|
||||
'topics_with_message_count': [
|
||||
{
|
||||
'topic_metadata': {
|
||||
'name': x.topic,
|
||||
'type': x.msgtype,
|
||||
'serialization_format': x.ext.serialization_format,
|
||||
'offered_qos_profiles': x.ext.offered_qos_profiles,
|
||||
},
|
||||
'message_count': self.counts[x.id],
|
||||
} for x in self.connections if isinstance(x.ext, ConnectionExtRosbag2)
|
||||
],
|
||||
'compression_format': self.compression_format,
|
||||
'compression_mode': self.compression_mode,
|
||||
'files': [
|
||||
{
|
||||
'path': self.dbpath.name,
|
||||
'starting_time': {
|
||||
'nanoseconds_since_epoch': start,
|
||||
},
|
||||
'duration': {
|
||||
'nanoseconds': duration,
|
||||
},
|
||||
'message_count': count,
|
||||
},
|
||||
],
|
||||
'custom_data': self.custom_data,
|
||||
},
|
||||
}
|
||||
with self.metapath.open('w') as metafile:
|
||||
yaml = YAML(typ='safe')
|
||||
yaml.default_flow_style = False
|
||||
yaml.dump(metadata, metafile)
|
||||
|
||||
def __enter__(self) -> Writer:
|
||||
"""Open rosbag2 when entering contextmanager."""
|
||||
self.open()
|
||||
return self
|
||||
|
||||
def __exit__(
|
||||
self,
|
||||
exc_type: Optional[Type[BaseException]],
|
||||
exc_val: Optional[BaseException],
|
||||
exc_tb: Optional[TracebackType],
|
||||
) -> Literal[False]:
|
||||
"""Close rosbag2 when exiting contextmanager."""
|
||||
self.close()
|
||||
return False
|
||||
29
rosbags/src/rosbags/serde/__init__.py
Normal file
29
rosbags/src/rosbags/serde/__init__.py
Normal file
@ -0,0 +1,29 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Rosbags message serialization and deserialization.
|
||||
|
||||
Serializers and deserializers convert between python messages objects and
|
||||
the common rosbag serialization formats. Computationally cheap functions
|
||||
convert directly between different serialization formats.
|
||||
|
||||
"""
|
||||
|
||||
from .messages import SerdeError
|
||||
from .serdes import (
|
||||
cdr_to_ros1,
|
||||
deserialize_cdr,
|
||||
deserialize_ros1,
|
||||
ros1_to_cdr,
|
||||
serialize_cdr,
|
||||
serialize_ros1,
|
||||
)
|
||||
|
||||
__all__ = [
|
||||
'SerdeError',
|
||||
'cdr_to_ros1',
|
||||
'deserialize_cdr',
|
||||
'deserialize_ros1',
|
||||
'ros1_to_cdr',
|
||||
'serialize_cdr',
|
||||
'serialize_ros1',
|
||||
]
|
||||
461
rosbags/src/rosbags/serde/cdr.py
Normal file
461
rosbags/src/rosbags/serde/cdr.py
Normal file
@ -0,0 +1,461 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Code generators for CDR.
|
||||
|
||||
Common Data Representation `CDR`_ is the serialization format used by most ROS2
|
||||
middlewares.
|
||||
|
||||
.. _CDR: https://www.omg.org/cgi-bin/doc?formal/02-06-51
|
||||
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import sys
|
||||
from itertools import tee
|
||||
from typing import TYPE_CHECKING, Iterator, cast
|
||||
|
||||
from .typing import Field
|
||||
from .utils import SIZEMAP, Valtype, align, align_after, compile_lines
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from .typing import CDRDeser, CDRSer, CDRSerSize
|
||||
|
||||
|
||||
def generate_getsize_cdr(fields: list[Field]) -> tuple[CDRSerSize, int]:
|
||||
"""Generate cdr size calculation function.
|
||||
|
||||
Args:
|
||||
fields: Fields of message.
|
||||
|
||||
Returns:
|
||||
Size calculation function and static size.
|
||||
|
||||
"""
|
||||
# pylint: disable=too-many-branches,too-many-locals,too-many-nested-blocks,too-many-statements
|
||||
size = 0
|
||||
is_stat = True
|
||||
|
||||
aligned = 8
|
||||
iterators = tee([*fields, None])
|
||||
icurr = cast('Iterator[Field]', iterators[0])
|
||||
inext = iterators[1]
|
||||
next(inext)
|
||||
lines = [
|
||||
'import sys',
|
||||
'from rosbags.serde.messages import get_msgdef',
|
||||
'def getsize_cdr(pos, message, typestore):',
|
||||
]
|
||||
for fcurr, fnext in zip(icurr, inext):
|
||||
fieldname, desc = fcurr
|
||||
|
||||
if desc.valtype == Valtype.MESSAGE:
|
||||
if desc.args.size_cdr:
|
||||
lines.append(f' pos += {desc.args.size_cdr}')
|
||||
size += desc.args.size_cdr
|
||||
else:
|
||||
lines.append(f' func = get_msgdef("{desc.args.name}", typestore).getsize_cdr')
|
||||
lines.append(f' pos = func(pos, message.{fieldname}, typestore)')
|
||||
is_stat = False
|
||||
aligned = align_after(desc)
|
||||
|
||||
elif desc.valtype == Valtype.BASE:
|
||||
if desc.args == 'string':
|
||||
lines.append(f' pos += 4 + len(message.{fieldname}.encode()) + 1')
|
||||
aligned = 1
|
||||
is_stat = False
|
||||
else:
|
||||
lines.append(f' pos += {SIZEMAP[desc.args]}')
|
||||
aligned = SIZEMAP[desc.args]
|
||||
size += SIZEMAP[desc.args]
|
||||
|
||||
elif desc.valtype == Valtype.ARRAY:
|
||||
subdesc, length = desc.args
|
||||
|
||||
if subdesc.valtype == Valtype.BASE:
|
||||
if subdesc.args == 'string':
|
||||
lines.append(f' val = message.{fieldname}')
|
||||
for idx in range(length):
|
||||
lines.append(' pos = (pos + 4 - 1) & -4')
|
||||
lines.append(f' pos += 4 + len(val[{idx}].encode()) + 1')
|
||||
aligned = 1
|
||||
is_stat = False
|
||||
else:
|
||||
lines.append(f' pos += {length * SIZEMAP[subdesc.args]}')
|
||||
size += length * SIZEMAP[subdesc.args]
|
||||
|
||||
else:
|
||||
assert subdesc.valtype == Valtype.MESSAGE
|
||||
anext_before = align(subdesc)
|
||||
anext_after = align_after(subdesc)
|
||||
|
||||
if subdesc.args.size_cdr:
|
||||
for _ in range(length):
|
||||
if anext_before > anext_after:
|
||||
lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}')
|
||||
size = (size + anext_before - 1) & -anext_before
|
||||
lines.append(f' pos += {subdesc.args.size_cdr}')
|
||||
size += subdesc.args.size_cdr
|
||||
else:
|
||||
lines.append(
|
||||
f' func = get_msgdef("{subdesc.args.name}", typestore).getsize_cdr',
|
||||
)
|
||||
lines.append(f' val = message.{fieldname}')
|
||||
for idx in range(length):
|
||||
if anext_before > anext_after:
|
||||
lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}')
|
||||
lines.append(f' pos = func(pos, val[{idx}], typestore)')
|
||||
is_stat = False
|
||||
aligned = align_after(subdesc)
|
||||
else:
|
||||
assert desc.valtype == Valtype.SEQUENCE
|
||||
lines.append(' pos += 4')
|
||||
aligned = 4
|
||||
subdesc = desc.args[0]
|
||||
if subdesc.valtype == Valtype.BASE:
|
||||
if subdesc.args == 'string':
|
||||
lines.append(f' for val in message.{fieldname}:')
|
||||
lines.append(' pos = (pos + 4 - 1) & -4')
|
||||
lines.append(' pos += 4 + len(val.encode()) + 1')
|
||||
aligned = 1
|
||||
else:
|
||||
anext_before = align(subdesc)
|
||||
if aligned < anext_before:
|
||||
lines.append(f' if len(message.{fieldname}):')
|
||||
lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}')
|
||||
aligned = anext_before
|
||||
lines.append(f' pos += len(message.{fieldname}) * {SIZEMAP[subdesc.args]}')
|
||||
|
||||
else:
|
||||
assert subdesc.valtype == Valtype.MESSAGE
|
||||
anext_before = align(subdesc)
|
||||
anext_after = align_after(subdesc)
|
||||
lines.append(f' val = message.{fieldname}')
|
||||
if subdesc.args.size_cdr:
|
||||
if aligned < anext_before <= anext_after:
|
||||
lines.append(' if len(val):')
|
||||
lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}')
|
||||
lines.append(' for _ in val:')
|
||||
if anext_before > anext_after:
|
||||
lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}')
|
||||
lines.append(f' pos += {subdesc.args.size_cdr}')
|
||||
|
||||
else:
|
||||
lines.append(
|
||||
f' func = get_msgdef("{subdesc.args.name}", typestore).getsize_cdr',
|
||||
)
|
||||
if aligned < anext_before <= anext_after:
|
||||
lines.append(' if len(val):')
|
||||
lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}')
|
||||
lines.append(' for item in val:')
|
||||
if anext_before > anext_after:
|
||||
lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}')
|
||||
lines.append(' pos = func(pos, item, typestore)')
|
||||
aligned = align_after(subdesc)
|
||||
|
||||
aligned = min([aligned, 4])
|
||||
is_stat = False
|
||||
|
||||
if fnext and aligned < (anext_before := align(fnext.descriptor)):
|
||||
lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}')
|
||||
aligned = anext_before
|
||||
is_stat = False
|
||||
lines.append(' return pos')
|
||||
return compile_lines(lines).getsize_cdr, is_stat * size
|
||||
|
||||
|
||||
def generate_serialize_cdr(fields: list[Field], endianess: str) -> CDRSer:
|
||||
"""Generate cdr serialization function.
|
||||
|
||||
Args:
|
||||
fields: Fields of message.
|
||||
endianess: Endianess of rawdata.
|
||||
|
||||
Returns:
|
||||
Serializer function.
|
||||
|
||||
"""
|
||||
# pylint: disable=too-many-branches,too-many-locals,too-many-statements
|
||||
aligned = 8
|
||||
iterators = tee([*fields, None])
|
||||
icurr = cast('Iterator[Field]', iterators[0])
|
||||
inext = iterators[1]
|
||||
next(inext)
|
||||
lines = [
|
||||
'import sys',
|
||||
'import numpy',
|
||||
'from rosbags.serde.messages import SerdeError, get_msgdef',
|
||||
f'from rosbags.serde.primitives import pack_bool_{endianess}',
|
||||
f'from rosbags.serde.primitives import pack_int8_{endianess}',
|
||||
f'from rosbags.serde.primitives import pack_int16_{endianess}',
|
||||
f'from rosbags.serde.primitives import pack_int32_{endianess}',
|
||||
f'from rosbags.serde.primitives import pack_int64_{endianess}',
|
||||
f'from rosbags.serde.primitives import pack_uint8_{endianess}',
|
||||
f'from rosbags.serde.primitives import pack_uint16_{endianess}',
|
||||
f'from rosbags.serde.primitives import pack_uint32_{endianess}',
|
||||
f'from rosbags.serde.primitives import pack_uint64_{endianess}',
|
||||
f'from rosbags.serde.primitives import pack_float32_{endianess}',
|
||||
f'from rosbags.serde.primitives import pack_float64_{endianess}',
|
||||
'def serialize_cdr(rawdata, pos, message, typestore):',
|
||||
]
|
||||
for fcurr, fnext in zip(icurr, inext):
|
||||
fieldname, desc = fcurr
|
||||
|
||||
lines.append(f' val = message.{fieldname}')
|
||||
if desc.valtype == Valtype.MESSAGE:
|
||||
name = desc.args.name
|
||||
lines.append(f' func = get_msgdef("{name}", typestore).serialize_cdr_{endianess}')
|
||||
lines.append(' pos = func(rawdata, pos, val, typestore)')
|
||||
aligned = align_after(desc)
|
||||
|
||||
elif desc.valtype == Valtype.BASE:
|
||||
if desc.args == 'string':
|
||||
lines.append(' bval = memoryview(val.encode())')
|
||||
lines.append(' length = len(bval) + 1')
|
||||
lines.append(f' pack_int32_{endianess}(rawdata, pos, length)')
|
||||
lines.append(' pos += 4')
|
||||
lines.append(' rawdata[pos:pos + length - 1] = bval')
|
||||
lines.append(' pos += length')
|
||||
aligned = 1
|
||||
else:
|
||||
lines.append(f' pack_{desc.args}_{endianess}(rawdata, pos, val)')
|
||||
lines.append(f' pos += {SIZEMAP[desc.args]}')
|
||||
aligned = SIZEMAP[desc.args]
|
||||
|
||||
elif desc.valtype == Valtype.ARRAY:
|
||||
subdesc, length = desc.args
|
||||
lines.append(f' if len(val) != {length}:')
|
||||
lines.append(' raise SerdeError(\'Unexpected array length\')')
|
||||
|
||||
if subdesc.valtype == Valtype.BASE:
|
||||
if subdesc.args == 'string':
|
||||
for idx in range(length):
|
||||
lines.append(f' bval = memoryview(val[{idx}].encode())')
|
||||
lines.append(' length = len(bval) + 1')
|
||||
lines.append(' pos = (pos + 4 - 1) & -4')
|
||||
lines.append(f' pack_int32_{endianess}(rawdata, pos, length)')
|
||||
lines.append(' pos += 4')
|
||||
lines.append(' rawdata[pos:pos + length - 1] = bval')
|
||||
lines.append(' pos += length')
|
||||
aligned = 1
|
||||
else:
|
||||
if (endianess == 'le') != (sys.byteorder == 'little'):
|
||||
lines.append(' val = val.byteswap()')
|
||||
size = length * SIZEMAP[subdesc.args]
|
||||
lines.append(f' rawdata[pos:pos + {size}] = val.view(numpy.uint8)')
|
||||
lines.append(f' pos += {size}')
|
||||
|
||||
else:
|
||||
assert subdesc.valtype == Valtype.MESSAGE
|
||||
anext_before = align(subdesc)
|
||||
anext_after = align_after(subdesc)
|
||||
name = subdesc.args.name
|
||||
lines.append(f' func = get_msgdef("{name}", typestore).serialize_cdr_{endianess}')
|
||||
for idx in range(length):
|
||||
if anext_before > anext_after:
|
||||
lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}')
|
||||
lines.append(f' pos = func(rawdata, pos, val[{idx}], typestore)')
|
||||
aligned = align_after(subdesc)
|
||||
else:
|
||||
assert desc.valtype == Valtype.SEQUENCE
|
||||
lines.append(f' pack_int32_{endianess}(rawdata, pos, len(val))')
|
||||
lines.append(' pos += 4')
|
||||
aligned = 4
|
||||
subdesc = desc.args[0]
|
||||
|
||||
if subdesc.valtype == Valtype.BASE:
|
||||
if subdesc.args == 'string':
|
||||
lines.append(' for item in val:')
|
||||
lines.append(' bval = memoryview(item.encode())')
|
||||
lines.append(' length = len(bval) + 1')
|
||||
lines.append(' pos = (pos + 4 - 1) & -4')
|
||||
lines.append(f' pack_int32_{endianess}(rawdata, pos, length)')
|
||||
lines.append(' pos += 4')
|
||||
lines.append(' rawdata[pos:pos + length - 1] = bval')
|
||||
lines.append(' pos += length')
|
||||
aligned = 1
|
||||
else:
|
||||
lines.append(f' size = len(val) * {SIZEMAP[subdesc.args]}')
|
||||
if (endianess == 'le') != (sys.byteorder == 'little'):
|
||||
lines.append(' val = val.byteswap()')
|
||||
if aligned < (anext_before := align(subdesc)):
|
||||
lines.append(' if size:')
|
||||
lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}')
|
||||
lines.append(' rawdata[pos:pos + size] = val.view(numpy.uint8)')
|
||||
lines.append(' pos += size')
|
||||
aligned = anext_before
|
||||
|
||||
if subdesc.valtype == Valtype.MESSAGE:
|
||||
anext_before = align(subdesc)
|
||||
name = subdesc.args.name
|
||||
lines.append(f' func = get_msgdef("{name}", typestore).serialize_cdr_{endianess}')
|
||||
lines.append(' for item in val:')
|
||||
lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}')
|
||||
lines.append(' pos = func(rawdata, pos, item, typestore)')
|
||||
aligned = align_after(subdesc)
|
||||
|
||||
aligned = min([4, aligned])
|
||||
|
||||
if fnext and aligned < (anext_before := align(fnext.descriptor)):
|
||||
lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}')
|
||||
aligned = anext_before
|
||||
lines.append(' return pos')
|
||||
return compile_lines(lines).serialize_cdr # type: ignore
|
||||
|
||||
|
||||
def generate_deserialize_cdr(fields: list[Field], endianess: str) -> CDRDeser:
|
||||
"""Generate cdr deserialization function.
|
||||
|
||||
Args:
|
||||
fields: Fields of message.
|
||||
endianess: Endianess of rawdata.
|
||||
|
||||
Returns:
|
||||
Deserializer function.
|
||||
|
||||
"""
|
||||
# pylint: disable=too-many-branches,too-many-locals,too-many-nested-blocks,too-many-statements
|
||||
aligned = 8
|
||||
iterators = tee([*fields, None])
|
||||
icurr = cast('Iterator[Field]', iterators[0])
|
||||
inext = iterators[1]
|
||||
next(inext)
|
||||
lines = [
|
||||
'import sys',
|
||||
'import numpy',
|
||||
'from rosbags.serde.messages import SerdeError, get_msgdef',
|
||||
f'from rosbags.serde.primitives import unpack_bool_{endianess}',
|
||||
f'from rosbags.serde.primitives import unpack_int8_{endianess}',
|
||||
f'from rosbags.serde.primitives import unpack_int16_{endianess}',
|
||||
f'from rosbags.serde.primitives import unpack_int32_{endianess}',
|
||||
f'from rosbags.serde.primitives import unpack_int64_{endianess}',
|
||||
f'from rosbags.serde.primitives import unpack_uint8_{endianess}',
|
||||
f'from rosbags.serde.primitives import unpack_uint16_{endianess}',
|
||||
f'from rosbags.serde.primitives import unpack_uint32_{endianess}',
|
||||
f'from rosbags.serde.primitives import unpack_uint64_{endianess}',
|
||||
f'from rosbags.serde.primitives import unpack_float32_{endianess}',
|
||||
f'from rosbags.serde.primitives import unpack_float64_{endianess}',
|
||||
'def deserialize_cdr(rawdata, pos, cls, typestore):',
|
||||
]
|
||||
|
||||
funcname = f'deserialize_cdr_{endianess}'
|
||||
lines.append(' values = []')
|
||||
for fcurr, fnext in zip(icurr, inext):
|
||||
desc = fcurr[1]
|
||||
|
||||
if desc.valtype == Valtype.MESSAGE:
|
||||
lines.append(f' msgdef = get_msgdef("{desc.args.name}", typestore)')
|
||||
lines.append(f' obj, pos = msgdef.{funcname}(rawdata, pos, msgdef.cls, typestore)')
|
||||
lines.append(' values.append(obj)')
|
||||
aligned = align_after(desc)
|
||||
|
||||
elif desc.valtype == Valtype.BASE:
|
||||
if desc.args == 'string':
|
||||
lines.append(f' length = unpack_int32_{endianess}(rawdata, pos)[0]')
|
||||
lines.append(' string = bytes(rawdata[pos + 4:pos + 4 + length - 1]).decode()')
|
||||
lines.append(' values.append(string)')
|
||||
lines.append(' pos += 4 + length')
|
||||
aligned = 1
|
||||
else:
|
||||
lines.append(f' value = unpack_{desc.args}_{endianess}(rawdata, pos)[0]')
|
||||
lines.append(' values.append(value)')
|
||||
lines.append(f' pos += {SIZEMAP[desc.args]}')
|
||||
aligned = SIZEMAP[desc.args]
|
||||
|
||||
elif desc.valtype == Valtype.ARRAY:
|
||||
subdesc, length = desc.args
|
||||
if subdesc.valtype == Valtype.BASE:
|
||||
if subdesc.args == 'string':
|
||||
lines.append(' value = []')
|
||||
for idx in range(length):
|
||||
if idx:
|
||||
lines.append(' pos = (pos + 4 - 1) & -4')
|
||||
lines.append(f' length = unpack_int32_{endianess}(rawdata, pos)[0]')
|
||||
lines.append(
|
||||
' value.append(bytes(rawdata[pos + 4:pos + 4 + length - 1]).decode())',
|
||||
)
|
||||
lines.append(' pos += 4 + length')
|
||||
lines.append(' values.append(value)')
|
||||
aligned = 1
|
||||
else:
|
||||
size = length * SIZEMAP[subdesc.args]
|
||||
lines.append(
|
||||
f' val = numpy.frombuffer(rawdata, '
|
||||
f'dtype=numpy.{subdesc.args}, count={length}, offset=pos)',
|
||||
)
|
||||
if (endianess == 'le') != (sys.byteorder == 'little'):
|
||||
lines.append(' val = val.byteswap()')
|
||||
lines.append(' values.append(val)')
|
||||
lines.append(f' pos += {size}')
|
||||
else:
|
||||
assert subdesc.valtype == Valtype.MESSAGE
|
||||
anext_before = align(subdesc)
|
||||
anext_after = align_after(subdesc)
|
||||
lines.append(f' msgdef = get_msgdef("{subdesc.args.name}", typestore)')
|
||||
lines.append(' value = []')
|
||||
for _ in range(length):
|
||||
if anext_before > anext_after:
|
||||
lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}')
|
||||
lines.append(
|
||||
f' obj, pos = msgdef.{funcname}(rawdata, pos, msgdef.cls, typestore)',
|
||||
)
|
||||
lines.append(' value.append(obj)')
|
||||
lines.append(' values.append(value)')
|
||||
aligned = align_after(subdesc)
|
||||
|
||||
else:
|
||||
assert desc.valtype == Valtype.SEQUENCE
|
||||
lines.append(f' size = unpack_int32_{endianess}(rawdata, pos)[0]')
|
||||
lines.append(' pos += 4')
|
||||
aligned = 4
|
||||
subdesc = desc.args[0]
|
||||
|
||||
if subdesc.valtype == Valtype.BASE:
|
||||
if subdesc.args == 'string':
|
||||
lines.append(' value = []')
|
||||
lines.append(' for _ in range(size):')
|
||||
lines.append(' pos = (pos + 4 - 1) & -4')
|
||||
lines.append(f' length = unpack_int32_{endianess}(rawdata, pos)[0]')
|
||||
lines.append(
|
||||
' value.append(bytes(rawdata[pos + 4:pos + 4 + length - 1])'
|
||||
'.decode())',
|
||||
)
|
||||
lines.append(' pos += 4 + length')
|
||||
lines.append(' values.append(value)')
|
||||
aligned = 1
|
||||
else:
|
||||
lines.append(f' length = size * {SIZEMAP[subdesc.args]}')
|
||||
if aligned < (anext_before := align(subdesc)):
|
||||
lines.append(' if size:')
|
||||
lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}')
|
||||
lines.append(
|
||||
f' val = numpy.frombuffer(rawdata, '
|
||||
f'dtype=numpy.{subdesc.args}, count=size, offset=pos)',
|
||||
)
|
||||
if (endianess == 'le') != (sys.byteorder == 'little'):
|
||||
lines.append(' val = val.byteswap()')
|
||||
lines.append(' values.append(val)')
|
||||
lines.append(' pos += length')
|
||||
aligned = anext_before
|
||||
|
||||
if subdesc.valtype == Valtype.MESSAGE:
|
||||
anext_before = align(subdesc)
|
||||
lines.append(f' msgdef = get_msgdef("{subdesc.args.name}", typestore)')
|
||||
lines.append(' value = []')
|
||||
lines.append(' for _ in range(size):')
|
||||
lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}')
|
||||
lines.append(
|
||||
f' obj, pos = msgdef.{funcname}(rawdata, pos, msgdef.cls, typestore)',
|
||||
)
|
||||
lines.append(' value.append(obj)')
|
||||
lines.append(' values.append(value)')
|
||||
aligned = align_after(subdesc)
|
||||
|
||||
aligned = min([4, aligned])
|
||||
|
||||
if fnext and aligned < (anext_before := align(fnext.descriptor)):
|
||||
lines.append(f' pos = (pos + {anext_before} - 1) & -{anext_before}')
|
||||
aligned = anext_before
|
||||
|
||||
lines.append(' return cls(*values), pos')
|
||||
return compile_lines(lines).deserialize_cdr # type: ignore
|
||||
92
rosbags/src/rosbags/serde/messages.py
Normal file
92
rosbags/src/rosbags/serde/messages.py
Normal file
@ -0,0 +1,92 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Runtime message loader and cache."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from typing import TYPE_CHECKING
|
||||
|
||||
from .cdr import generate_deserialize_cdr, generate_getsize_cdr, generate_serialize_cdr
|
||||
from .ros1 import (
|
||||
generate_cdr_to_ros1,
|
||||
generate_deserialize_ros1,
|
||||
generate_getsize_ros1,
|
||||
generate_ros1_to_cdr,
|
||||
generate_serialize_ros1,
|
||||
)
|
||||
from .typing import Descriptor, Field, Msgdef
|
||||
from .utils import Valtype
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from rosbags.typesys.base import Fielddesc
|
||||
from rosbags.typesys.register import Typestore
|
||||
|
||||
MSGDEFCACHE: dict[Typestore, dict[str, Msgdef]] = {}
|
||||
|
||||
|
||||
class SerdeError(Exception):
|
||||
"""Serialization and Deserialization Error."""
|
||||
|
||||
|
||||
def get_msgdef(typename: str, typestore: Typestore) -> Msgdef:
|
||||
"""Retrieve message definition for typename.
|
||||
|
||||
Message definitions are cached globally and generated as needed.
|
||||
|
||||
Args:
|
||||
typename: Msgdef type name to load.
|
||||
typestore: Type store.
|
||||
|
||||
Returns:
|
||||
Message definition.
|
||||
|
||||
"""
|
||||
if typestore not in MSGDEFCACHE:
|
||||
MSGDEFCACHE[typestore] = {}
|
||||
cache = MSGDEFCACHE[typestore]
|
||||
|
||||
if typename not in cache:
|
||||
entries = typestore.FIELDDEFS[typename][1]
|
||||
|
||||
def fixup(entry: Fielddesc) -> Descriptor:
|
||||
if entry[0] == Valtype.BASE:
|
||||
assert isinstance(entry[1], str)
|
||||
return Descriptor(Valtype.BASE, entry[1])
|
||||
if entry[0] == Valtype.MESSAGE:
|
||||
assert isinstance(entry[1], str)
|
||||
return Descriptor(Valtype.MESSAGE, get_msgdef(entry[1], typestore))
|
||||
if entry[0] == Valtype.ARRAY:
|
||||
assert not isinstance(entry[1][0], str)
|
||||
return Descriptor(Valtype.ARRAY, (fixup(entry[1][0]), entry[1][1]))
|
||||
if entry[0] == Valtype.SEQUENCE:
|
||||
assert not isinstance(entry[1][0], str)
|
||||
return Descriptor(Valtype.SEQUENCE, (fixup(entry[1][0]), entry[1][1]))
|
||||
raise SerdeError( # pragma: no cover
|
||||
f'Unknown field type {entry[0]!r} encountered.',
|
||||
)
|
||||
|
||||
fields = [Field(name, fixup(desc)) for name, desc in entries]
|
||||
|
||||
getsize_cdr, size_cdr = generate_getsize_cdr(fields)
|
||||
getsize_ros1, size_ros1 = generate_getsize_ros1(fields, typename)
|
||||
|
||||
cache[typename] = Msgdef(
|
||||
typename,
|
||||
fields,
|
||||
getattr(typestore, typename.replace('/', '__')),
|
||||
size_cdr,
|
||||
getsize_cdr,
|
||||
generate_serialize_cdr(fields, 'le'),
|
||||
generate_serialize_cdr(fields, 'be'),
|
||||
generate_deserialize_cdr(fields, 'le'),
|
||||
generate_deserialize_cdr(fields, 'be'),
|
||||
size_ros1,
|
||||
getsize_ros1,
|
||||
generate_serialize_ros1(fields, typename),
|
||||
generate_deserialize_ros1(fields, typename),
|
||||
generate_ros1_to_cdr(fields, typename, False), # type: ignore
|
||||
generate_ros1_to_cdr(fields, typename, True), # type: ignore
|
||||
generate_cdr_to_ros1(fields, typename, False), # type: ignore
|
||||
generate_cdr_to_ros1(fields, typename, True), # type: ignore
|
||||
)
|
||||
return cache[typename]
|
||||
55
rosbags/src/rosbags/serde/primitives.py
Normal file
55
rosbags/src/rosbags/serde/primitives.py
Normal file
@ -0,0 +1,55 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Serialization primitives.
|
||||
|
||||
These functions are used by generated code to serialize and desesialize
|
||||
primitive values.
|
||||
|
||||
"""
|
||||
|
||||
from struct import Struct
|
||||
|
||||
pack_bool_le = Struct('?').pack_into
|
||||
pack_int8_le = Struct('b').pack_into
|
||||
pack_int16_le = Struct('<h').pack_into
|
||||
pack_int32_le = Struct('<i').pack_into
|
||||
pack_int64_le = Struct('<q').pack_into
|
||||
pack_uint8_le = Struct('B').pack_into
|
||||
pack_uint16_le = Struct('<H').pack_into
|
||||
pack_uint32_le = Struct('<I').pack_into
|
||||
pack_uint64_le = Struct('<Q').pack_into
|
||||
pack_float32_le = Struct('<f').pack_into
|
||||
pack_float64_le = Struct('<d').pack_into
|
||||
unpack_bool_le = Struct('?').unpack_from
|
||||
unpack_int8_le = Struct('b').unpack_from
|
||||
unpack_int16_le = Struct('<h').unpack_from
|
||||
unpack_int32_le = Struct('<i').unpack_from
|
||||
unpack_int64_le = Struct('<q').unpack_from
|
||||
unpack_uint8_le = Struct('B').unpack_from
|
||||
unpack_uint16_le = Struct('<H').unpack_from
|
||||
unpack_uint32_le = Struct('<I').unpack_from
|
||||
unpack_uint64_le = Struct('<Q').unpack_from
|
||||
unpack_float32_le = Struct('<f').unpack_from
|
||||
unpack_float64_le = Struct('<d').unpack_from
|
||||
pack_bool_be = Struct('?').pack_into
|
||||
pack_int8_be = Struct('b').pack_into
|
||||
pack_int16_be = Struct('>h').pack_into
|
||||
pack_int32_be = Struct('>i').pack_into
|
||||
pack_int64_be = Struct('>q').pack_into
|
||||
pack_uint8_be = Struct('B').pack_into
|
||||
pack_uint16_be = Struct('>H').pack_into
|
||||
pack_uint32_be = Struct('>I').pack_into
|
||||
pack_uint64_be = Struct('>Q').pack_into
|
||||
pack_float32_be = Struct('>f').pack_into
|
||||
pack_float64_be = Struct('>d').pack_into
|
||||
unpack_bool_be = Struct('?').unpack_from
|
||||
unpack_int8_be = Struct('b').unpack_from
|
||||
unpack_int16_be = Struct('>h').unpack_from
|
||||
unpack_int32_be = Struct('>i').unpack_from
|
||||
unpack_int64_be = Struct('>q').unpack_from
|
||||
unpack_uint8_be = Struct('B').unpack_from
|
||||
unpack_uint16_be = Struct('>H').unpack_from
|
||||
unpack_uint32_be = Struct('>I').unpack_from
|
||||
unpack_uint64_be = Struct('>Q').unpack_from
|
||||
unpack_float32_be = Struct('>f').unpack_from
|
||||
unpack_float64_be = Struct('>d').unpack_from
|
||||
0
rosbags/src/rosbags/serde/py.typed
Normal file
0
rosbags/src/rosbags/serde/py.typed
Normal file
680
rosbags/src/rosbags/serde/ros1.py
Normal file
680
rosbags/src/rosbags/serde/ros1.py
Normal file
@ -0,0 +1,680 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Code generators for ROS1.
|
||||
|
||||
`ROS1`_ uses a serialization format. This module supports fast byte-level
|
||||
conversion of ROS1 to CDR.
|
||||
|
||||
.. _ROS1: http://wiki.ros.org/ROS/Technical%20Overview
|
||||
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import sys
|
||||
from itertools import tee
|
||||
from typing import TYPE_CHECKING, Iterator, cast
|
||||
|
||||
from .typing import Field
|
||||
from .utils import SIZEMAP, Valtype, align, align_after, compile_lines
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from typing import Union
|
||||
|
||||
from .typing import Bitcvt, BitcvtSize, CDRDeser, CDRSer, CDRSerSize
|
||||
|
||||
|
||||
def generate_ros1_to_cdr(
|
||||
fields: list[Field],
|
||||
typename: str,
|
||||
copy: bool,
|
||||
) -> Union[Bitcvt, BitcvtSize]:
|
||||
"""Generate ROS1 to CDR conversion function.
|
||||
|
||||
Args:
|
||||
fields: Fields of message.
|
||||
typename: Message type name.
|
||||
copy: Generate conversion or sizing function.
|
||||
|
||||
Returns:
|
||||
ROS1 to CDR conversion function.
|
||||
|
||||
"""
|
||||
# pylint: disable=too-many-branches,too-many-locals,too-many-nested-blocks,too-many-statements
|
||||
aligned = 8
|
||||
iterators = tee([*fields, None])
|
||||
icurr = cast('Iterator[Field]', iterators[0])
|
||||
inext = iterators[1]
|
||||
next(inext)
|
||||
funcname = 'ros1_to_cdr' if copy else 'getsize_ros1_to_cdr'
|
||||
lines = [
|
||||
'import sys',
|
||||
'import numpy',
|
||||
'from rosbags.serde.messages import SerdeError, get_msgdef',
|
||||
'from rosbags.serde.primitives import pack_int32_le',
|
||||
'from rosbags.serde.primitives import unpack_int32_le',
|
||||
f'def {funcname}(input, ipos, output, opos, typestore):',
|
||||
]
|
||||
|
||||
if typename == 'std_msgs/msg/Header':
|
||||
lines.append(' ipos += 4')
|
||||
|
||||
for fcurr, fnext in zip(icurr, inext):
|
||||
_, desc = fcurr
|
||||
|
||||
if desc.valtype == Valtype.MESSAGE:
|
||||
lines.append(f' func = get_msgdef("{desc.args.name}", typestore).{funcname}')
|
||||
lines.append(' ipos, opos = func(input, ipos, output, opos, typestore)')
|
||||
aligned = align_after(desc)
|
||||
|
||||
elif desc.valtype == Valtype.BASE:
|
||||
if desc.args == 'string':
|
||||
lines.append(' length = unpack_int32_le(input, ipos)[0] + 1')
|
||||
if copy:
|
||||
lines.append(' pack_int32_le(output, opos, length)')
|
||||
lines.append(' ipos += 4')
|
||||
lines.append(' opos += 4')
|
||||
if copy:
|
||||
lines.append(' output[opos:opos + length - 1] = input[ipos:ipos + length - 1]')
|
||||
lines.append(' ipos += length - 1')
|
||||
lines.append(' opos += length')
|
||||
aligned = 1
|
||||
else:
|
||||
size = SIZEMAP[desc.args]
|
||||
if copy:
|
||||
lines.append(f' output[opos:opos + {size}] = input[ipos:ipos + {size}]')
|
||||
lines.append(f' ipos += {size}')
|
||||
lines.append(f' opos += {size}')
|
||||
aligned = size
|
||||
|
||||
elif desc.valtype == Valtype.ARRAY:
|
||||
subdesc, length = desc.args
|
||||
|
||||
if subdesc.valtype == Valtype.BASE:
|
||||
if subdesc.args == 'string':
|
||||
for _ in range(length):
|
||||
lines.append(' opos = (opos + 4 - 1) & -4')
|
||||
lines.append(' length = unpack_int32_le(input, ipos)[0] + 1')
|
||||
if copy:
|
||||
lines.append(' pack_int32_le(output, opos, length)')
|
||||
lines.append(' ipos += 4')
|
||||
lines.append(' opos += 4')
|
||||
if copy:
|
||||
lines.append(
|
||||
' output[opos:opos + length - 1] = input[ipos:ipos + length - 1]',
|
||||
)
|
||||
lines.append(' ipos += length - 1')
|
||||
lines.append(' opos += length')
|
||||
aligned = 1
|
||||
else:
|
||||
size = length * SIZEMAP[subdesc.args]
|
||||
if copy:
|
||||
lines.append(f' output[opos:opos + {size}] = input[ipos:ipos + {size}]')
|
||||
lines.append(f' ipos += {size}')
|
||||
lines.append(f' opos += {size}')
|
||||
aligned = SIZEMAP[subdesc.args]
|
||||
|
||||
if subdesc.valtype == Valtype.MESSAGE:
|
||||
anext_before = align(subdesc)
|
||||
anext_after = align_after(subdesc)
|
||||
|
||||
lines.append(f' func = get_msgdef("{subdesc.args.name}", typestore).{funcname}')
|
||||
for _ in range(length):
|
||||
if anext_before > anext_after:
|
||||
lines.append(f' opos = (opos + {anext_before} - 1) & -{anext_before}')
|
||||
lines.append(' ipos, opos = func(input, ipos, output, opos, typestore)')
|
||||
aligned = anext_after
|
||||
else:
|
||||
assert desc.valtype == Valtype.SEQUENCE
|
||||
lines.append(' size = unpack_int32_le(input, ipos)[0]')
|
||||
if copy:
|
||||
lines.append(' pack_int32_le(output, opos, size)')
|
||||
lines.append(' ipos += 4')
|
||||
lines.append(' opos += 4')
|
||||
subdesc = desc.args[0]
|
||||
aligned = 4
|
||||
|
||||
if subdesc.valtype == Valtype.BASE:
|
||||
if subdesc.args == 'string':
|
||||
lines.append(' for _ in range(size):')
|
||||
lines.append(' length = unpack_int32_le(input, ipos)[0] + 1')
|
||||
lines.append(' opos = (opos + 4 - 1) & -4')
|
||||
if copy:
|
||||
lines.append(' pack_int32_le(output, opos, length)')
|
||||
lines.append(' ipos += 4')
|
||||
lines.append(' opos += 4')
|
||||
if copy:
|
||||
lines.append(
|
||||
' output[opos:opos + length - 1] = input[ipos:ipos + length - 1]',
|
||||
)
|
||||
lines.append(' ipos += length - 1')
|
||||
lines.append(' opos += length')
|
||||
aligned = 1
|
||||
else:
|
||||
if aligned < (anext_before := align(subdesc)):
|
||||
lines.append(' if size:')
|
||||
lines.append(f' opos = (opos + {anext_before} - 1) & -{anext_before}')
|
||||
lines.append(f' length = size * {SIZEMAP[subdesc.args]}')
|
||||
if copy:
|
||||
lines.append(' output[opos:opos + length] = input[ipos:ipos + length]')
|
||||
lines.append(' ipos += length')
|
||||
lines.append(' opos += length')
|
||||
aligned = anext_before
|
||||
|
||||
else:
|
||||
assert subdesc.valtype == Valtype.MESSAGE
|
||||
anext_before = align(subdesc)
|
||||
lines.append(f' func = get_msgdef("{subdesc.args.name}", typestore).{funcname}')
|
||||
lines.append(' for _ in range(size):')
|
||||
lines.append(f' opos = (opos + {anext_before} - 1) & -{anext_before}')
|
||||
lines.append(' ipos, opos = func(input, ipos, output, opos, typestore)')
|
||||
aligned = align_after(subdesc)
|
||||
|
||||
aligned = min([aligned, 4])
|
||||
|
||||
if fnext and aligned < (anext_before := align(fnext.descriptor)):
|
||||
lines.append(f' opos = (opos + {anext_before} - 1) & -{anext_before}')
|
||||
aligned = anext_before
|
||||
|
||||
lines.append(' return ipos, opos')
|
||||
return getattr(compile_lines(lines), funcname) # type: ignore
|
||||
|
||||
|
||||
def generate_cdr_to_ros1(
|
||||
fields: list[Field],
|
||||
typename: str,
|
||||
copy: bool,
|
||||
) -> Union[Bitcvt, BitcvtSize]:
|
||||
"""Generate CDR to ROS1 conversion function.
|
||||
|
||||
Args:
|
||||
fields: Fields of message.
|
||||
typename: Message type name.
|
||||
copy: Generate conversion or sizing function.
|
||||
|
||||
Returns:
|
||||
CDR to ROS1 conversion function.
|
||||
|
||||
"""
|
||||
# pylint: disable=too-many-branches,too-many-locals,too-many-nested-blocks,too-many-statements
|
||||
aligned = 8
|
||||
iterators = tee([*fields, None])
|
||||
icurr = cast('Iterator[Field]', iterators[0])
|
||||
inext = iterators[1]
|
||||
next(inext)
|
||||
funcname = 'cdr_to_ros1' if copy else 'getsize_cdr_to_ros1'
|
||||
lines = [
|
||||
'import sys',
|
||||
'import numpy',
|
||||
'from rosbags.serde.messages import SerdeError, get_msgdef',
|
||||
'from rosbags.serde.primitives import pack_int32_le',
|
||||
'from rosbags.serde.primitives import unpack_int32_le',
|
||||
f'def {funcname}(input, ipos, output, opos, typestore):',
|
||||
]
|
||||
|
||||
if typename == 'std_msgs/msg/Header':
|
||||
lines.append(' opos += 4')
|
||||
|
||||
for fcurr, fnext in zip(icurr, inext):
|
||||
_, desc = fcurr
|
||||
|
||||
if desc.valtype == Valtype.MESSAGE:
|
||||
lines.append(f' func = get_msgdef("{desc.args.name}", typestore).{funcname}')
|
||||
lines.append(' ipos, opos = func(input, ipos, output, opos, typestore)')
|
||||
aligned = align_after(desc)
|
||||
|
||||
elif desc.valtype == Valtype.BASE:
|
||||
if desc.args == 'string':
|
||||
lines.append(' length = unpack_int32_le(input, ipos)[0] - 1')
|
||||
if copy:
|
||||
lines.append(' pack_int32_le(output, opos, length)')
|
||||
lines.append(' ipos += 4')
|
||||
lines.append(' opos += 4')
|
||||
if copy:
|
||||
lines.append(' output[opos:opos + length] = input[ipos:ipos + length]')
|
||||
lines.append(' ipos += length + 1')
|
||||
lines.append(' opos += length')
|
||||
aligned = 1
|
||||
else:
|
||||
size = SIZEMAP[desc.args]
|
||||
if copy:
|
||||
lines.append(f' output[opos:opos + {size}] = input[ipos:ipos + {size}]')
|
||||
lines.append(f' ipos += {size}')
|
||||
lines.append(f' opos += {size}')
|
||||
aligned = size
|
||||
|
||||
elif desc.valtype == Valtype.ARRAY:
|
||||
subdesc, length = desc.args
|
||||
|
||||
if subdesc.valtype == Valtype.BASE:
|
||||
if subdesc.args == 'string':
|
||||
for _ in range(length):
|
||||
lines.append(' ipos = (ipos + 4 - 1) & -4')
|
||||
lines.append(' length = unpack_int32_le(input, ipos)[0] - 1')
|
||||
if copy:
|
||||
lines.append(' pack_int32_le(output, opos, length)')
|
||||
lines.append(' ipos += 4')
|
||||
lines.append(' opos += 4')
|
||||
if copy:
|
||||
lines.append(
|
||||
' output[opos:opos + length] = input[ipos:ipos + length]',
|
||||
)
|
||||
lines.append(' ipos += length + 1')
|
||||
lines.append(' opos += length')
|
||||
aligned = 1
|
||||
else:
|
||||
size = length * SIZEMAP[subdesc.args]
|
||||
if copy:
|
||||
lines.append(f' output[opos:opos + {size}] = input[ipos:ipos + {size}]')
|
||||
lines.append(f' ipos += {size}')
|
||||
lines.append(f' opos += {size}')
|
||||
aligned = SIZEMAP[subdesc.args]
|
||||
|
||||
if subdesc.valtype == Valtype.MESSAGE:
|
||||
anext_before = align(subdesc)
|
||||
anext_after = align_after(subdesc)
|
||||
|
||||
lines.append(f' func = get_msgdef("{subdesc.args.name}", typestore).{funcname}')
|
||||
for _ in range(length):
|
||||
if anext_before > anext_after:
|
||||
lines.append(f' ipos = (ipos + {anext_before} - 1) & -{anext_before}')
|
||||
lines.append(' ipos, opos = func(input, ipos, output, opos, typestore)')
|
||||
aligned = anext_after
|
||||
else:
|
||||
assert desc.valtype == Valtype.SEQUENCE
|
||||
lines.append(' size = unpack_int32_le(input, ipos)[0]')
|
||||
if copy:
|
||||
lines.append(' pack_int32_le(output, opos, size)')
|
||||
lines.append(' ipos += 4')
|
||||
lines.append(' opos += 4')
|
||||
subdesc = desc.args[0]
|
||||
aligned = 4
|
||||
|
||||
if subdesc.valtype == Valtype.BASE:
|
||||
if subdesc.args == 'string':
|
||||
lines.append(' for _ in range(size):')
|
||||
lines.append(' ipos = (ipos + 4 - 1) & -4')
|
||||
lines.append(' length = unpack_int32_le(input, ipos)[0] - 1')
|
||||
if copy:
|
||||
lines.append(' pack_int32_le(output, opos, length)')
|
||||
lines.append(' ipos += 4')
|
||||
lines.append(' opos += 4')
|
||||
if copy:
|
||||
lines.append(' output[opos:opos + length] = input[ipos:ipos + length]')
|
||||
lines.append(' ipos += length + 1')
|
||||
lines.append(' opos += length')
|
||||
aligned = 1
|
||||
else:
|
||||
if aligned < (anext_before := align(subdesc)):
|
||||
lines.append(' if size:')
|
||||
lines.append(f' ipos = (ipos + {anext_before} - 1) & -{anext_before}')
|
||||
lines.append(f' length = size * {SIZEMAP[subdesc.args]}')
|
||||
if copy:
|
||||
lines.append(' output[opos:opos + length] = input[ipos:ipos + length]')
|
||||
lines.append(' ipos += length')
|
||||
lines.append(' opos += length')
|
||||
aligned = anext_before
|
||||
|
||||
else:
|
||||
assert subdesc.valtype == Valtype.MESSAGE
|
||||
anext_before = align(subdesc)
|
||||
lines.append(f' func = get_msgdef("{subdesc.args.name}", typestore).{funcname}')
|
||||
lines.append(' for _ in range(size):')
|
||||
lines.append(f' ipos = (ipos + {anext_before} - 1) & -{anext_before}')
|
||||
lines.append(' ipos, opos = func(input, ipos, output, opos, typestore)')
|
||||
aligned = align_after(subdesc)
|
||||
|
||||
aligned = min([aligned, 4])
|
||||
|
||||
if fnext and aligned < (anext_before := align(fnext.descriptor)):
|
||||
lines.append(f' ipos = (ipos + {anext_before} - 1) & -{anext_before}')
|
||||
aligned = anext_before
|
||||
|
||||
lines.append(' return ipos, opos')
|
||||
return getattr(compile_lines(lines), funcname) # type: ignore
|
||||
|
||||
|
||||
def generate_getsize_ros1(fields: list[Field], typename: str) -> tuple[CDRSerSize, int]:
|
||||
"""Generate ros1 size calculation function.
|
||||
|
||||
Args:
|
||||
fields: Fields of message.
|
||||
typename: Message type name.
|
||||
|
||||
Returns:
|
||||
Size calculation function and static size.
|
||||
|
||||
"""
|
||||
# pylint: disable=too-many-branches,too-many-statements
|
||||
size = 0
|
||||
is_stat = True
|
||||
|
||||
lines = [
|
||||
'import sys',
|
||||
'from rosbags.serde.messages import get_msgdef',
|
||||
'def getsize_ros1(pos, message, typestore):',
|
||||
]
|
||||
|
||||
if typename == 'std_msgs/msg/Header':
|
||||
lines.append(' pos += 4')
|
||||
|
||||
for fcurr in fields:
|
||||
fieldname, desc = fcurr
|
||||
|
||||
if desc.valtype == Valtype.MESSAGE:
|
||||
if desc.args.size_ros1:
|
||||
lines.append(f' pos += {desc.args.size_ros1}')
|
||||
size += desc.args.size_ros1
|
||||
else:
|
||||
lines.append(f' func = get_msgdef("{desc.args.name}", typestore).getsize_ros1')
|
||||
lines.append(f' pos = func(pos, message.{fieldname}, typestore)')
|
||||
is_stat = False
|
||||
|
||||
elif desc.valtype == Valtype.BASE:
|
||||
if desc.args == 'string':
|
||||
lines.append(f' pos += 4 + len(message.{fieldname}.encode())')
|
||||
is_stat = False
|
||||
else:
|
||||
lines.append(f' pos += {SIZEMAP[desc.args]}')
|
||||
size += SIZEMAP[desc.args]
|
||||
|
||||
elif desc.valtype == Valtype.ARRAY:
|
||||
subdesc, length = desc.args
|
||||
|
||||
if subdesc.valtype == Valtype.BASE:
|
||||
if subdesc.args == 'string':
|
||||
lines.append(f' val = message.{fieldname}')
|
||||
for idx in range(length):
|
||||
lines.append(f' pos += 4 + len(val[{idx}].encode())')
|
||||
is_stat = False
|
||||
else:
|
||||
lines.append(f' pos += {length * SIZEMAP[subdesc.args]}')
|
||||
size += length * SIZEMAP[subdesc.args]
|
||||
|
||||
else:
|
||||
assert subdesc.valtype == Valtype.MESSAGE
|
||||
if subdesc.args.size_ros1:
|
||||
for _ in range(length):
|
||||
lines.append(f' pos += {subdesc.args.size_ros1}')
|
||||
size += subdesc.args.size_ros1
|
||||
else:
|
||||
lines.append(
|
||||
f' func = get_msgdef("{subdesc.args.name}", typestore).getsize_ros1',
|
||||
)
|
||||
lines.append(f' val = message.{fieldname}')
|
||||
for idx in range(length):
|
||||
lines.append(f' pos = func(pos, val[{idx}], typestore)')
|
||||
is_stat = False
|
||||
else:
|
||||
assert desc.valtype == Valtype.SEQUENCE
|
||||
lines.append(' pos += 4')
|
||||
subdesc = desc.args[0]
|
||||
if subdesc.valtype == Valtype.BASE:
|
||||
if subdesc.args == 'string':
|
||||
lines.append(f' for val in message.{fieldname}:')
|
||||
lines.append(' pos += 4 + len(val.encode())')
|
||||
else:
|
||||
lines.append(f' pos += len(message.{fieldname}) * {SIZEMAP[subdesc.args]}')
|
||||
|
||||
else:
|
||||
assert subdesc.valtype == Valtype.MESSAGE
|
||||
lines.append(f' val = message.{fieldname}')
|
||||
if subdesc.args.size_ros1:
|
||||
lines.append(f' pos += {subdesc.args.size_ros1} * len(val)')
|
||||
|
||||
else:
|
||||
lines.append(
|
||||
f' func = get_msgdef("{subdesc.args.name}", typestore).getsize_ros1',
|
||||
)
|
||||
lines.append(' for item in val:')
|
||||
lines.append(' pos = func(pos, item, typestore)')
|
||||
|
||||
is_stat = False
|
||||
lines.append(' return pos')
|
||||
return compile_lines(lines).getsize_ros1, is_stat * size
|
||||
|
||||
|
||||
def generate_serialize_ros1(fields: list[Field], typename: str) -> CDRSer:
|
||||
"""Generate ros1 serialization function.
|
||||
|
||||
Args:
|
||||
fields: Fields of message.
|
||||
typename: Message type name.
|
||||
|
||||
Returns:
|
||||
Serializer function.
|
||||
|
||||
"""
|
||||
# pylint: disable=too-many-branches,too-many-statements
|
||||
lines = [
|
||||
'import sys',
|
||||
'import numpy',
|
||||
'from rosbags.serde.messages import SerdeError, get_msgdef',
|
||||
'from rosbags.serde.primitives import pack_bool_le',
|
||||
'from rosbags.serde.primitives import pack_int8_le',
|
||||
'from rosbags.serde.primitives import pack_int16_le',
|
||||
'from rosbags.serde.primitives import pack_int32_le',
|
||||
'from rosbags.serde.primitives import pack_int64_le',
|
||||
'from rosbags.serde.primitives import pack_uint8_le',
|
||||
'from rosbags.serde.primitives import pack_uint16_le',
|
||||
'from rosbags.serde.primitives import pack_uint32_le',
|
||||
'from rosbags.serde.primitives import pack_uint64_le',
|
||||
'from rosbags.serde.primitives import pack_float32_le',
|
||||
'from rosbags.serde.primitives import pack_float64_le',
|
||||
'def serialize_ros1(rawdata, pos, message, typestore):',
|
||||
]
|
||||
|
||||
if typename == 'std_msgs/msg/Header':
|
||||
lines.append(' pos += 4')
|
||||
|
||||
be_syms = ('>',) if sys.byteorder == 'little' else ('=', '>')
|
||||
|
||||
for fcurr in fields:
|
||||
fieldname, desc = fcurr
|
||||
|
||||
lines.append(f' val = message.{fieldname}')
|
||||
if desc.valtype == Valtype.MESSAGE:
|
||||
name = desc.args.name
|
||||
lines.append(f' func = get_msgdef("{name}", typestore).serialize_ros1')
|
||||
lines.append(' pos = func(rawdata, pos, val, typestore)')
|
||||
|
||||
elif desc.valtype == Valtype.BASE:
|
||||
if desc.args == 'string':
|
||||
lines.append(' bval = memoryview(val.encode())')
|
||||
lines.append(' length = len(bval)')
|
||||
lines.append(' pack_int32_le(rawdata, pos, length)')
|
||||
lines.append(' pos += 4')
|
||||
lines.append(' rawdata[pos:pos + length] = bval')
|
||||
lines.append(' pos += length')
|
||||
else:
|
||||
lines.append(f' pack_{desc.args}_le(rawdata, pos, val)')
|
||||
lines.append(f' pos += {SIZEMAP[desc.args]}')
|
||||
|
||||
elif desc.valtype == Valtype.ARRAY:
|
||||
subdesc, length = desc.args
|
||||
lines.append(f' if len(val) != {length}:')
|
||||
lines.append(' raise SerdeError(\'Unexpected array length\')')
|
||||
|
||||
if subdesc.valtype == Valtype.BASE:
|
||||
if subdesc.args == 'string':
|
||||
for idx in range(length):
|
||||
lines.append(f' bval = memoryview(val[{idx}].encode())')
|
||||
lines.append(' length = len(bval)')
|
||||
lines.append(' pack_int32_le(rawdata, pos, length)')
|
||||
lines.append(' pos += 4')
|
||||
lines.append(' rawdata[pos:pos + length] = bval')
|
||||
lines.append(' pos += length')
|
||||
else:
|
||||
lines.append(f' if val.dtype.byteorder in {be_syms}:')
|
||||
lines.append(' val = val.byteswap()')
|
||||
size = length * SIZEMAP[subdesc.args]
|
||||
lines.append(f' rawdata[pos:pos + {size}] = val.view(numpy.uint8)')
|
||||
lines.append(f' pos += {size}')
|
||||
|
||||
else:
|
||||
assert subdesc.valtype == Valtype.MESSAGE
|
||||
name = subdesc.args.name
|
||||
lines.append(f' func = get_msgdef("{name}", typestore).serialize_ros1')
|
||||
for idx in range(length):
|
||||
lines.append(f' pos = func(rawdata, pos, val[{idx}], typestore)')
|
||||
else:
|
||||
assert desc.valtype == Valtype.SEQUENCE
|
||||
lines.append(' pack_int32_le(rawdata, pos, len(val))')
|
||||
lines.append(' pos += 4')
|
||||
subdesc = desc.args[0]
|
||||
|
||||
if subdesc.valtype == Valtype.BASE:
|
||||
if subdesc.args == 'string':
|
||||
lines.append(' for item in val:')
|
||||
lines.append(' bval = memoryview(item.encode())')
|
||||
lines.append(' length = len(bval)')
|
||||
lines.append(' pack_int32_le(rawdata, pos, length)')
|
||||
lines.append(' pos += 4')
|
||||
lines.append(' rawdata[pos:pos + length] = bval')
|
||||
lines.append(' pos += length')
|
||||
else:
|
||||
lines.append(f' size = len(val) * {SIZEMAP[subdesc.args]}')
|
||||
lines.append(f' if val.dtype.byteorder in {be_syms}:')
|
||||
lines.append(' val = val.byteswap()')
|
||||
lines.append(' rawdata[pos:pos + size] = val.view(numpy.uint8)')
|
||||
lines.append(' pos += size')
|
||||
|
||||
if subdesc.valtype == Valtype.MESSAGE:
|
||||
name = subdesc.args.name
|
||||
lines.append(f' func = get_msgdef("{name}", typestore).serialize_ros1')
|
||||
lines.append(' for item in val:')
|
||||
lines.append(' pos = func(rawdata, pos, item, typestore)')
|
||||
|
||||
lines.append(' return pos')
|
||||
return compile_lines(lines).serialize_ros1 # type: ignore
|
||||
|
||||
|
||||
def generate_deserialize_ros1(fields: list[Field], typename: str) -> CDRDeser:
|
||||
"""Generate ros1 deserialization function.
|
||||
|
||||
Args:
|
||||
fields: Fields of message.
|
||||
typename: Message type name.
|
||||
|
||||
Returns:
|
||||
Deserializer function.
|
||||
|
||||
"""
|
||||
# pylint: disable=too-many-branches,too-many-statements
|
||||
lines = [
|
||||
'import sys',
|
||||
'import numpy',
|
||||
'from rosbags.serde.messages import SerdeError, get_msgdef',
|
||||
'from rosbags.serde.primitives import unpack_bool_le',
|
||||
'from rosbags.serde.primitives import unpack_int8_le',
|
||||
'from rosbags.serde.primitives import unpack_int16_le',
|
||||
'from rosbags.serde.primitives import unpack_int32_le',
|
||||
'from rosbags.serde.primitives import unpack_int64_le',
|
||||
'from rosbags.serde.primitives import unpack_uint8_le',
|
||||
'from rosbags.serde.primitives import unpack_uint16_le',
|
||||
'from rosbags.serde.primitives import unpack_uint32_le',
|
||||
'from rosbags.serde.primitives import unpack_uint64_le',
|
||||
'from rosbags.serde.primitives import unpack_float32_le',
|
||||
'from rosbags.serde.primitives import unpack_float64_le',
|
||||
'def deserialize_ros1(rawdata, pos, cls, typestore):',
|
||||
]
|
||||
|
||||
if typename == 'std_msgs/msg/Header':
|
||||
lines.append(' pos += 4')
|
||||
|
||||
be_syms = ('>',) if sys.byteorder == 'little' else ('=', '>')
|
||||
|
||||
funcname = 'deserialize_ros1'
|
||||
lines.append(' values = []')
|
||||
for fcurr in fields:
|
||||
desc = fcurr[1]
|
||||
|
||||
if desc.valtype == Valtype.MESSAGE:
|
||||
lines.append(f' msgdef = get_msgdef("{desc.args.name}", typestore)')
|
||||
lines.append(f' obj, pos = msgdef.{funcname}(rawdata, pos, msgdef.cls, typestore)')
|
||||
lines.append(' values.append(obj)')
|
||||
|
||||
elif desc.valtype == Valtype.BASE:
|
||||
if desc.args == 'string':
|
||||
lines.append(' length = unpack_int32_le(rawdata, pos)[0]')
|
||||
lines.append(' string = bytes(rawdata[pos + 4:pos + 4 + length]).decode()')
|
||||
lines.append(' values.append(string)')
|
||||
lines.append(' pos += 4 + length')
|
||||
else:
|
||||
lines.append(f' value = unpack_{desc.args}_le(rawdata, pos)[0]')
|
||||
lines.append(' values.append(value)')
|
||||
lines.append(f' pos += {SIZEMAP[desc.args]}')
|
||||
|
||||
elif desc.valtype == Valtype.ARRAY:
|
||||
subdesc, length = desc.args
|
||||
if subdesc.valtype == Valtype.BASE:
|
||||
if subdesc.args == 'string':
|
||||
lines.append(' value = []')
|
||||
for _ in range(length):
|
||||
lines.append(' length = unpack_int32_le(rawdata, pos)[0]')
|
||||
lines.append(
|
||||
' value.append(bytes(rawdata[pos + 4:pos + 4 + length]).decode())',
|
||||
)
|
||||
lines.append(' pos += 4 + length')
|
||||
lines.append(' values.append(value)')
|
||||
else:
|
||||
size = length * SIZEMAP[subdesc.args]
|
||||
lines.append(
|
||||
f' val = numpy.frombuffer(rawdata, '
|
||||
f'dtype=numpy.{subdesc.args}, count={length}, offset=pos)',
|
||||
)
|
||||
lines.append(f' if val.dtype.byteorder in {be_syms}:')
|
||||
lines.append(' val = val.byteswap()')
|
||||
lines.append(' values.append(val)')
|
||||
lines.append(f' pos += {size}')
|
||||
else:
|
||||
assert subdesc.valtype == Valtype.MESSAGE
|
||||
lines.append(f' msgdef = get_msgdef("{subdesc.args.name}", typestore)')
|
||||
lines.append(' value = []')
|
||||
for _ in range(length):
|
||||
lines.append(
|
||||
f' obj, pos = msgdef.{funcname}(rawdata, pos, msgdef.cls, typestore)',
|
||||
)
|
||||
lines.append(' value.append(obj)')
|
||||
lines.append(' values.append(value)')
|
||||
|
||||
else:
|
||||
assert desc.valtype == Valtype.SEQUENCE
|
||||
lines.append(' size = unpack_int32_le(rawdata, pos)[0]')
|
||||
lines.append(' pos += 4')
|
||||
subdesc = desc.args[0]
|
||||
|
||||
if subdesc.valtype == Valtype.BASE:
|
||||
if subdesc.args == 'string':
|
||||
lines.append(' value = []')
|
||||
lines.append(' for _ in range(size):')
|
||||
lines.append(' length = unpack_int32_le(rawdata, pos)[0]')
|
||||
lines.append(
|
||||
' value.append(bytes(rawdata[pos + 4:pos + 4 + length])'
|
||||
'.decode())',
|
||||
)
|
||||
lines.append(' pos += 4 + length')
|
||||
lines.append(' values.append(value)')
|
||||
else:
|
||||
lines.append(f' length = size * {SIZEMAP[subdesc.args]}')
|
||||
lines.append(
|
||||
f' val = numpy.frombuffer(rawdata, '
|
||||
f'dtype=numpy.{subdesc.args}, count=size, offset=pos)',
|
||||
)
|
||||
lines.append(f' if val.dtype.byteorder in {be_syms}:')
|
||||
lines.append(' val = val.byteswap()')
|
||||
lines.append(' values.append(val)')
|
||||
lines.append(' pos += length')
|
||||
|
||||
if subdesc.valtype == Valtype.MESSAGE:
|
||||
lines.append(f' msgdef = get_msgdef("{subdesc.args.name}", typestore)')
|
||||
lines.append(' value = []')
|
||||
lines.append(' for _ in range(size):')
|
||||
lines.append(
|
||||
f' obj, pos = msgdef.{funcname}(rawdata, pos, msgdef.cls, typestore)',
|
||||
)
|
||||
lines.append(' value.append(obj)')
|
||||
lines.append(' values.append(value)')
|
||||
|
||||
lines.append(' return cls(*values), pos')
|
||||
return compile_lines(lines).deserialize_ros1 # type: ignore
|
||||
208
rosbags/src/rosbags/serde/serdes.py
Normal file
208
rosbags/src/rosbags/serde/serdes.py
Normal file
@ -0,0 +1,208 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Serialization, deserializion and conversion functions."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import sys
|
||||
from struct import pack_into
|
||||
from typing import TYPE_CHECKING
|
||||
|
||||
from rosbags.typesys import types
|
||||
|
||||
from .messages import get_msgdef
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from typing import Any
|
||||
|
||||
from rosbags.typesys.register import Typestore
|
||||
|
||||
|
||||
def deserialize_cdr(
|
||||
rawdata: bytes,
|
||||
typename: str,
|
||||
typestore: Typestore = types,
|
||||
) -> Any: # noqa: ANN401
|
||||
"""Deserialize raw data into a message object.
|
||||
|
||||
Args:
|
||||
rawdata: Serialized data.
|
||||
typename: Message type name.
|
||||
typestore: Type store.
|
||||
|
||||
Returns:
|
||||
Deserialized message object.
|
||||
|
||||
"""
|
||||
little_endian = bool(rawdata[1])
|
||||
|
||||
msgdef = get_msgdef(typename, typestore)
|
||||
func = msgdef.deserialize_cdr_le if little_endian else msgdef.deserialize_cdr_be
|
||||
message, pos = func(rawdata[4:], 0, msgdef.cls, typestore)
|
||||
assert pos + 4 + 3 >= len(rawdata)
|
||||
return message
|
||||
|
||||
|
||||
def serialize_cdr(
|
||||
message: object,
|
||||
typename: str,
|
||||
little_endian: bool = sys.byteorder == 'little',
|
||||
typestore: Typestore = types,
|
||||
) -> memoryview:
|
||||
"""Serialize message object to bytes.
|
||||
|
||||
Args:
|
||||
message: Message object.
|
||||
typename: Message type name.
|
||||
little_endian: Should use little endianess.
|
||||
typestore: Type store.
|
||||
|
||||
Returns:
|
||||
Serialized bytes.
|
||||
|
||||
"""
|
||||
msgdef = get_msgdef(typename, typestore)
|
||||
size = 4 + msgdef.getsize_cdr(0, message, typestore)
|
||||
rawdata = memoryview(bytearray(size))
|
||||
pack_into('BB', rawdata, 0, 0, little_endian)
|
||||
|
||||
func = msgdef.serialize_cdr_le if little_endian else msgdef.serialize_cdr_be
|
||||
|
||||
pos = func(rawdata[4:], 0, message, typestore)
|
||||
assert pos + 4 == size
|
||||
return rawdata.toreadonly()
|
||||
|
||||
|
||||
def deserialize_ros1(
|
||||
rawdata: bytes,
|
||||
typename: str,
|
||||
typestore: Typestore = types,
|
||||
) -> Any: # noqa: ANN401
|
||||
"""Deserialize raw data into a message object.
|
||||
|
||||
Args:
|
||||
rawdata: Serialized data.
|
||||
typename: Message type name.
|
||||
typestore: Type store.
|
||||
|
||||
Returns:
|
||||
Deserialized message object.
|
||||
|
||||
"""
|
||||
msgdef = get_msgdef(typename, typestore)
|
||||
func = msgdef.deserialize_ros1
|
||||
message, pos = func(rawdata, 0, msgdef.cls, typestore)
|
||||
assert pos == len(rawdata)
|
||||
return message
|
||||
|
||||
|
||||
def serialize_ros1(
|
||||
message: object,
|
||||
typename: str,
|
||||
typestore: Typestore = types,
|
||||
) -> memoryview:
|
||||
"""Serialize message object to bytes.
|
||||
|
||||
Args:
|
||||
message: Message object.
|
||||
typename: Message type name.
|
||||
typestore: Type store.
|
||||
|
||||
Returns:
|
||||
Serialized bytes.
|
||||
|
||||
"""
|
||||
msgdef = get_msgdef(typename, typestore)
|
||||
size = msgdef.getsize_ros1(0, message, typestore)
|
||||
rawdata = memoryview(bytearray(size))
|
||||
func = msgdef.serialize_ros1
|
||||
pos = func(rawdata, 0, message, typestore)
|
||||
assert pos == size
|
||||
return rawdata.toreadonly()
|
||||
|
||||
|
||||
def ros1_to_cdr(raw: bytes, typename: str, typestore: Typestore = types) -> memoryview:
|
||||
"""Convert serialized ROS1 message directly to CDR.
|
||||
|
||||
This should be reasonably fast as conversions happen on a byte-level
|
||||
without going through deserialization and serialization.
|
||||
|
||||
Args:
|
||||
raw: ROS1 serialized message.
|
||||
typename: Message type name.
|
||||
typestore: Type store.
|
||||
|
||||
Returns:
|
||||
CDR serialized message.
|
||||
|
||||
"""
|
||||
msgdef = get_msgdef(typename, typestore)
|
||||
|
||||
ipos, opos = msgdef.getsize_ros1_to_cdr(
|
||||
raw,
|
||||
0,
|
||||
None,
|
||||
0,
|
||||
typestore,
|
||||
)
|
||||
assert ipos == len(raw)
|
||||
|
||||
raw = memoryview(raw)
|
||||
size = 4 + opos
|
||||
rawdata = memoryview(bytearray(size))
|
||||
pack_into('BB', rawdata, 0, 0, True)
|
||||
|
||||
ipos, opos = msgdef.ros1_to_cdr(
|
||||
raw,
|
||||
0,
|
||||
rawdata[4:],
|
||||
0,
|
||||
typestore,
|
||||
)
|
||||
assert ipos == len(raw)
|
||||
assert opos + 4 == size
|
||||
return rawdata.toreadonly()
|
||||
|
||||
|
||||
def cdr_to_ros1(raw: bytes, typename: str, typestore: Typestore = types) -> memoryview:
|
||||
"""Convert serialized CDR message directly to ROS1.
|
||||
|
||||
This should be reasonably fast as conversions happen on a byte-level
|
||||
without going through deserialization and serialization.
|
||||
|
||||
Args:
|
||||
raw: CDR serialized message.
|
||||
typename: Message type name.
|
||||
typestore: Type store.
|
||||
|
||||
Returns:
|
||||
ROS1 serialized message.
|
||||
|
||||
"""
|
||||
assert raw[1] == 1, 'Message byte order is not little endian'
|
||||
|
||||
msgdef = get_msgdef(typename, typestore)
|
||||
|
||||
ipos, opos = msgdef.getsize_cdr_to_ros1(
|
||||
raw[4:],
|
||||
0,
|
||||
None,
|
||||
0,
|
||||
typestore,
|
||||
)
|
||||
assert ipos + 4 + 3 >= len(raw)
|
||||
|
||||
raw = memoryview(raw)
|
||||
size = opos
|
||||
rawdata = memoryview(bytearray(size))
|
||||
|
||||
ipos, opos = msgdef.cdr_to_ros1(
|
||||
raw[4:],
|
||||
0,
|
||||
rawdata,
|
||||
0,
|
||||
typestore,
|
||||
)
|
||||
assert ipos + 4 + 3 >= len(raw)
|
||||
assert opos == size
|
||||
return rawdata.toreadonly()
|
||||
55
rosbags/src/rosbags/serde/typing.py
Normal file
55
rosbags/src/rosbags/serde/typing.py
Normal file
@ -0,0 +1,55 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Python types used in this package."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from typing import TYPE_CHECKING, NamedTuple
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from typing import Any, Callable, Tuple
|
||||
|
||||
from rosbags.typesys.register import Typestore
|
||||
|
||||
Bitcvt = Callable[[bytes, int, bytes, int, Typestore], Tuple[int, int]]
|
||||
BitcvtSize = Callable[[bytes, int, None, int, Typestore], Tuple[int, int]]
|
||||
|
||||
CDRDeser = Callable[[bytes, int, type, Typestore], Tuple[Any, int]]
|
||||
CDRSer = Callable[[bytes, int, object, Typestore], int]
|
||||
CDRSerSize = Callable[[int, object, Typestore], int]
|
||||
|
||||
|
||||
class Descriptor(NamedTuple):
|
||||
"""Value type descriptor."""
|
||||
|
||||
valtype: int
|
||||
args: Any
|
||||
|
||||
|
||||
class Field(NamedTuple):
|
||||
"""Metadata of a field."""
|
||||
|
||||
name: str
|
||||
descriptor: Descriptor
|
||||
|
||||
|
||||
class Msgdef(NamedTuple):
|
||||
"""Metadata of a message."""
|
||||
|
||||
name: str
|
||||
fields: list[Field]
|
||||
cls: Any
|
||||
size_cdr: int
|
||||
getsize_cdr: CDRSerSize
|
||||
serialize_cdr_le: CDRSer
|
||||
serialize_cdr_be: CDRSer
|
||||
deserialize_cdr_le: CDRDeser
|
||||
deserialize_cdr_be: CDRDeser
|
||||
size_ros1: int
|
||||
getsize_ros1: CDRSerSize
|
||||
serialize_ros1: CDRSer
|
||||
deserialize_ros1: CDRDeser
|
||||
getsize_ros1_to_cdr: BitcvtSize
|
||||
ros1_to_cdr: Bitcvt
|
||||
getsize_cdr_to_ros1: BitcvtSize
|
||||
cdr_to_ros1: Bitcvt
|
||||
99
rosbags/src/rosbags/serde/utils.py
Normal file
99
rosbags/src/rosbags/serde/utils.py
Normal file
@ -0,0 +1,99 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Helpers used by code generators."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from enum import IntEnum
|
||||
from importlib.util import module_from_spec, spec_from_loader
|
||||
from typing import TYPE_CHECKING
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from types import ModuleType
|
||||
|
||||
from .typing import Descriptor
|
||||
|
||||
|
||||
class Valtype(IntEnum):
|
||||
"""Msg field value types."""
|
||||
|
||||
BASE = 1
|
||||
MESSAGE = 2
|
||||
ARRAY = 3
|
||||
SEQUENCE = 4
|
||||
|
||||
|
||||
SIZEMAP: dict[str, int] = {
|
||||
'bool': 1,
|
||||
'int8': 1,
|
||||
'int16': 2,
|
||||
'int32': 4,
|
||||
'int64': 8,
|
||||
'uint8': 1,
|
||||
'uint16': 2,
|
||||
'uint32': 4,
|
||||
'uint64': 8,
|
||||
'float32': 4,
|
||||
'float64': 8,
|
||||
}
|
||||
|
||||
|
||||
def align(entry: Descriptor) -> int:
|
||||
"""Get alignment requirement for entry.
|
||||
|
||||
Args:
|
||||
entry: Field.
|
||||
|
||||
Returns:
|
||||
Required alignment in bytes.
|
||||
|
||||
"""
|
||||
if entry.valtype == Valtype.BASE:
|
||||
if entry.args == 'string':
|
||||
return 4
|
||||
return SIZEMAP[entry.args]
|
||||
if entry.valtype == Valtype.MESSAGE:
|
||||
return align(entry.args.fields[0].descriptor)
|
||||
if entry.valtype == Valtype.ARRAY:
|
||||
return align(entry.args[0])
|
||||
assert entry.valtype == Valtype.SEQUENCE
|
||||
return 4
|
||||
|
||||
|
||||
def align_after(entry: Descriptor) -> int:
|
||||
"""Get alignment after entry.
|
||||
|
||||
Args:
|
||||
entry: Field.
|
||||
|
||||
Returns:
|
||||
Memory alignment after entry.
|
||||
|
||||
"""
|
||||
if entry.valtype == Valtype.BASE:
|
||||
if entry.args == 'string':
|
||||
return 1
|
||||
return SIZEMAP[entry.args]
|
||||
if entry.valtype == Valtype.MESSAGE:
|
||||
return align_after(entry.args.fields[-1].descriptor)
|
||||
if entry.valtype == Valtype.ARRAY:
|
||||
return align_after(entry.args[0])
|
||||
assert entry.valtype == Valtype.SEQUENCE
|
||||
return min([4, align_after(entry.args[0])])
|
||||
|
||||
|
||||
def compile_lines(lines: list[str]) -> ModuleType:
|
||||
"""Compile lines of code to module.
|
||||
|
||||
Args:
|
||||
lines: Lines of python code.
|
||||
|
||||
Returns:
|
||||
Compiled and loaded module.
|
||||
|
||||
"""
|
||||
spec = spec_from_loader('tmpmod', loader=None)
|
||||
assert spec
|
||||
module = module_from_spec(spec)
|
||||
exec('\n'.join(lines), module.__dict__) # pylint: disable=exec-used
|
||||
return module
|
||||
30
rosbags/src/rosbags/typesys/__init__.py
Normal file
30
rosbags/src/rosbags/typesys/__init__.py
Normal file
@ -0,0 +1,30 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Rosbags Type System.
|
||||
|
||||
The type system manages ROS message types and ships all standard ROS2
|
||||
distribution message types by default. The system supports custom message
|
||||
types through parsers that dynamically parse custom message definitons
|
||||
from different source formats.
|
||||
|
||||
Supported formats:
|
||||
- IDL files (subset of the standard necessary for parsing ROS2 IDL) `[1]`_
|
||||
- MSG files `[2]`_
|
||||
|
||||
.. _[1]: https://www.omg.org/spec/IDL/About-IDL/
|
||||
.. _[2]: http://wiki.ros.org/msg
|
||||
|
||||
"""
|
||||
|
||||
from .base import TypesysError
|
||||
from .idl import get_types_from_idl
|
||||
from .msg import generate_msgdef, get_types_from_msg
|
||||
from .register import register_types
|
||||
|
||||
__all__ = [
|
||||
'TypesysError',
|
||||
'generate_msgdef',
|
||||
'get_types_from_idl',
|
||||
'get_types_from_msg',
|
||||
'register_types',
|
||||
]
|
||||
62
rosbags/src/rosbags/typesys/__main__.py
Normal file
62
rosbags/src/rosbags/typesys/__main__.py
Normal file
@ -0,0 +1,62 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Tool to update builtin types shipped with rosbags."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from itertools import groupby
|
||||
from os import walk
|
||||
from pathlib import Path
|
||||
from typing import TYPE_CHECKING
|
||||
|
||||
from .idl import get_types_from_idl
|
||||
from .msg import get_types_from_msg
|
||||
from .register import generate_python_code, register_types
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from .base import Typesdict
|
||||
|
||||
|
||||
def generate_docs(typs: Typesdict) -> str:
|
||||
"""Generate types documentation."""
|
||||
res = []
|
||||
for namespace, msgs in groupby([x.split('/msg/') for x in typs], key=lambda x: x[0]):
|
||||
res.append(namespace)
|
||||
res.append('*' * len(namespace))
|
||||
|
||||
for _, msg in msgs:
|
||||
res.append(f'- :py:class:`{msg} <rosbags.typesys.types.{namespace}__msg__{msg}>`')
|
||||
res.append('')
|
||||
return '\n'.join(res)
|
||||
|
||||
|
||||
def main() -> None: # pragma: no cover
|
||||
"""Update builtin types.
|
||||
|
||||
Discover message definitions in filesystem and generate types.py module.
|
||||
|
||||
"""
|
||||
typs: Typesdict = {}
|
||||
selfdir = Path(__file__).parent
|
||||
projectdir = selfdir.parent.parent.parent
|
||||
for root, dirnames, files in walk(selfdir.parents[2] / 'tools' / 'messages'):
|
||||
if '.rosbags_ignore' in files:
|
||||
dirnames.clear()
|
||||
continue
|
||||
for fname in files:
|
||||
path = Path(root, fname)
|
||||
if path.suffix == '.idl':
|
||||
typs.update(get_types_from_idl(path.read_text(encoding='utf-8')))
|
||||
elif path.suffix == '.msg':
|
||||
name = path.relative_to(path.parents[2]).with_suffix('')
|
||||
if '/msg/' not in str(name):
|
||||
name = name.parent / 'msg' / name.name
|
||||
typs.update(get_types_from_msg(path.read_text(encoding='utf-8'), str(name)))
|
||||
typs = dict(sorted(typs.items()))
|
||||
register_types(typs)
|
||||
(selfdir / 'types.py').write_text(generate_python_code(typs))
|
||||
(projectdir / 'docs' / 'topics' / 'typesys-types.rst').write_text(generate_docs(typs))
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
72
rosbags/src/rosbags/typesys/base.py
Normal file
72
rosbags/src/rosbags/typesys/base.py
Normal file
@ -0,0 +1,72 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Types and helpers used by message definition converters."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from enum import IntEnum, auto
|
||||
from typing import TYPE_CHECKING
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from typing import Any, Dict, List, Optional, Tuple, Union
|
||||
|
||||
from .peg import Visitor
|
||||
|
||||
Constdefs = List[Tuple[str, str, Any]]
|
||||
Fielddesc = Tuple[int, Union[str, Tuple[Tuple[int, str], Optional[int]]]]
|
||||
Fielddefs = List[Tuple[str, Fielddesc]]
|
||||
Typesdict = Dict[str, Tuple[Constdefs, Fielddefs]]
|
||||
|
||||
|
||||
class TypesysError(Exception):
|
||||
"""Parser error."""
|
||||
|
||||
|
||||
class Nodetype(IntEnum):
|
||||
"""Parse tree node types.
|
||||
|
||||
The first four match the Valtypes of final message definitions.
|
||||
"""
|
||||
|
||||
BASE = auto()
|
||||
NAME = auto()
|
||||
ARRAY = auto()
|
||||
SEQUENCE = auto()
|
||||
|
||||
LITERAL_STRING = auto()
|
||||
LITERAL_NUMBER = auto()
|
||||
LITERAL_BOOLEAN = auto()
|
||||
LITERAL_CHAR = auto()
|
||||
|
||||
MODULE = auto()
|
||||
CONST = auto()
|
||||
STRUCT = auto()
|
||||
SDECLARATOR = auto()
|
||||
ADECLARATOR = auto()
|
||||
ANNOTATION = auto()
|
||||
EXPRESSION_BINARY = auto()
|
||||
EXPRESSION_UNARY = auto()
|
||||
|
||||
|
||||
def parse_message_definition(visitor: Visitor, text: str) -> Typesdict:
|
||||
"""Parse message definition.
|
||||
|
||||
Args:
|
||||
visitor: Visitor instance to use.
|
||||
text: Message definition.
|
||||
|
||||
Returns:
|
||||
Parsetree of message.
|
||||
|
||||
Raises:
|
||||
TypesysError: Message parsing failed.
|
||||
|
||||
"""
|
||||
try:
|
||||
rule = visitor.RULES['specification']
|
||||
pos = rule.skip_ws(text, 0)
|
||||
npos, trees = rule.parse(text, pos)
|
||||
assert npos == len(text), f'Could not parse: {text!r}'
|
||||
return visitor.visit(trees) # type: ignore
|
||||
except Exception as err:
|
||||
raise TypesysError(f'Could not parse: {text!r}') from err
|
||||
597
rosbags/src/rosbags/typesys/idl.py
Normal file
597
rosbags/src/rosbags/typesys/idl.py
Normal file
@ -0,0 +1,597 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""IDL Parser.
|
||||
|
||||
Grammar, parse tree visitor and conversion functions for message definitions in
|
||||
`IDL`_ format.
|
||||
|
||||
.. _IDL: https://www.omg.org/spec/IDL/About-IDL/
|
||||
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import re
|
||||
from typing import TYPE_CHECKING
|
||||
|
||||
from .base import Nodetype, parse_message_definition
|
||||
from .peg import Visitor, parse_grammar
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from typing import Any, Generator, Optional, Tuple, Union
|
||||
|
||||
from .base import Fielddefs, Fielddesc, Typesdict
|
||||
|
||||
StringNode = Tuple[Nodetype, str]
|
||||
ConstValue = Union[str, bool, int, float]
|
||||
LiteralMatch = Tuple[str, str]
|
||||
LiteralNode = Tuple[Nodetype, ConstValue]
|
||||
|
||||
GRAMMAR_IDL = r"""
|
||||
specification
|
||||
= definition+
|
||||
|
||||
definition
|
||||
= macro
|
||||
/ include
|
||||
/ module_dcl ';'
|
||||
/ const_dcl ';'
|
||||
/ type_dcl ';'
|
||||
|
||||
macro
|
||||
= ifndef
|
||||
/ define
|
||||
/ endif
|
||||
|
||||
ifndef
|
||||
= '#ifndef' r'[a-zA-Z0-9_]+'
|
||||
|
||||
define
|
||||
= '#define' r'[a-zA-Z0-9_]+'
|
||||
|
||||
endif
|
||||
= '#endif'
|
||||
|
||||
include
|
||||
= '#include' include_filename
|
||||
|
||||
include_filename
|
||||
= '<' r'[^>]+' '>'
|
||||
/ '"' r'[^"]+' '"'
|
||||
|
||||
module_dcl
|
||||
= annotation* 'module' identifier '{' definition+ '}'
|
||||
|
||||
const_dcl
|
||||
= 'const' const_type identifier '=' expression
|
||||
|
||||
type_dcl
|
||||
= typedef_dcl
|
||||
/ constr_type_dcl
|
||||
|
||||
typedef_dcl
|
||||
= 'typedef' type_declarator
|
||||
|
||||
type_declarator
|
||||
= ( template_type_spec
|
||||
/ simple_type_spec
|
||||
/ constr_type_dcl
|
||||
) any_declarators
|
||||
|
||||
simple_type_spec
|
||||
= base_type_spec
|
||||
/ scoped_name
|
||||
|
||||
template_type_spec
|
||||
= sequence_type
|
||||
/ string_type
|
||||
|
||||
sequence_type
|
||||
= 'sequence' '<' type_spec ',' expression '>'
|
||||
/ 'sequence' '<' type_spec '>'
|
||||
|
||||
type_spec
|
||||
= template_type_spec
|
||||
/ simple_type_spec
|
||||
|
||||
any_declarators
|
||||
= any_declarator (',' any_declarator)*
|
||||
|
||||
any_declarator
|
||||
= array_declarator
|
||||
/ simple_declarator
|
||||
|
||||
constr_type_dcl
|
||||
= struct_dcl
|
||||
|
||||
struct_dcl
|
||||
= struct_def
|
||||
|
||||
struct_def
|
||||
= annotation* 'struct' identifier '{' member+ '}'
|
||||
|
||||
member
|
||||
= annotation* type_spec declarators ';'
|
||||
|
||||
declarators
|
||||
= declarator (',' declarator)*
|
||||
|
||||
declarator
|
||||
= array_declarator
|
||||
/ simple_declarator
|
||||
|
||||
simple_declarator
|
||||
= identifier
|
||||
|
||||
array_declarator
|
||||
= identifier fixed_array_size+
|
||||
|
||||
fixed_array_size
|
||||
= '[' expression ']'
|
||||
|
||||
annotation
|
||||
= '@' scoped_name ('(' annotation_params ')')?
|
||||
|
||||
annotation_params
|
||||
= annotation_param (',' annotation_param)*
|
||||
/ expression
|
||||
|
||||
annotation_param
|
||||
= identifier '=' expression
|
||||
|
||||
const_type
|
||||
= base_type_spec
|
||||
/ string_type
|
||||
/ scoped_name
|
||||
|
||||
base_type_spec
|
||||
= integer_type
|
||||
/ float_type
|
||||
/ char_type
|
||||
/ boolean_type
|
||||
/ octet_type
|
||||
|
||||
integer_type
|
||||
= r'u?int(64|32|16|8)\b'
|
||||
/ r'(unsigned\s+)?((long\s+)?long|int|short)\b'
|
||||
|
||||
float_type
|
||||
= r'((long\s+)?double|float)\b'
|
||||
|
||||
char_type
|
||||
= r'char\b'
|
||||
|
||||
boolean_type
|
||||
= r'boolean\b'
|
||||
|
||||
octet_type
|
||||
= r'octet\b'
|
||||
|
||||
string_type
|
||||
= 'string' '<' expression '>'
|
||||
/ r'string\b'
|
||||
|
||||
scoped_name
|
||||
= identifier '::' scoped_name
|
||||
/ '::' scoped_name
|
||||
/ identifier
|
||||
|
||||
identifier
|
||||
= r'[a-zA-Z_][a-zA-Z_0-9]*'
|
||||
|
||||
expression
|
||||
= primary_expr binary_operator primary_expr
|
||||
/ primary_expr
|
||||
/ unary_operator primary_expr
|
||||
|
||||
primary_expr
|
||||
= literal
|
||||
/ scoped_name
|
||||
/ '(' expression ')'
|
||||
|
||||
binary_operator
|
||||
= '|'
|
||||
/ '^'
|
||||
/ '&'
|
||||
/ '<<'
|
||||
/ '>>'
|
||||
/ '+'
|
||||
/ '-'
|
||||
/ '*'
|
||||
/ '/'
|
||||
/ '%'
|
||||
|
||||
unary_operator
|
||||
= '+'
|
||||
/ '-'
|
||||
/ '~'
|
||||
|
||||
literal
|
||||
= boolean_literal
|
||||
/ float_literal
|
||||
/ integer_literal
|
||||
/ character_literal
|
||||
/ string_literals
|
||||
|
||||
boolean_literal
|
||||
= 'TRUE'
|
||||
/ 'FALSE'
|
||||
|
||||
integer_literal
|
||||
= hexadecimal_literal
|
||||
/ octal_literal
|
||||
/ decimal_literal
|
||||
|
||||
decimal_literal
|
||||
= r'[-+]?[1-9][0-9]+'
|
||||
/ r'[-+]?[0-9]'
|
||||
|
||||
octal_literal
|
||||
= r'[-+]?0[0-7]+'
|
||||
|
||||
hexadecimal_literal
|
||||
= r'[-+]?0[xX][a-fA-F0-9]+'
|
||||
|
||||
float_literal
|
||||
= r'[-+]?[0-9]*\.[0-9]+([eE][-+]?[0-9]+)?'
|
||||
/ r'[-+]?[0-9]*\.?[0-9]+([eE][-+]?[0-9]+)'
|
||||
|
||||
character_literal
|
||||
= '\'' r'[a-zA-Z0-9_]' '\''
|
||||
|
||||
string_literals
|
||||
= string_literal+
|
||||
|
||||
string_literal
|
||||
= '"' r'(\\"|[^"])*' '"'
|
||||
"""
|
||||
|
||||
|
||||
class VisitorIDL(Visitor): # pylint: disable=too-many-public-methods
|
||||
"""IDL file visitor."""
|
||||
|
||||
RULES = parse_grammar(
|
||||
GRAMMAR_IDL,
|
||||
re.compile(r'(\s|/[*]([^*]|[*](?!/))*[*]/|//[^\n]*$)+', re.M | re.S),
|
||||
)
|
||||
|
||||
def __init__(self) -> None:
|
||||
"""Initialize."""
|
||||
super().__init__()
|
||||
self.typedefs: dict[str, Fielddesc] = {}
|
||||
|
||||
# yapf: disable
|
||||
def visit_specification(
|
||||
self,
|
||||
children: tuple[
|
||||
Optional[
|
||||
tuple[
|
||||
tuple[
|
||||
Nodetype,
|
||||
list[tuple[Nodetype, tuple[str, str, ConstValue]]],
|
||||
list[tuple[Nodetype, str, Fielddefs]],
|
||||
],
|
||||
LiteralMatch,
|
||||
],
|
||||
],
|
||||
],
|
||||
) -> Typesdict:
|
||||
"""Process start symbol, return only children of modules."""
|
||||
structs: dict[str, Fielddefs] = {}
|
||||
consts: dict[str, list[tuple[str, str, ConstValue]]] = {}
|
||||
for item in children:
|
||||
if item is None or item[0][0] != Nodetype.MODULE:
|
||||
continue
|
||||
for csubitem in item[0][1]:
|
||||
assert csubitem[0] == Nodetype.CONST
|
||||
if '_Constants/' in csubitem[1][1]:
|
||||
structname, varname = csubitem[1][1].split('_Constants/')
|
||||
if structname not in consts:
|
||||
consts[structname] = []
|
||||
consts[structname].append((varname, csubitem[1][0], csubitem[1][2]))
|
||||
|
||||
for ssubitem in item[0][2]:
|
||||
assert ssubitem[0] == Nodetype.STRUCT
|
||||
structs[ssubitem[1]] = ssubitem[2]
|
||||
if ssubitem[1] not in consts:
|
||||
consts[ssubitem[1]] = []
|
||||
return {k: (consts[k], v) for k, v in structs.items()}
|
||||
# yapf: enable
|
||||
|
||||
def visit_macro(self, _: Union[LiteralMatch, tuple[LiteralMatch, str]]) -> None:
|
||||
"""Process macro, suppress output."""
|
||||
|
||||
def visit_include(
|
||||
self,
|
||||
_: tuple[LiteralMatch, tuple[LiteralMatch, str, LiteralMatch]],
|
||||
) -> None:
|
||||
"""Process include, suppress output."""
|
||||
|
||||
# yapf: disable
|
||||
def visit_module_dcl(
|
||||
self,
|
||||
children: tuple[tuple[()], LiteralMatch, StringNode, LiteralMatch, Any, LiteralMatch],
|
||||
) -> tuple[
|
||||
Nodetype,
|
||||
list[tuple[Nodetype, tuple[str, str, ConstValue]]],
|
||||
list[tuple[Nodetype, str, Fielddefs]],
|
||||
]:
|
||||
"""Process module declaration."""
|
||||
assert len(children) == 6
|
||||
assert children[2][0] == Nodetype.NAME
|
||||
name = children[2][1]
|
||||
|
||||
definitions = children[4]
|
||||
consts = []
|
||||
structs = []
|
||||
for item in definitions:
|
||||
if item is None or item[0] is None:
|
||||
continue
|
||||
assert item[1] == ('LITERAL', ';')
|
||||
item = item[0]
|
||||
if item[0] == Nodetype.CONST:
|
||||
consts.append(item)
|
||||
elif item[0] == Nodetype.STRUCT:
|
||||
structs.append(item)
|
||||
else:
|
||||
assert item[0] == Nodetype.MODULE
|
||||
consts += item[1]
|
||||
structs += item[2]
|
||||
|
||||
consts = [(ityp, (typ, f'{name}/{subname}', val)) for ityp, (typ, subname, val) in consts]
|
||||
structs = [(typ, f'{name}/{subname}', *rest) for typ, subname, *rest in structs]
|
||||
|
||||
return (Nodetype.MODULE, consts, structs)
|
||||
# yapf: enable
|
||||
|
||||
def visit_const_dcl(
|
||||
self,
|
||||
children: tuple[LiteralMatch, StringNode, StringNode, LiteralMatch, LiteralNode],
|
||||
) -> tuple[Nodetype, tuple[str, str, ConstValue]]:
|
||||
"""Process const declaration."""
|
||||
return (Nodetype.CONST, (children[1][1], children[2][1], children[4][1]))
|
||||
|
||||
def visit_type_dcl(
|
||||
self,
|
||||
children: Optional[tuple[Nodetype, str, Fielddefs]],
|
||||
) -> Optional[tuple[Nodetype, str, Fielddefs]]:
|
||||
"""Process type, pass structs, suppress otherwise."""
|
||||
return children if children and children[0] == Nodetype.STRUCT else None
|
||||
|
||||
def visit_typedef_dcl(
|
||||
self,
|
||||
children: tuple[LiteralMatch, tuple[StringNode, tuple[Any, ...]]],
|
||||
) -> None:
|
||||
"""Process type declarator, register type mapping in instance typedef dictionary."""
|
||||
assert len(children) == 2
|
||||
dclchildren = children[1]
|
||||
assert len(dclchildren) == 2
|
||||
base: Fielddesc
|
||||
value: Fielddesc
|
||||
base = typedef if (typedef := self.typedefs.get(dclchildren[0][1])) else dclchildren[0]
|
||||
flat = [dclchildren[1][0], *[x[1:][0] for x in dclchildren[1][1]]]
|
||||
for declarator in flat:
|
||||
if declarator[0] == Nodetype.ADECLARATOR:
|
||||
typ, name = base
|
||||
assert isinstance(typ, Nodetype)
|
||||
assert isinstance(name, str)
|
||||
assert isinstance(declarator[2][1], int)
|
||||
value = (Nodetype.ARRAY, ((typ, name), declarator[2][1]))
|
||||
else:
|
||||
value = base
|
||||
self.typedefs[declarator[1][1]] = value
|
||||
|
||||
def visit_sequence_type(
|
||||
self,
|
||||
children: Union[tuple[LiteralMatch, LiteralMatch, StringNode, LiteralMatch],
|
||||
tuple[LiteralMatch, LiteralMatch, StringNode, LiteralMatch, LiteralNode,
|
||||
LiteralMatch]],
|
||||
) -> tuple[Nodetype, tuple[StringNode, None]]:
|
||||
"""Process sequence type specification."""
|
||||
assert len(children) in {4, 6}
|
||||
if len(children) == 6:
|
||||
idx = len(children) - 2
|
||||
assert children[idx][0] == Nodetype.LITERAL_NUMBER
|
||||
return (Nodetype.SEQUENCE, (children[2], None))
|
||||
|
||||
# yapf: disable
|
||||
def create_struct_field(
|
||||
self,
|
||||
parts: tuple[
|
||||
tuple[()],
|
||||
Fielddesc,
|
||||
tuple[
|
||||
tuple[Nodetype, StringNode],
|
||||
tuple[
|
||||
tuple[str, tuple[Nodetype, StringNode]],
|
||||
...,
|
||||
],
|
||||
],
|
||||
LiteralMatch,
|
||||
],
|
||||
) -> Generator[tuple[str, Fielddesc], None, None]:
|
||||
"""Create struct field and expand typedefs."""
|
||||
typename, params = parts[1:3]
|
||||
flat = [params[0], *[x[1:][0] for x in params[1]]]
|
||||
|
||||
def resolve_name(name: Fielddesc) -> Fielddesc:
|
||||
while name[0] == Nodetype.NAME and name[1] in self.typedefs:
|
||||
assert isinstance(name[1], str)
|
||||
name = self.typedefs[name[1]]
|
||||
return name
|
||||
|
||||
yield from ((x[1][1], resolve_name(typename)) for x in flat if x)
|
||||
# yapf: enable
|
||||
|
||||
def visit_struct_dcl(
|
||||
self,
|
||||
children: tuple[tuple[()], LiteralMatch, StringNode, LiteralMatch, Any, LiteralMatch],
|
||||
) -> tuple[Nodetype, str, Any]:
|
||||
"""Process struct declaration."""
|
||||
assert len(children) == 6
|
||||
assert children[2][0] == Nodetype.NAME
|
||||
|
||||
fields = [y for x in children[4] for y in self.create_struct_field(x)]
|
||||
return (Nodetype.STRUCT, children[2][1], fields)
|
||||
|
||||
def visit_simple_declarator(self, children: StringNode) -> tuple[Nodetype, StringNode]:
|
||||
"""Process simple declarator."""
|
||||
assert len(children) == 2
|
||||
return (Nodetype.SDECLARATOR, children)
|
||||
|
||||
def visit_array_declarator(
|
||||
self,
|
||||
children: tuple[StringNode, tuple[tuple[LiteralMatch, LiteralNode, LiteralMatch]]],
|
||||
) -> tuple[Nodetype, StringNode, LiteralNode]:
|
||||
"""Process array declarator."""
|
||||
assert len(children) == 2
|
||||
return (Nodetype.ADECLARATOR, children[0], children[1][0][1])
|
||||
|
||||
# yapf: disable
|
||||
def visit_annotation(
|
||||
self,
|
||||
children: tuple[
|
||||
LiteralMatch,
|
||||
StringNode,
|
||||
tuple[
|
||||
tuple[
|
||||
LiteralMatch,
|
||||
tuple[
|
||||
tuple[StringNode, LiteralMatch, LiteralNode],
|
||||
tuple[
|
||||
tuple[LiteralMatch, tuple[StringNode, LiteralMatch, LiteralNode]],
|
||||
...,
|
||||
],
|
||||
],
|
||||
LiteralMatch,
|
||||
],
|
||||
],
|
||||
],
|
||||
) -> tuple[Nodetype, str, list[tuple[StringNode, LiteralNode]]]:
|
||||
"""Process annotation."""
|
||||
assert len(children) == 3
|
||||
assert children[1][0] == Nodetype.NAME
|
||||
params = children[2][0][1]
|
||||
flat = [params[0], *[x[1:][0] for x in params[1]]]
|
||||
assert all(len(x) == 3 for x in flat)
|
||||
retparams = [(x[0], x[2]) for x in flat]
|
||||
return (Nodetype.ANNOTATION, children[1][1], retparams)
|
||||
# yapf: enable
|
||||
|
||||
def visit_base_type_spec(self, children: str) -> StringNode:
|
||||
"""Process base type specifier."""
|
||||
oname = children
|
||||
name = {
|
||||
'boolean': 'bool',
|
||||
'double': 'float64',
|
||||
'float': 'float32',
|
||||
'octet': 'uint8',
|
||||
}.get(oname, oname)
|
||||
return (Nodetype.BASE, name)
|
||||
|
||||
def visit_string_type(
|
||||
self,
|
||||
children: Union[str, tuple[LiteralMatch, LiteralMatch, LiteralNode, LiteralMatch]],
|
||||
) -> Union[StringNode, tuple[Nodetype, str, LiteralNode]]:
|
||||
"""Prrocess string type specifier."""
|
||||
if isinstance(children, str):
|
||||
return (Nodetype.BASE, 'string')
|
||||
|
||||
assert len(children) == 4
|
||||
assert isinstance(children[0], tuple)
|
||||
return (Nodetype.BASE, 'string', children[2])
|
||||
|
||||
def visit_scoped_name(
|
||||
self,
|
||||
children: Union[StringNode, tuple[StringNode, LiteralMatch, StringNode]],
|
||||
) -> StringNode:
|
||||
"""Process scoped name."""
|
||||
if len(children) == 2:
|
||||
assert isinstance(children[1], str)
|
||||
return (Nodetype.NAME, children[1])
|
||||
assert len(children) == 3
|
||||
assert isinstance(children[0], tuple)
|
||||
assert children[1][1] == '::'
|
||||
return (Nodetype.NAME, f'{children[0][1]}/{children[2][1]}')
|
||||
|
||||
def visit_identifier(self, children: str) -> StringNode:
|
||||
"""Process identifier."""
|
||||
return (Nodetype.NAME, children)
|
||||
|
||||
def visit_expression(
|
||||
self,
|
||||
children: Union[LiteralNode, tuple[LiteralMatch, LiteralNode],
|
||||
tuple[LiteralNode, LiteralMatch, LiteralNode]],
|
||||
) -> Union[LiteralNode, tuple[Nodetype, str, int], tuple[Nodetype, str, int, int]]:
|
||||
"""Process expression, literals are assumed to be integers only."""
|
||||
if children[0] in [
|
||||
Nodetype.LITERAL_STRING,
|
||||
Nodetype.LITERAL_NUMBER,
|
||||
Nodetype.LITERAL_BOOLEAN,
|
||||
Nodetype.LITERAL_CHAR,
|
||||
Nodetype.NAME,
|
||||
]:
|
||||
assert isinstance(children[1], (str, bool, int, float))
|
||||
return (children[0], children[1])
|
||||
|
||||
assert isinstance(children[0], tuple)
|
||||
if len(children) == 3:
|
||||
assert isinstance(children[0][1], int)
|
||||
assert isinstance(children[1][1], str)
|
||||
assert isinstance(children[2][1], int)
|
||||
return (Nodetype.EXPRESSION_BINARY, children[1][1], children[0][1], children[2][1])
|
||||
assert len(children) == 2
|
||||
assert isinstance(children[0][1], str)
|
||||
assert isinstance(children[1], tuple)
|
||||
assert isinstance(children[1][1], int)
|
||||
return (Nodetype.EXPRESSION_UNARY, children[0][1], children[1][1])
|
||||
|
||||
def visit_boolean_literal(self, children: str) -> LiteralNode:
|
||||
"""Process boolean literal."""
|
||||
return (Nodetype.LITERAL_BOOLEAN, children[1] == 'TRUE')
|
||||
|
||||
def visit_float_literal(self, children: str) -> LiteralNode:
|
||||
"""Process float literal."""
|
||||
return (Nodetype.LITERAL_NUMBER, float(children))
|
||||
|
||||
def visit_decimal_literal(self, children: str) -> LiteralNode:
|
||||
"""Process decimal integer literal."""
|
||||
return (Nodetype.LITERAL_NUMBER, int(children))
|
||||
|
||||
def visit_octal_literal(self, children: str) -> LiteralNode:
|
||||
"""Process octal integer literal."""
|
||||
return (Nodetype.LITERAL_NUMBER, int(children, 8))
|
||||
|
||||
def visit_hexadecimal_literal(self, children: str) -> LiteralNode:
|
||||
"""Process hexadecimal integer literal."""
|
||||
return (Nodetype.LITERAL_NUMBER, int(children, 16))
|
||||
|
||||
def visit_character_literal(
|
||||
self,
|
||||
children: tuple[LiteralMatch, str, LiteralMatch],
|
||||
) -> StringNode:
|
||||
"""Process char literal."""
|
||||
return (Nodetype.LITERAL_CHAR, children[1])
|
||||
|
||||
def visit_string_literals(
|
||||
self,
|
||||
children: tuple[tuple[LiteralMatch, str, LiteralMatch], ...],
|
||||
) -> StringNode:
|
||||
"""Process string literal."""
|
||||
return (
|
||||
Nodetype.LITERAL_STRING,
|
||||
''.join(x[1] for x in children),
|
||||
)
|
||||
|
||||
|
||||
def get_types_from_idl(text: str) -> Typesdict:
|
||||
"""Get types from idl message definition.
|
||||
|
||||
Args:
|
||||
text: Message definition.
|
||||
|
||||
Returns:
|
||||
List of message message names and parsetrees.
|
||||
|
||||
"""
|
||||
return parse_message_definition(VisitorIDL(), text)
|
||||
449
rosbags/src/rosbags/typesys/msg.py
Normal file
449
rosbags/src/rosbags/typesys/msg.py
Normal file
@ -0,0 +1,449 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""MSG Parser.
|
||||
|
||||
Grammar, parse tree visitor and conversion functions for message definitions in
|
||||
`MSG`_ format. It also supports concatened message definitions as found in
|
||||
Rosbag1 connection information.
|
||||
|
||||
.. _MSG: http://wiki.ros.org/msg
|
||||
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import re
|
||||
from hashlib import md5
|
||||
from pathlib import PurePosixPath as Path
|
||||
from typing import TYPE_CHECKING
|
||||
|
||||
from .base import Nodetype, TypesysError, parse_message_definition
|
||||
from .peg import Rule, Visitor, parse_grammar
|
||||
from .types import FIELDDEFS
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from typing import Optional, Tuple, TypeVar, Union
|
||||
|
||||
from .base import Constdefs, Fielddefs, Fielddesc, Typesdict
|
||||
|
||||
T = TypeVar('T')
|
||||
|
||||
StringNode = Tuple[Nodetype, str]
|
||||
ConstValue = Union[str, bool, int, float]
|
||||
Msgdesc = Tuple[Tuple[StringNode, Tuple[str, str, int], str], ...]
|
||||
LiteralMatch = Tuple[str, str]
|
||||
|
||||
GRAMMAR_MSG = r"""
|
||||
specification
|
||||
= msgdef (msgsep msgdef)*
|
||||
|
||||
msgdef
|
||||
= r'MSG:\s' scoped_name definition*
|
||||
|
||||
msgsep
|
||||
= r'================================================================================'
|
||||
|
||||
definition
|
||||
= const_dcl
|
||||
/ field_dcl
|
||||
|
||||
const_dcl
|
||||
= 'string' identifier '=' r'(?!={79}\n)[^\n]+'
|
||||
/ type_spec identifier '=' float_literal
|
||||
/ type_spec identifier '=' integer_literal
|
||||
/ type_spec identifier '=' boolean_literal
|
||||
|
||||
field_dcl
|
||||
= type_spec identifier default_value?
|
||||
|
||||
type_spec
|
||||
= array_type_spec
|
||||
/ bounded_array_type_spec
|
||||
/ simple_type_spec
|
||||
|
||||
array_type_spec
|
||||
= simple_type_spec array_size
|
||||
|
||||
bounded_array_type_spec
|
||||
= simple_type_spec array_bounds
|
||||
|
||||
simple_type_spec
|
||||
= 'string' '<=' integer_literal
|
||||
/ scoped_name
|
||||
|
||||
array_size
|
||||
= '[' integer_literal? ']'
|
||||
|
||||
array_bounds
|
||||
= '[<=' integer_literal ']'
|
||||
|
||||
scoped_name
|
||||
= identifier '/' scoped_name
|
||||
/ identifier
|
||||
|
||||
identifier
|
||||
= r'[a-zA-Z_][a-zA-Z_0-9]*'
|
||||
|
||||
default_value
|
||||
= literal
|
||||
|
||||
literal
|
||||
= float_literal
|
||||
/ integer_literal
|
||||
/ boolean_literal
|
||||
/ string_literal
|
||||
/ array_literal
|
||||
|
||||
boolean_literal
|
||||
= r'[tT][rR][uU][eE]'
|
||||
/ r'[fF][aA][lL][sS][eE]'
|
||||
/ '0'
|
||||
/ '1'
|
||||
|
||||
integer_literal
|
||||
= hexadecimal_literal
|
||||
/ octal_literal
|
||||
/ decimal_literal
|
||||
|
||||
decimal_literal
|
||||
= r'[-+]?[1-9][0-9]+'
|
||||
/ r'[-+]?[0-9]'
|
||||
|
||||
octal_literal
|
||||
= r'[-+]?0[0-7]+'
|
||||
|
||||
hexadecimal_literal
|
||||
= r'[-+]?0[xX][a-fA-F0-9]+'
|
||||
|
||||
float_literal
|
||||
= r'[-+]?[0-9]*\.[0-9]+([eE][-+]?[0-9]+)?'
|
||||
/ r'[-+]?[0-9]*\.?[0-9]+([eE][-+]?[0-9]+)'
|
||||
|
||||
string_literal
|
||||
= '"' r'(\\"|[^"])*' '"'
|
||||
/ '\'' r'(\\\'|[^'])*' '\''
|
||||
|
||||
array_literal
|
||||
= '[' array_elements? ']'
|
||||
|
||||
array_elements
|
||||
= literal ',' array_elements
|
||||
/ literal
|
||||
"""
|
||||
|
||||
|
||||
def normalize_msgtype(name: str) -> str:
|
||||
"""Normalize message typename.
|
||||
|
||||
Args:
|
||||
name: Message typename.
|
||||
|
||||
Returns:
|
||||
Normalized name.
|
||||
|
||||
"""
|
||||
path = Path(name)
|
||||
if path.parent.name != 'msg':
|
||||
path = path.parent / 'msg' / path.name
|
||||
return str(path)
|
||||
|
||||
|
||||
def normalize_fieldtype(typename: str, field: Fielddesc, names: list[str]) -> Fielddesc:
|
||||
"""Normalize field typename.
|
||||
|
||||
Args:
|
||||
typename: Type name of field owner.
|
||||
field: Field definition.
|
||||
names: Valid message names.
|
||||
|
||||
Returns:
|
||||
Normalized fieldtype.
|
||||
|
||||
"""
|
||||
dct = {Path(name).name: name for name in names}
|
||||
ftype, args = field
|
||||
name = args if ftype == Nodetype.NAME else args[0][1]
|
||||
|
||||
assert isinstance(name, str)
|
||||
if name in VisitorMSG.BASETYPES:
|
||||
ifield = (Nodetype.BASE, name)
|
||||
else:
|
||||
if name in dct:
|
||||
name = dct[name]
|
||||
elif name == 'Header':
|
||||
name = 'std_msgs/msg/Header'
|
||||
elif '/' not in name:
|
||||
name = str(Path(typename).parent / name)
|
||||
elif '/msg/' not in name:
|
||||
name = str((path := Path(name)).parent / 'msg' / path.name)
|
||||
ifield = (Nodetype.NAME, name)
|
||||
|
||||
if ftype == Nodetype.NAME:
|
||||
return ifield
|
||||
|
||||
assert not isinstance(args, str)
|
||||
return (ftype, (ifield, args[1]))
|
||||
|
||||
|
||||
def denormalize_msgtype(typename: str) -> str:
|
||||
"""Undo message tyoename normalization.
|
||||
|
||||
Args:
|
||||
typename: Normalized message typename.
|
||||
|
||||
Returns:
|
||||
ROS1 style name.
|
||||
|
||||
"""
|
||||
assert '/msg/' in typename
|
||||
return str((path := Path(typename)).parent.parent / path.name)
|
||||
|
||||
|
||||
class VisitorMSG(Visitor):
|
||||
"""MSG file visitor."""
|
||||
|
||||
RULES = parse_grammar(GRAMMAR_MSG, re.compile(r'(\s|#[^\n]*$)+', re.M | re.S))
|
||||
|
||||
BASETYPES = {
|
||||
'bool',
|
||||
'int8',
|
||||
'int16',
|
||||
'int32',
|
||||
'int64',
|
||||
'uint8',
|
||||
'uint16',
|
||||
'uint32',
|
||||
'uint64',
|
||||
'float32',
|
||||
'float64',
|
||||
'string',
|
||||
}
|
||||
|
||||
def visit_const_dcl(
|
||||
self,
|
||||
children: tuple[StringNode, StringNode, LiteralMatch, ConstValue],
|
||||
) -> tuple[StringNode, tuple[str, str, ConstValue]]:
|
||||
"""Process const declaration, suppress output."""
|
||||
value: Union[str, bool, int, float]
|
||||
if (typ := children[0][1]) == 'string':
|
||||
assert isinstance(children[3], str)
|
||||
value = children[3].strip()
|
||||
else:
|
||||
value = children[3]
|
||||
return (Nodetype.CONST, ''), (typ, children[1][1], value)
|
||||
|
||||
def visit_specification(
|
||||
self,
|
||||
children: tuple[tuple[str, Msgdesc], tuple[tuple[str, tuple[str, Msgdesc]], ...]],
|
||||
) -> Typesdict:
|
||||
"""Process start symbol."""
|
||||
typelist = [children[0], *[x[1] for x in children[1]]]
|
||||
typedict = dict(typelist)
|
||||
names = list(typedict.keys())
|
||||
res: Typesdict = {}
|
||||
for name, items in typedict.items():
|
||||
consts: Constdefs = [
|
||||
(x[1][1], x[1][0], x[1][2]) for x in items if x[0] == (Nodetype.CONST, '')
|
||||
]
|
||||
fields: Fielddefs = [
|
||||
(field[1][1], normalize_fieldtype(name, field[0], names))
|
||||
for field in items
|
||||
if field[0] != (Nodetype.CONST, '')
|
||||
]
|
||||
res[name] = consts, fields
|
||||
return res
|
||||
|
||||
def visit_msgdef(
|
||||
self,
|
||||
children: tuple[str, StringNode, tuple[Optional[T]]],
|
||||
) -> tuple[str, tuple[T, ...]]:
|
||||
"""Process single message definition."""
|
||||
assert len(children) == 3
|
||||
return normalize_msgtype(children[1][1]), tuple(x for x in children[2] if x is not None)
|
||||
|
||||
def visit_msgsep(self, _: str) -> None:
|
||||
"""Process message separator, suppress output."""
|
||||
|
||||
def visit_array_type_spec(
|
||||
self,
|
||||
children: tuple[StringNode, tuple[LiteralMatch, tuple[int, ...], LiteralMatch]],
|
||||
) -> tuple[Nodetype, tuple[StringNode, Optional[int]]]:
|
||||
"""Process array type specifier."""
|
||||
if length := children[1][1]:
|
||||
return Nodetype.ARRAY, (children[0], length[0])
|
||||
return Nodetype.SEQUENCE, (children[0], None)
|
||||
|
||||
def visit_bounded_array_type_spec(
|
||||
self,
|
||||
children: list[StringNode],
|
||||
) -> tuple[Nodetype, tuple[StringNode, None]]:
|
||||
"""Process bounded array type specifier."""
|
||||
return Nodetype.SEQUENCE, (children[0], None)
|
||||
|
||||
def visit_simple_type_spec(
|
||||
self,
|
||||
children: Union[StringNode, tuple[LiteralMatch, LiteralMatch, int]],
|
||||
) -> StringNode:
|
||||
"""Process simple type specifier."""
|
||||
if len(children) > 2:
|
||||
assert (Rule.LIT, '<=') in children
|
||||
assert isinstance(children[0], tuple)
|
||||
typespec = children[0][1]
|
||||
else:
|
||||
assert isinstance(children[1], str)
|
||||
typespec = children[1]
|
||||
dct = {
|
||||
'time': 'builtin_interfaces/msg/Time',
|
||||
'duration': 'builtin_interfaces/msg/Duration',
|
||||
'byte': 'uint8',
|
||||
'char': 'uint8',
|
||||
}
|
||||
return Nodetype.NAME, dct.get(typespec, typespec)
|
||||
|
||||
def visit_scoped_name(
|
||||
self,
|
||||
children: Union[StringNode, tuple[StringNode, LiteralMatch, StringNode]],
|
||||
) -> StringNode:
|
||||
"""Process scoped name."""
|
||||
if len(children) == 2:
|
||||
return children # type: ignore
|
||||
assert len(children) == 3
|
||||
return (Nodetype.NAME, '/'.join(x[1] for x in children if x[0] != Rule.LIT)) # type: ignore
|
||||
|
||||
def visit_identifier(self, children: str) -> StringNode:
|
||||
"""Process identifier."""
|
||||
return (Nodetype.NAME, children)
|
||||
|
||||
def visit_boolean_literal(self, children: str) -> bool:
|
||||
"""Process boolean literal."""
|
||||
return children.lower() in {'true', '1'}
|
||||
|
||||
def visit_float_literal(self, children: str) -> float:
|
||||
"""Process float literal."""
|
||||
return float(children)
|
||||
|
||||
def visit_decimal_literal(self, children: str) -> int:
|
||||
"""Process decimal integer literal."""
|
||||
return int(children)
|
||||
|
||||
def visit_octal_literal(self, children: str) -> int:
|
||||
"""Process octal integer literal."""
|
||||
return int(children, 8)
|
||||
|
||||
def visit_hexadecimal_literal(self, children: str) -> int:
|
||||
"""Process hexadecimal integer literal."""
|
||||
return int(children, 16)
|
||||
|
||||
def visit_string_literal(self, children: str) -> str:
|
||||
"""Process integer literal."""
|
||||
return children[1]
|
||||
|
||||
|
||||
def get_types_from_msg(text: str, name: str) -> Typesdict:
|
||||
"""Get type from msg message definition.
|
||||
|
||||
Args:
|
||||
text: Message definiton.
|
||||
name: Message typename.
|
||||
|
||||
Returns:
|
||||
list with single message name and parsetree.
|
||||
|
||||
"""
|
||||
return parse_message_definition(VisitorMSG(), f'MSG: {name}\n{text}')
|
||||
|
||||
|
||||
def gendefhash(typename: str, subdefs: dict[str, tuple[str, str]]) -> tuple[str, str]:
|
||||
"""Generate message definition and hash for type.
|
||||
|
||||
The subdefs argument will be filled with child definitions.
|
||||
|
||||
Args:
|
||||
typename: Name of type to generate definition for.
|
||||
subdefs: Child definitions.
|
||||
|
||||
Returns:
|
||||
Message definition and hash.
|
||||
|
||||
Raises:
|
||||
TypesysError: Type does not exist.
|
||||
|
||||
"""
|
||||
# pylint: disable=too-many-branches
|
||||
typemap = {
|
||||
'builtin_interfaces/msg/Time': 'time',
|
||||
'builtin_interfaces/msg/Duration': 'duration',
|
||||
}
|
||||
|
||||
deftext: list[str] = []
|
||||
hashtext: list[str] = []
|
||||
if typename not in FIELDDEFS:
|
||||
raise TypesysError(f'Type {typename!r} is unknown.')
|
||||
|
||||
for name, typ, value in FIELDDEFS[typename][0]:
|
||||
deftext.append(f'{typ} {name}={value}')
|
||||
hashtext.append(f'{typ} {name}={value}')
|
||||
|
||||
for name, (ftype, args) in FIELDDEFS[typename][1]:
|
||||
if ftype == Nodetype.BASE:
|
||||
deftext.append(f'{args} {name}')
|
||||
hashtext.append(f'{args} {name}')
|
||||
elif ftype == Nodetype.NAME:
|
||||
assert isinstance(args, str)
|
||||
subname = args
|
||||
if subname in typemap:
|
||||
deftext.append(f'{typemap[subname]} {name}')
|
||||
hashtext.append(f'{typemap[subname]} {name}')
|
||||
else:
|
||||
if subname not in subdefs:
|
||||
subdefs[subname] = ('', '')
|
||||
subdefs[subname] = gendefhash(subname, subdefs)
|
||||
deftext.append(f'{denormalize_msgtype(subname)} {name}')
|
||||
hashtext.append(f'{subdefs[subname][1]} {name}')
|
||||
else:
|
||||
assert isinstance(args, tuple)
|
||||
subdesc, num = args
|
||||
count = '' if num is None else str(num)
|
||||
subtype, subname = subdesc
|
||||
if subtype == Nodetype.BASE:
|
||||
deftext.append(f'{subname}[{count}] {name}')
|
||||
hashtext.append(f'{subname}[{count}] {name}')
|
||||
elif subname in typemap:
|
||||
deftext.append(f'{typemap[subname]}[{count}] {name}')
|
||||
hashtext.append(f'{typemap[subname]}[{count}] {name}')
|
||||
else:
|
||||
if subname not in subdefs:
|
||||
subdefs[subname] = ('', '')
|
||||
subdefs[subname] = gendefhash(subname, subdefs)
|
||||
deftext.append(f'{denormalize_msgtype(subname)}[{count}] {name}')
|
||||
hashtext.append(f'{subdefs[subname][1]} {name}')
|
||||
|
||||
if typename == 'std_msgs/msg/Header':
|
||||
deftext.insert(0, 'uint32 seq')
|
||||
hashtext.insert(0, 'uint32 seq')
|
||||
|
||||
deftext.append('')
|
||||
return '\n'.join(deftext), md5('\n'.join(hashtext).encode()).hexdigest()
|
||||
|
||||
|
||||
def generate_msgdef(typename: str) -> tuple[str, str]:
|
||||
"""Generate message definition for type.
|
||||
|
||||
Args:
|
||||
typename: Name of type to generate definition for.
|
||||
|
||||
Returns:
|
||||
Message definition.
|
||||
|
||||
"""
|
||||
subdefs: dict[str, tuple[str, str]] = {}
|
||||
msgdef, md5sum = gendefhash(typename, subdefs)
|
||||
|
||||
msgdef = ''.join(
|
||||
[
|
||||
msgdef,
|
||||
*[f'{"=" * 80}\nMSG: {denormalize_msgtype(k)}\n{v[0]}' for k, v in subdefs.items()],
|
||||
],
|
||||
)
|
||||
|
||||
return msgdef, md5sum
|
||||
314
rosbags/src/rosbags/typesys/peg.py
Normal file
314
rosbags/src/rosbags/typesys/peg.py
Normal file
@ -0,0 +1,314 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""PEG Parser.
|
||||
|
||||
Parsing expression grammar inspired parser for simple EBNF-like notations. It
|
||||
implements just enough features to support parsing of the different ROS message
|
||||
definition formats.
|
||||
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import re
|
||||
from typing import TYPE_CHECKING
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from typing import Any, Optional, Pattern, TypeVar, Union
|
||||
|
||||
Tree = Any
|
||||
T = TypeVar('T')
|
||||
|
||||
|
||||
class Rule:
|
||||
"""Rule base class."""
|
||||
|
||||
LIT = 'LITERAL'
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
value: Union[str, Pattern[str], Rule, list[Rule]],
|
||||
rules: dict[str, Rule],
|
||||
whitespace: Pattern[str],
|
||||
name: Optional[str] = None,
|
||||
):
|
||||
"""Initialize.
|
||||
|
||||
Args:
|
||||
value: Value of this rule.
|
||||
rules: Grammar containing all rules.
|
||||
whitespace: Whitespace pattern.
|
||||
name: Name of this rule.
|
||||
|
||||
"""
|
||||
self.value = value
|
||||
self.rules = rules
|
||||
self.name = name
|
||||
self.whitespace = whitespace
|
||||
|
||||
def skip_ws(self, text: str, pos: int) -> int:
|
||||
"""Skip whitespace."""
|
||||
match = self.whitespace.match(text, pos)
|
||||
return match.span()[1] if match else pos
|
||||
|
||||
def make_node(self, data: T) -> Union[T, dict[str, Union[str, T]]]:
|
||||
"""Make node for parse tree."""
|
||||
return {'node': self.name, 'data': data} if self.name else data
|
||||
|
||||
def parse(self, text: str, pos: int) -> tuple[int, Any]:
|
||||
"""Apply rule at position."""
|
||||
raise NotImplementedError # pragma: no cover
|
||||
|
||||
|
||||
class RuleLiteral(Rule):
|
||||
"""Rule to match string literal."""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
value: str,
|
||||
rules: dict[str, Rule],
|
||||
whitespace: Pattern[str],
|
||||
name: Optional[str] = None,
|
||||
):
|
||||
"""Initialize.
|
||||
|
||||
Args:
|
||||
value: Value of this rule.
|
||||
rules: Grammar containing all rules.
|
||||
whitespace: Whitespace pattern.
|
||||
name: Name of this rule.
|
||||
|
||||
"""
|
||||
super().__init__(value, rules, whitespace, name)
|
||||
self.value = value[1:-1].replace('\\\'', '\'')
|
||||
|
||||
def parse(self, text: str, pos: int) -> tuple[int, Any]:
|
||||
"""Apply rule at position."""
|
||||
value = self.value
|
||||
assert isinstance(value, str)
|
||||
if text[pos:pos + len(value)] == value:
|
||||
npos = pos + len(value)
|
||||
npos = self.skip_ws(text, npos)
|
||||
return npos, (self.LIT, value)
|
||||
return -1, ()
|
||||
|
||||
|
||||
class RuleRegex(Rule):
|
||||
"""Rule to match regular expression."""
|
||||
|
||||
value: Pattern[str]
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
value: str,
|
||||
rules: dict[str, Rule],
|
||||
whitespace: Pattern[str],
|
||||
name: Optional[str] = None,
|
||||
):
|
||||
"""Initialize.
|
||||
|
||||
Args:
|
||||
value: Value of this rule.
|
||||
rules: Grammar containing all rules.
|
||||
whitespace: Whitespace pattern.
|
||||
name: Name of this rule.
|
||||
|
||||
"""
|
||||
super().__init__(value, rules, whitespace, name)
|
||||
self.value = re.compile(value[2:-1], re.M | re.S)
|
||||
|
||||
def parse(self, text: str, pos: int) -> tuple[int, Any]:
|
||||
"""Apply rule at position."""
|
||||
match = self.value.match(text, pos)
|
||||
if not match:
|
||||
return -1, ()
|
||||
npos = self.skip_ws(text, match.span()[1])
|
||||
return npos, self.make_node(match.group())
|
||||
|
||||
|
||||
class RuleToken(Rule):
|
||||
"""Rule to match token."""
|
||||
|
||||
value: str
|
||||
|
||||
def parse(self, text: str, pos: int) -> tuple[int, Any]:
|
||||
"""Apply rule at position."""
|
||||
token = self.rules[self.value]
|
||||
npos, data = token.parse(text, pos)
|
||||
if npos == -1:
|
||||
return npos, data
|
||||
return npos, self.make_node(data)
|
||||
|
||||
|
||||
class RuleOneof(Rule):
|
||||
"""Rule to match first matching subrule."""
|
||||
|
||||
value: list[Rule]
|
||||
|
||||
def parse(self, text: str, pos: int) -> tuple[int, Any]:
|
||||
"""Apply rule at position."""
|
||||
for value in self.value:
|
||||
npos, data = value.parse(text, pos)
|
||||
if npos != -1:
|
||||
return npos, self.make_node(data)
|
||||
return -1, ()
|
||||
|
||||
|
||||
class RuleSequence(Rule):
|
||||
"""Rule to match a sequence of subrules."""
|
||||
|
||||
value: list[Rule]
|
||||
|
||||
def parse(self, text: str, pos: int) -> tuple[int, Any]:
|
||||
"""Apply rule at position."""
|
||||
data = []
|
||||
npos = pos
|
||||
for value in self.value:
|
||||
npos, node = value.parse(text, npos)
|
||||
if npos == -1:
|
||||
return -1, ()
|
||||
data.append(node)
|
||||
return npos, self.make_node(tuple(data))
|
||||
|
||||
|
||||
class RuleZeroPlus(Rule):
|
||||
"""Rule to match zero or more occurences of subrule."""
|
||||
|
||||
value: Rule
|
||||
|
||||
def parse(self, text: str, pos: int) -> tuple[int, Any]:
|
||||
"""Apply rule at position."""
|
||||
data: list[Any] = []
|
||||
lpos = pos
|
||||
while True:
|
||||
npos, node = self.value.parse(text, lpos)
|
||||
if npos == -1:
|
||||
return lpos, self.make_node(tuple(data))
|
||||
data.append(node)
|
||||
lpos = npos
|
||||
|
||||
|
||||
class RuleOnePlus(Rule):
|
||||
"""Rule to match one or more occurences of subrule."""
|
||||
|
||||
value: Rule
|
||||
|
||||
def parse(self, text: str, pos: int) -> tuple[int, Any]:
|
||||
"""Apply rule at position."""
|
||||
npos, node = self.value.parse(text, pos)
|
||||
if npos == -1:
|
||||
return -1, ()
|
||||
data = [node]
|
||||
lpos = npos
|
||||
while True:
|
||||
npos, node = self.value.parse(text, lpos)
|
||||
if npos == -1:
|
||||
return lpos, self.make_node(tuple(data))
|
||||
data.append(node)
|
||||
lpos = npos
|
||||
|
||||
|
||||
class RuleZeroOne(Rule):
|
||||
"""Rule to match zero or one occurence of subrule."""
|
||||
|
||||
value: Rule
|
||||
|
||||
def parse(self, text: str, pos: int) -> tuple[int, Any]:
|
||||
"""Apply rule at position."""
|
||||
npos, node = self.value.parse(text, pos)
|
||||
if npos == -1:
|
||||
return pos, self.make_node(())
|
||||
return npos, self.make_node((node,))
|
||||
|
||||
|
||||
class Visitor: # pylint: disable=too-few-public-methods
|
||||
"""Visitor transforming parse trees."""
|
||||
|
||||
RULES: dict[str, Rule] = {}
|
||||
|
||||
def __init__(self) -> None:
|
||||
"""Initialize."""
|
||||
|
||||
def visit(self, tree: Tree) -> Tree:
|
||||
"""Visit all nodes in parse tree."""
|
||||
if isinstance(tree, tuple):
|
||||
return tuple(self.visit(x) for x in tree)
|
||||
|
||||
if isinstance(tree, str):
|
||||
return tree
|
||||
|
||||
assert isinstance(tree, dict), tree
|
||||
assert list(tree.keys()) == ['node', 'data'], tree.keys()
|
||||
|
||||
tree['data'] = self.visit(tree['data'])
|
||||
func = getattr(self, f'visit_{tree["node"]}', lambda x: x)
|
||||
return func(tree['data'])
|
||||
|
||||
|
||||
def split_token(tok: str) -> list[str]:
|
||||
"""Split repetition and grouping tokens."""
|
||||
return list(filter(None, re.split(r'(^\()|(\)(?=[*+?]?$))|([*+?]$)', tok)))
|
||||
|
||||
|
||||
def collapse_tokens(
|
||||
toks: list[Optional[Rule]],
|
||||
rules: dict[str, Rule],
|
||||
whitespace: Pattern[str],
|
||||
) -> Rule:
|
||||
"""Collapse linear list of tokens to oneof of sequences."""
|
||||
value: list[Rule] = []
|
||||
seq: list[Rule] = []
|
||||
for tok in toks:
|
||||
if tok:
|
||||
seq.append(tok)
|
||||
else:
|
||||
value.append(RuleSequence(seq, rules, whitespace) if len(seq) > 1 else seq[0])
|
||||
seq = []
|
||||
value.append(RuleSequence(seq, rules, whitespace) if len(seq) > 1 else seq[0])
|
||||
return RuleOneof(value, rules, whitespace) if len(value) > 1 else value[0]
|
||||
|
||||
|
||||
def parse_grammar(
|
||||
grammar: str,
|
||||
whitespace: Pattern[str] = re.compile(r'\s+', re.M | re.S),
|
||||
) -> dict[str, Rule]:
|
||||
"""Parse grammar into rule dictionary."""
|
||||
rules: dict[str, Rule] = {}
|
||||
for token in grammar.split('\n\n'):
|
||||
lines = token.strip().split('\n')
|
||||
name, *defs = lines
|
||||
items = [z for x in defs for y in x.split(' ') if y for z in split_token(y) if z]
|
||||
assert items
|
||||
assert items[0] == '='
|
||||
items.pop(0)
|
||||
stack: list[Optional[Rule]] = []
|
||||
parens: list[int] = []
|
||||
while items:
|
||||
tok = items.pop(0)
|
||||
if tok in ['*', '+', '?']:
|
||||
assert isinstance(stack[-1], Rule)
|
||||
stack[-1] = {
|
||||
'*': RuleZeroPlus,
|
||||
'+': RuleOnePlus,
|
||||
'?': RuleZeroOne,
|
||||
}[tok](stack[-1], rules, whitespace)
|
||||
elif tok == '/':
|
||||
stack.append(None)
|
||||
elif tok == '(':
|
||||
parens.append(len(stack))
|
||||
elif tok == ')':
|
||||
index = parens.pop()
|
||||
rule = collapse_tokens(stack[index:], rules, whitespace)
|
||||
stack = stack[:index]
|
||||
stack.append(rule)
|
||||
elif len(tok) > 2 and tok[:2] == 'r\'':
|
||||
stack.append(RuleRegex(tok, rules, whitespace))
|
||||
elif tok[0] == '\'':
|
||||
stack.append(RuleLiteral(tok, rules, whitespace))
|
||||
else:
|
||||
stack.append(RuleToken(tok, rules, whitespace))
|
||||
|
||||
res = collapse_tokens(stack, rules, whitespace)
|
||||
res.name = name
|
||||
rules[name] = res
|
||||
return rules
|
||||
0
rosbags/src/rosbags/typesys/py.typed
Normal file
0
rosbags/src/rosbags/typesys/py.typed
Normal file
175
rosbags/src/rosbags/typesys/register.py
Normal file
175
rosbags/src/rosbags/typesys/register.py
Normal file
@ -0,0 +1,175 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Code generators and registration functions for the extensible type system."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import re
|
||||
import sys
|
||||
from importlib.util import module_from_spec, spec_from_loader
|
||||
from typing import TYPE_CHECKING
|
||||
|
||||
from . import types
|
||||
from .base import Nodetype, TypesysError
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from typing import Any, Optional, Protocol, Union
|
||||
|
||||
from .base import Typesdict
|
||||
|
||||
class Typestore(Protocol): # pylint: disable=too-few-public-methods
|
||||
"""Type storage."""
|
||||
|
||||
FIELDDEFS: Typesdict
|
||||
|
||||
|
||||
INTLIKE = re.compile('^u?(bool|int|float)')
|
||||
|
||||
|
||||
def get_typehint(desc: tuple[int, Union[str, tuple[tuple[int, str], Optional[int]]]]) -> str:
|
||||
"""Get python type hint for field.
|
||||
|
||||
Args:
|
||||
desc: Field descriptor.
|
||||
|
||||
Returns:
|
||||
Type hint for field.
|
||||
|
||||
"""
|
||||
if desc[0] == Nodetype.BASE:
|
||||
assert isinstance(desc[1], str)
|
||||
return match.group(1) if (match := INTLIKE.match(desc[1])) else 'str'
|
||||
|
||||
if desc[0] == Nodetype.NAME:
|
||||
assert isinstance(desc[1], str)
|
||||
return desc[1].replace('/', '__')
|
||||
|
||||
sub = desc[1][0]
|
||||
if INTLIKE.match(sub[1]):
|
||||
typ = 'bool_' if sub[1] == 'bool' else sub[1]
|
||||
return f'numpy.ndarray[Any, numpy.dtype[numpy.{typ}]]'
|
||||
assert isinstance(sub, tuple)
|
||||
return f'list[{get_typehint(sub)}]'
|
||||
|
||||
|
||||
def generate_python_code(typs: Typesdict) -> str:
|
||||
"""Generate python code from types dictionary.
|
||||
|
||||
Args:
|
||||
typs: Dictionary mapping message typenames to parsetrees.
|
||||
|
||||
Returns:
|
||||
Code for importable python module.
|
||||
|
||||
"""
|
||||
lines = [
|
||||
'# Copyright 2020-2023 Ternaris.',
|
||||
'# SPDX-License-Identifier: Apache-2.0',
|
||||
'#',
|
||||
'# THIS FILE IS GENERATED, DO NOT EDIT',
|
||||
'"""ROS2 message types."""',
|
||||
'',
|
||||
'# flake8: noqa N801',
|
||||
'# pylint: disable=invalid-name,too-many-instance-attributes,too-many-lines',
|
||||
'',
|
||||
'from __future__ import annotations',
|
||||
'',
|
||||
'from dataclasses import dataclass',
|
||||
'from typing import TYPE_CHECKING',
|
||||
'',
|
||||
'if TYPE_CHECKING:',
|
||||
' from typing import Any, ClassVar',
|
||||
'',
|
||||
' import numpy',
|
||||
'',
|
||||
' from .base import Typesdict',
|
||||
'',
|
||||
'',
|
||||
]
|
||||
|
||||
for name, (consts, fields) in typs.items():
|
||||
pyname = name.replace('/', '__')
|
||||
lines += [
|
||||
'@dataclass',
|
||||
f'class {pyname}:',
|
||||
f' """Class for {name}."""',
|
||||
'',
|
||||
*[f' {fname}: {get_typehint(desc)}' for fname, desc in fields],
|
||||
*[
|
||||
f' {fname}: ClassVar[{get_typehint((1, ftype))}] = {fvalue!r}'
|
||||
for fname, ftype, fvalue in consts
|
||||
],
|
||||
f' __msgtype__: ClassVar[str] = {name!r}',
|
||||
]
|
||||
|
||||
lines += [
|
||||
'',
|
||||
'',
|
||||
]
|
||||
|
||||
def get_ftype(ftype: tuple[int, Any]) -> tuple[int, Any]:
|
||||
if ftype[0] <= 2:
|
||||
return int(ftype[0]), ftype[1]
|
||||
return int(ftype[0]), ((int(ftype[1][0][0]), ftype[1][0][1]), ftype[1][1])
|
||||
|
||||
lines += ['FIELDDEFS: Typesdict = {']
|
||||
for name, (consts, fields) in typs.items():
|
||||
pyname = name.replace('/', '__')
|
||||
lines += [
|
||||
f' \'{name}\': (',
|
||||
*(
|
||||
[
|
||||
' [',
|
||||
*[
|
||||
f' ({fname!r}, {ftype!r}, {fvalue!r}),'
|
||||
for fname, ftype, fvalue in consts
|
||||
],
|
||||
' ],',
|
||||
] if consts else [' [],']
|
||||
),
|
||||
' [',
|
||||
*[f' ({fname!r}, {get_ftype(ftype)!r}),' for fname, ftype in fields],
|
||||
' ],',
|
||||
' ),',
|
||||
]
|
||||
lines += [
|
||||
'}',
|
||||
'',
|
||||
]
|
||||
return '\n'.join(lines)
|
||||
|
||||
|
||||
def register_types(typs: Typesdict, typestore: Typestore = types) -> None:
|
||||
"""Register types in type system.
|
||||
|
||||
Args:
|
||||
typs: Dictionary mapping message typenames to parsetrees.
|
||||
typestore: Type store.
|
||||
|
||||
Raises:
|
||||
TypesysError: Type already present with different definition.
|
||||
|
||||
"""
|
||||
code = generate_python_code(typs)
|
||||
name = 'rosbags.usertypes'
|
||||
spec = spec_from_loader(name, loader=None)
|
||||
assert spec
|
||||
module = module_from_spec(spec)
|
||||
sys.modules[name] = module
|
||||
exec(code, module.__dict__) # pylint: disable=exec-used
|
||||
fielddefs: Typesdict = module.FIELDDEFS
|
||||
|
||||
for name, (_, fields) in fielddefs.items():
|
||||
if name == 'std_msgs/msg/Header':
|
||||
continue
|
||||
if have := typestore.FIELDDEFS.get(name):
|
||||
_, have_fields = have
|
||||
have_fields = [(x[0].lower(), x[1]) for x in have_fields]
|
||||
fields = [(x[0].lower(), x[1]) for x in fields]
|
||||
if have_fields != fields:
|
||||
raise TypesysError(f'Type {name!r} is already present with different definition.')
|
||||
|
||||
for name in fielddefs.keys() - typestore.FIELDDEFS.keys():
|
||||
pyname = name.replace('/', '__')
|
||||
setattr(typestore, pyname, getattr(module, pyname))
|
||||
typestore.FIELDDEFS[name] = fielddefs[name]
|
||||
3020
rosbags/src/rosbags/typesys/types.py
Normal file
3020
rosbags/src/rosbags/typesys/types.py
Normal file
File diff suppressed because it is too large
Load Diff
3
rosbags/tests/__init__.py
Normal file
3
rosbags/tests/__init__.py
Normal file
@ -0,0 +1,3 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Rosbag tests."""
|
||||
445
rosbags/tests/cdr.py
Normal file
445
rosbags/tests/cdr.py
Normal file
@ -0,0 +1,445 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Reference CDR message serializer and deserializer."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import sys
|
||||
from struct import Struct, pack_into, unpack_from
|
||||
from typing import TYPE_CHECKING, Dict, List, Union, cast
|
||||
|
||||
import numpy
|
||||
from numpy.typing import NDArray
|
||||
|
||||
from rosbags.serde.messages import SerdeError, get_msgdef
|
||||
from rosbags.serde.typing import Msgdef
|
||||
from rosbags.serde.utils import SIZEMAP, Valtype
|
||||
from rosbags.typesys import types
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from typing import Any, Tuple
|
||||
|
||||
from rosbags.serde.typing import Descriptor
|
||||
|
||||
Array = Union[List[Msgdef], List[str], numpy.ndarray]
|
||||
BasetypeMap = Dict[str, Struct]
|
||||
BASETYPEMAP_LE: BasetypeMap = {
|
||||
'bool': Struct('?'),
|
||||
'int8': Struct('b'),
|
||||
'int16': Struct('<h'),
|
||||
'int32': Struct('<i'),
|
||||
'int64': Struct('<q'),
|
||||
'uint8': Struct('B'),
|
||||
'uint16': Struct('<H'),
|
||||
'uint32': Struct('<I'),
|
||||
'uint64': Struct('<Q'),
|
||||
'float32': Struct('<f'),
|
||||
'float64': Struct('<d'),
|
||||
}
|
||||
|
||||
BASETYPEMAP_BE: BasetypeMap = {
|
||||
'bool': Struct('?'),
|
||||
'int8': Struct('b'),
|
||||
'int16': Struct('>h'),
|
||||
'int32': Struct('>i'),
|
||||
'int64': Struct('>q'),
|
||||
'uint8': Struct('B'),
|
||||
'uint16': Struct('>H'),
|
||||
'uint32': Struct('>I'),
|
||||
'uint64': Struct('>Q'),
|
||||
'float32': Struct('>f'),
|
||||
'float64': Struct('>d'),
|
||||
}
|
||||
|
||||
|
||||
def deserialize_number(rawdata: bytes, bmap: BasetypeMap, pos: int, basetype: str) \
|
||||
-> Tuple[Union[bool, float, int], int]:
|
||||
"""Deserialize a single boolean, float, or int.
|
||||
|
||||
Args:
|
||||
rawdata: Serialized data.
|
||||
bmap: Basetype metadata.
|
||||
pos: Read position.
|
||||
basetype: Number type string.
|
||||
|
||||
Returns:
|
||||
Deserialized number and new read position.
|
||||
|
||||
"""
|
||||
dtype, size = bmap[basetype], SIZEMAP[basetype]
|
||||
pos = (pos + size - 1) & -size
|
||||
return dtype.unpack_from(rawdata, pos)[0], pos + size
|
||||
|
||||
|
||||
def deserialize_string(rawdata: bytes, bmap: BasetypeMap, pos: int) \
|
||||
-> Tuple[str, int]:
|
||||
"""Deserialize a string value.
|
||||
|
||||
Args:
|
||||
rawdata: Serialized data.
|
||||
bmap: Basetype metadata.
|
||||
pos: Read position.
|
||||
|
||||
Returns:
|
||||
Deserialized string and new read position.
|
||||
|
||||
"""
|
||||
pos = (pos + 4 - 1) & -4
|
||||
length = bmap['int32'].unpack_from(rawdata, pos)[0]
|
||||
val = bytes(rawdata[pos + 4:pos + 4 + length - 1])
|
||||
return val.decode(), pos + 4 + length
|
||||
|
||||
|
||||
def deserialize_array(rawdata: bytes, bmap: BasetypeMap, pos: int, num: int, desc: Descriptor) \
|
||||
-> Tuple[Array, int]:
|
||||
"""Deserialize an array of items of same type.
|
||||
|
||||
Args:
|
||||
rawdata: Serialized data.
|
||||
bmap: Basetype metadata.
|
||||
pos: Read position.
|
||||
num: Number of elements.
|
||||
desc: Element type descriptor.
|
||||
|
||||
Returns:
|
||||
Deserialized array and new read position.
|
||||
|
||||
Raises:
|
||||
SerdeError: Unexpected element type.
|
||||
|
||||
"""
|
||||
if desc.valtype == Valtype.BASE:
|
||||
if desc.args == 'string':
|
||||
strs = []
|
||||
while (num := num - 1) >= 0:
|
||||
val, pos = deserialize_string(rawdata, bmap, pos)
|
||||
strs.append(val)
|
||||
return strs, pos
|
||||
|
||||
size = SIZEMAP[desc.args]
|
||||
pos = (pos + size - 1) & -size
|
||||
ndarr = numpy.frombuffer(rawdata, dtype=desc.args, count=num, offset=pos)
|
||||
if (bmap is BASETYPEMAP_LE) != (sys.byteorder == 'little'):
|
||||
ndarr = ndarr.byteswap() # no inplace on readonly array
|
||||
return ndarr, pos + num * SIZEMAP[desc.args]
|
||||
|
||||
if desc.valtype == Valtype.MESSAGE:
|
||||
msgs = []
|
||||
while (num := num - 1) >= 0:
|
||||
msg, pos = deserialize_message(rawdata, bmap, pos, desc.args)
|
||||
msgs.append(msg)
|
||||
return msgs, pos
|
||||
|
||||
raise SerdeError(f'Nested arrays {desc!r} are not supported.')
|
||||
|
||||
|
||||
def deserialize_message(rawdata: bytes, bmap: BasetypeMap, pos: int, msgdef: Msgdef) \
|
||||
-> Tuple[Msgdef, int]:
|
||||
"""Deserialize a message.
|
||||
|
||||
Args:
|
||||
rawdata: Serialized data.
|
||||
bmap: Basetype metadata.
|
||||
pos: Read position.
|
||||
msgdef: Message definition.
|
||||
|
||||
Returns:
|
||||
Deserialized message and new read position.
|
||||
|
||||
"""
|
||||
values: List[Any] = []
|
||||
|
||||
for _, desc in msgdef.fields:
|
||||
if desc.valtype == Valtype.MESSAGE:
|
||||
obj, pos = deserialize_message(rawdata, bmap, pos, desc.args)
|
||||
values.append(obj)
|
||||
|
||||
elif desc.valtype == Valtype.BASE:
|
||||
if desc.args == 'string':
|
||||
val, pos = deserialize_string(rawdata, bmap, pos)
|
||||
values.append(val)
|
||||
else:
|
||||
num, pos = deserialize_number(rawdata, bmap, pos, desc.args)
|
||||
values.append(num)
|
||||
|
||||
elif desc.valtype == Valtype.ARRAY:
|
||||
subdesc, length = desc.args
|
||||
arr, pos = deserialize_array(rawdata, bmap, pos, length, subdesc)
|
||||
values.append(arr)
|
||||
|
||||
elif desc.valtype == Valtype.SEQUENCE:
|
||||
size, pos = deserialize_number(rawdata, bmap, pos, 'int32')
|
||||
arr, pos = deserialize_array(rawdata, bmap, pos, int(size), desc.args[0])
|
||||
values.append(arr)
|
||||
|
||||
return msgdef.cls(*values), pos
|
||||
|
||||
|
||||
def deserialize(rawdata: bytes, typename: str) -> Msgdef:
|
||||
"""Deserialize raw data into a message object.
|
||||
|
||||
Args:
|
||||
rawdata: Serialized data.
|
||||
typename: Type to deserialize.
|
||||
|
||||
Returns:
|
||||
Deserialized message object.
|
||||
|
||||
"""
|
||||
_, little_endian = unpack_from('BB', rawdata, 0)
|
||||
|
||||
msgdef = get_msgdef(typename, types)
|
||||
obj, _ = deserialize_message(
|
||||
rawdata[4:],
|
||||
BASETYPEMAP_LE if little_endian else BASETYPEMAP_BE,
|
||||
0,
|
||||
msgdef,
|
||||
)
|
||||
|
||||
return obj
|
||||
|
||||
|
||||
def serialize_number(
|
||||
rawdata: memoryview,
|
||||
bmap: BasetypeMap,
|
||||
pos: int,
|
||||
basetype: str,
|
||||
val: Union[bool, float, int],
|
||||
) -> int:
|
||||
"""Serialize a single boolean, float, or int.
|
||||
|
||||
Args:
|
||||
rawdata: Serialized data.
|
||||
bmap: Basetype metadata.
|
||||
pos: Write position.
|
||||
basetype: Number type string.
|
||||
val: Value to serialize.
|
||||
|
||||
Returns:
|
||||
Next write position.
|
||||
|
||||
"""
|
||||
dtype, size = bmap[basetype], SIZEMAP[basetype]
|
||||
pos = (pos + size - 1) & -size
|
||||
dtype.pack_into(rawdata, pos, val)
|
||||
return pos + size
|
||||
|
||||
|
||||
def serialize_string(rawdata: memoryview, bmap: BasetypeMap, pos: int, val: str) \
|
||||
-> int:
|
||||
"""Deserialize a string value.
|
||||
|
||||
Args:
|
||||
rawdata: Serialized data.
|
||||
bmap: Basetype metadata.
|
||||
pos: Write position.
|
||||
val: Value to serialize.
|
||||
|
||||
Returns:
|
||||
Next write position.
|
||||
|
||||
"""
|
||||
bval = memoryview(val.encode())
|
||||
length = len(bval) + 1
|
||||
|
||||
pos = (pos + 4 - 1) & -4
|
||||
bmap['int32'].pack_into(rawdata, pos, length)
|
||||
rawdata[pos + 4:pos + 4 + length - 1] = bval
|
||||
return pos + 4 + length
|
||||
|
||||
|
||||
def serialize_array(
|
||||
rawdata: memoryview,
|
||||
bmap: BasetypeMap,
|
||||
pos: int,
|
||||
desc: Descriptor,
|
||||
val: Array,
|
||||
) -> int:
|
||||
"""Serialize an array of items of same type.
|
||||
|
||||
Args:
|
||||
rawdata: Serialized data.
|
||||
bmap: Basetype metadata.
|
||||
pos: Write position.
|
||||
desc: Element type descriptor.
|
||||
val: Value to serialize.
|
||||
|
||||
Returns:
|
||||
Next write position.
|
||||
|
||||
Raises:
|
||||
SerdeError: Unexpected element type.
|
||||
|
||||
"""
|
||||
if desc.valtype == Valtype.BASE:
|
||||
if desc.args == 'string':
|
||||
for item in val:
|
||||
pos = serialize_string(rawdata, bmap, pos, cast('str', item))
|
||||
return pos
|
||||
|
||||
size = SIZEMAP[desc.args]
|
||||
pos = (pos + size - 1) & -size
|
||||
size *= len(val)
|
||||
val = cast('NDArray[numpy.int_]', val)
|
||||
if (bmap is BASETYPEMAP_LE) != (sys.byteorder == 'little'):
|
||||
val = val.byteswap() # no inplace on readonly array
|
||||
rawdata[pos:pos + size] = memoryview(val.tobytes())
|
||||
return pos + size
|
||||
|
||||
if desc.valtype == Valtype.MESSAGE:
|
||||
for item in val:
|
||||
pos = serialize_message(rawdata, bmap, pos, item, desc.args)
|
||||
return pos
|
||||
|
||||
raise SerdeError(f'Nested arrays {desc!r} are not supported.') # pragma: no cover
|
||||
|
||||
|
||||
def serialize_message(
|
||||
rawdata: memoryview,
|
||||
bmap: BasetypeMap,
|
||||
pos: int,
|
||||
message: object,
|
||||
msgdef: Msgdef,
|
||||
) -> int:
|
||||
"""Serialize a message.
|
||||
|
||||
Args:
|
||||
rawdata: Serialized data.
|
||||
bmap: Basetype metadata.
|
||||
pos: Write position.
|
||||
message: Message object.
|
||||
msgdef: Message definition.
|
||||
|
||||
Returns:
|
||||
Next write position.
|
||||
|
||||
"""
|
||||
for fieldname, desc in msgdef.fields:
|
||||
val = getattr(message, fieldname)
|
||||
if desc.valtype == Valtype.MESSAGE:
|
||||
pos = serialize_message(rawdata, bmap, pos, val, desc.args)
|
||||
|
||||
elif desc.valtype == Valtype.BASE:
|
||||
if desc.args == 'string':
|
||||
pos = serialize_string(rawdata, bmap, pos, val)
|
||||
else:
|
||||
pos = serialize_number(rawdata, bmap, pos, desc.args, val)
|
||||
|
||||
elif desc.valtype == Valtype.ARRAY:
|
||||
pos = serialize_array(rawdata, bmap, pos, desc.args[0], val)
|
||||
|
||||
elif desc.valtype == Valtype.SEQUENCE:
|
||||
size = len(val)
|
||||
pos = serialize_number(rawdata, bmap, pos, 'int32', size)
|
||||
pos = serialize_array(rawdata, bmap, pos, desc.args[0], val)
|
||||
|
||||
return pos
|
||||
|
||||
|
||||
def get_array_size(desc: Descriptor, val: Array, size: int) -> int:
|
||||
"""Calculate size of an array.
|
||||
|
||||
Args:
|
||||
desc: Element type descriptor.
|
||||
val: Array to calculate size of.
|
||||
size: Current size of message.
|
||||
|
||||
Returns:
|
||||
Size of val in bytes.
|
||||
|
||||
Raises:
|
||||
SerdeError: Unexpected element type.
|
||||
|
||||
"""
|
||||
if desc.valtype == Valtype.BASE:
|
||||
if desc.args == 'string':
|
||||
for item in val:
|
||||
size = (size + 4 - 1) & -4
|
||||
size += 4 + len(item) + 1
|
||||
return size
|
||||
|
||||
isize = SIZEMAP[desc.args]
|
||||
size = (size + isize - 1) & -isize
|
||||
return size + isize * len(val)
|
||||
|
||||
if desc.valtype == Valtype.MESSAGE:
|
||||
for item in val:
|
||||
size = get_size(item, desc.args, size)
|
||||
return size
|
||||
|
||||
raise SerdeError(f'Nested arrays {desc!r} are not supported.') # pragma: no cover
|
||||
|
||||
|
||||
def get_size(message: object, msgdef: Msgdef, size: int = 0) -> int:
|
||||
"""Calculate size of serialzied message.
|
||||
|
||||
Args:
|
||||
message: Message object.
|
||||
msgdef: Message definition.
|
||||
size: Current size of message.
|
||||
|
||||
Returns:
|
||||
Size of message in bytes.
|
||||
|
||||
Raises:
|
||||
SerdeError: Unexpected array length in message.
|
||||
|
||||
"""
|
||||
for fieldname, desc in msgdef.fields:
|
||||
val = getattr(message, fieldname)
|
||||
if desc.valtype == Valtype.MESSAGE:
|
||||
size = get_size(val, desc.args, size)
|
||||
|
||||
elif desc.valtype == Valtype.BASE:
|
||||
if desc.args == 'string':
|
||||
size = (size + 4 - 1) & -4
|
||||
size += 4 + len(val.encode()) + 1
|
||||
else:
|
||||
isize = SIZEMAP[desc.args]
|
||||
size = (size + isize - 1) & -isize
|
||||
size += isize
|
||||
|
||||
elif desc.valtype == Valtype.ARRAY:
|
||||
subdesc, length = desc.args
|
||||
if len(val) != length:
|
||||
raise SerdeError(f'Unexpected array length: {len(val)} != {length}.')
|
||||
size = get_array_size(subdesc, val, size)
|
||||
|
||||
elif desc.valtype == Valtype.SEQUENCE:
|
||||
size = (size + 4 - 1) & -4
|
||||
size += 4
|
||||
size = get_array_size(desc.args[0], val, size)
|
||||
|
||||
return size
|
||||
|
||||
|
||||
def serialize(
|
||||
message: object,
|
||||
typename: str,
|
||||
little_endian: bool = sys.byteorder == 'little',
|
||||
) -> memoryview:
|
||||
"""Serialize message object to bytes.
|
||||
|
||||
Args:
|
||||
message: Message object.
|
||||
typename: Type to serialize.
|
||||
little_endian: Should use little endianess.
|
||||
|
||||
Returns:
|
||||
Serialized bytes.
|
||||
|
||||
"""
|
||||
msgdef = get_msgdef(typename, types)
|
||||
size = 4 + get_size(message, msgdef)
|
||||
rawdata = memoryview(bytearray(size))
|
||||
|
||||
pack_into('BB', rawdata, 0, 0, little_endian)
|
||||
pos = serialize_message(
|
||||
rawdata[4:],
|
||||
BASETYPEMAP_LE if little_endian else BASETYPEMAP_BE,
|
||||
0,
|
||||
message,
|
||||
msgdef,
|
||||
)
|
||||
assert pos + 4 == size
|
||||
return rawdata.toreadonly()
|
||||
444
rosbags/tests/test_convert.py
Normal file
444
rosbags/tests/test_convert.py
Normal file
@ -0,0 +1,444 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Rosbag1to2 converter tests."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import sys
|
||||
from pathlib import Path
|
||||
from typing import TYPE_CHECKING
|
||||
from unittest.mock import call, patch
|
||||
|
||||
import pytest
|
||||
|
||||
from rosbags.convert import ConverterError, convert
|
||||
from rosbags.convert.__main__ import main
|
||||
from rosbags.convert.converter import LATCH
|
||||
from rosbags.interfaces import Connection, ConnectionExtRosbag1, ConnectionExtRosbag2
|
||||
from rosbags.rosbag1 import ReaderError
|
||||
from rosbags.rosbag2 import WriterError
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from typing import Any
|
||||
|
||||
|
||||
def test_cliwrapper(tmp_path: Path) -> None:
|
||||
"""Test cli wrapper."""
|
||||
(tmp_path / 'subdir').mkdir()
|
||||
(tmp_path / 'ros1.bag').write_text('')
|
||||
|
||||
with patch('rosbags.convert.__main__.convert') as cvrt, \
|
||||
patch.object(sys, 'argv', ['cvt']), \
|
||||
pytest.raises(SystemExit):
|
||||
main()
|
||||
assert not cvrt.called
|
||||
|
||||
with patch('rosbags.convert.__main__.convert') as cvrt, \
|
||||
patch.object(sys, 'argv', ['cvt', str(tmp_path / 'no.bag')]), \
|
||||
pytest.raises(SystemExit):
|
||||
main()
|
||||
assert not cvrt.called
|
||||
|
||||
with patch('rosbags.convert.__main__.convert') as cvrt, \
|
||||
patch.object(sys, 'argv', ['cvt', str(tmp_path / 'ros1.bag')]):
|
||||
main()
|
||||
cvrt.assert_called_with(
|
||||
src=tmp_path / 'ros1.bag',
|
||||
dst=None,
|
||||
exclude_topics=[],
|
||||
include_topics=[],
|
||||
)
|
||||
|
||||
with patch('rosbags.convert.__main__.convert') as cvrt, \
|
||||
patch.object(sys, 'argv', ['cvt',
|
||||
str(tmp_path / 'ros1.bag'),
|
||||
'--dst',
|
||||
str(tmp_path / 'subdir')]), \
|
||||
pytest.raises(SystemExit):
|
||||
main()
|
||||
assert not cvrt.called
|
||||
|
||||
with patch('rosbags.convert.__main__.convert') as cvrt, \
|
||||
patch.object(sys, 'argv', ['cvt',
|
||||
str(tmp_path / 'ros1.bag'),
|
||||
'--dst',
|
||||
str(tmp_path / 'ros2.bag')]), \
|
||||
pytest.raises(SystemExit):
|
||||
main()
|
||||
assert not cvrt.called
|
||||
|
||||
with patch('rosbags.convert.__main__.convert') as cvrt, \
|
||||
patch.object(sys, 'argv', ['cvt',
|
||||
str(tmp_path / 'ros1.bag'),
|
||||
'--dst',
|
||||
str(tmp_path / 'target')]):
|
||||
main()
|
||||
cvrt.assert_called_with(
|
||||
src=tmp_path / 'ros1.bag',
|
||||
dst=tmp_path / 'target',
|
||||
exclude_topics=[],
|
||||
include_topics=[],
|
||||
)
|
||||
|
||||
with patch.object(sys, 'argv', ['cvt', str(tmp_path / 'ros1.bag')]), \
|
||||
patch('builtins.print') as mock_print, \
|
||||
patch('rosbags.convert.__main__.convert', side_effect=ConverterError('exc')), \
|
||||
pytest.raises(SystemExit):
|
||||
main()
|
||||
mock_print.assert_called_with('ERROR: exc')
|
||||
|
||||
with patch('rosbags.convert.__main__.convert') as cvrt, \
|
||||
patch.object(sys, 'argv', ['cvt', str(tmp_path / 'subdir')]):
|
||||
main()
|
||||
cvrt.assert_called_with(
|
||||
src=tmp_path / 'subdir',
|
||||
dst=None,
|
||||
exclude_topics=[],
|
||||
include_topics=[],
|
||||
)
|
||||
|
||||
with patch('rosbags.convert.__main__.convert') as cvrt, \
|
||||
patch.object(sys, 'argv', ['cvt',
|
||||
str(tmp_path / 'subdir'),
|
||||
'--dst',
|
||||
str(tmp_path / 'ros1.bag')]), \
|
||||
pytest.raises(SystemExit):
|
||||
main()
|
||||
assert not cvrt.called
|
||||
|
||||
with patch('rosbags.convert.__main__.convert') as cvrt, \
|
||||
patch.object(sys, 'argv', ['cvt',
|
||||
str(tmp_path / 'subdir'),
|
||||
'--dst',
|
||||
str(tmp_path / 'target.bag')]):
|
||||
main()
|
||||
cvrt.assert_called_with(
|
||||
src=tmp_path / 'subdir',
|
||||
dst=tmp_path / 'target.bag',
|
||||
exclude_topics=[],
|
||||
include_topics=[],
|
||||
)
|
||||
|
||||
with patch.object(sys, 'argv', ['cvt', str(tmp_path / 'subdir')]), \
|
||||
patch('builtins.print') as mock_print, \
|
||||
patch('rosbags.convert.__main__.convert', side_effect=ConverterError('exc')), \
|
||||
pytest.raises(SystemExit):
|
||||
main()
|
||||
mock_print.assert_called_with('ERROR: exc')
|
||||
|
||||
with patch('rosbags.convert.__main__.convert') as cvrt, \
|
||||
patch.object(sys, 'argv', ['cvt',
|
||||
str(tmp_path / 'ros1.bag'),
|
||||
'--exclude-topic',
|
||||
'/foo']):
|
||||
main()
|
||||
cvrt.assert_called_with(
|
||||
src=tmp_path / 'ros1.bag',
|
||||
dst=None,
|
||||
exclude_topics=['/foo'],
|
||||
include_topics=[],
|
||||
)
|
||||
|
||||
|
||||
def test_convert_1to2(tmp_path: Path) -> None:
|
||||
"""Test conversion from rosbag1 to rosbag2."""
|
||||
(tmp_path / 'subdir').mkdir()
|
||||
(tmp_path / 'foo.bag').write_text('')
|
||||
|
||||
with pytest.raises(ConverterError, match='exists already'):
|
||||
convert(Path('foo.bag'), tmp_path / 'subdir')
|
||||
|
||||
with patch('rosbags.convert.converter.Reader1') as reader, \
|
||||
patch('rosbags.convert.converter.Writer2') as writer, \
|
||||
patch('rosbags.convert.converter.get_types_from_msg', return_value={'typ': 'def'}), \
|
||||
patch('rosbags.convert.converter.register_types') as register_types, \
|
||||
patch('rosbags.convert.converter.ros1_to_cdr') as ros1_to_cdr:
|
||||
|
||||
readerinst = reader.return_value.__enter__.return_value
|
||||
writerinst = writer.return_value.__enter__.return_value
|
||||
|
||||
connections = [
|
||||
Connection(1, '/topic', 'typ', 'def', '', -1, ConnectionExtRosbag1(None, False), None),
|
||||
Connection(2, '/topic', 'typ', 'def', '', -1, ConnectionExtRosbag1(None, True), None),
|
||||
Connection(3, '/other', 'typ', 'def', '', -1, ConnectionExtRosbag1(None, False), None),
|
||||
Connection(
|
||||
4,
|
||||
'/other',
|
||||
'typ',
|
||||
'def',
|
||||
'',
|
||||
-1,
|
||||
ConnectionExtRosbag1('caller', False),
|
||||
None,
|
||||
),
|
||||
]
|
||||
|
||||
wconnections = [
|
||||
Connection(1, '/topic', 'typ', '', '', -1, ConnectionExtRosbag2('cdr', ''), None),
|
||||
Connection(2, '/topic', 'typ', '', '', -1, ConnectionExtRosbag2('cdr', LATCH), None),
|
||||
Connection(3, '/other', 'typ', '', '', -1, ConnectionExtRosbag2('cdr', ''), None),
|
||||
]
|
||||
|
||||
readerinst.connections = [
|
||||
connections[0],
|
||||
connections[1],
|
||||
connections[2],
|
||||
connections[3],
|
||||
]
|
||||
|
||||
readerinst.messages.return_value = [
|
||||
(connections[0], 42, b'\x42'),
|
||||
(connections[1], 43, b'\x43'),
|
||||
(connections[2], 44, b'\x44'),
|
||||
(connections[3], 45, b'\x45'),
|
||||
]
|
||||
|
||||
writerinst.connections = []
|
||||
|
||||
def add_connection(*_: Any) -> Connection: # noqa: ANN401
|
||||
"""Mock for Writer.add_connection."""
|
||||
writerinst.connections = [
|
||||
conn for _, conn in zip(range(len(writerinst.connections) + 1), wconnections)
|
||||
]
|
||||
return wconnections[len(writerinst.connections) - 1]
|
||||
|
||||
writerinst.add_connection.side_effect = add_connection
|
||||
|
||||
ros1_to_cdr.return_value = b'666'
|
||||
|
||||
convert(Path('foo.bag'), None)
|
||||
|
||||
reader.assert_called_with(Path('foo.bag'))
|
||||
readerinst.messages.assert_called_with(connections=readerinst.connections)
|
||||
|
||||
writer.assert_called_with(Path('foo'))
|
||||
writerinst.add_connection.assert_has_calls(
|
||||
[
|
||||
call('/topic', 'typ', 'cdr', ''),
|
||||
call('/topic', 'typ', 'cdr', LATCH),
|
||||
call('/other', 'typ', 'cdr', ''),
|
||||
],
|
||||
)
|
||||
writerinst.write.assert_has_calls(
|
||||
[
|
||||
call(wconnections[0], 42, b'666'),
|
||||
call(wconnections[1], 43, b'666'),
|
||||
call(wconnections[2], 44, b'666'),
|
||||
call(wconnections[2], 45, b'666'),
|
||||
],
|
||||
)
|
||||
|
||||
register_types.assert_called_with({'typ': 'def'})
|
||||
ros1_to_cdr.assert_has_calls(
|
||||
[
|
||||
call(b'\x42', 'typ'),
|
||||
call(b'\x43', 'typ'),
|
||||
call(b'\x44', 'typ'),
|
||||
call(b'\x45', 'typ'),
|
||||
],
|
||||
)
|
||||
|
||||
with pytest.raises(ConverterError, match='No connections left for conversion'):
|
||||
convert(Path('foo.bag'), None, ['/topic', '/other'])
|
||||
|
||||
writerinst.connections.clear()
|
||||
ros1_to_cdr.side_effect = KeyError('exc')
|
||||
with pytest.raises(ConverterError, match='Converting rosbag: .*exc'):
|
||||
convert(Path('foo.bag'), None)
|
||||
|
||||
writer.side_effect = WriterError('exc')
|
||||
with pytest.raises(ConverterError, match='Writing destination bag: exc'):
|
||||
convert(Path('foo.bag'), None)
|
||||
|
||||
reader.side_effect = ReaderError('exc')
|
||||
with pytest.raises(ConverterError, match='Reading source bag: exc'):
|
||||
convert(Path('foo.bag'), None)
|
||||
|
||||
|
||||
def test_convert_2to1(tmp_path: Path) -> None:
|
||||
"""Test conversion from rosbag2 to rosbag1."""
|
||||
(tmp_path / 'subdir').mkdir()
|
||||
(tmp_path / 'foo.bag').write_text('')
|
||||
|
||||
with pytest.raises(ConverterError, match='exists already'):
|
||||
convert(Path('subdir'), tmp_path / 'foo.bag')
|
||||
|
||||
with patch('rosbags.convert.converter.Reader2') as reader, \
|
||||
patch('rosbags.convert.converter.Writer1') as writer, \
|
||||
patch('rosbags.convert.converter.cdr_to_ros1') as cdr_to_ros1:
|
||||
|
||||
readerinst = reader.return_value.__enter__.return_value
|
||||
writerinst = writer.return_value.__enter__.return_value
|
||||
|
||||
connections = [
|
||||
Connection(
|
||||
1,
|
||||
'/topic',
|
||||
'std_msgs/msg/Bool',
|
||||
'',
|
||||
'',
|
||||
-1,
|
||||
ConnectionExtRosbag2('', ''),
|
||||
None,
|
||||
),
|
||||
Connection(
|
||||
2,
|
||||
'/topic',
|
||||
'std_msgs/msg/Bool',
|
||||
'',
|
||||
'',
|
||||
-1,
|
||||
ConnectionExtRosbag2('', LATCH),
|
||||
None,
|
||||
),
|
||||
Connection(
|
||||
3,
|
||||
'/other',
|
||||
'std_msgs/msg/Bool',
|
||||
'',
|
||||
'',
|
||||
-1,
|
||||
ConnectionExtRosbag2('', ''),
|
||||
None,
|
||||
),
|
||||
Connection(
|
||||
4,
|
||||
'/other',
|
||||
'std_msgs/msg/Bool',
|
||||
'',
|
||||
'',
|
||||
-1,
|
||||
ConnectionExtRosbag2('', '0'),
|
||||
None,
|
||||
),
|
||||
]
|
||||
|
||||
wconnections = [
|
||||
Connection(
|
||||
1,
|
||||
'/topic',
|
||||
'std_msgs/msg/Bool',
|
||||
'',
|
||||
'8b94c1b53db61fb6aed406028ad6332a',
|
||||
-1,
|
||||
ConnectionExtRosbag1(None, False),
|
||||
None,
|
||||
),
|
||||
Connection(
|
||||
2,
|
||||
'/topic',
|
||||
'std_msgs/msg/Bool',
|
||||
'',
|
||||
'8b94c1b53db61fb6aed406028ad6332a',
|
||||
-1,
|
||||
ConnectionExtRosbag1(None, True),
|
||||
None,
|
||||
),
|
||||
Connection(
|
||||
3,
|
||||
'/other',
|
||||
'std_msgs/msg/Bool',
|
||||
'',
|
||||
'8b94c1b53db61fb6aed406028ad6332a',
|
||||
-1,
|
||||
ConnectionExtRosbag1(None, False),
|
||||
None,
|
||||
),
|
||||
]
|
||||
|
||||
readerinst.connections = [
|
||||
connections[0],
|
||||
connections[1],
|
||||
connections[2],
|
||||
connections[3],
|
||||
]
|
||||
|
||||
readerinst.messages.return_value = [
|
||||
(connections[0], 42, b'\x42'),
|
||||
(connections[1], 43, b'\x43'),
|
||||
(connections[2], 44, b'\x44'),
|
||||
(connections[3], 45, b'\x45'),
|
||||
]
|
||||
|
||||
writerinst.connections = []
|
||||
|
||||
def add_connection(*_: Any) -> Connection: # noqa: ANN401
|
||||
"""Mock for Writer.add_connection."""
|
||||
writerinst.connections = [
|
||||
conn for _, conn in zip(range(len(writerinst.connections) + 1), wconnections)
|
||||
]
|
||||
return wconnections[len(writerinst.connections) - 1]
|
||||
|
||||
writerinst.add_connection.side_effect = add_connection
|
||||
|
||||
cdr_to_ros1.return_value = b'666'
|
||||
|
||||
convert(Path('foo'), None)
|
||||
|
||||
reader.assert_called_with(Path('foo'))
|
||||
reader.return_value.__enter__.return_value.messages.assert_called_with(
|
||||
connections=readerinst.connections,
|
||||
)
|
||||
|
||||
writer.assert_called_with(Path('foo.bag'))
|
||||
writer.return_value.__enter__.return_value.add_connection.assert_has_calls(
|
||||
[
|
||||
call(
|
||||
'/topic',
|
||||
'std_msgs/msg/Bool',
|
||||
'bool data\n',
|
||||
'8b94c1b53db61fb6aed406028ad6332a',
|
||||
None,
|
||||
0,
|
||||
),
|
||||
call(
|
||||
'/topic',
|
||||
'std_msgs/msg/Bool',
|
||||
'bool data\n',
|
||||
'8b94c1b53db61fb6aed406028ad6332a',
|
||||
None,
|
||||
1,
|
||||
),
|
||||
call(
|
||||
'/other',
|
||||
'std_msgs/msg/Bool',
|
||||
'bool data\n',
|
||||
'8b94c1b53db61fb6aed406028ad6332a',
|
||||
None,
|
||||
0,
|
||||
),
|
||||
],
|
||||
)
|
||||
writer.return_value.__enter__.return_value.write.assert_has_calls(
|
||||
[
|
||||
call(wconnections[0], 42, b'666'),
|
||||
call(wconnections[1], 43, b'666'),
|
||||
call(wconnections[2], 44, b'666'),
|
||||
call(wconnections[2], 45, b'666'),
|
||||
],
|
||||
)
|
||||
|
||||
cdr_to_ros1.assert_has_calls(
|
||||
[
|
||||
call(b'\x42', 'std_msgs/msg/Bool'),
|
||||
call(b'\x43', 'std_msgs/msg/Bool'),
|
||||
call(b'\x44', 'std_msgs/msg/Bool'),
|
||||
call(b'\x45', 'std_msgs/msg/Bool'),
|
||||
],
|
||||
)
|
||||
|
||||
with pytest.raises(ConverterError, match='No connections left for conversion'):
|
||||
convert(Path('foobag'), None, ['/topic', '/other'])
|
||||
|
||||
writerinst.connections.clear()
|
||||
cdr_to_ros1.side_effect = KeyError('exc')
|
||||
with pytest.raises(ConverterError, match='Converting rosbag: .*exc'):
|
||||
convert(Path('foo'), None)
|
||||
|
||||
writer.side_effect = WriterError('exc')
|
||||
with pytest.raises(ConverterError, match='Writing destination bag: exc'):
|
||||
convert(Path('foo'), None)
|
||||
|
||||
reader.side_effect = ReaderError('exc')
|
||||
with pytest.raises(ConverterError, match='Reading source bag: exc'):
|
||||
convert(Path('foo'), None)
|
||||
262
rosbags/tests/test_highlevel.py
Normal file
262
rosbags/tests/test_highlevel.py
Normal file
@ -0,0 +1,262 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Reader tests."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from typing import TYPE_CHECKING
|
||||
from unittest.mock import patch
|
||||
|
||||
import pytest
|
||||
|
||||
from rosbags.highlevel import AnyReader, AnyReaderError
|
||||
from rosbags.interfaces import Connection
|
||||
from rosbags.rosbag1 import Writer as Writer1
|
||||
from rosbags.rosbag2 import Writer as Writer2
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from pathlib import Path
|
||||
from typing import Sequence
|
||||
|
||||
HEADER = b'\x00\x01\x00\x00'
|
||||
|
||||
|
||||
@pytest.fixture()
|
||||
def bags1(tmp_path: Path) -> list[Path]:
|
||||
"""Test data fixture."""
|
||||
paths = [
|
||||
tmp_path / 'ros1_1.bag',
|
||||
tmp_path / 'ros1_2.bag',
|
||||
tmp_path / 'ros1_3.bag',
|
||||
tmp_path / 'bad.bag',
|
||||
]
|
||||
with (Writer1(paths[0])) as writer:
|
||||
topic1 = writer.add_connection('/topic1', 'std_msgs/msg/Int8')
|
||||
topic2 = writer.add_connection('/topic2', 'std_msgs/msg/Int16')
|
||||
writer.write(topic1, 1, b'\x01')
|
||||
writer.write(topic2, 2, b'\x02\x00')
|
||||
writer.write(topic1, 9, b'\x09')
|
||||
with (Writer1(paths[1])) as writer:
|
||||
topic1 = writer.add_connection('/topic1', 'std_msgs/msg/Int8')
|
||||
writer.write(topic1, 5, b'\x05')
|
||||
with (Writer1(paths[2])) as writer:
|
||||
topic2 = writer.add_connection('/topic2', 'std_msgs/msg/Int16')
|
||||
writer.write(topic2, 15, b'\x15\x00')
|
||||
|
||||
paths[3].touch()
|
||||
|
||||
return paths
|
||||
|
||||
|
||||
@pytest.fixture()
|
||||
def bags2(tmp_path: Path) -> list[Path]:
|
||||
"""Test data fixture."""
|
||||
paths = [
|
||||
tmp_path / 'ros2_1',
|
||||
tmp_path / 'bad',
|
||||
]
|
||||
with (Writer2(paths[0])) as writer:
|
||||
topic1 = writer.add_connection('/topic1', 'std_msgs/msg/Int8')
|
||||
topic2 = writer.add_connection('/topic2', 'std_msgs/msg/Int16')
|
||||
writer.write(topic1, 1, HEADER + b'\x01')
|
||||
writer.write(topic2, 2, HEADER + b'\x02\x00')
|
||||
writer.write(topic1, 9, HEADER + b'\x09')
|
||||
writer.write(topic1, 5, HEADER + b'\x05')
|
||||
writer.write(topic2, 15, HEADER + b'\x15\x00')
|
||||
|
||||
paths[1].mkdir()
|
||||
(paths[1] / 'metadata.yaml').write_text(':')
|
||||
|
||||
return paths
|
||||
|
||||
|
||||
def test_anyreader1(bags1: Sequence[Path]) -> None: # pylint: disable=redefined-outer-name
|
||||
"""Test AnyReader on rosbag1."""
|
||||
# pylint: disable=too-many-statements
|
||||
with pytest.raises(AnyReaderError, match='at least one'):
|
||||
AnyReader([])
|
||||
|
||||
with pytest.raises(AnyReaderError, match='missing'):
|
||||
AnyReader([bags1[0] / 'badname'])
|
||||
|
||||
reader = AnyReader(bags1)
|
||||
with pytest.raises(AssertionError):
|
||||
assert reader.topics
|
||||
|
||||
with pytest.raises(AssertionError):
|
||||
next(reader.messages())
|
||||
|
||||
reader = AnyReader(bags1)
|
||||
with pytest.raises(AnyReaderError, match='seems to be empty'):
|
||||
reader.open()
|
||||
assert all(not x.bio for x in reader.readers) # type: ignore[union-attr]
|
||||
|
||||
with AnyReader(bags1[:3]) as reader:
|
||||
assert reader.duration == 15
|
||||
assert reader.start_time == 1
|
||||
assert reader.end_time == 16
|
||||
assert reader.message_count == 5
|
||||
assert list(reader.topics.keys()) == ['/topic1', '/topic2']
|
||||
assert len(reader.topics['/topic1'].connections) == 2
|
||||
assert reader.topics['/topic1'].msgcount == 3
|
||||
assert len(reader.topics['/topic2'].connections) == 2
|
||||
assert reader.topics['/topic2'].msgcount == 2
|
||||
|
||||
gen = reader.messages()
|
||||
|
||||
nxt = next(gen)
|
||||
assert nxt[0].topic == '/topic1'
|
||||
assert nxt[1:] == (1, b'\x01')
|
||||
msg = reader.deserialize(nxt[2], nxt[0].msgtype)
|
||||
assert msg.data == 1 # type: ignore
|
||||
nxt = next(gen)
|
||||
assert nxt[0].topic == '/topic2'
|
||||
assert nxt[1:] == (2, b'\x02\x00')
|
||||
msg = reader.deserialize(nxt[2], nxt[0].msgtype)
|
||||
assert msg.data == 2 # type: ignore
|
||||
nxt = next(gen)
|
||||
assert nxt[0].topic == '/topic1'
|
||||
assert nxt[1:] == (5, b'\x05')
|
||||
msg = reader.deserialize(nxt[2], nxt[0].msgtype)
|
||||
assert msg.data == 5 # type: ignore
|
||||
nxt = next(gen)
|
||||
assert nxt[0].topic == '/topic1'
|
||||
assert nxt[1:] == (9, b'\x09')
|
||||
msg = reader.deserialize(nxt[2], nxt[0].msgtype)
|
||||
assert msg.data == 9 # type: ignore
|
||||
nxt = next(gen)
|
||||
assert nxt[0].topic == '/topic2'
|
||||
assert nxt[1:] == (15, b'\x15\x00')
|
||||
msg = reader.deserialize(nxt[2], nxt[0].msgtype)
|
||||
assert msg.data == 21 # type: ignore
|
||||
with pytest.raises(StopIteration):
|
||||
next(gen)
|
||||
|
||||
gen = reader.messages(connections=reader.topics['/topic1'].connections)
|
||||
nxt = next(gen)
|
||||
assert nxt[0].topic == '/topic1'
|
||||
nxt = next(gen)
|
||||
assert nxt[0].topic == '/topic1'
|
||||
nxt = next(gen)
|
||||
assert nxt[0].topic == '/topic1'
|
||||
with pytest.raises(StopIteration):
|
||||
next(gen)
|
||||
|
||||
|
||||
def test_anyreader2(bags2: list[Path]) -> None: # pylint: disable=redefined-outer-name
|
||||
"""Test AnyReader on rosbag2."""
|
||||
# pylint: disable=too-many-statements
|
||||
with pytest.raises(AnyReaderError, match='multiple rosbag2'):
|
||||
AnyReader(bags2)
|
||||
|
||||
with pytest.raises(AnyReaderError, match='YAML'):
|
||||
AnyReader([bags2[1]])
|
||||
|
||||
with AnyReader([bags2[0]]) as reader:
|
||||
assert reader.duration == 15
|
||||
assert reader.start_time == 1
|
||||
assert reader.end_time == 16
|
||||
assert reader.message_count == 5
|
||||
assert list(reader.topics.keys()) == ['/topic1', '/topic2']
|
||||
assert len(reader.topics['/topic1'].connections) == 1
|
||||
assert reader.topics['/topic1'].msgcount == 3
|
||||
assert len(reader.topics['/topic2'].connections) == 1
|
||||
assert reader.topics['/topic2'].msgcount == 2
|
||||
|
||||
gen = reader.messages()
|
||||
|
||||
nxt = next(gen)
|
||||
assert nxt[0].topic == '/topic1'
|
||||
assert nxt[1:] == (1, HEADER + b'\x01')
|
||||
msg = reader.deserialize(nxt[2], nxt[0].msgtype)
|
||||
assert msg.data == 1 # type: ignore
|
||||
nxt = next(gen)
|
||||
assert nxt[0].topic == '/topic2'
|
||||
assert nxt[1:] == (2, HEADER + b'\x02\x00')
|
||||
msg = reader.deserialize(nxt[2], nxt[0].msgtype)
|
||||
assert msg.data == 2 # type: ignore
|
||||
nxt = next(gen)
|
||||
assert nxt[0].topic == '/topic1'
|
||||
assert nxt[1:] == (5, HEADER + b'\x05')
|
||||
msg = reader.deserialize(nxt[2], nxt[0].msgtype)
|
||||
assert msg.data == 5 # type: ignore
|
||||
nxt = next(gen)
|
||||
assert nxt[0].topic == '/topic1'
|
||||
assert nxt[1:] == (9, HEADER + b'\x09')
|
||||
msg = reader.deserialize(nxt[2], nxt[0].msgtype)
|
||||
assert msg.data == 9 # type: ignore
|
||||
nxt = next(gen)
|
||||
assert nxt[0].topic == '/topic2'
|
||||
assert nxt[1:] == (15, HEADER + b'\x15\x00')
|
||||
msg = reader.deserialize(nxt[2], nxt[0].msgtype)
|
||||
assert msg.data == 21 # type: ignore
|
||||
with pytest.raises(StopIteration):
|
||||
next(gen)
|
||||
|
||||
gen = reader.messages(connections=reader.topics['/topic1'].connections)
|
||||
nxt = next(gen)
|
||||
assert nxt[0].topic == '/topic1'
|
||||
nxt = next(gen)
|
||||
assert nxt[0].topic == '/topic1'
|
||||
nxt = next(gen)
|
||||
assert nxt[0].topic == '/topic1'
|
||||
with pytest.raises(StopIteration):
|
||||
next(gen)
|
||||
|
||||
|
||||
def test_anyreader2_autoregister(bags2: list[Path]) -> None: # pylint: disable=redefined-outer-name
|
||||
"""Test AnyReader on rosbag2."""
|
||||
|
||||
class MockReader:
|
||||
"""Mock reader."""
|
||||
|
||||
# pylint: disable=too-few-public-methods
|
||||
|
||||
def __init__(self, paths: list[Path]):
|
||||
"""Initialize mock."""
|
||||
_ = paths
|
||||
self.metadata = {'storage_identifier': 'mcap'}
|
||||
self.connections = [
|
||||
Connection(
|
||||
1,
|
||||
'/foo',
|
||||
'test_msg/msg/Foo',
|
||||
'string foo',
|
||||
'msg',
|
||||
0,
|
||||
None, # type: ignore
|
||||
self,
|
||||
),
|
||||
Connection(
|
||||
2,
|
||||
'/bar',
|
||||
'test_msg/msg/Bar',
|
||||
'module test_msgs { module msg { struct Bar {string bar;}; }; };',
|
||||
'idl',
|
||||
0,
|
||||
None, # type: ignore
|
||||
self,
|
||||
),
|
||||
Connection(
|
||||
3,
|
||||
'/baz',
|
||||
'test_msg/msg/Baz',
|
||||
'',
|
||||
'',
|
||||
0,
|
||||
None, # type: ignore
|
||||
self,
|
||||
),
|
||||
]
|
||||
|
||||
def open(self) -> None:
|
||||
"""Unused."""
|
||||
|
||||
with patch('rosbags.highlevel.anyreader.Reader2', MockReader), \
|
||||
patch('rosbags.highlevel.anyreader.register_types') as mock_register_types:
|
||||
AnyReader([bags2[0]]).open()
|
||||
mock_register_types.assert_called_once()
|
||||
assert mock_register_types.call_args[0][0] == {
|
||||
'test_msg/msg/Foo': ([], [('foo', (1, 'string'))]),
|
||||
'test_msgs/msg/Bar': ([], [('bar', (1, 'string'))]),
|
||||
}
|
||||
363
rosbags/tests/test_parse.py
Normal file
363
rosbags/tests/test_parse.py
Normal file
@ -0,0 +1,363 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Message definition parser tests."""
|
||||
|
||||
import pytest
|
||||
|
||||
from rosbags.typesys import (
|
||||
TypesysError,
|
||||
generate_msgdef,
|
||||
get_types_from_idl,
|
||||
get_types_from_msg,
|
||||
register_types,
|
||||
)
|
||||
from rosbags.typesys.base import Nodetype
|
||||
from rosbags.typesys.types import FIELDDEFS
|
||||
|
||||
MSG = """
|
||||
# comment
|
||||
|
||||
bool b=true
|
||||
int32 global=42
|
||||
float32 f=1.33
|
||||
string str= foo bar\t
|
||||
|
||||
std_msgs/Header header
|
||||
std_msgs/msg/Bool bool
|
||||
test_msgs/Bar sibling
|
||||
float64 base
|
||||
float64[] seq1
|
||||
float64[] seq2
|
||||
float64[4] array
|
||||
"""
|
||||
|
||||
MSG_BOUNDS = """
|
||||
int32[] unbounded_integer_array
|
||||
int32[5] five_integers_array
|
||||
int32[<=5] up_to_five_integers_array
|
||||
|
||||
string string_of_unbounded_size
|
||||
string<=10 up_to_ten_characters_string
|
||||
|
||||
string[<=5] up_to_five_unbounded_strings
|
||||
string<=10[] unbounded_array_of_string_up_to_ten_characters_each
|
||||
string<=10[<=5] up_to_five_strings_up_to_ten_characters_each
|
||||
"""
|
||||
|
||||
MSG_DEFAULTS = """
|
||||
bool b false
|
||||
uint8 i 42
|
||||
uint8 o 0377
|
||||
uint8 h 0xff
|
||||
float32 y -314.15e-2
|
||||
string name1 "John"
|
||||
string name2 'Ringo'
|
||||
int32[] samples [-200, -100, 0, 100, 200]
|
||||
"""
|
||||
|
||||
MULTI_MSG = """
|
||||
std_msgs/Header header
|
||||
byte b
|
||||
char c
|
||||
Other[] o
|
||||
|
||||
================================================================================
|
||||
MSG: std_msgs/Header
|
||||
time time
|
||||
|
||||
================================================================================
|
||||
MSG: test_msgs/Other
|
||||
uint64[3] Header
|
||||
uint32 static = 42
|
||||
"""
|
||||
|
||||
CSTRING_CONFUSION_MSG = """
|
||||
std_msgs/Header header
|
||||
string s
|
||||
|
||||
================================================================================
|
||||
MSG: std_msgs/Header
|
||||
time time
|
||||
"""
|
||||
|
||||
RELSIBLING_MSG = """
|
||||
Header header
|
||||
Other other
|
||||
"""
|
||||
|
||||
IDL_LANG = """
|
||||
// assign different literals and expressions
|
||||
|
||||
#ifndef FOO
|
||||
#define FOO
|
||||
|
||||
#include <global>
|
||||
#include "local"
|
||||
|
||||
const bool g_bool = TRUE;
|
||||
const int8 g_int1 = 7;
|
||||
const int8 g_int2 = 07;
|
||||
const int8 g_int3 = 0x7;
|
||||
const float64 g_float1 = 1.1;
|
||||
const float64 g_float2 = 1e10;
|
||||
const char g_char = 'c';
|
||||
const string g_string1 = "";
|
||||
const string<128> g_string2 = "str" "ing";
|
||||
|
||||
module Foo {
|
||||
const int64 g_expr1 = ~1;
|
||||
const int64 g_expr2 = 2 * 4;
|
||||
};
|
||||
|
||||
#endif
|
||||
"""
|
||||
|
||||
IDL = """
|
||||
// comment in file
|
||||
module test_msgs {
|
||||
// comment in module
|
||||
typedef std_msgs::msg::Bool Bool;
|
||||
|
||||
/**/ /***/ /* block comment */
|
||||
|
||||
/*
|
||||
* block comment
|
||||
*/
|
||||
|
||||
module msg {
|
||||
// comment in submodule
|
||||
typedef Bool Balias;
|
||||
typedef test_msgs::msg::Bar Bar;
|
||||
typedef double d4[4];
|
||||
|
||||
module Foo_Constants {
|
||||
const int32 FOO = 32;
|
||||
const int64 BAR = 64;
|
||||
};
|
||||
|
||||
@comment(type="text", text="ignore")
|
||||
struct Foo {
|
||||
// comment in struct
|
||||
std_msgs::msg::Header header;
|
||||
Balias bool;
|
||||
Bar sibling;
|
||||
double/* comment in member declaration */x;
|
||||
sequence<double> seq1;
|
||||
sequence<double, 4> seq2;
|
||||
d4 array;
|
||||
};
|
||||
};
|
||||
|
||||
struct Bar {
|
||||
int i;
|
||||
};
|
||||
};
|
||||
"""
|
||||
|
||||
IDL_STRINGARRAY = """
|
||||
module test_msgs {
|
||||
module msg {
|
||||
typedef string string__3[3];
|
||||
struct Strings {
|
||||
string__3 values;
|
||||
};
|
||||
};
|
||||
};
|
||||
"""
|
||||
|
||||
|
||||
def test_parse_empty_msg() -> None:
|
||||
"""Test msg parser with empty message."""
|
||||
ret = get_types_from_msg('', 'std_msgs/msg/Empty')
|
||||
assert ret == {'std_msgs/msg/Empty': ([], [])}
|
||||
|
||||
|
||||
def test_parse_bounds_msg() -> None:
|
||||
"""Test msg parser."""
|
||||
ret = get_types_from_msg(MSG_BOUNDS, 'test_msgs/msg/Foo')
|
||||
assert ret == {
|
||||
'test_msgs/msg/Foo': (
|
||||
[],
|
||||
[
|
||||
('unbounded_integer_array', (4, ((1, 'int32'), None))),
|
||||
('five_integers_array', (3, ((1, 'int32'), 5))),
|
||||
('up_to_five_integers_array', (4, ((1, 'int32'), None))),
|
||||
('string_of_unbounded_size', (1, 'string')),
|
||||
('up_to_ten_characters_string', (1, 'string')),
|
||||
('up_to_five_unbounded_strings', (4, ((1, 'string'), None))),
|
||||
('unbounded_array_of_string_up_to_ten_characters_each', (4, ((1, 'string'), None))),
|
||||
('up_to_five_strings_up_to_ten_characters_each', (4, ((1, 'string'), None))),
|
||||
],
|
||||
),
|
||||
}
|
||||
|
||||
|
||||
def test_parse_defaults_msg() -> None:
|
||||
"""Test msg parser."""
|
||||
ret = get_types_from_msg(MSG_DEFAULTS, 'test_msgs/msg/Foo')
|
||||
assert ret == {
|
||||
'test_msgs/msg/Foo': (
|
||||
[],
|
||||
[
|
||||
('b', (1, 'bool')),
|
||||
('i', (1, 'uint8')),
|
||||
('o', (1, 'uint8')),
|
||||
('h', (1, 'uint8')),
|
||||
('y', (1, 'float32')),
|
||||
('name1', (1, 'string')),
|
||||
('name2', (1, 'string')),
|
||||
('samples', (4, ((1, 'int32'), None))),
|
||||
],
|
||||
),
|
||||
}
|
||||
|
||||
|
||||
def test_parse_msg() -> None:
|
||||
"""Test msg parser."""
|
||||
with pytest.raises(TypesysError, match='Could not parse'):
|
||||
get_types_from_msg('invalid', 'test_msgs/msg/Foo')
|
||||
ret = get_types_from_msg(MSG, 'test_msgs/msg/Foo')
|
||||
assert 'test_msgs/msg/Foo' in ret
|
||||
consts, fields = ret['test_msgs/msg/Foo']
|
||||
assert consts == [
|
||||
('b', 'bool', True),
|
||||
('global', 'int32', 42),
|
||||
('f', 'float32', 1.33),
|
||||
('str', 'string', 'foo bar'),
|
||||
]
|
||||
assert fields[0][0] == 'header'
|
||||
assert fields[0][1][1] == 'std_msgs/msg/Header'
|
||||
assert fields[1][0] == 'bool'
|
||||
assert fields[1][1][1] == 'std_msgs/msg/Bool'
|
||||
assert fields[2][0] == 'sibling'
|
||||
assert fields[2][1][1] == 'test_msgs/msg/Bar'
|
||||
assert fields[3][1][0] == Nodetype.BASE
|
||||
assert fields[4][1][0] == Nodetype.SEQUENCE
|
||||
assert fields[5][1][0] == Nodetype.SEQUENCE
|
||||
assert fields[6][1][0] == Nodetype.ARRAY
|
||||
|
||||
|
||||
def test_parse_multi_msg() -> None:
|
||||
"""Test multi msg parser."""
|
||||
ret = get_types_from_msg(MULTI_MSG, 'test_msgs/msg/Foo')
|
||||
assert len(ret) == 3
|
||||
assert 'test_msgs/msg/Foo' in ret
|
||||
assert 'std_msgs/msg/Header' in ret
|
||||
assert 'test_msgs/msg/Other' in ret
|
||||
fields = ret['test_msgs/msg/Foo'][1]
|
||||
assert fields[0][1][1] == 'std_msgs/msg/Header'
|
||||
assert fields[1][1][1] == 'uint8'
|
||||
assert fields[2][1][1] == 'uint8'
|
||||
consts = ret['test_msgs/msg/Other'][0]
|
||||
assert consts == [('static', 'uint32', 42)]
|
||||
|
||||
|
||||
def test_parse_cstring_confusion() -> None:
|
||||
"""Test if msg separator is confused with const string."""
|
||||
ret = get_types_from_msg(CSTRING_CONFUSION_MSG, 'test_msgs/msg/Foo')
|
||||
assert len(ret) == 2
|
||||
assert 'test_msgs/msg/Foo' in ret
|
||||
assert 'std_msgs/msg/Header' in ret
|
||||
consts, fields = ret['test_msgs/msg/Foo']
|
||||
assert consts == []
|
||||
assert fields[0][1][1] == 'std_msgs/msg/Header'
|
||||
assert fields[1][1][1] == 'string'
|
||||
|
||||
|
||||
def test_parse_relative_siblings_msg() -> None:
|
||||
"""Test relative siblings with msg parser."""
|
||||
ret = get_types_from_msg(RELSIBLING_MSG, 'test_msgs/msg/Foo')
|
||||
assert ret['test_msgs/msg/Foo'][1][0][1][1] == 'std_msgs/msg/Header'
|
||||
assert ret['test_msgs/msg/Foo'][1][1][1][1] == 'test_msgs/msg/Other'
|
||||
|
||||
ret = get_types_from_msg(RELSIBLING_MSG, 'rel_msgs/msg/Foo')
|
||||
assert ret['rel_msgs/msg/Foo'][1][0][1][1] == 'std_msgs/msg/Header'
|
||||
assert ret['rel_msgs/msg/Foo'][1][1][1][1] == 'rel_msgs/msg/Other'
|
||||
|
||||
|
||||
def test_parse_idl() -> None:
|
||||
"""Test idl parser."""
|
||||
ret = get_types_from_idl(IDL_LANG)
|
||||
assert ret == {}
|
||||
|
||||
ret = get_types_from_idl(IDL)
|
||||
assert 'test_msgs/msg/Foo' in ret
|
||||
consts, fields = ret['test_msgs/msg/Foo']
|
||||
assert consts == [('FOO', 'int32', 32), ('BAR', 'int64', 64)]
|
||||
assert fields[0][0] == 'header'
|
||||
assert fields[0][1][1] == 'std_msgs/msg/Header'
|
||||
assert fields[1][0] == 'bool'
|
||||
assert fields[1][1][1] == 'std_msgs/msg/Bool'
|
||||
assert fields[2][0] == 'sibling'
|
||||
assert fields[2][1][1] == 'test_msgs/msg/Bar'
|
||||
assert fields[3][1][0] == Nodetype.BASE
|
||||
assert fields[4][1][0] == Nodetype.SEQUENCE
|
||||
assert fields[5][1][0] == Nodetype.SEQUENCE
|
||||
assert fields[6][1][0] == Nodetype.ARRAY
|
||||
|
||||
assert 'test_msgs/Bar' in ret
|
||||
consts, fields = ret['test_msgs/Bar']
|
||||
assert consts == []
|
||||
assert len(fields) == 1
|
||||
assert fields[0][0] == 'i'
|
||||
assert fields[0][1][1] == 'int'
|
||||
|
||||
ret = get_types_from_idl(IDL_STRINGARRAY)
|
||||
consts, fields = ret['test_msgs/msg/Strings']
|
||||
assert consts == []
|
||||
assert len(fields) == 1
|
||||
assert fields[0][0] == 'values'
|
||||
assert fields[0][1] == (Nodetype.ARRAY, ((Nodetype.BASE, 'string'), 3))
|
||||
|
||||
|
||||
def test_register_types() -> None:
|
||||
"""Test type registeration."""
|
||||
assert 'foo' not in FIELDDEFS
|
||||
register_types({})
|
||||
register_types({'foo': [[], [('b', (1, 'bool'))]]}) # type: ignore
|
||||
assert 'foo' in FIELDDEFS
|
||||
|
||||
register_types({'std_msgs/msg/Header': [[], []]}) # type: ignore
|
||||
assert len(FIELDDEFS['std_msgs/msg/Header'][1]) == 2
|
||||
|
||||
with pytest.raises(TypesysError, match='different definition'):
|
||||
register_types({'foo': [[], [('x', (1, 'bool'))]]}) # type: ignore
|
||||
|
||||
|
||||
def test_generate_msgdef() -> None:
|
||||
"""Test message definition generator."""
|
||||
res = generate_msgdef('std_msgs/msg/Header')
|
||||
assert res == ('uint32 seq\ntime stamp\nstring frame_id\n', '2176decaecbce78abc3b96ef049fabed')
|
||||
|
||||
res = generate_msgdef('geometry_msgs/msg/PointStamped')
|
||||
assert res[0].split(f'{"=" * 80}\n') == [
|
||||
'std_msgs/Header header\ngeometry_msgs/Point point\n',
|
||||
'MSG: std_msgs/Header\nuint32 seq\ntime stamp\nstring frame_id\n',
|
||||
'MSG: geometry_msgs/Point\nfloat64 x\nfloat64 y\nfloat64 z\n',
|
||||
]
|
||||
|
||||
res = generate_msgdef('geometry_msgs/msg/Twist')
|
||||
assert res[0].split(f'{"=" * 80}\n') == [
|
||||
'geometry_msgs/Vector3 linear\ngeometry_msgs/Vector3 angular\n',
|
||||
'MSG: geometry_msgs/Vector3\nfloat64 x\nfloat64 y\nfloat64 z\n',
|
||||
]
|
||||
|
||||
res = generate_msgdef('shape_msgs/msg/Mesh')
|
||||
assert res[0].split(f'{"=" * 80}\n') == [
|
||||
'shape_msgs/MeshTriangle[] triangles\ngeometry_msgs/Point[] vertices\n',
|
||||
'MSG: shape_msgs/MeshTriangle\nuint32[3] vertex_indices\n',
|
||||
'MSG: geometry_msgs/Point\nfloat64 x\nfloat64 y\nfloat64 z\n',
|
||||
]
|
||||
|
||||
res = generate_msgdef('shape_msgs/msg/Plane')
|
||||
assert res[0] == 'float64[4] coef\n'
|
||||
|
||||
res = generate_msgdef('sensor_msgs/msg/MultiEchoLaserScan')
|
||||
assert len(res[0].split('=' * 80)) == 3
|
||||
|
||||
register_types(get_types_from_msg('time[3] times\nuint8 foo=42', 'foo_msgs/Timelist'))
|
||||
res = generate_msgdef('foo_msgs/msg/Timelist')
|
||||
assert res[0] == 'uint8 foo=42\ntime[3] times\n'
|
||||
|
||||
with pytest.raises(TypesysError, match='is unknown'):
|
||||
generate_msgdef('foo_msgs/msg/Badname')
|
||||
751
rosbags/tests/test_reader.py
Normal file
751
rosbags/tests/test_reader.py
Normal file
@ -0,0 +1,751 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Reader tests."""
|
||||
|
||||
# pylint: disable=redefined-outer-name
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import sqlite3
|
||||
import struct
|
||||
from io import BytesIO
|
||||
from itertools import groupby
|
||||
from pathlib import Path
|
||||
from typing import TYPE_CHECKING
|
||||
from unittest import mock
|
||||
|
||||
import pytest
|
||||
import zstandard
|
||||
|
||||
from rosbags.rosbag2 import Reader, ReaderError, Writer
|
||||
|
||||
from .test_serde import MSG_JOINT, MSG_MAGN, MSG_MAGN_BIG, MSG_POLY
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from typing import BinaryIO, Iterable
|
||||
|
||||
from _pytest.fixtures import SubRequest
|
||||
|
||||
METADATA = """
|
||||
rosbag2_bagfile_information:
|
||||
version: 4
|
||||
storage_identifier: sqlite3
|
||||
relative_file_paths:
|
||||
- db.db3{extension}
|
||||
duration:
|
||||
nanoseconds: 42
|
||||
starting_time:
|
||||
nanoseconds_since_epoch: 666
|
||||
message_count: 4
|
||||
topics_with_message_count:
|
||||
- topic_metadata:
|
||||
name: /poly
|
||||
type: geometry_msgs/msg/Polygon
|
||||
serialization_format: cdr
|
||||
offered_qos_profiles: ""
|
||||
message_count: 1
|
||||
- topic_metadata:
|
||||
name: /magn
|
||||
type: sensor_msgs/msg/MagneticField
|
||||
serialization_format: cdr
|
||||
offered_qos_profiles: ""
|
||||
message_count: 2
|
||||
- topic_metadata:
|
||||
name: /joint
|
||||
type: trajectory_msgs/msg/JointTrajectory
|
||||
serialization_format: cdr
|
||||
offered_qos_profiles: ""
|
||||
message_count: 1
|
||||
compression_format: {compression_format}
|
||||
compression_mode: {compression_mode}
|
||||
"""
|
||||
|
||||
METADATA_EMPTY = """
|
||||
rosbag2_bagfile_information:
|
||||
version: 6
|
||||
storage_identifier: sqlite3
|
||||
relative_file_paths:
|
||||
- db.db3
|
||||
duration:
|
||||
nanoseconds: 0
|
||||
starting_time:
|
||||
nanoseconds_since_epoch: 0
|
||||
message_count: 0
|
||||
topics_with_message_count: []
|
||||
compression_format: ""
|
||||
compression_mode: ""
|
||||
files:
|
||||
- duration:
|
||||
nanoseconds: 0
|
||||
message_count: 0
|
||||
path: db.db3
|
||||
starting_time:
|
||||
nanoseconds_since_epoch: 0
|
||||
custom_data:
|
||||
key1: value1
|
||||
key2: value2
|
||||
"""
|
||||
|
||||
|
||||
@pytest.fixture(params=['none', 'file', 'message'])
|
||||
def bag(request: SubRequest, tmp_path: Path) -> Path:
|
||||
"""Manually contruct bag."""
|
||||
(tmp_path / 'metadata.yaml').write_text(
|
||||
METADATA.format(
|
||||
extension='' if request.param != 'file' else '.zstd',
|
||||
compression_format='""' if request.param == 'none' else 'zstd',
|
||||
compression_mode='""' if request.param == 'none' else request.param.upper(),
|
||||
),
|
||||
)
|
||||
|
||||
comp = zstandard.ZstdCompressor()
|
||||
|
||||
dbpath = tmp_path / 'db.db3'
|
||||
dbh = sqlite3.connect(dbpath)
|
||||
dbh.executescript(Writer.SQLITE_SCHEMA)
|
||||
|
||||
cur = dbh.cursor()
|
||||
cur.execute(
|
||||
'INSERT INTO topics VALUES(?, ?, ?, ?, ?)',
|
||||
(1, '/poly', 'geometry_msgs/msg/Polygon', 'cdr', ''),
|
||||
)
|
||||
cur.execute(
|
||||
'INSERT INTO topics VALUES(?, ?, ?, ?, ?)',
|
||||
(2, '/magn', 'sensor_msgs/msg/MagneticField', 'cdr', ''),
|
||||
)
|
||||
cur.execute(
|
||||
'INSERT INTO topics VALUES(?, ?, ?, ?, ?)',
|
||||
(3, '/joint', 'trajectory_msgs/msg/JointTrajectory', 'cdr', ''),
|
||||
)
|
||||
cur.execute(
|
||||
'INSERT INTO messages VALUES(?, ?, ?, ?)',
|
||||
(1, 1, 666, MSG_POLY[0] if request.param != 'message' else comp.compress(MSG_POLY[0])),
|
||||
)
|
||||
cur.execute(
|
||||
'INSERT INTO messages VALUES(?, ?, ?, ?)',
|
||||
(2, 2, 708, MSG_MAGN[0] if request.param != 'message' else comp.compress(MSG_MAGN[0])),
|
||||
)
|
||||
cur.execute(
|
||||
'INSERT INTO messages VALUES(?, ?, ?, ?)',
|
||||
(
|
||||
3,
|
||||
2,
|
||||
708,
|
||||
MSG_MAGN_BIG[0] if request.param != 'message' else comp.compress(MSG_MAGN_BIG[0]),
|
||||
),
|
||||
)
|
||||
cur.execute(
|
||||
'INSERT INTO messages VALUES(?, ?, ?, ?)',
|
||||
(4, 3, 708, MSG_JOINT[0] if request.param != 'message' else comp.compress(MSG_JOINT[0])),
|
||||
)
|
||||
dbh.commit()
|
||||
|
||||
if request.param == 'file':
|
||||
with dbpath.open('rb') as ifh, (tmp_path / 'db.db3.zstd').open('wb') as ofh:
|
||||
comp.copy_stream(ifh, ofh)
|
||||
dbpath.unlink()
|
||||
|
||||
return tmp_path
|
||||
|
||||
|
||||
def test_empty_bag(tmp_path: Path) -> None:
|
||||
"""Test bags with broken fs layout."""
|
||||
(tmp_path / 'metadata.yaml').write_text(METADATA_EMPTY)
|
||||
dbpath = tmp_path / 'db.db3'
|
||||
dbh = sqlite3.connect(dbpath)
|
||||
dbh.executescript(Writer.SQLITE_SCHEMA)
|
||||
|
||||
with Reader(tmp_path) as reader:
|
||||
assert reader.message_count == 0
|
||||
assert reader.start_time == 2**63 - 1
|
||||
assert reader.end_time == 0
|
||||
assert reader.duration == 0
|
||||
assert not list(reader.messages())
|
||||
assert reader.custom_data['key1'] == 'value1'
|
||||
assert reader.custom_data['key2'] == 'value2'
|
||||
|
||||
|
||||
def test_reader(bag: Path) -> None:
|
||||
"""Test reader and deserializer on simple bag."""
|
||||
with Reader(bag) as reader:
|
||||
assert reader.duration == 43
|
||||
assert reader.start_time == 666
|
||||
assert reader.end_time == 709
|
||||
assert reader.message_count == 4
|
||||
if reader.compression_mode:
|
||||
assert reader.compression_format == 'zstd'
|
||||
assert [x.id for x in reader.connections] == [1, 2, 3]
|
||||
assert [*reader.topics.keys()] == ['/poly', '/magn', '/joint']
|
||||
gen = reader.messages()
|
||||
|
||||
connection, timestamp, rawdata = next(gen)
|
||||
assert connection.topic == '/poly'
|
||||
assert connection.msgtype == 'geometry_msgs/msg/Polygon'
|
||||
assert timestamp == 666
|
||||
assert rawdata == MSG_POLY[0]
|
||||
|
||||
for idx in range(2):
|
||||
connection, timestamp, rawdata = next(gen)
|
||||
assert connection.topic == '/magn'
|
||||
assert connection.msgtype == 'sensor_msgs/msg/MagneticField'
|
||||
assert timestamp == 708
|
||||
assert rawdata == [MSG_MAGN, MSG_MAGN_BIG][idx][0]
|
||||
|
||||
connection, timestamp, rawdata = next(gen)
|
||||
assert connection.topic == '/joint'
|
||||
assert connection.msgtype == 'trajectory_msgs/msg/JointTrajectory'
|
||||
|
||||
with pytest.raises(StopIteration):
|
||||
next(gen)
|
||||
|
||||
|
||||
def test_message_filters(bag: Path) -> None:
|
||||
"""Test reader filters messages."""
|
||||
with Reader(bag) as reader:
|
||||
magn_connections = [x for x in reader.connections if x.topic == '/magn']
|
||||
gen = reader.messages(connections=magn_connections)
|
||||
connection, _, _ = next(gen)
|
||||
assert connection.topic == '/magn'
|
||||
connection, _, _ = next(gen)
|
||||
assert connection.topic == '/magn'
|
||||
with pytest.raises(StopIteration):
|
||||
next(gen)
|
||||
|
||||
gen = reader.messages(start=667)
|
||||
connection, _, _ = next(gen)
|
||||
assert connection.topic == '/magn'
|
||||
connection, _, _ = next(gen)
|
||||
assert connection.topic == '/magn'
|
||||
connection, _, _ = next(gen)
|
||||
assert connection.topic == '/joint'
|
||||
with pytest.raises(StopIteration):
|
||||
next(gen)
|
||||
|
||||
gen = reader.messages(stop=667)
|
||||
connection, _, _ = next(gen)
|
||||
assert connection.topic == '/poly'
|
||||
with pytest.raises(StopIteration):
|
||||
next(gen)
|
||||
|
||||
gen = reader.messages(connections=magn_connections, stop=667)
|
||||
with pytest.raises(StopIteration):
|
||||
next(gen)
|
||||
|
||||
gen = reader.messages(start=666, stop=666)
|
||||
with pytest.raises(StopIteration):
|
||||
next(gen)
|
||||
|
||||
|
||||
def test_user_errors(bag: Path) -> None:
|
||||
"""Test user errors."""
|
||||
reader = Reader(bag)
|
||||
with pytest.raises(ReaderError, match='Rosbag is not open'):
|
||||
next(reader.messages())
|
||||
|
||||
|
||||
def test_failure_cases(tmp_path: Path) -> None:
|
||||
"""Test bags with broken fs layout."""
|
||||
with pytest.raises(ReaderError, match='not read metadata'):
|
||||
Reader(tmp_path)
|
||||
|
||||
metadata = tmp_path / 'metadata.yaml'
|
||||
|
||||
metadata.write_text('')
|
||||
with pytest.raises(ReaderError, match='not read'), \
|
||||
mock.patch.object(Path, 'read_text', side_effect=PermissionError):
|
||||
Reader(tmp_path)
|
||||
|
||||
metadata.write_text(' invalid:\nthis is not yaml')
|
||||
with pytest.raises(ReaderError, match='not load YAML from'):
|
||||
Reader(tmp_path)
|
||||
|
||||
metadata.write_text('foo:')
|
||||
with pytest.raises(ReaderError, match='key is missing'):
|
||||
Reader(tmp_path)
|
||||
|
||||
metadata.write_text(
|
||||
METADATA.format(
|
||||
extension='',
|
||||
compression_format='""',
|
||||
compression_mode='""',
|
||||
).replace('version: 4', 'version: 999'),
|
||||
)
|
||||
with pytest.raises(ReaderError, match='version 999'):
|
||||
Reader(tmp_path)
|
||||
|
||||
metadata.write_text(
|
||||
METADATA.format(
|
||||
extension='',
|
||||
compression_format='""',
|
||||
compression_mode='""',
|
||||
).replace('sqlite3', 'hdf5'),
|
||||
)
|
||||
with pytest.raises(ReaderError, match='Storage plugin'):
|
||||
Reader(tmp_path)
|
||||
|
||||
metadata.write_text(
|
||||
METADATA.format(
|
||||
extension='',
|
||||
compression_format='""',
|
||||
compression_mode='""',
|
||||
),
|
||||
)
|
||||
with pytest.raises(ReaderError, match='files are missing'):
|
||||
Reader(tmp_path)
|
||||
|
||||
(tmp_path / 'db.db3').write_text('')
|
||||
|
||||
metadata.write_text(
|
||||
METADATA.format(
|
||||
extension='',
|
||||
compression_format='""',
|
||||
compression_mode='""',
|
||||
).replace('cdr', 'bson'),
|
||||
)
|
||||
with pytest.raises(ReaderError, match='Serialization format'):
|
||||
Reader(tmp_path)
|
||||
|
||||
metadata.write_text(
|
||||
METADATA.format(
|
||||
extension='',
|
||||
compression_format='"gz"',
|
||||
compression_mode='"file"',
|
||||
),
|
||||
)
|
||||
with pytest.raises(ReaderError, match='Compression format'):
|
||||
Reader(tmp_path)
|
||||
|
||||
metadata.write_text(
|
||||
METADATA.format(
|
||||
extension='',
|
||||
compression_format='""',
|
||||
compression_mode='""',
|
||||
),
|
||||
)
|
||||
with pytest.raises(ReaderError, match='not open database'), \
|
||||
Reader(tmp_path) as reader:
|
||||
next(reader.messages())
|
||||
|
||||
|
||||
def write_record(bio: BinaryIO, opcode: int, records: Iterable[bytes]) -> None:
|
||||
"""Write record."""
|
||||
data = b''.join(records)
|
||||
bio.write(bytes([opcode]) + struct.pack('<Q', len(data)) + data)
|
||||
|
||||
|
||||
def make_string(text: str) -> bytes:
|
||||
"""Serialize string."""
|
||||
data = text.encode()
|
||||
return struct.pack('<I', len(data)) + data
|
||||
|
||||
|
||||
MCAP_HEADER = b'\x89MCAP0\r\n'
|
||||
|
||||
SCHEMAS = [
|
||||
(
|
||||
0x03,
|
||||
(
|
||||
struct.pack('<H', 1),
|
||||
make_string('geometry_msgs/msg/Polygon'),
|
||||
make_string('ros2msg'),
|
||||
make_string('string foo'),
|
||||
),
|
||||
),
|
||||
(
|
||||
0x03,
|
||||
(
|
||||
struct.pack('<H', 2),
|
||||
make_string('sensor_msgs/msg/MagneticField'),
|
||||
make_string('ros2msg'),
|
||||
make_string('string foo'),
|
||||
),
|
||||
),
|
||||
(
|
||||
0x03,
|
||||
(
|
||||
struct.pack('<H', 3),
|
||||
make_string('trajectory_msgs/msg/JointTrajectory'),
|
||||
make_string('ros2msg'),
|
||||
make_string('string foo'),
|
||||
),
|
||||
),
|
||||
]
|
||||
|
||||
CHANNELS = [
|
||||
(
|
||||
0x04,
|
||||
(
|
||||
struct.pack('<H', 1),
|
||||
struct.pack('<H', 1),
|
||||
make_string('/poly'),
|
||||
make_string('cdr'),
|
||||
make_string(''),
|
||||
),
|
||||
),
|
||||
(
|
||||
0x04,
|
||||
(
|
||||
struct.pack('<H', 2),
|
||||
struct.pack('<H', 2),
|
||||
make_string('/magn'),
|
||||
make_string('cdr'),
|
||||
make_string(''),
|
||||
),
|
||||
),
|
||||
(
|
||||
0x04,
|
||||
(
|
||||
struct.pack('<H', 3),
|
||||
struct.pack('<H', 3),
|
||||
make_string('/joint'),
|
||||
make_string('cdr'),
|
||||
make_string(''),
|
||||
),
|
||||
),
|
||||
]
|
||||
|
||||
|
||||
@pytest.fixture(
|
||||
params=['unindexed', 'partially_indexed', 'indexed', 'chunked_unindexed', 'chunked_indexed'],
|
||||
)
|
||||
def bag_mcap(request: SubRequest, tmp_path: Path) -> Path:
|
||||
"""Manually contruct mcap bag."""
|
||||
# pylint: disable=too-many-locals
|
||||
# pylint: disable=too-many-statements
|
||||
(tmp_path / 'metadata.yaml').write_text(
|
||||
METADATA.format(
|
||||
extension='.mcap',
|
||||
compression_format='""',
|
||||
compression_mode='""',
|
||||
).replace('sqlite3', 'mcap'),
|
||||
)
|
||||
|
||||
path = tmp_path / 'db.db3.mcap'
|
||||
bio: BinaryIO
|
||||
messages: list[tuple[int, int, int]] = []
|
||||
chunks = []
|
||||
with path.open('wb') as bio:
|
||||
realbio = bio
|
||||
bio.write(MCAP_HEADER)
|
||||
write_record(bio, 0x01, (make_string('ros2'), make_string('test_mcap')))
|
||||
|
||||
if request.param.startswith('chunked'):
|
||||
bio = BytesIO()
|
||||
messages = []
|
||||
|
||||
write_record(bio, *SCHEMAS[0])
|
||||
write_record(bio, *CHANNELS[0])
|
||||
messages.append((1, 666, bio.tell()))
|
||||
write_record(
|
||||
bio,
|
||||
0x05,
|
||||
(
|
||||
struct.pack('<H', 1),
|
||||
struct.pack('<I', 1),
|
||||
struct.pack('<Q', 666),
|
||||
struct.pack('<Q', 666),
|
||||
MSG_POLY[0],
|
||||
),
|
||||
)
|
||||
|
||||
if request.param.startswith('chunked'):
|
||||
assert isinstance(bio, BytesIO)
|
||||
chunk_start = realbio.tell()
|
||||
compression = make_string('')
|
||||
uncompressed_size = struct.pack('<Q', len(bio.getbuffer()))
|
||||
compressed_size = struct.pack('<Q', len(bio.getbuffer()))
|
||||
write_record(
|
||||
realbio,
|
||||
0x06,
|
||||
(
|
||||
struct.pack('<Q', 666),
|
||||
struct.pack('<Q', 666),
|
||||
uncompressed_size,
|
||||
struct.pack('<I', 0),
|
||||
compression,
|
||||
compressed_size,
|
||||
bio.getbuffer(),
|
||||
),
|
||||
)
|
||||
message_index_offsets = []
|
||||
message_index_start = realbio.tell()
|
||||
for channel_id, group in groupby(messages, key=lambda x: x[0]):
|
||||
message_index_offsets.append((channel_id, realbio.tell()))
|
||||
tpls = [y for x in group for y in x[1:]]
|
||||
write_record(
|
||||
realbio,
|
||||
0x07,
|
||||
(
|
||||
struct.pack('<H', channel_id),
|
||||
struct.pack('<I', 8 * len(tpls)),
|
||||
struct.pack('<' + 'Q' * len(tpls), *tpls),
|
||||
),
|
||||
)
|
||||
chunk = [
|
||||
struct.pack('<Q', 666),
|
||||
struct.pack('<Q', 666),
|
||||
struct.pack('<Q', chunk_start),
|
||||
struct.pack('<Q', message_index_start - chunk_start),
|
||||
struct.pack('<I', 10 * len(message_index_offsets)),
|
||||
*(struct.pack('<HQ', *x) for x in message_index_offsets),
|
||||
struct.pack('<Q',
|
||||
realbio.tell() - message_index_start),
|
||||
compression,
|
||||
compressed_size,
|
||||
uncompressed_size,
|
||||
]
|
||||
chunks.append(chunk)
|
||||
bio = BytesIO()
|
||||
messages = []
|
||||
|
||||
write_record(bio, *SCHEMAS[1])
|
||||
write_record(bio, *CHANNELS[1])
|
||||
messages.append((2, 708, bio.tell()))
|
||||
write_record(
|
||||
bio,
|
||||
0x05,
|
||||
(
|
||||
struct.pack('<H', 2),
|
||||
struct.pack('<I', 1),
|
||||
struct.pack('<Q', 708),
|
||||
struct.pack('<Q', 708),
|
||||
MSG_MAGN[0],
|
||||
),
|
||||
)
|
||||
messages.append((2, 708, bio.tell()))
|
||||
write_record(
|
||||
bio,
|
||||
0x05,
|
||||
(
|
||||
struct.pack('<H', 2),
|
||||
struct.pack('<I', 2),
|
||||
struct.pack('<Q', 708),
|
||||
struct.pack('<Q', 708),
|
||||
MSG_MAGN_BIG[0],
|
||||
),
|
||||
)
|
||||
|
||||
write_record(bio, *SCHEMAS[2])
|
||||
write_record(bio, *CHANNELS[2])
|
||||
messages.append((3, 708, bio.tell()))
|
||||
write_record(
|
||||
bio,
|
||||
0x05,
|
||||
(
|
||||
struct.pack('<H', 3),
|
||||
struct.pack('<I', 1),
|
||||
struct.pack('<Q', 708),
|
||||
struct.pack('<Q', 708),
|
||||
MSG_JOINT[0],
|
||||
),
|
||||
)
|
||||
|
||||
if request.param.startswith('chunked'):
|
||||
assert isinstance(bio, BytesIO)
|
||||
chunk_start = realbio.tell()
|
||||
compression = make_string('')
|
||||
uncompressed_size = struct.pack('<Q', len(bio.getbuffer()))
|
||||
compressed_size = struct.pack('<Q', len(bio.getbuffer()))
|
||||
write_record(
|
||||
realbio,
|
||||
0x06,
|
||||
(
|
||||
struct.pack('<Q', 708),
|
||||
struct.pack('<Q', 708),
|
||||
uncompressed_size,
|
||||
struct.pack('<I', 0),
|
||||
compression,
|
||||
compressed_size,
|
||||
bio.getbuffer(),
|
||||
),
|
||||
)
|
||||
message_index_offsets = []
|
||||
message_index_start = realbio.tell()
|
||||
for channel_id, group in groupby(messages, key=lambda x: x[0]):
|
||||
message_index_offsets.append((channel_id, realbio.tell()))
|
||||
tpls = [y for x in group for y in x[1:]]
|
||||
write_record(
|
||||
realbio,
|
||||
0x07,
|
||||
(
|
||||
struct.pack('<H', channel_id),
|
||||
struct.pack('<I', 8 * len(tpls)),
|
||||
struct.pack('<' + 'Q' * len(tpls), *tpls),
|
||||
),
|
||||
)
|
||||
chunk = [
|
||||
struct.pack('<Q', 708),
|
||||
struct.pack('<Q', 708),
|
||||
struct.pack('<Q', chunk_start),
|
||||
struct.pack('<Q', message_index_start - chunk_start),
|
||||
struct.pack('<I', 10 * len(message_index_offsets)),
|
||||
*(struct.pack('<HQ', *x) for x in message_index_offsets),
|
||||
struct.pack('<Q',
|
||||
realbio.tell() - message_index_start),
|
||||
compression,
|
||||
compressed_size,
|
||||
uncompressed_size,
|
||||
]
|
||||
chunks.append(chunk)
|
||||
bio = realbio
|
||||
messages = []
|
||||
|
||||
if request.param in ['indexed', 'partially_indexed', 'chunked_indexed']:
|
||||
summary_start = bio.tell()
|
||||
for schema in SCHEMAS:
|
||||
write_record(bio, *schema)
|
||||
if request.param != 'partially_indexed':
|
||||
for channel in CHANNELS:
|
||||
write_record(bio, *channel)
|
||||
if request.param == 'chunked_indexed':
|
||||
for chunk in chunks:
|
||||
write_record(bio, 0x08, chunk)
|
||||
|
||||
summary_offset_start = 0
|
||||
write_record(bio, 0x0a, (b'ignored',))
|
||||
write_record(
|
||||
bio,
|
||||
0x0b,
|
||||
(
|
||||
struct.pack('<Q', 4),
|
||||
struct.pack('<H', 3),
|
||||
struct.pack('<I', 3),
|
||||
struct.pack('<I', 0),
|
||||
struct.pack('<I', 0),
|
||||
struct.pack('<I', 0 if request.param == 'indexed' else 1),
|
||||
struct.pack('<Q', 666),
|
||||
struct.pack('<Q', 708),
|
||||
struct.pack('<I', 0),
|
||||
),
|
||||
)
|
||||
write_record(bio, 0x0d, (b'ignored',))
|
||||
write_record(bio, 0xff, (b'ignored',))
|
||||
else:
|
||||
summary_start = 0
|
||||
summary_offset_start = 0
|
||||
|
||||
write_record(
|
||||
bio,
|
||||
0x02,
|
||||
(
|
||||
struct.pack('<Q', summary_start),
|
||||
struct.pack('<Q', summary_offset_start),
|
||||
struct.pack('<I', 0),
|
||||
),
|
||||
)
|
||||
bio.write(MCAP_HEADER)
|
||||
|
||||
return tmp_path
|
||||
|
||||
|
||||
def test_reader_mcap(bag_mcap: Path) -> None:
|
||||
"""Test reader and deserializer on simple bag."""
|
||||
with Reader(bag_mcap) as reader:
|
||||
assert reader.duration == 43
|
||||
assert reader.start_time == 666
|
||||
assert reader.end_time == 709
|
||||
assert reader.message_count == 4
|
||||
if reader.compression_mode:
|
||||
assert reader.compression_format == 'zstd'
|
||||
assert [x.id for x in reader.connections] == [1, 2, 3]
|
||||
assert [*reader.topics.keys()] == ['/poly', '/magn', '/joint']
|
||||
gen = reader.messages()
|
||||
|
||||
connection, timestamp, rawdata = next(gen)
|
||||
assert connection.topic == '/poly'
|
||||
assert connection.msgtype == 'geometry_msgs/msg/Polygon'
|
||||
assert timestamp == 666
|
||||
assert rawdata == MSG_POLY[0]
|
||||
|
||||
for idx in range(2):
|
||||
connection, timestamp, rawdata = next(gen)
|
||||
assert connection.topic == '/magn'
|
||||
assert connection.msgtype == 'sensor_msgs/msg/MagneticField'
|
||||
assert timestamp == 708
|
||||
assert rawdata == [MSG_MAGN, MSG_MAGN_BIG][idx][0]
|
||||
|
||||
connection, timestamp, rawdata = next(gen)
|
||||
assert connection.topic == '/joint'
|
||||
assert connection.msgtype == 'trajectory_msgs/msg/JointTrajectory'
|
||||
|
||||
with pytest.raises(StopIteration):
|
||||
next(gen)
|
||||
|
||||
|
||||
def test_message_filters_mcap(bag_mcap: Path) -> None:
|
||||
"""Test reader filters messages."""
|
||||
with Reader(bag_mcap) as reader:
|
||||
magn_connections = [x for x in reader.connections if x.topic == '/magn']
|
||||
gen = reader.messages(connections=magn_connections)
|
||||
connection, _, _ = next(gen)
|
||||
assert connection.topic == '/magn'
|
||||
connection, _, _ = next(gen)
|
||||
assert connection.topic == '/magn'
|
||||
with pytest.raises(StopIteration):
|
||||
next(gen)
|
||||
|
||||
gen = reader.messages(start=667)
|
||||
connection, _, _ = next(gen)
|
||||
assert connection.topic == '/magn'
|
||||
connection, _, _ = next(gen)
|
||||
assert connection.topic == '/magn'
|
||||
connection, _, _ = next(gen)
|
||||
assert connection.topic == '/joint'
|
||||
with pytest.raises(StopIteration):
|
||||
next(gen)
|
||||
|
||||
gen = reader.messages(stop=667)
|
||||
connection, _, _ = next(gen)
|
||||
assert connection.topic == '/poly'
|
||||
with pytest.raises(StopIteration):
|
||||
next(gen)
|
||||
|
||||
gen = reader.messages(connections=magn_connections, stop=667)
|
||||
with pytest.raises(StopIteration):
|
||||
next(gen)
|
||||
|
||||
gen = reader.messages(start=666, stop=666)
|
||||
with pytest.raises(StopIteration):
|
||||
next(gen)
|
||||
|
||||
|
||||
def test_bag_mcap_files(tmp_path: Path) -> None:
|
||||
"""Test bad mcap files."""
|
||||
(tmp_path / 'metadata.yaml').write_text(
|
||||
METADATA.format(
|
||||
extension='.mcap',
|
||||
compression_format='""',
|
||||
compression_mode='""',
|
||||
).replace('sqlite3', 'mcap'),
|
||||
)
|
||||
|
||||
path = tmp_path / 'db.db3.mcap'
|
||||
path.touch()
|
||||
reader = Reader(tmp_path)
|
||||
path.unlink()
|
||||
with pytest.raises(ReaderError, match='Could not open'):
|
||||
reader.open()
|
||||
|
||||
path.touch()
|
||||
with pytest.raises(ReaderError, match='seems to be empty'):
|
||||
Reader(tmp_path).open()
|
||||
|
||||
path.write_bytes(b'xxxxxxxx')
|
||||
with pytest.raises(ReaderError, match='magic is invalid'):
|
||||
Reader(tmp_path).open()
|
||||
|
||||
path.write_bytes(b'\x89MCAP0\r\n\xFF')
|
||||
with pytest.raises(ReaderError, match='Unexpected record'):
|
||||
Reader(tmp_path).open()
|
||||
|
||||
with path.open('wb') as bio:
|
||||
bio.write(b'\x89MCAP0\r\n')
|
||||
write_record(bio, 0x01, (make_string('ros1'), make_string('test_mcap')))
|
||||
with pytest.raises(ReaderError, match='Profile is not'):
|
||||
Reader(tmp_path).open()
|
||||
|
||||
with path.open('wb') as bio:
|
||||
bio.write(b'\x89MCAP0\r\n')
|
||||
write_record(bio, 0x01, (make_string('ros2'), make_string('test_mcap')))
|
||||
with pytest.raises(ReaderError, match='File end magic is invalid'):
|
||||
Reader(tmp_path).open()
|
||||
422
rosbags/tests/test_reader1.py
Normal file
422
rosbags/tests/test_reader1.py
Normal file
@ -0,0 +1,422 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Reader tests."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from collections import defaultdict
|
||||
from struct import pack
|
||||
from typing import TYPE_CHECKING
|
||||
from unittest.mock import patch
|
||||
|
||||
import pytest
|
||||
|
||||
from rosbags.rosbag1 import Reader, ReaderError
|
||||
from rosbags.rosbag1.reader import IndexData
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from pathlib import Path
|
||||
from typing import Any, Sequence, Union
|
||||
|
||||
|
||||
def ser(data: Union[dict[str, Any], bytes]) -> bytes:
|
||||
"""Serialize record header."""
|
||||
if isinstance(data, dict):
|
||||
fields = []
|
||||
for key, value in data.items():
|
||||
field = b'='.join([key.encode(), value])
|
||||
fields.append(pack('<L', len(field)) + field)
|
||||
data = b''.join(fields)
|
||||
return pack('<L', len(data)) + data
|
||||
|
||||
|
||||
def create_default_header() -> dict[str, bytes]:
|
||||
"""Create empty rosbag header."""
|
||||
return {
|
||||
'op': b'\x03',
|
||||
'conn_count': pack('<L', 0),
|
||||
'chunk_count': pack('<L', 0),
|
||||
}
|
||||
|
||||
|
||||
def create_connection(
|
||||
cid: int = 1,
|
||||
topic: int = 0,
|
||||
typ: int = 0,
|
||||
) -> tuple[dict[str, bytes], dict[str, bytes]]:
|
||||
"""Create connection record."""
|
||||
return {
|
||||
'op': b'\x07',
|
||||
'conn': pack('<L', cid),
|
||||
'topic': f'/topic{topic}'.encode(),
|
||||
}, {
|
||||
'type': f'foo_msgs/msg/Foo{typ}'.encode(),
|
||||
'md5sum': b'AAAA',
|
||||
'message_definition': b'MSGDEF',
|
||||
}
|
||||
|
||||
|
||||
def create_message(
|
||||
cid: int = 1,
|
||||
time: int = 0,
|
||||
msg: int = 0,
|
||||
) -> tuple[dict[str, Union[bytes, int]], bytes]:
|
||||
"""Create message record."""
|
||||
return {
|
||||
'op': b'\x02',
|
||||
'conn': cid,
|
||||
'time': time,
|
||||
}, f'MSGCONTENT{msg}'.encode()
|
||||
|
||||
|
||||
def write_bag( # pylint: disable=too-many-locals
|
||||
bag: Path,
|
||||
header: dict[str, bytes],
|
||||
chunks: Sequence[Any] = (),
|
||||
) -> None:
|
||||
"""Write bag file."""
|
||||
magic = b'#ROSBAG V2.0\n'
|
||||
|
||||
pos = 13 + 4096
|
||||
conn_count = 0
|
||||
chunk_count = len(chunks or [])
|
||||
|
||||
chunks_bytes = b''
|
||||
connections = b''
|
||||
chunkinfos = b''
|
||||
if chunks:
|
||||
for chunk in chunks:
|
||||
chunk_bytes = b''
|
||||
start_time = 2**32 - 1
|
||||
end_time = 0
|
||||
counts: dict[int, int] = defaultdict(int)
|
||||
index = {}
|
||||
offset = 0
|
||||
|
||||
for head, data in chunk:
|
||||
if head.get('op') == b'\x07':
|
||||
conn_count += 1
|
||||
add = ser(head) + ser(data)
|
||||
chunk_bytes += add
|
||||
connections += add
|
||||
elif head.get('op') == b'\x02':
|
||||
time = head['time']
|
||||
head['time'] = pack('<LL', head['time'], 0)
|
||||
conn = head['conn']
|
||||
head['conn'] = pack('<L', head['conn'])
|
||||
|
||||
start_time = min([start_time, time])
|
||||
end_time = max([end_time, time])
|
||||
|
||||
counts[conn] += 1
|
||||
if conn not in index:
|
||||
index[conn] = {
|
||||
'count': 0,
|
||||
'msgs': b'',
|
||||
}
|
||||
index[conn]['count'] += 1 # type: ignore
|
||||
index[conn]['msgs'] += pack('<LLL', time, 0, offset) # type: ignore
|
||||
|
||||
add = ser(head) + ser(data)
|
||||
chunk_bytes += add
|
||||
offset = len(chunk_bytes)
|
||||
else:
|
||||
add = ser(head) + ser(data)
|
||||
chunk_bytes += add
|
||||
|
||||
chunk_bytes = ser(
|
||||
{
|
||||
'op': b'\x05',
|
||||
'compression': b'none',
|
||||
'size': pack('<L', len(chunk_bytes)),
|
||||
},
|
||||
) + ser(chunk_bytes)
|
||||
for conn, data in index.items():
|
||||
chunk_bytes += ser(
|
||||
{
|
||||
'op': b'\x04',
|
||||
'ver': pack('<L', 1),
|
||||
'conn': pack('<L', conn),
|
||||
'count': pack('<L', data['count']),
|
||||
},
|
||||
) + ser(data['msgs'])
|
||||
|
||||
chunks_bytes += chunk_bytes
|
||||
chunkinfos += ser(
|
||||
{
|
||||
'op': b'\x06',
|
||||
'ver': pack('<L', 1),
|
||||
'chunk_pos': pack('<Q', pos),
|
||||
'start_time': pack('<LL', start_time, 0),
|
||||
'end_time': pack('<LL', end_time, 0),
|
||||
'count': pack('<L', len(counts.keys())),
|
||||
},
|
||||
) + ser(b''.join([pack('<LL', x, y) for x, y in counts.items()]))
|
||||
pos += len(chunk_bytes)
|
||||
|
||||
header['conn_count'] = pack('<L', conn_count)
|
||||
header['chunk_count'] = pack('<L', chunk_count)
|
||||
if 'index_pos' not in header:
|
||||
header['index_pos'] = pack('<Q', pos)
|
||||
|
||||
header_bytes = ser(header)
|
||||
header_bytes += b'\x20' * (4096 - len(header_bytes))
|
||||
|
||||
bag.write_bytes(b''.join([
|
||||
magic,
|
||||
header_bytes,
|
||||
chunks_bytes,
|
||||
connections,
|
||||
chunkinfos,
|
||||
]))
|
||||
|
||||
|
||||
def test_indexdata() -> None:
|
||||
"""Test IndexData sort sorder."""
|
||||
x42_1_0 = IndexData(42, 1, 0)
|
||||
x42_2_0 = IndexData(42, 2, 0)
|
||||
x43_3_0 = IndexData(43, 3, 0)
|
||||
|
||||
assert not x42_1_0 < x42_2_0
|
||||
assert x42_1_0 <= x42_2_0
|
||||
assert x42_1_0 == x42_2_0
|
||||
assert not x42_1_0 != x42_2_0 # noqa
|
||||
assert x42_1_0 >= x42_2_0
|
||||
assert not x42_1_0 > x42_2_0
|
||||
|
||||
assert x42_1_0 < x43_3_0
|
||||
assert x42_1_0 <= x43_3_0
|
||||
assert not x42_1_0 == x43_3_0 # noqa
|
||||
assert x42_1_0 != x43_3_0
|
||||
assert not x42_1_0 >= x43_3_0
|
||||
assert not x42_1_0 > x43_3_0
|
||||
|
||||
|
||||
def test_reader(tmp_path: Path) -> None: # pylint: disable=too-many-statements
|
||||
"""Test reader and deserializer on simple bag."""
|
||||
# empty bag
|
||||
bag = tmp_path / 'test.bag'
|
||||
write_bag(bag, create_default_header())
|
||||
with Reader(bag) as reader:
|
||||
assert reader.message_count == 0
|
||||
assert reader.start_time == 2**63 - 1
|
||||
assert reader.end_time == 0
|
||||
assert reader.duration == 0
|
||||
assert not list(reader.messages())
|
||||
|
||||
# empty bag, explicit encryptor
|
||||
bag = tmp_path / 'test.bag'
|
||||
write_bag(bag, {**create_default_header(), 'encryptor': b''})
|
||||
with Reader(bag) as reader:
|
||||
assert reader.message_count == 0
|
||||
|
||||
# single message
|
||||
write_bag(
|
||||
bag,
|
||||
create_default_header(),
|
||||
chunks=[[
|
||||
create_connection(),
|
||||
create_message(time=42),
|
||||
]],
|
||||
)
|
||||
with Reader(bag) as reader:
|
||||
assert reader.message_count == 1
|
||||
assert reader.duration == 1
|
||||
assert reader.start_time == 42 * 10**9
|
||||
assert reader.end_time == 42 * 10**9 + 1
|
||||
assert len(reader.topics.keys()) == 1
|
||||
assert reader.topics['/topic0'].msgcount == 1
|
||||
msgs = list(reader.messages())
|
||||
assert len(msgs) == 1
|
||||
|
||||
# sorts by time on same topic
|
||||
write_bag(
|
||||
bag,
|
||||
create_default_header(),
|
||||
chunks=[
|
||||
[
|
||||
create_connection(),
|
||||
create_message(time=10, msg=10),
|
||||
create_message(time=5, msg=5),
|
||||
],
|
||||
],
|
||||
)
|
||||
with Reader(bag) as reader:
|
||||
assert reader.message_count == 2
|
||||
assert reader.duration == 5 * 10**9 + 1
|
||||
assert reader.start_time == 5 * 10**9
|
||||
assert reader.end_time == 10 * 10**9 + 1
|
||||
assert len(reader.topics.keys()) == 1
|
||||
assert reader.topics['/topic0'].msgcount == 2
|
||||
msgs = list(reader.messages())
|
||||
assert len(msgs) == 2
|
||||
assert msgs[0][0].topic == '/topic0'
|
||||
assert msgs[0][2] == b'MSGCONTENT5'
|
||||
assert msgs[1][0].topic == '/topic0'
|
||||
assert msgs[1][2] == b'MSGCONTENT10'
|
||||
|
||||
# sorts by time on different topic
|
||||
write_bag(
|
||||
bag,
|
||||
create_default_header(),
|
||||
chunks=[
|
||||
[
|
||||
create_connection(),
|
||||
create_message(time=10, msg=10),
|
||||
create_connection(cid=2, topic=2),
|
||||
create_message(cid=2, time=5, msg=5),
|
||||
],
|
||||
],
|
||||
)
|
||||
with Reader(bag) as reader:
|
||||
assert len(reader.topics.keys()) == 2
|
||||
assert reader.topics['/topic0'].msgcount == 1
|
||||
assert reader.topics['/topic2'].msgcount == 1
|
||||
msgs = list(reader.messages())
|
||||
assert len(msgs) == 2
|
||||
assert msgs[0][2] == b'MSGCONTENT5'
|
||||
assert msgs[1][2] == b'MSGCONTENT10'
|
||||
|
||||
connections = [x for x in reader.connections if x.topic == '/topic0']
|
||||
msgs = list(reader.messages(connections))
|
||||
assert len(msgs) == 1
|
||||
assert msgs[0][2] == b'MSGCONTENT10'
|
||||
|
||||
msgs = list(reader.messages(start=7 * 10**9))
|
||||
assert len(msgs) == 1
|
||||
assert msgs[0][2] == b'MSGCONTENT10'
|
||||
|
||||
msgs = list(reader.messages(stop=7 * 10**9))
|
||||
assert len(msgs) == 1
|
||||
assert msgs[0][2] == b'MSGCONTENT5'
|
||||
|
||||
|
||||
def test_user_errors(tmp_path: Path) -> None:
|
||||
"""Test user errors."""
|
||||
bag = tmp_path / 'test.bag'
|
||||
write_bag(bag, create_default_header(), chunks=[[
|
||||
create_connection(),
|
||||
create_message(),
|
||||
]])
|
||||
|
||||
reader = Reader(bag)
|
||||
with pytest.raises(ReaderError, match='is not open'):
|
||||
next(reader.messages())
|
||||
|
||||
|
||||
def test_failure_cases(tmp_path: Path) -> None: # pylint: disable=too-many-statements
|
||||
"""Test failure cases."""
|
||||
bag = tmp_path / 'test.bag'
|
||||
with pytest.raises(ReaderError, match='does not exist'):
|
||||
Reader(bag).open()
|
||||
|
||||
bag.write_text('')
|
||||
with patch('pathlib.Path.open', side_effect=IOError), \
|
||||
pytest.raises(ReaderError, match='not open'):
|
||||
Reader(bag).open()
|
||||
|
||||
with pytest.raises(ReaderError, match='empty'):
|
||||
Reader(bag).open()
|
||||
|
||||
bag.write_text('#BADMAGIC')
|
||||
with pytest.raises(ReaderError, match='magic is invalid'):
|
||||
Reader(bag).open()
|
||||
|
||||
bag.write_text('#ROSBAG V3.0\n')
|
||||
with pytest.raises(ReaderError, match='Bag version 300 is not supported.'):
|
||||
Reader(bag).open()
|
||||
|
||||
bag.write_bytes(b'#ROSBAG V2.0\x0a\x00')
|
||||
with pytest.raises(ReaderError, match='Header could not be read from file.'):
|
||||
Reader(bag).open()
|
||||
|
||||
bag.write_bytes(b'#ROSBAG V2.0\x0a\x01\x00\x00\x00')
|
||||
with pytest.raises(ReaderError, match='Header could not be read from file.'):
|
||||
Reader(bag).open()
|
||||
|
||||
bag.write_bytes(b'#ROSBAG V2.0\x0a\x01\x00\x00\x00\x01')
|
||||
with pytest.raises(ReaderError, match='Header field size could not be read.'):
|
||||
Reader(bag).open()
|
||||
|
||||
bag.write_bytes(b'#ROSBAG V2.0\x0a\x04\x00\x00\x00\x01\x00\x00\x00')
|
||||
with pytest.raises(ReaderError, match='Declared field size is too large for header.'):
|
||||
Reader(bag).open()
|
||||
|
||||
bag.write_bytes(b'#ROSBAG V2.0\x0a\x05\x00\x00\x00\x01\x00\x00\x00x')
|
||||
with pytest.raises(ReaderError, match='Header field could not be parsed.'):
|
||||
Reader(bag).open()
|
||||
|
||||
write_bag(bag, {'encryptor': b'enc', **create_default_header()})
|
||||
with pytest.raises(ReaderError, match='is not supported'):
|
||||
Reader(bag).open()
|
||||
|
||||
write_bag(bag, {**create_default_header(), 'index_pos': pack('<Q', 0)})
|
||||
with pytest.raises(ReaderError, match='Bag is not indexed'):
|
||||
Reader(bag).open()
|
||||
|
||||
write_bag(bag, create_default_header(), chunks=[[
|
||||
create_connection(),
|
||||
create_message(),
|
||||
]])
|
||||
bag.write_bytes(bag.read_bytes().replace(b'none', b'COMP'))
|
||||
with pytest.raises(ReaderError, match='Compression \'COMP\' is not supported.'):
|
||||
Reader(bag).open()
|
||||
|
||||
write_bag(bag, create_default_header(), chunks=[[
|
||||
create_connection(),
|
||||
create_message(),
|
||||
]])
|
||||
bag.write_bytes(bag.read_bytes().replace(b'ver=\x01', b'ver=\x02'))
|
||||
with pytest.raises(ReaderError, match='CHUNK_INFO version 2 is not supported.'):
|
||||
Reader(bag).open()
|
||||
|
||||
write_bag(bag, create_default_header(), chunks=[[
|
||||
create_connection(),
|
||||
create_message(),
|
||||
]])
|
||||
bag.write_bytes(bag.read_bytes().replace(b'ver=\x01', b'ver=\x02', 1))
|
||||
with pytest.raises(ReaderError, match='IDXDATA version 2 is not supported.'):
|
||||
Reader(bag).open()
|
||||
|
||||
write_bag(bag, create_default_header(), chunks=[[
|
||||
create_connection(),
|
||||
create_message(),
|
||||
]])
|
||||
bag.write_bytes(bag.read_bytes().replace(b'op=\x02', b'op=\x00', 1))
|
||||
with Reader(bag) as reader, \
|
||||
pytest.raises(ReaderError, match='Expected to find message data.'):
|
||||
next(reader.messages())
|
||||
|
||||
write_bag(bag, create_default_header(), chunks=[[
|
||||
create_connection(),
|
||||
create_message(),
|
||||
]])
|
||||
bag.write_bytes(bag.read_bytes().replace(b'op=\x03', b'op=\x02', 1))
|
||||
with pytest.raises(ReaderError, match='Record of type \'MSGDATA\' is unexpected.'):
|
||||
Reader(bag).open()
|
||||
|
||||
# bad uint8 field
|
||||
write_bag(
|
||||
bag,
|
||||
create_default_header(),
|
||||
chunks=[[
|
||||
({}, {}),
|
||||
create_connection(),
|
||||
create_message(),
|
||||
]],
|
||||
)
|
||||
with Reader(bag) as reader, \
|
||||
pytest.raises(ReaderError, match='field \'op\''):
|
||||
next(reader.messages())
|
||||
|
||||
# bad uint32, uint64, time field
|
||||
for name in ('conn_count', 'chunk_pos', 'time'):
|
||||
write_bag(bag, create_default_header(), chunks=[[create_connection(), create_message()]])
|
||||
bag.write_bytes(bag.read_bytes().replace(name.encode(), b'x' * len(name), 1))
|
||||
if name == 'time':
|
||||
with pytest.raises(ReaderError, match=f'field \'{name}\''), \
|
||||
Reader(bag) as reader:
|
||||
next(reader.messages())
|
||||
else:
|
||||
with pytest.raises(ReaderError, match=f'field \'{name}\''):
|
||||
Reader(bag).open()
|
||||
45
rosbags/tests/test_roundtrip.py
Normal file
45
rosbags/tests/test_roundtrip.py
Normal file
@ -0,0 +1,45 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Test full data roundtrip."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from typing import TYPE_CHECKING
|
||||
|
||||
import pytest
|
||||
|
||||
from rosbags.rosbag2 import Reader, Writer
|
||||
from rosbags.serde import deserialize_cdr, serialize_cdr
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from pathlib import Path
|
||||
|
||||
|
||||
@pytest.mark.parametrize('mode', [*Writer.CompressionMode])
|
||||
def test_roundtrip(mode: Writer.CompressionMode, tmp_path: Path) -> None:
|
||||
"""Test full data roundtrip."""
|
||||
|
||||
class Foo: # pylint: disable=too-few-public-methods
|
||||
"""Dummy class."""
|
||||
|
||||
data = 1.25
|
||||
|
||||
path = tmp_path / 'rosbag2'
|
||||
wbag = Writer(path)
|
||||
wbag.set_compression(mode, wbag.CompressionFormat.ZSTD)
|
||||
with wbag:
|
||||
msgtype = 'std_msgs/msg/Float64'
|
||||
wconnection = wbag.add_connection('/test', msgtype)
|
||||
wbag.write(wconnection, 42, serialize_cdr(Foo, msgtype))
|
||||
|
||||
rbag = Reader(path)
|
||||
with rbag:
|
||||
gen = rbag.messages()
|
||||
rconnection, _, raw = next(gen)
|
||||
assert rconnection.topic == wconnection.topic
|
||||
assert rconnection.msgtype == wconnection.msgtype
|
||||
assert rconnection.ext == wconnection.ext
|
||||
msg = deserialize_cdr(raw, rconnection.msgtype)
|
||||
assert getattr(msg, 'data', None) == Foo.data
|
||||
with pytest.raises(StopIteration):
|
||||
next(gen)
|
||||
44
rosbags/tests/test_roundtrip1.py
Normal file
44
rosbags/tests/test_roundtrip1.py
Normal file
@ -0,0 +1,44 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Test full data roundtrip."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from typing import TYPE_CHECKING
|
||||
|
||||
import pytest
|
||||
|
||||
from rosbags.rosbag1 import Reader, Writer
|
||||
from rosbags.serde import cdr_to_ros1, deserialize_cdr, ros1_to_cdr, serialize_cdr
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from pathlib import Path
|
||||
from typing import Optional
|
||||
|
||||
|
||||
@pytest.mark.parametrize('fmt', [None, Writer.CompressionFormat.BZ2, Writer.CompressionFormat.LZ4])
|
||||
def test_roundtrip(tmp_path: Path, fmt: Optional[Writer.CompressionFormat]) -> None:
|
||||
"""Test full data roundtrip."""
|
||||
|
||||
class Foo: # pylint: disable=too-few-public-methods
|
||||
"""Dummy class."""
|
||||
|
||||
data = 1.25
|
||||
|
||||
path = tmp_path / 'test.bag'
|
||||
wbag = Writer(path)
|
||||
if fmt:
|
||||
wbag.set_compression(fmt)
|
||||
with wbag:
|
||||
msgtype = 'std_msgs/msg/Float64'
|
||||
conn = wbag.add_connection('/test', msgtype)
|
||||
wbag.write(conn, 42, cdr_to_ros1(serialize_cdr(Foo, msgtype), msgtype))
|
||||
|
||||
rbag = Reader(path)
|
||||
with rbag:
|
||||
gen = rbag.messages()
|
||||
connection, _, raw = next(gen)
|
||||
msg = deserialize_cdr(ros1_to_cdr(raw, connection.msgtype), connection.msgtype)
|
||||
assert getattr(msg, 'data', None) == Foo.data
|
||||
with pytest.raises(StopIteration):
|
||||
next(gen)
|
||||
513
rosbags/tests/test_serde.py
Normal file
513
rosbags/tests/test_serde.py
Normal file
@ -0,0 +1,513 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Serializer and deserializer tests."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from typing import TYPE_CHECKING
|
||||
from unittest.mock import MagicMock, patch
|
||||
|
||||
import numpy
|
||||
import pytest
|
||||
|
||||
from rosbags.serde import (
|
||||
SerdeError,
|
||||
cdr_to_ros1,
|
||||
deserialize_cdr,
|
||||
deserialize_ros1,
|
||||
ros1_to_cdr,
|
||||
serialize_cdr,
|
||||
serialize_ros1,
|
||||
)
|
||||
from rosbags.serde.messages import get_msgdef
|
||||
from rosbags.typesys import get_types_from_msg, register_types, types
|
||||
from rosbags.typesys.types import builtin_interfaces__msg__Time as Time
|
||||
from rosbags.typesys.types import geometry_msgs__msg__Polygon as Polygon
|
||||
from rosbags.typesys.types import sensor_msgs__msg__MagneticField as MagneticField
|
||||
from rosbags.typesys.types import std_msgs__msg__Header as Header
|
||||
|
||||
from .cdr import deserialize, serialize
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from typing import Any, Generator, Union
|
||||
|
||||
MSG_POLY = (
|
||||
(
|
||||
b'\x00\x01\x00\x00' # header
|
||||
b'\x02\x00\x00\x00' # number of points = 2
|
||||
b'\x00\x00\x80\x3f' # x = 1
|
||||
b'\x00\x00\x00\x40' # y = 2
|
||||
b'\x00\x00\x40\x40' # z = 3
|
||||
b'\x00\x00\xa0\x3f' # x = 1.25
|
||||
b'\x00\x00\x10\x40' # y = 2.25
|
||||
b'\x00\x00\x50\x40' # z = 3.25
|
||||
),
|
||||
'geometry_msgs/msg/Polygon',
|
||||
True,
|
||||
)
|
||||
|
||||
MSG_MAGN = (
|
||||
(
|
||||
b'\x00\x01\x00\x00' # header
|
||||
b'\xc4\x02\x00\x00\x00\x01\x00\x00' # timestamp = 708s 256ns
|
||||
b'\x06\x00\x00\x00foo42\x00' # frameid 'foo42'
|
||||
b'\x00\x00\x00\x00\x00\x00' # padding
|
||||
b'\x00\x00\x00\x00\x00\x00\x60\x40' # x = 128
|
||||
b'\x00\x00\x00\x00\x00\x00\x60\x40' # y = 128
|
||||
b'\x00\x00\x00\x00\x00\x00\x60\x40' # z = 128
|
||||
b'\x00\x00\x00\x00\x00\x00\xF0\x3F' # covariance matrix = 3x3 diag
|
||||
b'\x00\x00\x00\x00\x00\x00\x00\x00'
|
||||
b'\x00\x00\x00\x00\x00\x00\x00\x00'
|
||||
b'\x00\x00\x00\x00\x00\x00\x00\x00'
|
||||
b'\x00\x00\x00\x00\x00\x00\xF0\x3F'
|
||||
b'\x00\x00\x00\x00\x00\x00\x00\x00'
|
||||
b'\x00\x00\x00\x00\x00\x00\x00\x00'
|
||||
b'\x00\x00\x00\x00\x00\x00\x00\x00'
|
||||
b'\x00\x00\x00\x00\x00\x00\xF0\x3F'
|
||||
),
|
||||
'sensor_msgs/msg/MagneticField',
|
||||
True,
|
||||
)
|
||||
|
||||
MSG_MAGN_BIG = (
|
||||
(
|
||||
b'\x00\x00\x00\x00' # header
|
||||
b'\x00\x00\x02\xc4\x00\x00\x01\x00' # timestamp = 708s 256ns
|
||||
b'\x00\x00\x00\x06foo42\x00' # frameid 'foo42'
|
||||
b'\x00\x00\x00\x00\x00\x00' # padding
|
||||
b'\x40\x60\x00\x00\x00\x00\x00\x00' # x = 128
|
||||
b'\x40\x60\x00\x00\x00\x00\x00\x00' # y = 128
|
||||
b'\x40\x60\x00\x00\x00\x00\x00\x00' # z = 128
|
||||
b'\x3F\xF0\x00\x00\x00\x00\x00\x00' # covariance matrix = 3x3 diag
|
||||
b'\x00\x00\x00\x00\x00\x00\x00\x00'
|
||||
b'\x00\x00\x00\x00\x00\x00\x00\x00'
|
||||
b'\x00\x00\x00\x00\x00\x00\x00\x00'
|
||||
b'\x3F\xF0\x00\x00\x00\x00\x00\x00'
|
||||
b'\x00\x00\x00\x00\x00\x00\x00\x00'
|
||||
b'\x00\x00\x00\x00\x00\x00\x00\x00'
|
||||
b'\x00\x00\x00\x00\x00\x00\x00\x00'
|
||||
b'\x3F\xF0\x00\x00\x00\x00\x00\x00'
|
||||
b'\x00\x00\x00' # garbage
|
||||
),
|
||||
'sensor_msgs/msg/MagneticField',
|
||||
False,
|
||||
)
|
||||
|
||||
MSG_JOINT = (
|
||||
(
|
||||
b'\x00\x01\x00\x00' # header
|
||||
b'\xc4\x02\x00\x00\x00\x01\x00\x00' # timestamp = 708s 256ns
|
||||
b'\x04\x00\x00\x00bar\x00' # frameid 'bar'
|
||||
b'\x02\x00\x00\x00' # number of strings
|
||||
b'\x02\x00\x00\x00a\x00' # string 'a'
|
||||
b'\x00\x00' # padding
|
||||
b'\x02\x00\x00\x00b\x00' # string 'b'
|
||||
b'\x00\x00' # padding
|
||||
b'\x00\x00\x00\x00' # number of points
|
||||
b'\x00\x00\x00' # garbage
|
||||
),
|
||||
'trajectory_msgs/msg/JointTrajectory',
|
||||
True,
|
||||
)
|
||||
|
||||
MESSAGES = [MSG_POLY, MSG_MAGN, MSG_MAGN_BIG, MSG_JOINT]
|
||||
|
||||
STATIC_64_64 = """
|
||||
uint64[2] u64
|
||||
"""
|
||||
|
||||
STATIC_64_16 = """
|
||||
uint64 u64
|
||||
uint16 u16
|
||||
"""
|
||||
|
||||
STATIC_16_64 = """
|
||||
uint16 u16
|
||||
uint64 u64
|
||||
"""
|
||||
|
||||
DYNAMIC_64_64 = """
|
||||
uint64[] u64
|
||||
"""
|
||||
|
||||
DYNAMIC_64_B_64 = """
|
||||
uint64 u64
|
||||
bool b
|
||||
float64 f64
|
||||
"""
|
||||
|
||||
DYNAMIC_64_S = """
|
||||
uint64 u64
|
||||
string s
|
||||
"""
|
||||
|
||||
DYNAMIC_S_64 = """
|
||||
string s
|
||||
uint64 u64
|
||||
"""
|
||||
|
||||
CUSTOM = """
|
||||
string base_str
|
||||
float32 base_f32
|
||||
test_msgs/msg/static_64_64 msg_s66
|
||||
test_msgs/msg/static_64_16 msg_s61
|
||||
test_msgs/msg/static_16_64 msg_s16
|
||||
test_msgs/msg/dynamic_64_64 msg_d66
|
||||
test_msgs/msg/dynamic_64_b_64 msg_d6b6
|
||||
test_msgs/msg/dynamic_64_s msg_d6s
|
||||
test_msgs/msg/dynamic_s_64 msg_ds6
|
||||
|
||||
string[2] arr_base_str
|
||||
float32[2] arr_base_f32
|
||||
test_msgs/msg/static_64_64[2] arr_msg_s66
|
||||
test_msgs/msg/static_64_16[2] arr_msg_s61
|
||||
test_msgs/msg/static_16_64[2] arr_msg_s16
|
||||
test_msgs/msg/dynamic_64_64[2] arr_msg_d66
|
||||
test_msgs/msg/dynamic_64_b_64[2] arr_msg_d6b6
|
||||
test_msgs/msg/dynamic_64_s[2] arr_msg_d6s
|
||||
test_msgs/msg/dynamic_s_64[2] arr_msg_ds6
|
||||
|
||||
string[] seq_base_str
|
||||
float32[] seq_base_f32
|
||||
test_msgs/msg/static_64_64[] seq_msg_s66
|
||||
test_msgs/msg/static_64_16[] seq_msg_s61
|
||||
test_msgs/msg/static_16_64[] seq_msg_s16
|
||||
test_msgs/msg/dynamic_64_64[] seq_msg_d66
|
||||
test_msgs/msg/dynamic_64_b_64[] seq_msg_d6b6
|
||||
test_msgs/msg/dynamic_64_s[] seq_msg_d6s
|
||||
test_msgs/msg/dynamic_s_64[] seq_msg_ds6
|
||||
"""
|
||||
|
||||
SU64_B = """
|
||||
uint64[] su64
|
||||
bool b
|
||||
"""
|
||||
|
||||
SU64_U64 = """
|
||||
uint64[] su64
|
||||
uint64 u64
|
||||
"""
|
||||
|
||||
SMSG_U64 = """
|
||||
su64_u64[] seq
|
||||
uint64 u64
|
||||
"""
|
||||
|
||||
|
||||
@pytest.fixture()
|
||||
def _comparable() -> Generator[None, None, None]:
|
||||
"""Make messages containing numpy arrays comparable.
|
||||
|
||||
Notes:
|
||||
This solution is necessary as numpy.ndarray is not directly patchable.
|
||||
|
||||
"""
|
||||
frombuffer = numpy.frombuffer
|
||||
|
||||
def arreq(self: MagicMock, other: Union[MagicMock, Any]) -> bool:
|
||||
lhs = self._mock_wraps # pylint: disable=protected-access
|
||||
rhs = getattr(other, '_mock_wraps', other)
|
||||
return (lhs == rhs).all() # type: ignore
|
||||
|
||||
class CNDArray(MagicMock):
|
||||
"""Mock ndarray."""
|
||||
|
||||
def __init__(self, *args: Any, **kwargs: Any): # noqa: ANN401
|
||||
super().__init__(*args, **kwargs)
|
||||
self.dtype = kwargs['wraps'].dtype
|
||||
self.reshape = kwargs['wraps'].reshape
|
||||
self.__eq__ = arreq # type: ignore
|
||||
|
||||
def byteswap(self, *args: Any) -> CNDArray: # noqa: ANN401
|
||||
"""Wrap return value also in mock."""
|
||||
return CNDArray(wraps=self._mock_wraps.byteswap(*args))
|
||||
|
||||
def wrap_frombuffer(*args: Any, **kwargs: Any) -> CNDArray: # noqa: ANN401
|
||||
return CNDArray(wraps=frombuffer(*args, **kwargs))
|
||||
|
||||
with patch.object(numpy, 'frombuffer', side_effect=wrap_frombuffer):
|
||||
yield
|
||||
|
||||
|
||||
@pytest.mark.parametrize('message', MESSAGES)
|
||||
def test_serde(message: tuple[bytes, str, bool]) -> None:
|
||||
"""Test serialization deserialization roundtrip."""
|
||||
rawdata, typ, is_little = message
|
||||
|
||||
serdeser = serialize_cdr(deserialize_cdr(rawdata, typ), typ, is_little)
|
||||
assert serdeser == serialize(deserialize(rawdata, typ), typ, is_little)
|
||||
assert serdeser == rawdata[:len(serdeser)]
|
||||
assert len(rawdata) - len(serdeser) < 4
|
||||
assert all(x == 0 for x in rawdata[len(serdeser):])
|
||||
|
||||
if rawdata[1] == 1:
|
||||
rawdata = cdr_to_ros1(rawdata, typ)
|
||||
serdeser = serialize_ros1(deserialize_ros1(rawdata, typ), typ)
|
||||
assert serdeser == rawdata
|
||||
|
||||
|
||||
@pytest.mark.usefixtures('_comparable')
|
||||
def test_deserializer() -> None:
|
||||
"""Test deserializer."""
|
||||
msg = deserialize_cdr(*MSG_POLY[:2])
|
||||
assert msg == deserialize(*MSG_POLY[:2])
|
||||
assert isinstance(msg, Polygon)
|
||||
assert len(msg.points) == 2
|
||||
assert msg.points[0].x == 1
|
||||
assert msg.points[0].y == 2
|
||||
assert msg.points[0].z == 3
|
||||
assert msg.points[1].x == 1.25
|
||||
assert msg.points[1].y == 2.25
|
||||
assert msg.points[1].z == 3.25
|
||||
msg_ros1 = deserialize_ros1(cdr_to_ros1(*MSG_POLY[:2]), MSG_POLY[1])
|
||||
assert msg_ros1 == msg
|
||||
|
||||
msg = deserialize_cdr(*MSG_MAGN[:2])
|
||||
assert msg == deserialize(*MSG_MAGN[:2])
|
||||
assert isinstance(msg, MagneticField)
|
||||
assert 'MagneticField' in repr(msg)
|
||||
assert msg.header.stamp.sec == 708
|
||||
assert msg.header.stamp.nanosec == 256
|
||||
assert msg.header.frame_id == 'foo42'
|
||||
field = msg.magnetic_field
|
||||
assert (field.x, field.y, field.z) == (128., 128., 128.)
|
||||
diag = numpy.diag(msg.magnetic_field_covariance.reshape(3, 3))
|
||||
assert (diag == [1., 1., 1.]).all()
|
||||
msg_ros1 = deserialize_ros1(cdr_to_ros1(*MSG_MAGN[:2]), MSG_MAGN[1])
|
||||
assert msg_ros1 == msg
|
||||
|
||||
msg_big = deserialize_cdr(*MSG_MAGN_BIG[:2])
|
||||
assert msg_big == deserialize(*MSG_MAGN_BIG[:2])
|
||||
assert isinstance(msg_big, MagneticField)
|
||||
assert msg.magnetic_field == msg_big.magnetic_field
|
||||
|
||||
|
||||
@pytest.mark.usefixtures('_comparable')
|
||||
def test_serializer() -> None:
|
||||
"""Test serializer."""
|
||||
|
||||
class Foo: # pylint: disable=too-few-public-methods
|
||||
"""Dummy class."""
|
||||
|
||||
data = 7
|
||||
|
||||
msg = Foo()
|
||||
ret = serialize_cdr(msg, 'std_msgs/msg/Int8', True)
|
||||
assert ret == serialize(msg, 'std_msgs/msg/Int8', True)
|
||||
assert ret == b'\x00\x01\x00\x00\x07'
|
||||
|
||||
ret = serialize_cdr(msg, 'std_msgs/msg/Int8', False)
|
||||
assert ret == serialize(msg, 'std_msgs/msg/Int8', False)
|
||||
assert ret == b'\x00\x00\x00\x00\x07'
|
||||
|
||||
ret = serialize_cdr(msg, 'std_msgs/msg/Int16', True)
|
||||
assert ret == serialize(msg, 'std_msgs/msg/Int16', True)
|
||||
assert ret == b'\x00\x01\x00\x00\x07\x00'
|
||||
|
||||
ret = serialize_cdr(msg, 'std_msgs/msg/Int16', False)
|
||||
assert ret == serialize(msg, 'std_msgs/msg/Int16', False)
|
||||
assert ret == b'\x00\x00\x00\x00\x00\x07'
|
||||
|
||||
|
||||
@pytest.mark.usefixtures('_comparable')
|
||||
def test_serializer_errors() -> None:
|
||||
"""Test seralizer with broken messages."""
|
||||
|
||||
class Foo: # pylint: disable=too-few-public-methods
|
||||
"""Dummy class."""
|
||||
|
||||
coef: numpy.ndarray[Any, numpy.dtype[numpy.int_]] = numpy.array([1, 2, 3, 4])
|
||||
|
||||
msg = Foo()
|
||||
ret = serialize_cdr(msg, 'shape_msgs/msg/Plane', True)
|
||||
assert ret == serialize(msg, 'shape_msgs/msg/Plane', True)
|
||||
|
||||
msg.coef = numpy.array([1, 2, 3, 4, 4])
|
||||
with pytest.raises(SerdeError, match='array length'):
|
||||
serialize_cdr(msg, 'shape_msgs/msg/Plane', True)
|
||||
|
||||
|
||||
@pytest.mark.usefixtures('_comparable')
|
||||
def test_custom_type() -> None:
|
||||
"""Test custom type."""
|
||||
cname = 'test_msgs/msg/custom'
|
||||
register_types(dict(get_types_from_msg(STATIC_64_64, 'test_msgs/msg/static_64_64')))
|
||||
register_types(dict(get_types_from_msg(STATIC_64_16, 'test_msgs/msg/static_64_16')))
|
||||
register_types(dict(get_types_from_msg(STATIC_16_64, 'test_msgs/msg/static_16_64')))
|
||||
register_types(dict(get_types_from_msg(DYNAMIC_64_64, 'test_msgs/msg/dynamic_64_64')))
|
||||
register_types(dict(get_types_from_msg(DYNAMIC_64_B_64, 'test_msgs/msg/dynamic_64_b_64')))
|
||||
register_types(dict(get_types_from_msg(DYNAMIC_64_S, 'test_msgs/msg/dynamic_64_s')))
|
||||
register_types(dict(get_types_from_msg(DYNAMIC_S_64, 'test_msgs/msg/dynamic_s_64')))
|
||||
register_types(dict(get_types_from_msg(CUSTOM, cname)))
|
||||
|
||||
static_64_64 = get_msgdef('test_msgs/msg/static_64_64', types).cls
|
||||
static_64_16 = get_msgdef('test_msgs/msg/static_64_16', types).cls
|
||||
static_16_64 = get_msgdef('test_msgs/msg/static_16_64', types).cls
|
||||
dynamic_64_64 = get_msgdef('test_msgs/msg/dynamic_64_64', types).cls
|
||||
dynamic_64_b_64 = get_msgdef('test_msgs/msg/dynamic_64_b_64', types).cls
|
||||
dynamic_64_s = get_msgdef('test_msgs/msg/dynamic_64_s', types).cls
|
||||
dynamic_s_64 = get_msgdef('test_msgs/msg/dynamic_s_64', types).cls
|
||||
custom = get_msgdef('test_msgs/msg/custom', types).cls
|
||||
|
||||
msg = custom(
|
||||
'str',
|
||||
1.5,
|
||||
static_64_64(numpy.array([64, 64], dtype=numpy.uint64)),
|
||||
static_64_16(64, 16),
|
||||
static_16_64(16, 64),
|
||||
dynamic_64_64(numpy.array([33, 33], dtype=numpy.uint64)),
|
||||
dynamic_64_b_64(64, True, 1.25),
|
||||
dynamic_64_s(64, 's'),
|
||||
dynamic_s_64('s', 64),
|
||||
# arrays
|
||||
['str_1', ''],
|
||||
numpy.array([1.5, 0.75], dtype=numpy.float32),
|
||||
[
|
||||
static_64_64(numpy.array([64, 64], dtype=numpy.uint64)),
|
||||
static_64_64(numpy.array([64, 64], dtype=numpy.uint64)),
|
||||
],
|
||||
[static_64_16(64, 16), static_64_16(64, 16)],
|
||||
[static_16_64(16, 64), static_16_64(16, 64)],
|
||||
[
|
||||
dynamic_64_64(numpy.array([33, 33], dtype=numpy.uint64)),
|
||||
dynamic_64_64(numpy.array([33, 33], dtype=numpy.uint64)),
|
||||
],
|
||||
[
|
||||
dynamic_64_b_64(64, True, 1.25),
|
||||
dynamic_64_b_64(64, True, 1.25),
|
||||
],
|
||||
[dynamic_64_s(64, 's'), dynamic_64_s(64, 's')],
|
||||
[dynamic_s_64('s', 64), dynamic_s_64('s', 64)],
|
||||
# sequences
|
||||
['str_1', ''],
|
||||
numpy.array([1.5, 0.75], dtype=numpy.float32),
|
||||
[
|
||||
static_64_64(numpy.array([64, 64], dtype=numpy.uint64)),
|
||||
static_64_64(numpy.array([64, 64], dtype=numpy.uint64)),
|
||||
],
|
||||
[static_64_16(64, 16), static_64_16(64, 16)],
|
||||
[static_16_64(16, 64), static_16_64(16, 64)],
|
||||
[
|
||||
dynamic_64_64(numpy.array([33, 33], dtype=numpy.uint64)),
|
||||
dynamic_64_64(numpy.array([33, 33], dtype=numpy.uint64)),
|
||||
],
|
||||
[
|
||||
dynamic_64_b_64(64, True, 1.25),
|
||||
dynamic_64_b_64(64, True, 1.25),
|
||||
],
|
||||
[dynamic_64_s(64, 's'), dynamic_64_s(64, 's')],
|
||||
[dynamic_s_64('s', 64), dynamic_s_64('s', 64)],
|
||||
)
|
||||
|
||||
res = deserialize_cdr(serialize_cdr(msg, cname), cname)
|
||||
assert res == deserialize(serialize(msg, cname), cname)
|
||||
assert res == msg
|
||||
|
||||
res = deserialize_ros1(serialize_ros1(msg, cname), cname)
|
||||
assert res == msg
|
||||
|
||||
|
||||
def test_ros1_to_cdr() -> None:
|
||||
"""Test ROS1 to CDR conversion."""
|
||||
msgtype = 'test_msgs/msg/static_16_64'
|
||||
register_types(dict(get_types_from_msg(STATIC_16_64, msgtype)))
|
||||
msg_ros = (b'\x01\x00'
|
||||
b'\x00\x00\x00\x00\x00\x00\x00\x02')
|
||||
msg_cdr = (
|
||||
b'\x00\x01\x00\x00'
|
||||
b'\x01\x00'
|
||||
b'\x00\x00\x00\x00\x00\x00'
|
||||
b'\x00\x00\x00\x00\x00\x00\x00\x02'
|
||||
)
|
||||
assert ros1_to_cdr(msg_ros, msgtype) == msg_cdr
|
||||
assert serialize_cdr(deserialize_ros1(msg_ros, msgtype), msgtype) == msg_cdr
|
||||
|
||||
msgtype = 'test_msgs/msg/dynamic_s_64'
|
||||
register_types(dict(get_types_from_msg(DYNAMIC_S_64, msgtype)))
|
||||
msg_ros = (b'\x01\x00\x00\x00X'
|
||||
b'\x00\x00\x00\x00\x00\x00\x00\x02')
|
||||
msg_cdr = (
|
||||
b'\x00\x01\x00\x00'
|
||||
b'\x02\x00\x00\x00X\x00'
|
||||
b'\x00\x00'
|
||||
b'\x00\x00\x00\x00\x00\x00\x00\x02'
|
||||
)
|
||||
assert ros1_to_cdr(msg_ros, msgtype) == msg_cdr
|
||||
assert serialize_cdr(deserialize_ros1(msg_ros, msgtype), msgtype) == msg_cdr
|
||||
|
||||
|
||||
def test_cdr_to_ros1() -> None:
|
||||
"""Test CDR to ROS1 conversion."""
|
||||
msgtype = 'test_msgs/msg/static_16_64'
|
||||
register_types(dict(get_types_from_msg(STATIC_16_64, msgtype)))
|
||||
msg_ros = (b'\x01\x00'
|
||||
b'\x00\x00\x00\x00\x00\x00\x00\x02')
|
||||
msg_cdr = (
|
||||
b'\x00\x01\x00\x00'
|
||||
b'\x01\x00'
|
||||
b'\x00\x00\x00\x00\x00\x00'
|
||||
b'\x00\x00\x00\x00\x00\x00\x00\x02'
|
||||
)
|
||||
assert cdr_to_ros1(msg_cdr, msgtype) == msg_ros
|
||||
assert serialize_ros1(deserialize_cdr(msg_cdr, msgtype), msgtype) == msg_ros
|
||||
|
||||
msgtype = 'test_msgs/msg/dynamic_s_64'
|
||||
register_types(dict(get_types_from_msg(DYNAMIC_S_64, msgtype)))
|
||||
msg_ros = (b'\x01\x00\x00\x00X'
|
||||
b'\x00\x00\x00\x00\x00\x00\x00\x02')
|
||||
msg_cdr = (
|
||||
b'\x00\x01\x00\x00'
|
||||
b'\x02\x00\x00\x00X\x00'
|
||||
b'\x00\x00'
|
||||
b'\x00\x00\x00\x00\x00\x00\x00\x02'
|
||||
)
|
||||
assert cdr_to_ros1(msg_cdr, msgtype) == msg_ros
|
||||
assert serialize_ros1(deserialize_cdr(msg_cdr, msgtype), msgtype) == msg_ros
|
||||
|
||||
header = Header(stamp=Time(42, 666), frame_id='frame')
|
||||
msg_ros = cdr_to_ros1(serialize_cdr(header, 'std_msgs/msg/Header'), 'std_msgs/msg/Header')
|
||||
assert msg_ros == b'\x00\x00\x00\x00*\x00\x00\x00\x9a\x02\x00\x00\x05\x00\x00\x00frame'
|
||||
|
||||
|
||||
@pytest.mark.usefixtures('_comparable')
|
||||
def test_padding_empty_sequence() -> None:
|
||||
"""Test empty sequences do not add item padding."""
|
||||
register_types(dict(get_types_from_msg(SU64_B, 'test_msgs/msg/su64_b')))
|
||||
|
||||
su64_b = get_msgdef('test_msgs/msg/su64_b', types).cls
|
||||
msg = su64_b(numpy.array([], dtype=numpy.uint64), True)
|
||||
|
||||
cdr = serialize_cdr(msg, msg.__msgtype__)
|
||||
assert cdr[4:] == b'\x00\x00\x00\x00\x01'
|
||||
|
||||
ros1 = cdr_to_ros1(cdr, msg.__msgtype__)
|
||||
assert ros1 == cdr[4:]
|
||||
|
||||
assert ros1_to_cdr(ros1, msg.__msgtype__) == cdr
|
||||
|
||||
assert deserialize_cdr(cdr, msg.__msgtype__) == msg
|
||||
|
||||
|
||||
@pytest.mark.usefixtures('_comparable')
|
||||
def test_align_after_empty_sequence() -> None:
|
||||
"""Test alignment after empty sequences."""
|
||||
register_types(dict(get_types_from_msg(SU64_U64, 'test_msgs/msg/su64_u64')))
|
||||
register_types(dict(get_types_from_msg(SMSG_U64, 'test_msgs/msg/smsg_u64')))
|
||||
|
||||
su64_u64 = get_msgdef('test_msgs/msg/su64_u64', types).cls
|
||||
smsg_u64 = get_msgdef('test_msgs/msg/smsg_u64', types).cls
|
||||
msg1 = su64_u64(numpy.array([], dtype=numpy.uint64), 42)
|
||||
msg2 = smsg_u64([], 42)
|
||||
|
||||
cdr = serialize_cdr(msg1, msg1.__msgtype__)
|
||||
assert cdr[4:] == b'\x00\x00\x00\x00\x00\x00\x00\x00\x2a\x00\x00\x00\x00\x00\x00\x00'
|
||||
assert serialize_cdr(msg2, msg2.__msgtype__) == cdr
|
||||
|
||||
ros1 = cdr_to_ros1(cdr, msg1.__msgtype__)
|
||||
assert ros1 == b'\x00\x00\x00\x00\x2a\x00\x00\x00\x00\x00\x00\x00'
|
||||
assert cdr_to_ros1(cdr, msg2.__msgtype__) == ros1
|
||||
|
||||
assert ros1_to_cdr(ros1, msg1.__msgtype__) == cdr
|
||||
|
||||
assert deserialize_cdr(cdr, msg1.__msgtype__) == msg1
|
||||
assert deserialize_cdr(cdr, msg2.__msgtype__) == msg2
|
||||
127
rosbags/tests/test_writer.py
Normal file
127
rosbags/tests/test_writer.py
Normal file
@ -0,0 +1,127 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Writer tests."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from typing import TYPE_CHECKING
|
||||
|
||||
import pytest
|
||||
|
||||
from rosbags.interfaces import Connection, ConnectionExtRosbag2
|
||||
from rosbags.rosbag2 import Writer, WriterError
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from pathlib import Path
|
||||
|
||||
|
||||
def test_writer(tmp_path: Path) -> None:
|
||||
"""Test Writer."""
|
||||
path = tmp_path / 'rosbag2'
|
||||
with Writer(path) as bag:
|
||||
connection = bag.add_connection('/test', 'std_msgs/msg/Int8')
|
||||
bag.write(connection, 42, b'\x00')
|
||||
bag.write(connection, 666, b'\x01' * 4096)
|
||||
assert (path / 'metadata.yaml').exists()
|
||||
assert (path / 'rosbag2.db3').exists()
|
||||
size = (path / 'rosbag2.db3').stat().st_size
|
||||
|
||||
path = tmp_path / 'compress_none'
|
||||
bag = Writer(path)
|
||||
bag.set_compression(bag.CompressionMode.NONE, bag.CompressionFormat.ZSTD)
|
||||
with bag:
|
||||
connection = bag.add_connection('/test', 'std_msgs/msg/Int8')
|
||||
bag.write(connection, 42, b'\x00')
|
||||
bag.write(connection, 666, b'\x01' * 4096)
|
||||
assert (path / 'metadata.yaml').exists()
|
||||
assert (path / 'compress_none.db3').exists()
|
||||
assert size == (path / 'compress_none.db3').stat().st_size
|
||||
|
||||
path = tmp_path / 'compress_file'
|
||||
bag = Writer(path)
|
||||
bag.set_compression(bag.CompressionMode.FILE, bag.CompressionFormat.ZSTD)
|
||||
with bag:
|
||||
connection = bag.add_connection('/test', 'std_msgs/msg/Int8')
|
||||
bag.write(connection, 42, b'\x00')
|
||||
bag.write(connection, 666, b'\x01' * 4096)
|
||||
assert (path / 'metadata.yaml').exists()
|
||||
assert not (path / 'compress_file.db3').exists()
|
||||
assert (path / 'compress_file.db3.zstd').exists()
|
||||
|
||||
path = tmp_path / 'compress_message'
|
||||
bag = Writer(path)
|
||||
bag.set_compression(bag.CompressionMode.MESSAGE, bag.CompressionFormat.ZSTD)
|
||||
with bag:
|
||||
connection = bag.add_connection('/test', 'std_msgs/msg/Int8')
|
||||
bag.write(connection, 42, b'\x00')
|
||||
bag.write(connection, 666, b'\x01' * 4096)
|
||||
assert (path / 'metadata.yaml').exists()
|
||||
assert (path / 'compress_message.db3').exists()
|
||||
assert size > (path / 'compress_message.db3').stat().st_size
|
||||
|
||||
path = tmp_path / 'with_custom_data'
|
||||
bag = Writer(path)
|
||||
bag.open()
|
||||
bag.set_custom_data('key1', 'value1')
|
||||
with pytest.raises(WriterError, match='non-string value'):
|
||||
bag.set_custom_data('key1', 42) # type: ignore
|
||||
bag.close()
|
||||
assert b'key1: value1' in (path / 'metadata.yaml').read_bytes()
|
||||
|
||||
|
||||
def test_failure_cases(tmp_path: Path) -> None:
|
||||
"""Test writer failure cases."""
|
||||
with pytest.raises(WriterError, match='exists'):
|
||||
Writer(tmp_path)
|
||||
|
||||
bag = Writer(tmp_path / 'race')
|
||||
(tmp_path / 'race').mkdir()
|
||||
with pytest.raises(WriterError, match='exists'):
|
||||
bag.open()
|
||||
|
||||
bag = Writer(tmp_path / 'compress_after_open')
|
||||
bag.open()
|
||||
with pytest.raises(WriterError, match='already open'):
|
||||
bag.set_compression(bag.CompressionMode.FILE, bag.CompressionFormat.ZSTD)
|
||||
|
||||
bag = Writer(tmp_path / 'topic')
|
||||
with pytest.raises(WriterError, match='was not opened'):
|
||||
bag.add_connection('/tf', 'tf_msgs/msg/tf2')
|
||||
|
||||
bag = Writer(tmp_path / 'write')
|
||||
with pytest.raises(WriterError, match='was not opened'):
|
||||
bag.write(
|
||||
Connection(
|
||||
1,
|
||||
'/tf',
|
||||
'tf_msgs/msg/tf2',
|
||||
'',
|
||||
'',
|
||||
0,
|
||||
ConnectionExtRosbag2('cdr', ''),
|
||||
None,
|
||||
),
|
||||
0,
|
||||
b'',
|
||||
)
|
||||
|
||||
bag = Writer(tmp_path / 'topic')
|
||||
bag.open()
|
||||
bag.add_connection('/tf', 'tf_msgs/msg/tf2')
|
||||
with pytest.raises(WriterError, match='only be added once'):
|
||||
bag.add_connection('/tf', 'tf_msgs/msg/tf2')
|
||||
|
||||
bag = Writer(tmp_path / 'notopic')
|
||||
bag.open()
|
||||
connection = Connection(
|
||||
1,
|
||||
'/tf',
|
||||
'tf_msgs/msg/tf2',
|
||||
'',
|
||||
'',
|
||||
0,
|
||||
ConnectionExtRosbag2('cdr', ''),
|
||||
None,
|
||||
)
|
||||
with pytest.raises(WriterError, match='unknown connection'):
|
||||
bag.write(connection, 42, b'\x00')
|
||||
201
rosbags/tests/test_writer1.py
Normal file
201
rosbags/tests/test_writer1.py
Normal file
@ -0,0 +1,201 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Writer tests."""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from typing import TYPE_CHECKING
|
||||
from unittest.mock import Mock
|
||||
|
||||
import pytest
|
||||
|
||||
from rosbags.rosbag1 import Writer, WriterError
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from pathlib import Path
|
||||
from typing import Optional
|
||||
|
||||
|
||||
def test_no_overwrite(tmp_path: Path) -> None:
|
||||
"""Test writer does not touch existing files."""
|
||||
path = tmp_path / 'test.bag'
|
||||
path.write_text('foo')
|
||||
with pytest.raises(WriterError, match='exists'):
|
||||
Writer(path).open()
|
||||
path.unlink()
|
||||
|
||||
writer = Writer(path)
|
||||
path.write_text('foo')
|
||||
with pytest.raises(WriterError, match='exists'):
|
||||
writer.open()
|
||||
|
||||
|
||||
def test_empty(tmp_path: Path) -> None:
|
||||
"""Test empty bag."""
|
||||
path = tmp_path / 'test.bag'
|
||||
|
||||
with Writer(path):
|
||||
pass
|
||||
data = path.read_bytes()
|
||||
assert len(data) == 13 + 4096
|
||||
|
||||
|
||||
def test_add_connection(tmp_path: Path) -> None:
|
||||
"""Test adding of connections."""
|
||||
path = tmp_path / 'test.bag'
|
||||
|
||||
with pytest.raises(WriterError, match='not opened'):
|
||||
Writer(path).add_connection('/foo', 'test_msgs/msg/Test', 'MESSAGE_DEFINITION', 'HASH')
|
||||
|
||||
with Writer(path) as writer:
|
||||
res = writer.add_connection('/foo', 'test_msgs/msg/Test', 'MESSAGE_DEFINITION', 'HASH')
|
||||
assert res.id == 0
|
||||
data = path.read_bytes()
|
||||
assert data.count(b'MESSAGE_DEFINITION') == 2
|
||||
assert data.count(b'HASH') == 2
|
||||
path.unlink()
|
||||
|
||||
with Writer(path) as writer:
|
||||
res = writer.add_connection('/foo', 'std_msgs/msg/Int8')
|
||||
assert res.id == 0
|
||||
data = path.read_bytes()
|
||||
assert data.count(b'int8 data') == 2
|
||||
assert data.count(b'27ffa0c9c4b8fb8492252bcad9e5c57b') == 2
|
||||
path.unlink()
|
||||
|
||||
with Writer(path) as writer:
|
||||
writer.add_connection('/foo', 'test_msgs/msg/Test', 'MESSAGE_DEFINITION', 'HASH')
|
||||
with pytest.raises(WriterError, match='can only be added once'):
|
||||
writer.add_connection('/foo', 'test_msgs/msg/Test', 'MESSAGE_DEFINITION', 'HASH')
|
||||
path.unlink()
|
||||
|
||||
with Writer(path) as writer:
|
||||
res1 = writer.add_connection('/foo', 'test_msgs/msg/Test', 'MESSAGE_DEFINITION', 'HASH')
|
||||
res2 = writer.add_connection(
|
||||
'/foo',
|
||||
'test_msgs/msg/Test',
|
||||
'MESSAGE_DEFINITION',
|
||||
'HASH',
|
||||
callerid='src',
|
||||
)
|
||||
res3 = writer.add_connection(
|
||||
'/foo',
|
||||
'test_msgs/msg/Test',
|
||||
'MESSAGE_DEFINITION',
|
||||
'HASH',
|
||||
latching=1,
|
||||
)
|
||||
assert (res1.id, res2.id, res3.id) == (0, 1, 2)
|
||||
|
||||
|
||||
def test_write_errors(tmp_path: Path) -> None:
|
||||
"""Test write errors."""
|
||||
path = tmp_path / 'test.bag'
|
||||
|
||||
with pytest.raises(WriterError, match='not opened'):
|
||||
Writer(path).write(Mock(), 42, b'DEADBEEF')
|
||||
|
||||
with Writer(path) as writer, \
|
||||
pytest.raises(WriterError, match='is no connection'):
|
||||
writer.write(Mock(), 42, b'DEADBEEF')
|
||||
path.unlink()
|
||||
|
||||
|
||||
def test_write_simple(tmp_path: Path) -> None:
|
||||
"""Test writing of messages."""
|
||||
path = tmp_path / 'test.bag'
|
||||
|
||||
with Writer(path) as writer:
|
||||
conn_foo = writer.add_connection('/foo', 'test_msgs/msg/Test', 'MESSAGE_DEFINITION', 'HASH')
|
||||
conn_latching = writer.add_connection(
|
||||
'/foo',
|
||||
'test_msgs/msg/Test',
|
||||
'MESSAGE_DEFINITION',
|
||||
'HASH',
|
||||
latching=1,
|
||||
)
|
||||
conn_bar = writer.add_connection(
|
||||
'/bar',
|
||||
'test_msgs/msg/Bar',
|
||||
'OTHER_DEFINITION',
|
||||
'HASH',
|
||||
callerid='src',
|
||||
)
|
||||
writer.add_connection('/baz', 'test_msgs/msg/Baz', 'NEVER_WRITTEN', 'HASH')
|
||||
|
||||
writer.write(conn_foo, 42, b'DEADBEEF')
|
||||
writer.write(conn_latching, 42, b'DEADBEEF')
|
||||
writer.write(conn_bar, 43, b'SECRET')
|
||||
writer.write(conn_bar, 43, b'SUBSEQUENT')
|
||||
|
||||
res = path.read_bytes()
|
||||
assert res.count(b'op=\x05') == 1
|
||||
assert res.count(b'op=\x06') == 1
|
||||
assert res.count(b'MESSAGE_DEFINITION') == 4
|
||||
assert res.count(b'latching=1') == 2
|
||||
assert res.count(b'OTHER_DEFINITION') == 2
|
||||
assert res.count(b'callerid=src') == 2
|
||||
assert res.count(b'NEVER_WRITTEN') == 2
|
||||
assert res.count(b'DEADBEEF') == 2
|
||||
assert res.count(b'SECRET') == 1
|
||||
assert res.count(b'SUBSEQUENT') == 1
|
||||
path.unlink()
|
||||
|
||||
with Writer(path) as writer:
|
||||
writer.chunk_threshold = 256
|
||||
conn_foo = writer.add_connection('/foo', 'test_msgs/msg/Test', 'MESSAGE_DEFINITION', 'HASH')
|
||||
conn_latching = writer.add_connection(
|
||||
'/foo',
|
||||
'test_msgs/msg/Test',
|
||||
'MESSAGE_DEFINITION',
|
||||
'HASH',
|
||||
latching=1,
|
||||
)
|
||||
conn_bar = writer.add_connection(
|
||||
'/bar',
|
||||
'test_msgs/msg/Bar',
|
||||
'OTHER_DEFINITION',
|
||||
'HASH',
|
||||
callerid='src',
|
||||
)
|
||||
writer.add_connection('/baz', 'test_msgs/msg/Baz', 'NEVER_WRITTEN', 'HASH')
|
||||
|
||||
writer.write(conn_foo, 42, b'DEADBEEF')
|
||||
writer.write(conn_latching, 42, b'DEADBEEF')
|
||||
writer.write(conn_bar, 43, b'SECRET')
|
||||
writer.write(conn_bar, 43, b'SUBSEQUENT')
|
||||
|
||||
res = path.read_bytes()
|
||||
assert res.count(b'op=\x05') == 2
|
||||
assert res.count(b'op=\x06') == 2
|
||||
assert res.count(b'MESSAGE_DEFINITION') == 4
|
||||
assert res.count(b'latching=1') == 2
|
||||
assert res.count(b'OTHER_DEFINITION') == 2
|
||||
assert res.count(b'callerid=src') == 2
|
||||
assert res.count(b'NEVER_WRITTEN') == 2
|
||||
assert res.count(b'DEADBEEF') == 2
|
||||
assert res.count(b'SECRET') == 1
|
||||
assert res.count(b'SUBSEQUENT') == 1
|
||||
path.unlink()
|
||||
|
||||
|
||||
def test_compression_errors(tmp_path: Path) -> None:
|
||||
"""Test compression modes."""
|
||||
path = tmp_path / 'test.bag'
|
||||
with Writer(path) as writer, \
|
||||
pytest.raises(WriterError, match='already open'):
|
||||
writer.set_compression(writer.CompressionFormat.BZ2)
|
||||
|
||||
|
||||
@pytest.mark.parametrize('fmt', [None, Writer.CompressionFormat.BZ2, Writer.CompressionFormat.LZ4])
|
||||
def test_compression_modes(tmp_path: Path, fmt: Optional[Writer.CompressionFormat]) -> None:
|
||||
"""Test compression modes."""
|
||||
path = tmp_path / 'test.bag'
|
||||
writer = Writer(path)
|
||||
if fmt:
|
||||
writer.set_compression(fmt)
|
||||
with writer:
|
||||
conn = writer.add_connection('/foo', 'std_msgs/msg/Int8')
|
||||
writer.write(conn, 42, b'\x42')
|
||||
data = path.read_bytes()
|
||||
assert data.count(f'compression={fmt.name.lower() if fmt else "none"}'.encode()) == 1
|
||||
13
rosbags/tools/bench/Dockerfile
Normal file
13
rosbags/tools/bench/Dockerfile
Normal file
@ -0,0 +1,13 @@
|
||||
FROM ros:rolling
|
||||
|
||||
RUN apt-get update \
|
||||
&& apt-get upgrade -y \
|
||||
&& apt-get install -y \
|
||||
python3-pip
|
||||
|
||||
RUN python3 -m pip install ruamel.yaml zstandard
|
||||
|
||||
COPY src/rosbags /opt/ros/rolling/lib/python3.8/site-packages/rosbags
|
||||
COPY tools/bench/bench.py /
|
||||
|
||||
CMD ["/usr/bin/python3", "/bench.py", "/rosbag2"]
|
||||
11
rosbags/tools/bench/README.rst
Normal file
11
rosbags/tools/bench/README.rst
Normal file
@ -0,0 +1,11 @@
|
||||
=====
|
||||
Bench
|
||||
=====
|
||||
|
||||
Check and benchmark ``rosbags.rosbag2`` agains ``rosbag2_py``. The provided Dockerfile creates an execution environment for the script. Run from the root of this repository::
|
||||
|
||||
$ docker build -t rosbags/bench -f tools/bench/Dockerfile .
|
||||
|
||||
The docker image expects that the rosbag2 file to benchmark is mounted under ``/rosbag2``::
|
||||
|
||||
$ docker run --rm -v /path/to/bag:/rosbag2 rosbags/bench
|
||||
154
rosbags/tools/bench/bench.py
Normal file
154
rosbags/tools/bench/bench.py
Normal file
@ -0,0 +1,154 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Check and benchmark rosbag2 read implementations."""
|
||||
|
||||
# pylint: disable=import-error
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import sys
|
||||
from math import isnan
|
||||
from pathlib import Path
|
||||
from timeit import timeit
|
||||
from typing import TYPE_CHECKING
|
||||
|
||||
import numpy
|
||||
from rclpy.serialization import deserialize_message # type: ignore
|
||||
from rosbag2_py import ConverterOptions, SequentialReader, StorageOptions # type: ignore
|
||||
from rosidl_runtime_py.utilities import get_message # type: ignore
|
||||
|
||||
from rosbags.rosbag2 import Reader
|
||||
from rosbags.serde import deserialize_cdr
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from typing import Generator, Protocol
|
||||
|
||||
class NativeMSG(Protocol): # pylint: disable=too-few-public-methods
|
||||
"""Minimal native ROS message interface used for benchmark."""
|
||||
|
||||
def get_fields_and_field_types(self) -> dict[str, str]:
|
||||
"""Introspect message type."""
|
||||
raise NotImplementedError
|
||||
|
||||
|
||||
class ReaderPy: # pylint: disable=too-few-public-methods
|
||||
"""Mimimal shim using rosbag2_py to emulate rosbag2 API."""
|
||||
|
||||
def __init__(self, path: Path):
|
||||
"""Initialize reader shim."""
|
||||
soptions = StorageOptions(str(path), 'sqlite3')
|
||||
coptions = ConverterOptions('', '')
|
||||
self.reader = SequentialReader()
|
||||
self.reader.open(soptions, coptions)
|
||||
self.typemap = {x.name: x.type for x in self.reader.get_all_topics_and_types()}
|
||||
|
||||
def messages(self) -> Generator[tuple[str, str, int, bytes], None, None]:
|
||||
"""Expose rosbag2 like generator behavior."""
|
||||
while self.reader.has_next():
|
||||
topic, data, timestamp = self.reader.read_next()
|
||||
yield topic, self.typemap[topic], timestamp, data
|
||||
|
||||
|
||||
def deserialize_py(data: bytes, msgtype: str) -> NativeMSG:
|
||||
"""Deserialization helper for rosidl_runtime_py + rclpy."""
|
||||
pytype = get_message(msgtype)
|
||||
return deserialize_message(data, pytype) # type: ignore
|
||||
|
||||
|
||||
def compare_msg(lite: object, native: NativeMSG) -> None:
|
||||
"""Compare rosbag2 (lite) vs rosbag2_py (native) message content.
|
||||
|
||||
Args:
|
||||
lite: Message from rosbag2.
|
||||
native: Message from rosbag2_py.
|
||||
|
||||
Raises:
|
||||
AssertionError: If messages are not identical.
|
||||
|
||||
"""
|
||||
for fieldname in native.get_fields_and_field_types().keys():
|
||||
native_val = getattr(native, fieldname)
|
||||
lite_val = getattr(lite, fieldname)
|
||||
|
||||
if hasattr(lite_val, '__dataclass_fields__'):
|
||||
compare_msg(lite_val, native_val)
|
||||
|
||||
elif isinstance(lite_val, numpy.ndarray):
|
||||
assert not (native_val != lite_val).any(), f'{fieldname}: {native_val} != {lite_val}'
|
||||
|
||||
elif isinstance(lite_val, list):
|
||||
assert len(native_val) == len(lite_val), f'{fieldname} length mismatch'
|
||||
for sub1, sub2 in zip(native_val, lite_val):
|
||||
compare_msg(sub2, sub1)
|
||||
elif isinstance(lite_val, float) and isnan(lite_val):
|
||||
assert isnan(native_val)
|
||||
else:
|
||||
assert native_val == lite_val, f'{fieldname}: {native_val} != {lite_val}'
|
||||
|
||||
|
||||
def compare(path: Path) -> None:
|
||||
"""Compare raw and deserialized messages."""
|
||||
with Reader(path) as reader:
|
||||
gens = (reader.messages(), ReaderPy(path).messages())
|
||||
for item, item_py in zip(*gens):
|
||||
connection, timestamp, data = item
|
||||
topic_py, msgtype_py, timestamp_py, data_py = item_py
|
||||
|
||||
assert connection.topic == topic_py
|
||||
assert connection.msgtype == msgtype_py
|
||||
assert timestamp == timestamp_py
|
||||
assert data == data_py
|
||||
|
||||
msg_py = deserialize_py(data_py, msgtype_py)
|
||||
msg = deserialize_cdr(data, connection.msgtype)
|
||||
|
||||
compare_msg(msg, msg_py)
|
||||
assert not list(gens[0])
|
||||
assert not list(gens[1])
|
||||
|
||||
|
||||
def read_deser_rosbag2_py(path: Path) -> None:
|
||||
"""Read testbag with rosbag2_py."""
|
||||
soptions = StorageOptions(str(path), 'sqlite3')
|
||||
coptions = ConverterOptions('', '')
|
||||
reader = SequentialReader()
|
||||
reader.open(soptions, coptions)
|
||||
typemap = {x.name: x.type for x in reader.get_all_topics_and_types()}
|
||||
|
||||
while reader.has_next():
|
||||
topic, rawdata, _ = reader.read_next()
|
||||
msgtype = typemap[topic]
|
||||
pytype = get_message(msgtype)
|
||||
deserialize_message(rawdata, pytype)
|
||||
|
||||
|
||||
def read_deser_rosbag2(path: Path) -> None:
|
||||
"""Read testbag with rosbag2lite."""
|
||||
with Reader(path) as reader:
|
||||
for connection, _, data in reader.messages():
|
||||
deserialize_cdr(data, connection.msgtype)
|
||||
|
||||
|
||||
def main() -> None:
|
||||
"""Benchmark rosbag2 against rosbag2_py."""
|
||||
path = Path(sys.argv[1])
|
||||
try:
|
||||
print('Comparing messages from rosbag2 and rosbag2_py.') # noqa: T201
|
||||
compare(path)
|
||||
except AssertionError as err:
|
||||
print(f'Comparison failed {err!r}') # noqa: T201
|
||||
sys.exit(1)
|
||||
|
||||
print('Measuring execution times of rosbag2 and rosbag2_py.') # noqa: T201
|
||||
time_py = timeit(lambda: read_deser_rosbag2_py(path), number=1)
|
||||
time = timeit(lambda: read_deser_rosbag2(path), number=1)
|
||||
print( # noqa: T201
|
||||
f'Processing times:\n'
|
||||
f'rosbag2_py {time_py:.3f}\n'
|
||||
f'rosbag2 {time:.3f}\n'
|
||||
f'speedup {time_py / time:.2f}\n',
|
||||
)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
11
rosbags/tools/compare/Dockerfile
Normal file
11
rosbags/tools/compare/Dockerfile
Normal file
@ -0,0 +1,11 @@
|
||||
FROM ros:rolling
|
||||
|
||||
RUN apt-get update \
|
||||
&& apt-get upgrade -y \
|
||||
&& apt-get install -y \
|
||||
python3-pip \
|
||||
python3-rosbag
|
||||
|
||||
COPY tools/compare/compare.py /
|
||||
|
||||
CMD ["/usr/bin/python3", "/compare.py", "/rosbag1", "/rosbag2"]
|
||||
11
rosbags/tools/compare/README.rst
Normal file
11
rosbags/tools/compare/README.rst
Normal file
@ -0,0 +1,11 @@
|
||||
=======
|
||||
Compare
|
||||
=======
|
||||
|
||||
Check if the contents of a ``rosbag1`` and another ``rosbag1`` or ``rosbag2`` file are identical. The provided Dockerfile creates an execution environment for the script. Run from the root of this repository::
|
||||
|
||||
$ docker build -t rosbags/compare -f tools/compare/Dockerfile .
|
||||
|
||||
The docker image expects that the first rosbag1 and second rosbag1 or rosbag2 files to be mounted at ``/rosbag1`` and ``/rosbag2`` respectively::
|
||||
|
||||
$ docker run --rm -v /path/to/rosbag1.bag:/rosbag1 -v /path/to/rosbag2:/rosbag2 rosbags/compare
|
||||
173
rosbags/tools/compare/compare.py
Normal file
173
rosbags/tools/compare/compare.py
Normal file
@ -0,0 +1,173 @@
|
||||
# Copyright 2020-2023 Ternaris.
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
"""Tool checking if contents of two rosbags are equal."""
|
||||
|
||||
# pylint: disable=import-error
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import array
|
||||
import math
|
||||
import sys
|
||||
from pathlib import Path
|
||||
from typing import TYPE_CHECKING
|
||||
from unittest.mock import Mock
|
||||
|
||||
import genpy # type: ignore
|
||||
import numpy
|
||||
import rosgraph_msgs.msg # type: ignore
|
||||
from rclpy.serialization import deserialize_message # type: ignore
|
||||
from rosbag2_py import ConverterOptions, SequentialReader, StorageOptions # type: ignore
|
||||
from rosidl_runtime_py.utilities import get_message # type: ignore
|
||||
|
||||
rosgraph_msgs.msg.Log = Mock()
|
||||
rosgraph_msgs.msg.TopicStatistics = Mock()
|
||||
|
||||
import rosbag.bag # type:ignore # noqa: E402 pylint: disable=wrong-import-position
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from typing import Generator, List, Protocol, Union, runtime_checkable
|
||||
|
||||
@runtime_checkable
|
||||
class NativeMSG(Protocol): # pylint: disable=too-few-public-methods
|
||||
"""Minimal native ROS message interface used for benchmark."""
|
||||
|
||||
def get_fields_and_field_types(self) -> dict[str, str]:
|
||||
"""Introspect message type."""
|
||||
raise NotImplementedError
|
||||
|
||||
|
||||
class Reader: # pylint: disable=too-few-public-methods
|
||||
"""Mimimal shim using rosbag2_py to emulate rosbags API."""
|
||||
|
||||
def __init__(self, path: Union[str, Path]):
|
||||
"""Initialize reader shim."""
|
||||
self.reader = SequentialReader()
|
||||
self.reader.open(StorageOptions(path, 'sqlite3'), ConverterOptions('', ''))
|
||||
self.typemap = {x.name: x.type for x in self.reader.get_all_topics_and_types()}
|
||||
|
||||
def messages(self) -> Generator[tuple[str, int, bytes], None, None]:
|
||||
"""Expose rosbag2 like generator behavior."""
|
||||
while self.reader.has_next():
|
||||
topic, data, timestamp = self.reader.read_next()
|
||||
pytype = get_message(self.typemap[topic])
|
||||
yield topic, timestamp, deserialize_message(data, pytype)
|
||||
|
||||
|
||||
def fixup_ros1(conns: List[rosbag.bag._Connection_Info]) -> None:
|
||||
"""Monkeypatch ROS2 fieldnames onto ROS1 objects.
|
||||
|
||||
Args:
|
||||
conns: Rosbag1 connections.
|
||||
|
||||
"""
|
||||
genpy.Time.sec = property(lambda x: x.secs)
|
||||
genpy.Time.nanosec = property(lambda x: x.nsecs)
|
||||
genpy.Duration.sec = property(lambda x: x.secs)
|
||||
genpy.Duration.nanosec = property(lambda x: x.nsecs)
|
||||
|
||||
if conn := next((x for x in conns if x.datatype == 'sensor_msgs/CameraInfo'), None):
|
||||
print('Patching CameraInfo') # noqa: T201
|
||||
cls = rosbag.bag._get_message_type(conn) # pylint: disable=protected-access
|
||||
cls.d = property(lambda x: x.D, lambda x, y: setattr(x, 'D', y)) # noqa: B010
|
||||
cls.k = property(lambda x: x.K, lambda x, y: setattr(x, 'K', y)) # noqa: B010
|
||||
cls.r = property(lambda x: x.R, lambda x, y: setattr(x, 'R', y)) # noqa: B010
|
||||
cls.p = property(lambda x: x.P, lambda x, y: setattr(x, 'P', y)) # noqa: B010
|
||||
|
||||
|
||||
def compare(ref: object, msg: object) -> None:
|
||||
"""Compare message to its reference.
|
||||
|
||||
Args:
|
||||
ref: Reference ROS1 message.
|
||||
msg: Converted ROS2 message.
|
||||
|
||||
"""
|
||||
if isinstance(msg, NativeMSG):
|
||||
for name in msg.get_fields_and_field_types():
|
||||
refval = getattr(ref, name)
|
||||
msgval = getattr(msg, name)
|
||||
compare(refval, msgval)
|
||||
|
||||
elif isinstance(msg, array.array):
|
||||
if isinstance(ref, bytes):
|
||||
assert msg.tobytes() == ref
|
||||
else:
|
||||
assert isinstance(msg, numpy.ndarray)
|
||||
assert (msg == ref).all()
|
||||
|
||||
elif isinstance(msg, list):
|
||||
assert isinstance(ref, (list, numpy.ndarray))
|
||||
assert len(msg) == len(ref)
|
||||
for refitem, msgitem in zip(ref, msg):
|
||||
compare(refitem, msgitem)
|
||||
|
||||
elif isinstance(msg, str):
|
||||
assert msg == ref
|
||||
|
||||
elif isinstance(msg, float) and math.isnan(msg):
|
||||
assert isinstance(ref, float)
|
||||
assert math.isnan(ref)
|
||||
|
||||
else:
|
||||
assert ref == msg
|
||||
|
||||
|
||||
def main_bag1_bag1(path1: Path, path2: Path) -> None:
|
||||
"""Compare rosbag1 to rosbag1 message by message.
|
||||
|
||||
Args:
|
||||
path1: Rosbag1 filename.
|
||||
path2: Rosbag1 filename.
|
||||
|
||||
"""
|
||||
reader1 = rosbag.bag.Bag(path1)
|
||||
reader2 = rosbag.bag.Bag(path2)
|
||||
src1 = reader1.read_messages(raw=True, return_connection_header=True)
|
||||
src2 = reader2.read_messages(raw=True, return_connection_header=True)
|
||||
|
||||
for msg1, msg2 in zip(src1, src2):
|
||||
assert msg1.connection_header == msg2.connection_header
|
||||
assert msg1.message[:-2] == msg2.message[:-2]
|
||||
assert msg1.timestamp == msg2.timestamp
|
||||
assert msg1.topic == msg2.topic
|
||||
|
||||
assert next(src1, None) is None
|
||||
assert next(src2, None) is None
|
||||
|
||||
print('Bags are identical.') # noqa: T201
|
||||
|
||||
|
||||
def main_bag1_bag2(path1: Path, path2: Path) -> None:
|
||||
"""Compare rosbag1 to rosbag2 message by message.
|
||||
|
||||
Args:
|
||||
path1: Rosbag1 filename.
|
||||
path2: Rosbag2 filename.
|
||||
|
||||
"""
|
||||
reader1 = rosbag.bag.Bag(path1)
|
||||
src1 = reader1.read_messages()
|
||||
src2 = Reader(path2).messages()
|
||||
|
||||
fixup_ros1(reader1._connections.values()) # pylint: disable=protected-access
|
||||
|
||||
for msg1, msg2 in zip(src1, src2):
|
||||
assert msg1.topic == msg2[0]
|
||||
assert msg1.timestamp.to_nsec() == msg2[1]
|
||||
compare(msg1.message, msg2[2])
|
||||
|
||||
assert next(src1, None) is None
|
||||
assert next(src2, None) is None
|
||||
|
||||
print('Bags are identical.') # noqa: T201
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
if len(sys.argv) != 3:
|
||||
print(f'Usage: {sys.argv} [rosbag1] [rosbag2]') # noqa: T201
|
||||
sys.exit(1)
|
||||
arg1 = Path(sys.argv[1])
|
||||
arg2 = Path(sys.argv[2])
|
||||
main = main_bag1_bag2 if arg2.is_dir() else main_bag1_bag1
|
||||
main(arg1, arg2)
|
||||
0
rosbags/tools/messages/.gitkeep
Normal file
0
rosbags/tools/messages/.gitkeep
Normal file
Loading…
x
Reference in New Issue
Block a user