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rosbag: fix reindexing pre-Boxturtle unindexed bags with multiple topics sharing a datatype

This commit is contained in:
Tim Field 2010-08-31 03:58:46 +00:00
parent 4b6271df40
commit a02484cf65
1 changed files with 13 additions and 14 deletions
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27
tools/rosbag/src/rosbag/bag.py
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@ -549,9 +549,7 @@ class Bag(object):
def _get_yaml_info(self, key=None):
s = ''
rows = []
try:
if self._filename:
s += 'path: %s\n' % self._filename
@ -1348,7 +1346,7 @@ def _read_header(f, req_op=None):
# Read bytes
if len(header) < size:
raise ROSBagFormatException('Error reading header field: expected %d bytes, read %d' % (len(header), size))
raise ROSBagFormatException('Error reading header field: expected %d bytes, read %d' % (size, len(header)))
(name, sep, value) = header[:size].partition('=')
if sep == '':
raise ROSBagFormatException('Error reading header field')
@ -1468,7 +1466,7 @@ class _BagReader102_Unindexed(_BagReader):
_BagReader.__init__(self, bag)
def start_reading(self):
pass
self.bag._file_header_pos = self.bag._file.tell()
def reindex(self, feedback=False):
"""Generates all bag index information by rereading the message records."""
@ -1493,8 +1491,8 @@ class _BagReader102_Unindexed(_BagReader):
if connection_info.topic not in self.bag._topic_connections:
self.bag._topic_connections[connection_info.topic] = connection_info.id
self.bag._connections[connection_info.id] = connection_info
self.bag._connection_indexes[connection_info.id] = []
self.bag._connections[connection_info.id] = connection_info
self.bag._connection_indexes[connection_info.id] = []
elif op == _OP_MSG_DATA:
# Read the topic and timestamp from the header
@ -1517,12 +1515,14 @@ class _BagReader102_Unindexed(_BagReader):
# Insert the message entry (in order) into the connection index
bisect.insort_right(self.bag._connection_indexes[connection_id], _IndexEntry102(t, offset))
offset = f.tell()
offset = f.tell()
def read_messages(self, topics, start_time, end_time, topic_filter, raw):
f = self.bag._file
f.seek(self.bag._file_header_pos)
while True:
# Read MSG_DEF records
while True:
@ -1586,9 +1586,10 @@ class _BagReader102_Unindexed(_BagReader):
connection_id = len(self.bag._connections)
connection_header = { 'topic' : topic, 'type' : c.header['type'], 'md5sum' : c.header['md5sum'], 'message_definition' : c.header['message_definition'] }
connection_info = _ConnectionInfo(connection_id, topic, connection_header)
self.bag._topic_connections[topic] = connection_id
self.bag._connections[connection_id] = connection_info
self.bag._topic_connections[topic] = connection_id
self.bag._connections[connection_id] = connection_info
self.bag._connection_indexes[connection_id] = []
return
raise ROSBagFormatException('Topic %s of datatype %s not preceded by message definition' % (topic, datatype))
@ -1828,8 +1829,6 @@ 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()