def add_bag(self, bag):
"""
creates an indexing thread for each new topic in the bag
fixes the boarders and notifies the indexing thread to index the new items bags
:param bag: ros bag file, ''rosbag.bag''
"""
self._bags.append(bag)
bag_topics = bag_helper.get_topics(bag)
new_topics = set(bag_topics) - set(self._timeline_frame.topics)
for topic in new_topics:
self._playhead_positions_cvs[topic] = threading.Condition()
self._messages_cvs[topic] = threading.Condition()
self._message_loaders[topic] = MessageLoaderThread(self, topic)
self._timeline_frame._start_stamp = self._get_start_stamp()
self._timeline_frame._end_stamp = self._get_end_stamp()
self._timeline_frame.topics = self._get_topics()
self._timeline_frame._topics_by_datatype = self._get_topics_by_datatype(
)
# If this is the first bag, reset the timeline
if self._timeline_frame._stamp_left is None:
self._timeline_frame.reset_timeline()
# Invalidate entire index cache for all topics in this bag
with self._timeline_frame.index_cache_cv:
for topic in bag_topics:
self._timeline_frame.invalidated_caches.add(topic)
if topic in self._timeline_frame.index_cache:
del self._timeline_frame.index_cache[topic]
self._timeline_frame.index_cache_cv.notify()
def add_bag(self, bag):
"""
creates an indexing thread for each new topic in the bag
fixes the boarders and notifies the indexing thread to index the new items bags
:param bag: ros bag file, ''rosbag.bag''
"""
self._bags.append(bag)
bag_topics = bag_helper.get_topics(bag)
new_topics = set(bag_topics) - set(self._timeline_frame.topics)
for topic in new_topics:
self._playhead_positions_cvs[topic] = threading.Condition()
self._messages_cvs[topic] = threading.Condition()
self._message_loaders[topic] = MessageLoaderThread(self, topic)
self._timeline_frame._start_stamp = self._get_start_stamp()
self._timeline_frame._end_stamp = self._get_end_stamp()
self._timeline_frame.topics = self._get_topics()
self._timeline_frame._topics_by_datatype = self._get_topics_by_datatype()
# If this is the first bag, reset the timeline
if self._timeline_frame._stamp_left is None:
self._timeline_frame.reset_timeline()
# Invalidate entire index cache for all topics in this bag
with self._timeline_frame.index_cache_cv:
for topic in bag_topics:
self._timeline_frame.invalidated_caches.add(topic)
if topic in self._timeline_frame.index_cache:
del self._timeline_frame.index_cache[topic]
self._timeline_frame.index_cache_cv.notify()
def _get_topics(self):
"""
:return: sorted list of topic names, ''list(str)''
"""
with self._bag_lock:
topics = set()
for bag in self._bags:
for topic in bag_helper.get_topics(bag):
topics.add(topic)
return sorted(topics)
def _get_topics(self):
"""
:return: sorted list of topic names, ''list(str)''
"""
with self._bag_lock:
topics = set()
for bag in self._bags:
for topic in bag_helper.get_topics(bag):
topics.add(topic)
return sorted(topics)