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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: if TYPE_CHECKING:
from types import TracebackType 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): class ReaderError(Exception):
@ -232,16 +232,23 @@ class Reader:
if cur.fetchone()[0] != 2: if cur.fetchone()[0] != 2:
raise ReaderError(f'Cannot open database {path} or database missing tables.') 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) cur.execute(querystr, args)
if self.compression_mode == 'message': if self.compression_mode == 'message':
decomp = zstandard.ZstdDecompressor().decompress decomp = zstandard.ZstdDecompressor().decompress
for row in cur: for row in cur:
cid, timestamp, data = row cid, timestamp, data = row
yield self.connections[cid], timestamp, decomp(data) yield connmap[cid], timestamp, decomp(data)
else: else:
for cid, timestamp, data in cur: for cid, timestamp, data in cur:
yield self.connections[cid], timestamp, data yield connmap[cid], timestamp, data
def __enter__(self) -> Reader: def __enter__(self) -> Reader:
"""Open rosbag2 when entering contextmanager.""" """Open rosbag2 when entering contextmanager."""