From ff24d7e424c6324e5406160e6d2ded690de424b5 Mon Sep 17 00:00:00 2001
From: Marko Durkovic <marko@ternaris.com>
Date: Wed, 27 Jul 2022 16:03:22 +0200
Subject: [PATCH] Move metadata to dedicated module

---
 src/rosbags/rosbag2/metadata.py | 59 +++++++++++++++++++++++++++++++++
 src/rosbags/rosbag2/reader.py   | 48 ++-------------------------
 src/rosbags/rosbag2/writer.py   |  2 +-
 3 files changed, 62 insertions(+), 47 deletions(-)
 create mode 100644 src/rosbags/rosbag2/metadata.py

diff --git a/src/rosbags/rosbag2/metadata.py b/src/rosbags/rosbag2/metadata.py
new file mode 100644
index 00000000..004bb436
--- /dev/null
+++ b/src/rosbags/rosbag2/metadata.py
@@ -0,0 +1,59 @@
+# Copyright 2020-2022  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]
diff --git a/src/rosbags/rosbag2/reader.py b/src/rosbags/rosbag2/reader.py
index a830724a..e69360c1 100644
--- a/src/rosbags/rosbag2/reader.py
+++ b/src/rosbags/rosbag2/reader.py
@@ -18,53 +18,9 @@ from rosbags.interfaces import Connection, ConnectionExtRosbag2, TopicInfo
 
 if TYPE_CHECKING:
     from types import TracebackType
-    from typing import Any, Generator, Iterable, Literal, Optional, Type, TypedDict, Union
+    from typing import Any, Generator, Iterable, Literal, Optional, Type, Union
 
-    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]
+    from .metadata import FileInformation, Metadata
 
 
 class ReaderError(Exception):
diff --git a/src/rosbags/rosbag2/writer.py b/src/rosbags/rosbag2/writer.py
index 6454562b..79b6286e 100644
--- a/src/rosbags/rosbag2/writer.py
+++ b/src/rosbags/rosbag2/writer.py
@@ -18,7 +18,7 @@ if TYPE_CHECKING:
     from types import TracebackType
     from typing import Any, Literal, Optional, Type, Union
 
-    from .reader import Metadata
+    from .metadata import Metadata
 
 
 class WriterError(Exception):