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Rename rosbag1 connection cid to id

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This commit is contained in:
Marko Durkovic 2022-04-12 17:48:11 +02:00
parent 42243eac2d
commit dee7e9c2fc
4 changed files with 12 additions and 12 deletions
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4
src/rosbags/convert/converter.py
View File

@ -106,13 +106,13 @@ def convert_1to2(src: Path, dst: Path) -> None:
candidate = upgrade_connection(rconn)
existing = next((x for x in writer.connections.values() if x == candidate), None)
wconn = existing if existing else writer.add_connection(**asdict(candidate))
connmap[rconn.cid] = wconn
connmap[rconn.id] = wconn
typs.update(get_types_from_msg(rconn.msgdef, rconn.msgtype))
register_types(typs)
for rconn, timestamp, data in reader.messages():
data = ros1_to_cdr(data, rconn.msgtype)
writer.write(connmap[rconn.cid], timestamp, data)
writer.write(connmap[rconn.id], timestamp, data)
def convert_2to1(src: Path, dst: Path) -> None:

6
src/rosbags/rosbag1/reader.py
View File

@ -53,7 +53,7 @@ class RecordType(IntEnum):
class Connection(NamedTuple):
"""Connection information."""
cid: int
id: int
topic: str
msgtype: str
msgdef: str
@ -436,7 +436,7 @@ class Reader:
count = reduce(
lambda x, y: x + y,
(
y.connection_counts.get(x.cid, 0)
y.connection_counts.get(x.id, 0)
for x in connections
for y in self.chunk_infos
),
@ -607,7 +607,7 @@ class Reader:
if not connections:
connections = self.connections.values()
indexes = [self.indexes[x.cid] for x in connections]
indexes = [self.indexes[x.id] for x in connections]
for entry in heapq.merge(*indexes):
if start and entry.time < start:
continue

8
src/rosbags/rosbag1/writer.py
View File

@ -261,7 +261,7 @@ class Writer:
bio = self.chunks[-1].data
self.write_connection(connection, bio)
self.connections[connection.cid] = connection
self.connections[connection.id] = connection
return connection
def write(self, connection: Connection, timestamp: int, data: bytes) -> None:
@ -283,7 +283,7 @@ class Writer:
raise WriterError(f'There is no connection {connection!r}.') from None
chunk = self.chunks[-1]
chunk.connections[connection.cid].append((timestamp, chunk.data.tell()))
chunk.connections[connection.id].append((timestamp, chunk.data.tell()))
if timestamp < chunk.start:
chunk.start = timestamp
@ -292,7 +292,7 @@ class Writer:
chunk.end = timestamp
header = Header()
header.set_uint32('conn', connection.cid)
header.set_uint32('conn', connection.id)
header.set_time('time', timestamp)
header.write(chunk.data, RecordType.MSGDATA)
@ -305,7 +305,7 @@ class Writer:
def write_connection(connection: Connection, bio: BinaryIO) -> None:
"""Write connection record."""
header = Header()
header.set_uint32('conn', connection.cid)
header.set_uint32('conn', connection.id)
header.set_string('topic', connection.topic)
header.write(bio, RecordType.CONNECTION)

6
tests/test_writer1.py
View File

@ -49,7 +49,7 @@ def test_add_connection(tmp_path: Path) -> None:
with Writer(path) as writer:
res = writer.add_connection('/foo', 'test_msgs/msg/Test', 'MESSAGE_DEFINITION', 'HASH')
assert res.cid == 0
assert res.id == 0
data = path.read_bytes()
assert data.count(b'MESSAGE_DEFINITION') == 2
assert data.count(b'HASH') == 2
@ -57,7 +57,7 @@ def test_add_connection(tmp_path: Path) -> None:
with Writer(path) as writer:
res = writer.add_connection('/foo', 'std_msgs/msg/Int8')
assert res.cid == 0
assert res.id == 0
data = path.read_bytes()
assert data.count(b'int8 data') == 2
assert data.count(b'27ffa0c9c4b8fb8492252bcad9e5c57b') == 2
@ -85,7 +85,7 @@ def test_add_connection(tmp_path: Path) -> None:
'HASH',
latching=1,
)
assert (res1.cid, res2.cid, res3.cid) == (0, 1, 2)
assert (res1.id, res2.id, res3.id) == (0, 1, 2)
def test_write_errors(tmp_path: Path) -> None: