Refactor rosbag2 Reader

src/rosbags/rosbag2/__init__.py

@@ -7,7 +7,8 @@ in the rosbag2 format.
 
 """
 
-from .reader import Reader, ReaderError
+from .errors import ReaderError
+from .reader import Reader
 from .writer import Writer, WriterError
 
 __all__ = [

src/rosbags/rosbag2/errors.py

@@ -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."""

src/rosbags/rosbag2/reader.py

@@ -4,11 +4,9 @@
 
 from __future__ import annotations
 
-import sqlite3
-from contextlib import contextmanager
 from pathlib import Path
 from tempfile import TemporaryDirectory
-from typing import TYPE_CHECKING
+from typing import TYPE_CHECKING, Protocol
 
 import zstandard
 from ruamel.yaml import YAML
@@ -16,40 +14,43 @@ from ruamel.yaml.error import YAMLError
 
 from rosbags.interfaces import Connection, ConnectionExtRosbag2, TopicInfo
 
+from .errors import ReaderError
+from .storage_sqlite3 import ReaderSqlite3
+
 if TYPE_CHECKING:
     from types import TracebackType
-    from typing import Any, Generator, Iterable, Literal, Optional, Type, Union
+    from typing import Generator, Iterable, Literal, Optional, Type, Union
 
     from .metadata import FileInformation, Metadata
 
 
-class ReaderError(Exception):
+class StorageProtocol(Protocol):
-    """Reader Error."""
+    """Storage Protocol."""
 
+    def __init__(self, paths: Iterable[Path], connections: Iterable[Connection]):
+        """Initialize."""
+        raise NotImplementedError
 
-@contextmanager
+    def open(self) -> None:
-def decompress(path: Path, do_decompress: bool) -> Generator[Path, None, None]:
+        """Open file."""
-    """Transparent rosbag2 database decompression context.
+        raise NotImplementedError
 
-    This context manager will yield a path to the decompressed file contents.
+    def close(self) -> None:
+        """Close file."""
+        raise NotImplementedError
 
-    Args:
+    def get_definitions(self) -> dict[str, tuple[str, str]]:
-        path: Potentially compressed file.
+        """Get message definitions."""
-        do_decompress: Flag indicating if decompression shall occur.
+        raise NotImplementedError
 
-    Yields:
+    def messages(
-        Path of transparently decompressed file.
+        self,
-
+        connections: Iterable[Connection] = (),
-    """
+        start: Optional[int] = None,
-    if do_decompress:
+        stop: Optional[int] = None,
-        decomp = zstandard.ZstdDecompressor()
+    ) -> Generator[tuple[Connection, int, bytes], None, None]:
-        with TemporaryDirectory() as tempdir:
+        """Get messages from file."""
-            dbfile = Path(tempdir, path.stem)
+        raise NotImplementedError
-            with path.open('rb') as infile, dbfile.open('wb') as outfile:
-                decomp.copy_stream(infile, outfile)
-            yield dbfile
-    else:
-        yield path
 
 
 class Reader:
@@ -69,6 +70,12 @@ class Reader:
 
     """
 
+    # pylint: disable=too-many-instance-attributes
+
+    STORAGE_PLUGINS: dict[str, Type[StorageProtocol]] = {
+        'sqlite3': ReaderSqlite3,
+    }
+
     def __init__(self, path: Union[Path, str]):
         """Open rosbag and check metadata.
 
@@ -82,7 +89,6 @@ class Reader:
         path = Path(path)
         yamlpath = path / 'metadata.yaml'
         self.path = path
-        self.bio = False
         try:
             yaml = YAML(typ='safe')
             dct = yaml.load(yamlpath.read_text())
@@ -95,7 +101,7 @@ class Reader:
             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'] != 'sqlite3':
+            if (storageid := self.metadata['storage_identifier']) not in self.STORAGE_PLUGINS:
                 raise ReaderError(
                     f'Storage plugin {storageid!r} not supported; please report issue.',
                 )
@@ -131,20 +137,12 @@ class Reader:
 
             self.files: list[FileInformation] = self.metadata.get('files', [])[:]
             self.custom_data: dict[str, str] = self.metadata.get('custom_data', {})
+
+            self.tmpdir: Optional[TemporaryDirectory] = None
+            self.storage: Optional[StorageProtocol] = None
         except KeyError as exc:
             raise ReaderError(f'A metadata key is missing {exc!r}.') from None
 
-    def open(self) -> None:
-        """Open rosbag2."""
-        # Future storage formats will require file handles.
-        self.bio = True
-
-    def close(self) -> None:
-        """Close rosbag2."""
-        # Future storage formats will require file handles.
-        assert self.bio
-        self.bio = False
-
     @property
     def duration(self) -> int:
         """Duration in nanoseconds between earliest and latest messages."""
@@ -183,7 +181,50 @@ class Reader:
         """Topic information."""
         return {x.topic: TopicInfo(x.msgtype, x.msgdef, x.msgcount, [x]) for x in self.connections}
 
-    def messages(  # pylint: disable=too-many-locals
+    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,
@@ -201,67 +242,18 @@ class Reader:
             tuples of connection, timestamp (ns), and rawdata.
 
         Raises:
-            ReaderError: Bag not open.
+            ReaderError: If reader was not opened.
 
         """
-        if not self.bio:
+        if not self.storage:
             raise ReaderError('Rosbag is not open.')
 
-        query = [
+        if self.compression_mode == 'message':
-            'SELECT topics.id,messages.timestamp,messages.data',
+            decomp = zstandard.ZstdDecompressor().decompress
-            'FROM messages JOIN topics ON messages.topic_id=topics.id',
+            for connection, timestamp, data in self.storage.messages(connections, start, stop):
-        ]
+                yield connection, timestamp, decomp(data)
-        args: list[Any] = []
+        else:
-        clause = 'WHERE'
+            yield from self.storage.messages(connections, start, stop)
-
-        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 filepath in self.paths:
-            with decompress(filepath, self.compression_mode == 'file') as path:
-                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)
-
-                if self.compression_mode == 'message':
-                    decomp = zstandard.ZstdDecompressor().decompress
-                    for row in cur:
-                        cid, timestamp, data = row
-                        yield connmap[cid], timestamp, decomp(data)
-                else:
-                    for cid, timestamp, data in cur:
-                        yield connmap[cid], timestamp, data
 
     def __enter__(self) -> Reader:
         """Open rosbag2 when entering contextmanager."""

src/rosbags/rosbag2/storage_sqlite3.py

@@ -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