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Fix connection mapping for reader2 messages

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This commit is contained in:
Marko Durkovic 2021-09-13 17:30:09 +02:00
parent 885900df39
commit be2d5675b3
1 changed files with 10 additions and 3 deletions
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13
src/rosbags/rosbag2/reader.py
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@ -17,7 +17,7 @@ from .connection import Connection
if TYPE_CHECKING:
from types import TracebackType
from typing import Any, Generator, Iterable, Literal, Optional, Type, Union
from typing import Any, Dict, Generator, Iterable, Literal, Optional, Type, Union
class ReaderError(Exception):
@ -232,16 +232,23 @@ class Reader:
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.values() if x.topic == row[0]),
None) # type: ignore
for row in cur
}
cur.execute(querystr, args)
if self.compression_mode == 'message':
decomp = zstandard.ZstdDecompressor().decompress
for row in cur:
cid, timestamp, data = row
yield self.connections[cid], timestamp, decomp(data)
yield connmap[cid], timestamp, decomp(data)
else:
for cid, timestamp, data in cur:
yield self.connections[cid], timestamp, data
yield connmap[cid], timestamp, data
def __enter__(self) -> Reader:
"""Open rosbag2 when entering contextmanager."""