def get_entries_with_bags(self, topic, start_stamp, end_stamp):
"""
generator function for bag entries
:param topics: list of topics to query, ''list(str)''
:param start_stamp: stamp to start at, ''rospy.Time''
:param end_stamp: stamp to end at, ''rospy,Time''
:returns: tuple of (bag, entry) for the entries in the bag file, ''(rosbag.bag, msg)''
"""
with self._bag_lock:
from rosbag import bag # for _mergesort
bag_entries = []
bag_by_iter = {}
for b in self._bags:
bag_start_time = bag_helper.get_start_stamp(b)
if bag_start_time is not None and bag_start_time > end_stamp:
continue
bag_end_time = bag_helper.get_end_stamp(b)
if bag_end_time is not None and bag_end_time < start_stamp:
continue
connections = list(b._get_connections(topic))
it = iter(b._get_entries(connections, start_stamp, end_stamp))
bag_by_iter[it] = b
bag_entries.append(it)
for entry, it in bag._mergesort(bag_entries,
key=lambda entry: entry.time):
yield bag_by_iter[it], entry
def get_entries(self, topics, start_stamp, end_stamp):
"""
generator function for bag entries
:param topics: list of topics to query, ''list(str)''
:param start_stamp: stamp to start at, ''rospy.Time''
:param end_stamp: stamp to end at, ''rospy,Time''
:returns: entries the bag file, ''msg''
"""
with self._bag_lock:
bag_entries = []
for b in self._bags:
bag_start_time = bag_helper.get_start_stamp(b)
if bag_start_time is not None and bag_start_time > end_stamp:
continue
bag_end_time = bag_helper.get_end_stamp(b)
if bag_end_time is not None and bag_end_time < start_stamp:
continue
connections = list(b._get_connections(topics))
# Note: rosbag.bag._IndexEntry implements comparison by time,
# so we can directly sort without a custom key function.
bag_entries.append(
sorted(b._get_entries(connections, start_stamp,
end_stamp)))
for entry in heapq.merge(*bag_entries):
yield entry
def get_entries(self, topics, start_stamp, end_stamp):
"""
generator function for bag entries
:param topics: list of topics to query, ''list(str)''
:param start_stamp: stamp to start at, ''rospy.Time''
:param end_stamp: stamp to end at, ''rospy,Time''
:returns: entries the bag file, ''msg''
"""
with self._bag_lock:
from rosbag import bag # for _mergesort
bag_entries = []
for b in self._bags:
bag_start_time = bag_helper.get_start_stamp(b)
if bag_start_time is not None and bag_start_time > end_stamp:
continue
bag_end_time = bag_helper.get_end_stamp(b)
if bag_end_time is not None and bag_end_time < start_stamp:
continue
connections = list(b._get_connections(topics))
bag_entries.append(
b._get_entries(connections, start_stamp, end_stamp))
for entry, _ in bag._mergesort(bag_entries,
key=lambda entry: entry.time):
yield entry
def get_entries_with_bags(self, topic, start_stamp, end_stamp):
"""
generator function for bag entries
:param topics: list of topics to query, ''list(str)''
:param start_stamp: stamp to start at, ''rospy.Time''
:param end_stamp: stamp to end at, ''rospy,Time''
:returns: tuple of (bag, entry) for the entries in the bag file, ''(rosbag.Bag, rosbag.bag._IndexEntry)''
"""
with self._bag_lock:
bag_entries = []
for bag in self._bags:
bag_start_time = bag_helper.get_start_stamp(bag)
if bag_start_time is not None and bag_start_time > end_stamp:
continue
bag_end_time = bag_helper.get_end_stamp(bag)
if bag_end_time is not None and bag_end_time < start_stamp:
continue
connections = list(bag._get_connections(topic))
# We must keep track to which bag file handle each index entry
# belongs before merge sorting.
bag_entries.append([(bag, entry) for entry in sorted(
bag._get_entries(connections, start_stamp, end_stamp))])
# TODO: replace sorted(itertools.chain(..), key..) by
# heapq.merge(.., key..) once Python 2.7 is not used anymore.
for bag_entry in sorted(itertools.chain(*bag_entries),
key=lambda bag_entry: bag_entry[1].time):
yield bag_entry
def get_entries_with_bags(self, topic, start_stamp, end_stamp):
"""
generator function for bag entries
:param topics: list of topics to query, ''list(str)''
:param start_stamp: stamp to start at, ''rospy.Time''
:param end_stamp: stamp to end at, ''rospy,Time''
:returns: tuple of (bag, entry) for the entries in the bag file, ''(rosbag.bag, msg)''
"""
with self._bag_lock:
from rosbag import bag # for _mergesort
bag_entries = []
bag_by_iter = {}
for b in self._bags:
bag_start_time = bag_helper.get_start_stamp(b)
if bag_start_time is not None and bag_start_time > end_stamp:
continue
bag_end_time = bag_helper.get_end_stamp(b)
if bag_end_time is not None and bag_end_time < start_stamp:
continue
connections = list(b._get_connections(topic))
it = iter(b._get_entries(connections, start_stamp, end_stamp))
bag_by_iter[it] = b
bag_entries.append(it)
for entry, it in bag._mergesort(bag_entries, key=lambda entry: entry.time):
yield bag_by_iter[it], entry
def get_entries(self, topics, start_stamp, end_stamp):
"""
generator function for bag entries
:param topics: list of topics to query, ''list(str)''
:param start_stamp: stamp to start at, ''rospy.Time''
:param end_stamp: stamp to end at, ''rospy,Time''
:returns: entries the bag file, ''msg''
"""
with self._bag_lock:
from rosbag import bag # for _mergesort
bag_entries = []
for b in self._bags:
bag_start_time = bag_helper.get_start_stamp(b)
if bag_start_time is not None and bag_start_time > end_stamp:
continue
bag_end_time = bag_helper.get_end_stamp(b)
if bag_end_time is not None and bag_end_time < start_stamp:
continue
connections = list(b._get_connections(topics))
bag_entries.append(b._get_entries(connections, start_stamp, end_stamp))
for entry, _ in bag._mergesort(bag_entries, key=lambda entry: entry.time):
yield entry
def _get_start_stamp(self):
"""
:return: first stamp in the bags, ''rospy.Time''
"""
with self._bag_lock:
start_stamp = None
for bag in self._bags:
bag_start_stamp = bag_helper.get_start_stamp(bag)
if bag_start_stamp is not None and (start_stamp is None or bag_start_stamp < start_stamp):
start_stamp = bag_start_stamp
return start_stamp
def _get_start_stamp(self):
"""
:return: first stamp in the bags, ''rospy.Time''
"""
with self._bag_lock:
start_stamp = None
for bag in self._bags:
bag_start_stamp = bag_helper.get_start_stamp(bag)
if bag_start_stamp is not None and (
start_stamp is None or bag_start_stamp < start_stamp):
start_stamp = bag_start_stamp
return start_stamp
