Creating new proof-of-concept experimental package bagfs.

rosdep.yaml

@@ -54,6 +54,9 @@ python-numpy:
   rhel: python-numpy
   arch: python-numpy
   macports: py25-numpy
+python-fuse:
+  ubuntu: python-fuse
+  debian: python-fuse
 python-scipy:
   ubuntu: python-scipy
   debian: python-scipy

tools/experimental/bagfs/CMakeLists.txt

@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})

tools/experimental/bagfs/Makefile

@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk

tools/experimental/bagfs/mainpage.dox

@@ -0,0 +1,30 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b bagfs is ... 
+
+<!-- 
+In addition to providing an overview of your package,
+this is the section where the specification and design/architecture 
+should be detailed. While the original specification may be done on the
+wiki, it should be transferred here once your package starts to take shape.
+You can then link to this documentation page from the Wiki. 
+-->
+
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+
+*/

tools/experimental/bagfs/manifest.xml

@@ -0,0 +1,19 @@
+<package>
+  <description brief="bagfs">
+    Experimental package to create a filesystem representation of a bagfile.
+  </description>
+  <author>Jeremy Leibs</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/bagfs</url>
+
+  <depend package="rospy"/>
+  <depend package="roslib"/>
+  <depend package="std_msgs"/>
+  <depend package="rosrecord"/>
+
+  <!-- We use fuse to create the filesystem -->
+  <rosdep name="python-fuse"/>
+</package>
+
+

tools/experimental/bagfs/scripts/bagfs.py

@@ -0,0 +1,125 @@
+#!/usr/bin/env python
+
+PKG = 'bagfs'
+import roslib; roslib.load_manifest(PKG)
+import rospy
+import rosrecord
+
+import os, stat, errno, sys
+import fuse
+import subprocess
+from fuse import Fuse
+from time import time
+
+fuse.fuse_python_api = (0, 2)
+
+class MyStat(fuse.Stat):
+    def __init__(self):
+        self.st_mode = 0
+        self.st_ino = 0
+        self.st_dev = 0
+        self.st_nlink = 0
+        self.st_uid = 0
+        self.st_gid = 0
+        self.st_size = 0
+        self.st_atime = 0
+        self.st_mtime = 0
+        self.st_ctime = 0
+
+
+class BagFS(Fuse):
+
+    def __init__(self, bag, version, usage, dash_s_do):
+        Fuse.__init__(self, version=version, usage=usage, dash_s_do=dash_s_do)
+        self.msgs = {}
+        self.sizecache = {}
+        for i,(topic, msg, t) in enumerate(rosrecord.logplayer(bag, raw=True)):
+            cdir = self.msgs
+            for ns in topic.lstrip('/').split('/'):
+                if not ns in cdir:
+                    self.msgs[ns] = {}
+                cdir=cdir[ns]
+            cdir["%.6d"%i] = (topic,msg,t)
+
+    def lookup(self, path):
+        cdir = self.msgs
+        if path == '/':
+            return cdir
+        p = path.split('/')
+        p.remove('')
+        for ns in p[:-1]:
+            if ns in cdir and isinstance(cdir[ns], dict):
+                cdir=cdir[ns]
+            else:
+                return None
+        if p[-1] in cdir:
+            return cdir[p[-1]]
+        else:
+            return None
+
+    def getattr(self, path):
+        st = MyStat()
+        st.st_atime = int(time())
+        st.st_mtime = st.st_atime
+        st.st_ctime = st.st_atime
+
+        fil = self.lookup(path)
+        if fil is None:
+            return -errno.ENOENT                
+        elif isinstance(fil, dict):
+            st.st_mode = stat.S_IFDIR | 0755
+            st.st_nlink = len(fil)
+        else:
+            st.st_mode = stat.S_IFREG | 0444
+            st.st_nlink = 1
+            st.st_mtime = int(fil[2].to_sec())
+            st.st_ctime = st.st_mtime
+
+            if path in self.sizecache:
+                st.st_size = self.sizecache[path]
+            else:
+                st.st_size = 1
+                
+        return st            
+
+    def readdir(self, path, offset):
+        yield fuse.Direntry('.')
+        yield fuse.Direntry('..')
+
+        dir = self.lookup(path)
+
+        for leaf in dir:
+            yield fuse.Direntry(leaf)
+
+    def open(self, path, flags):
+        msg = self.lookup(path)
+        accmode = os.O_RDONLY
+        if (flags & accmode) != os.O_RDONLY:
+            return -errno.EACCES
+
+        m = msg[1][4]()
+        m.deserialize(msg[1][1])
+        
+        disp = roslib.message.strify_message(m) + '\n'
+        self.sizecache[path] = len(disp)
+
+        return disp
+
+    def read(self, path, size, offset, fh):
+        return fh[offset:offset+size]
+
+            
+def main():
+    usage="""
+Userspace script runner
+""" + Fuse.fusage
+    bag = sys.argv[1]
+    server = BagFS(bag, version="%prog " + fuse.__version__,
+                     usage=usage,
+                     dash_s_do='setsingle')
+
+    server.parse(errex=1)
+    server.main()
+
+if __name__ == '__main__':
+    main()