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rosbag: reindex handles unterminated chunks

This commit is contained in:
Tim Field 2010-05-07 02:41:46 +00:00
parent e7fc33a23c
commit 04e00bd304
1 changed files with 19 additions and 10 deletions
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21
tools/rosbag/src/rosbag/bag.py
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@ -577,7 +577,7 @@ class Bag(object):
def _get_entry(self, t, connections=None):
"""
Return the first index entry on/after time on the given connections
Return the first index entry on/before time on the given connections
"""
indexes = self._get_indexes(connections)
@ -586,10 +586,10 @@ class Bag(object):
first_entry = None
for index in indexes:
i = bisect.bisect_right(index, entry)
i = bisect.bisect_left(index, entry)
if i < len(index):
index_entry = index[i]
if first_entry is None or index_entry < first_entry:
if first_entry is None or index_entry > first_entry:
first_entry = index_entry
return first_entry
@ -996,8 +996,11 @@ class _ChunkHeader(object):
self.data_pos = data_pos
def __str__(self):
if self.uncompressed_size > 0:
ratio = 100 * (float(self.compressed_size) / self.uncompressed_size)
return 'compression: %s, size: %d, uncompressed: %d (%.2f%%)' % (self.compression, self.compressed_size, self.uncompressed_size, ratio)
else:
return 'compression: %s, size: %d, uncompressed: %d' % (self.compression, self.compressed_size, self.uncompressed_size)
class _IndexEntry(object):
def __init__(self, time):
@ -1530,8 +1533,15 @@ class _BagReader200(_BagReader):
if feedback:
yield chunk_pos
op = _peek_next_header_op(f)
# Read the chunk header and remember it
chunk_header = self.read_chunk_header()
# If the chunk header size is 0, then the chunk wasn't correctly terminated - we're done
if chunk_header.compressed_size == 0:
break
self.bag._chunk_headers[chunk_pos] = chunk_header
if chunk_header.compression == Compression.NONE:
@ -1599,9 +1609,8 @@ class _BagReader200(_BagReader):
self.bag._chunks.append(self._curr_chunk_info)
# Skip over index records
# todo: skip over connection records and chunk info records at the end of the file
while _peek_next_header_op(f) == _OP_INDEX_DATA:
# Skip over index records, connection records and chunk info records at the end of the file
while _peek_next_header_op(f) != _OP_CHUNK:
_skip_record(f)
if f.tell() >= total_bytes: